TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
5
1 Principles of Operation
The TMC5161 motion controller and driver chip is an intelligent power component interfacing between
CPU and a high power stepper motor. All stepper motor logic is completely within the TMC5161. No
software is required to control the motor – just provide target positions. The TMC5161 offers a
number of unique enhancements which are enabled by the system-on-chip integration of driver and
controller. The sixPoint ramp generator of the TMC5161 uses stealthChop, dcStep, coolStep, and
stallGuard2 automatically to optimize every motor movement. The TMC5161 ideally extends the
TMC220x, TMC222x, TMC2100, TMC2130 and TMC5130 family to higher motor currents.
THE TMC5161 OFFERS THREE BASIC MODES OF OPERATION:
MODE 1: Full Featured Motion Controller & Driver
All stepper motor logic is completely within the TMC5161. No software is required to control the
motor – just provide target positions. Enable this mode by tying low pin SD_MODE.
MODE 2: Step & Direction Driver
An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates
step & direction signals synchronized to other components like additional motors within the system.
The TMC5161 takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The microPlyer automatically smoothens motion. Tie SD_MODE high.
MODE 3: Simple Step & Direction Driver
The TMC5161 positions the motor based on step & direction signals. The microPlyer automatically
smoothens motion. No CPU interaction is required; configuration is done by hardware pins. Basic
standby current control can be done by the TMC5161. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying pin SPI_MODE low and SD_MODE high.
+VM
22n
100V
100n
16V
470n
CE
+VM
VSA
12VOUT
5VOUT
CB2
CB
CB
TMC5161
charge pump
HS
HS
11.5V Voltage
regulator
Ref. switch
processing
CB1
100n
2.2µ
2.2µ
5V Voltage
regulator
2R2
OB1
OB2
Step &
Direction pulse
generation
VCC
linear 6 point
RAMP generator
470n
LS
LS
RSB
CSN
SCK
SDI
SRBH
SPI interface
47R
47R
spreadCycle &
stealthChop
Chopper
RS
N
stepper
motor
SDO
programmable
sine table
4*256 entry
SRBL
CA2
S
Control register
set
x
DIAG / INT out
and
Single wire
interface
Stepper driver
B.Dwersteg, ©
DIAG1/SWP
DIAG0/SWN
B.Dwersteg,
©
TRPINroAtMeIcCti2o0n14
TRINAMIC 2014
CB
CB
& diagnostics
HS
HS
CA1
coolStep
opt. ext. clock
12-16MHz
OA1
OA2
CLK_IN
VCC_IO
stallGuard2
dcStep
+VIO
LS
LS
3.3V or 5V
I/O voltage
RSA
100n
SRAH
Encoder
unit
47R
47R
mode selection
A
B
N
RS
SRAL
pd
pd
pd
Encoder input /
dcStep control in S/D
mode
+VIO
Both GND: UART mode
+VIO
opt. driver enable
Figure 1.1 TMC5161 basic application block diagram (motion controller)
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
