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TMC5160

Datasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC5160 DATASHEET

FEATURES AND BENEFITS

2-phase stepper motors up to 20A coil current (external MOSFETs)

Motion Controller with sixPoint™

ramp

Step/Dir Interface with microstep interpolation microPlyer™

Voltage Range 8 … 60V DC

SPI & Single Wire UART

Encoder Interface and 2x Ref.-Switch Input

Highest Resolution 256 microsteps per full step

stealthChop2™ for quiet operation and smooth motion

Resonance Dampening for mid-range resonances

spreadCycle™ highly dynamic motor control chopper

dcStep™ load dependent speed control

stallGuard2™ high precision sensorless motor load detection

coolStep™ current control for energy savings up to 75%

Passive Braking and freewheeling mode

Full Protection & Diagnostics

Compact Size 9x9mm

TQFP48 package / 8x8mm² QFN

APPLICATIONS

Robotics & Industrial Drives

Textile, Sewing Machines

Packing Machines

Factory & Lab Automation

High-speed 3D Printers

Liquid Handling

Medical

Office Automation

CCTV

ATM, Cash Recycler

Pumps and Valves

DESCRIPTION

The TMC5160 is a high power stepper

motor controller and driver IC with serial

communication interfaces. It combines a

flexible ramp generator for automatic

target positioning with industries’ most

advanced stepper motor driver. Using

external transistors, highly dynamic, high

torque drives can be realized. Based on

TRINAMICs sophisticated spreadCycle and

stealthChop choppers, the driver ensures

absolutely noiseless operation combined

with maximum efficiency and best motor

torque. High integration, high energy

efficiency and a small form factor enable

miniaturized and scalable systems for

cost effective solutions. The complete

solution reduces learning curve to a

minimum while giving best performance

in class.

Universal high voltage controller/driver for two-phase bipolar stepper motor. stealthChop™ for quiet

movement. External MOSFETs for up to 20A motor current per coil. With Step/Dir Interface and SPI.

BLOCK DIAGRAM

Diff. Sensing

spreadCycle

stealthChop

MOTION CONTROLLER

with Linear 6 Point

RAMP Generator

MOSFET

Driver

TMC5160

Programmable

256 µStep

Sequencer

Protection

& Diagnostics

Ref. Switches

SPI

stallGuard2 coolStep dcStep

Power

Supply

Charge

Pump

ABN

Motor

Encoder Unit

Step/Dir

Step Multiplyer

spreadCycle

stealthChop

Reference Switch

Processing

Interrupts

Position

Pulse Output

UART

Single Wire

SPI to

Master

UART

CLK

Oscillator / Selector

SENSE

BOOT

1 of 2 full bridges

shown

TMC5160 DATASHEET (Rev. 1.06 / 2018-JUN-06) 2

www.trinamic.com

APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE

The TMC5160 scores with complete motion controlling features, powerful external MOSFET driver stages,

and high quality current regulation. It offers a versatility that covers a wide spectrum of applications from

battery powered, high efficiency systems up to embedded applications with 20A motor current per coil. The

TMC5160 contains the complete intelligence which is required to drive a motor. Receiving target positions

the TMC5160 manages motor movement. Based on TRINAMICs unique features stallGuard2, coolStep,

dcStep, spreadCycle, and stealthChop, the TMC5160 optimizes drive performance. It trades off velocity vs.

motor torque, optimizes energy efficiency, smoothness of the drive, and noiselessness. The small form

factor of the TMC5160 keeps costs down and allows for miniaturized layouts. Extensive support at the chip,

board, and software levels enables rapid design cycles and fast time-to-market with competitive products.

High energy efficiency and reliability deliver cost savings in related systems such as power supplies and

cooling. For smaller designs, the compatible, integrated TMC5130 driver provides 1.4A of motor current.

CPU

TMC5160

High-Level

Interface

SPI

CPU

High-Level

Interface

TMC5160

More TMC5160 or TMC5130 or TMC5072

SPI or

UART

MINIATURIZED DESIGN FOR ONE STEPPER MOTOR

COMPACT DESIGN FOR MULTIPLE STEPPER MOTORS

Encoder

Ref.

Switches

Addr.

NCS signal for SPI

Chaining

with UART

ORDER CODES

Order code

Description

Size [mm

]

TMC5160-TA

stepper controller/driver for external MOSFETs; TQFP48

9 x 9

TMC5160-WA

stepper controller/driver for external MOSFETs; wett. QFN8x8

8 x 8

TMC5160-EVAL

Evaluation board for TMC5160 two phase stepper motor

controller/driver

85 x 55

LANDUNGSBRÜCKE

Baseboard for TMC5160-EVAL and further evaluation boards.

