TRINAMIC TMC2100-SSS Datasheet

POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany

TMC2100 DATASHEET

FEATURES AND BENEFITS

2-phase stepper motors up to 2.0A coil current (2.5A peak)
Standalone Driver
Step/Dir Interface with microstep interpolation

MicroPlyer™
Voltage Range 4.75… 46 V DC
Highest Resolution 256 microsteps per full step
StealthChop™ for extremely quiet operation and smooth

motion

SpreadCycle™ highly dynamic motor control chopper
Integrated Current Sense Option
Standstill Current Reduction
Full Protection & Diagnostics (two outputs)
Small Size 5x6mm2 QFN36 package or TQFP48 package

DESCRIPTION

The TMC2100 is a standalone driver IC. This
small and intelligent standalone driver for
two-phase stepper motors offers market­leading features while being configured by
seven pins only. CPU interaction is not
required. Drive the motor via Step and
Direction signals. TRINAMICs sophisticated
StealthChop chopper ensures noiseless
operation combined with efficiency and
best motor torque. Integrated power
MOSFETs handle motor currents up to 1.2A
RMS continuously (QFN package) / 1.4A RMS
(TQFP) per coil. For saving energy, the
TMC2100 provides standstill current
reduction. Protection and diagnostic
features support robust and reliable
operation. The TMC2100 enables
miniaturized designs with low external
component count for cost-effective and
highly competitive solutions.

Standalone intelligent Step/Direction driver for two-phase bipolar stepper motor.
StealthChop™ for quiet movement. Integrated MOSFETs for up to 2.0 A motor current per coil.

BLOCK DIAGRAM

APPLICATIONS

3D printers
Textile, Sewing Machines
Office Automation
Consumer, Home
CCTV, Security
ATM, Cash recycler
POS
Printers & Scanners

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 2

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APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE

The TMC2100 scores with power density, integrated power MOSFETs, smooth and quiet operation, and
a congenial simplicity. The TMC2100 covers a wide spectrum of applications from battery systems up
to embedded applications with up to 2.0A motor current per coil. TRINAMICs unique chopper modes
SpreadCycle and StealthChop optimize drive performance. StealthChop reduces motor noise to the
point of silence during low velocities. Standby current reduction keeps costs for power dissipation
and cooling down. Extensive support enables rapid design cycles and fast time-to-market with
competitive products.

STANDALONE DESIGN FOR ONE STEPPER MOTOR

S/D

N

S

0A+

0A-

0B+

TMC2100

0B-

ERROR, INDEX

S/D

N

S

0A+

0A-

0B+

TMC2100

0B-

MINIATURIZED DESIGN FOR ONE STEPPER MOTOR

ERROR, INDEX

CPU

High-Level

Interface

Configuration / Enable

EVALUATION BOARD SYSTEM

ORDER CODES

Order code

PN

Description

Size [mm2]

TMC2100-LA

00-0135

1-axis StealthChop standalone driver; QFN36

5 x 6

TMC2100-TA

00-0140

1-axis StealthChop standalone driver; TQFP48

7 x 7 (body)

TMC2100-xx-T

…-T

-T denotes tape on reel packed devices (xx is LA or TA)

TMC2100-EVAL

40-0084

Evaluation board for TMC2100

85 x 55

LANDUNGSBRÜCKE

40-0167

Baseboard for evaluation board system

85 x 55

ESELSBRÜCKE

40-0098

Connector board fitting to Landungsbrücke

61 x 38

In this example, configuration is hard
wired. The motor is driven via step
and direction signals. Motion control
tasks and interpreting ERROR and
INDEX are software based.

Here, the CPU sends step and direction
signals to the TMC2100 and reads out
ERROR and INDEX for diagnostic tasks.
Further, the CPU configures the
TMC2100 and manages motion control.
Based on Step/Dir signals, the TMC2100
provides motor currents for each axis
and smoothens and optimizes drive
performance.

The TMC2100-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 TMC2100 evaluation
board system consists of three parts:
STARTRAMPE (base board),
ESELSBRÜCKE (connector board with
several test points), and TMC2100-EVAL.