85 x 55

ESELSBRÜCKE

Connector board for plug-in evaluation board system.

61 x 38

An ABN encoder interface with scaler unit

and two reference switch inputs are used to

ensure correct motor movement. Automatic

interrupt upon deviation is available.

An application with 2 stepper motors is

shown. Additionally, the ABN Encoder

interface and two reference switches can be

used for each motor. A single CPU controls

the whole system, as there are no real time

tasks required to move a motor. The CPU-

board and the controller / driver boards are

highly economical and space saving.

The TMC5160-EVAL is part of TRINAMICs

universal evaluation board system which

provides a convenient handling of the

hardware as well as a user-friendly

software tool for evaluation. The

TMC5160 evaluation board system

consists of three parts:

LANDUNGSBRÜCKE (base board),

ESELSBRÜCKE (connector board including

several test points), and TMC5160-EVAL.

TMC5160 DATASHEET (Rev. 1.06 / 2018-JUN-06)   3 
 
 
 
www.trinamic.com 
Table of Contents 
 
PRINCIPLES OF OPERATION ......................... 5 
1  KEY CONCEPTS ................................................ 6 
2  CONTROL INTERFACES ..................................... 7 
3  SOFTWARE ...................................................... 7 
4  MOVING AND CONTROLLING THE MOTOR ........ 8 
5  AUTOMATIC STANDSTILL POWER DOWN......... 8 
6  STEALTHCHOP2 & SPREADCYCLE DRIVER ........ 8 
7  STALLGUARD2 – MECHANICAL LOAD SENSING9 
8  COOLSTEP – LOAD ADAPTIVE CURRENT 
CONTROL ...................................................................... 9 
9  DCSTEP – LOAD DEPENDENT SPEED CONTROL .. 
   ..................................................................... 10 
10  ENCODER INTERFACE ..................................... 10 
PIN ASSIGNMENTS ......................................... 11 
1  PACKAGE OUTLINE ........................................ 11 
2  SIGNAL DESCRIPTIONS ................................. 12 
SAMPLE CIRCUITS .......................................... 15 
1  STANDARD APPLICATION CIRCUIT ................ 15 
2  EXTERNAL GATE VOLTAGE REGULATOR .......... 16 
3  CHOOSING MOSFETS AND SLOPE ................ 17 
4  TUNING THE MOSFET BRIDGE ..................... 19 
SPI INTERFACE ................................................ 22 
1  SPI DATAGRAM STRUCTURE ......................... 22 
2  SPI SIGNALS ................................................ 23 
3  TIMING ......................................................... 24 
UART SINGLE WIRE INTERFACE ................ 25 
1  DATAGRAM STRUCTURE ................................. 25 
2  CRC CALCULATION ....................................... 27 
3  UART SIGNALS ............................................ 27 
4  ADDRESSING MULTIPLE SLAVES .................... 28 
REGISTER MAPPING ....................................... 30 
1  GENERAL CONFIGURATION REGISTERS .......... 31 
2  VELOCITY DEPENDENT DRIVER FEATURE 
CONTROL REGISTER SET ............................................. 37 
3  RAMP GENERATOR REGISTERS ....................... 39 
4  ENCODER REGISTERS ..................................... 44 
5  MOTOR DRIVER REGISTERS ........................... 46 
STEALTHCHOP™ .............................................. 56 
1  AUTOMATIC TUNING ..................................... 56 
2  STEALTHCHOP OPTIONS ................................ 59 
3  STEALTHCHOP CURRENT REGULATOR ............. 59 
4  VELOCITY BASED SCALING ............................ 61 
5  COMBINING STEALTHCHOP AND SPREADCYCLE .. 
   ..................................................................... 63 
6  FLAGS IN STEALTHCHOP ................................ 65 
7  FREEWHEELING AND PASSIVE BRAKING ........ 65 
SPREADCYCLE AND CLASSIC CHOPPER ... 67 
1  SPREADCYCLE CHOPPER ................................ 68 
2  CLASSIC CONSTANT OFF TIME CHOPPER ...... 71 
SELECTING SENSE RESISTORS .................... 73 
VELOCITY BASED MODE CONTROL ....... 75 
DIAGNOSTICS AND PROTECTION......... 77 
1  TEMPERATURE SENSORS ................................ 77 
2  SHORT PROTECTION ...................................... 77 
3  OPEN LOAD DIAGNOSTICS ........................... 79 
RAMP GENERATOR ..................................... 80 
1  REAL WORLD UNIT CONVERSION ................. 80 
2  MOTION PROFILES ........................................ 81 
3  VELOCITY THRESHOLDS ................................. 83 
4  REFERENCE SWITCHES .................................. 84 
STALLGUARD2 LOAD MEASUREMENT ... 86 
1  TUNING STALLGUARD2 THRESHOLD SGT ..... 87 
2  STALLGUARD2 UPDATE RATE AND FILTER .... 89 
3  DETECTING A MOTOR STALL ......................... 89 
4  HOMING WITH STALLGUARD ......................... 89 
5  LIMITS OF STALLGUARD2 OPERATION .......... 89 
COOLSTEP OPERATION ............................. 90 
1  USER BENEFITS ............................................. 90 
2  SETTING UP FOR COOLSTEP .......................... 90 
3  TUNING COOLSTEP ........................................ 92 
STEP/DIR INTERFACE ................................ 93 
1  TIMING ......................................................... 93 
2  CHANGING RESOLUTION ............................... 94 
3  MICROPLYER AND STAND STILL DETECTION . 95 
DIAG OUTPUTS ........................................... 96 
1  STEP/DIR MODE ......................................... 96 
2  MOTION CONTROLLER MODE ........................ 96 
DCSTEP .......................................................... 98 
1  USER BENEFITS ............................................. 98 
2  DESIGNING-IN DCSTEP ................................. 98 
3  DCSTEP INTEGRATION WITH THE MOTION 
CONTROLLER .............................................................. 99 
4  STALL DETECTION IN DCSTEP MODE ............ 99 
5  MEASURING ACTUAL MOTOR VELOCITY IN 
DCSTEP OPERATION ................................................. 100 
6  DCSTEP WITH STEP/DIR INTERFACE ......... 101 
SINE-WAVE LOOK-UP TABLE................. 104 
1  USER BENEFITS ........................................... 104 
2  MICROSTEP TABLE ...................................... 104 
EMERGENCY STOP .................................... 105 
ABN INCREMENTAL ENCODER 
INTERFACE ............................................................... 106 
1  ENCODER TIMING ....................................... 107 

TMC5160 DATASHEET (Rev. 1.06 / 2018-JUN-06) 5

www.trinamic.com

1 Principles of Operation

The TMC5160 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 TMC5160. No

software is required to control the motor – just provide target positions. The TMC5160 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 TMC5160 uses stealthChop, dcStep, coolStep, and

stallGuard2 automatically to optimize every motor movement. The TMC5160 ideally extends the

TMC2100, TMC2130 and TMC5130 family to higher voltages and higher motor currents.

THE TMC5160 OFFERS THREE BASIC MODES OF OPERATION:

MODE 1: Full Featured Motion Controller & Driver

All stepper motor logic is completely within the TMC5160. 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 TMC5160 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 TMC5160 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 TMC5160. Optional feedback signals allow error detection

and synchronization. Enable this mode by tying pin SPI_MODE low and SD_MODE high.

47R

VCC_IO

TMC5160

SPI interface

CSN

SCK

SDO

SDI

Ref. switch

processing

REFL/STEP

REFR/DIR

DIAG / INT out

and

Single wire

interface

5V Voltage

regulator

charge pump

22n

100V

100n

16V

DIAG0/SWN

CLK_IN

DIAG1/SWP

5VOUT

VSA

2.2µ

DRV_ENN

GNDD

GNDA

TST_MODE

DIE PAD

VCC

opt. ext. clock

12-16MHz

3.3V or 5V

I/O voltage

100n

stepper

motor

BMA2

100n

SRAH

2R2

470n

Encoder

unit

A B N

ENCB_DCEN

ENCA_DCIN

ENCN_DCO

Encoder input /

dcStep control in S/D

mode

SD_MODE

SPI_MODE

opt. driver enable

B.Dwersteg, ©

TRINAMIC 2014

SRAL

LA1

LA2

HA1

HA2

BMA1

CA1

CA2

BMB2

SRBH

SRBL

LB1

LB2

HB1

HB2

BMB1

CB1

CB2

Both GND: UART mode

CPI

CPO

VCP

11.5V Voltage

regulator

12VOUT

2.2µ

mode selection

470n

47R

pd pd pd

Stepper driver

Protection

& diagnostics

spreadCycle &

stealthChop

Chopper

programmable

sine table

4*256 entry

stallGuard2™

coolStep™

linear 6 point

RAMP generator

Step &

Direction pulse

generation

Control register

set

Interface

dcStep™

coolStep

stealthChop

motor driver

B.Dwersteg, ©

TRINAMIC 2014

Motion control

Figure 1.1 TMC5160 basic application block diagram (motion controller)

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