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 3

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Table of Contents

1 KEY CONCEPTS ................................................... 4

1.1 SOFTWARE ...................................................... 5

1.2 STEP/DIR INTERFACE .................................... 5

1.3 STANDSTILL CURRENT REDUCTION .................. 5

1.4 DIAGNOSTICS AND PROTECTION ..................... 5

2 PIN ASSIGNMENTS ........................................... 6

2.1 PACKAGE OUTLINE .......................................... 6

2.2 SIGNAL DESCRIPTIONS ................................... 7

3 OPERATION ......................................................... 8

3.1 CFG PIN CONFIGURATION .............................. 8

4 SUGGESTIONS FOR LAYOUT ........................ 11

4.1 BASIC HINTS FOR POWER SUPPLY ................ 11

4.2 REDUCED NUMBER OF COMPONENTS ............. 11

4.3 INTERNAL CURRENT SENSING ........................ 11

4.4 EXTERNAL 5V POWER SUPPLY ...................... 12

4.5 5V ONLY SUPPLY .......................................... 13

4.6 HIGH MOTOR CURRENT ................................. 14

4.7 DRIVER PROTECTION AND EME CIRCUITRY ... 15

5 STEALTHCHOP™ .............................................. 16

5.1 CURRENT REGULATION .................................. 16

5.2 AUTOMATIC SCALING .................................... 16

5.3 ACCELERATION .............................................. 18

5.4 SWITCHING BETWEEN STEALTHCHOP AND

SPREADCYCLE ............................................................. 19

6 SPREADCYCLE ................................................... 20

6.1 SPREADCYCLE CHOPPER ................................ 21

7 SELECTING SENSE RESISTORS .................... 23

8 MOTOR CURRENT CONTROL ........................ 24

8.1 ANALOG CURRENT SCALING AIN .................. 24

9 INTERNAL SENSE RESISTORS ...................... 26

10 DRIVER DIAGNOSTIC AND PROTECTION

......................................................................... 28

10.1 TEMPERATURE MEASUREMENT ....................... 28

10.2 SHORT TO GND PROTECTION ....................... 28

10.3 EMERGENCY STOP ......................................... 28

10.4 DIAGNOSTIC OUTPUT ................................... 28

11 STEP/DIR INTERFACE ................................ 30

11.1 TIMING ......................................................... 30

11.2 CHANGING RESOLUTION ............................... 31

11.3 MICROPLYER STEP INTERPOLATOR AND STAND

STILL DETECTION ....................................................... 32

11.4 INDEX OUTPUT ........................................... 33

12 EXTERNAL RESET ........................................ 34

13 CLOCK OSCILLATOR AND INPUT ........... 34

13.1 CONSIDERATIONS ON THE FREQUENCY .......... 34

14 ABSOLUTE MAXIMUM RATINGS ............ 35

15 ELECTRICAL CHARACTERISTICS ............ 35

15.1 OPERATIONAL RANGE ................................... 35

15.2 DC AND TIMING CHARACTERISTICS .............. 36

15.3 THERMAL CHARACTERISTICS.......................... 39

16 LAYOUT CONSIDERATIONS..................... 40

16.1 EXPOSED DIE PAD ........................................ 40

16.2 WIRING GND .............................................. 40

16.3 SUPPLY FILTERING ........................................ 40

16.4 LAYOUT EXAMPLE: TMC2100-BOB .............. 41

17 PACKAGE MECHANICAL DATA ................ 43

17.1 DIMENSIONAL DRAWINGS QFN36 5X6 ....... 43

17.2 DIMENSIONAL DRAWINGS TQFP-EP48 ....... 45

17.3 PACKAGE CODES ........................................... 46

18 DISCLAIMER ................................................. 47

19 ESD SENSITIVE DEVICE............................ 47

20 DESIGNED FOR SUSTAINABILITY ......... 47

21 TABLE OF FIGURES .................................... 48

22 REVISION HISTORY ................................... 48

23 REFERENCES ................................................. 48

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 4

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1 Key Concepts

The TMC2100 is easy to use. It can be configured by seven hardware pins. CPU interaction is not
necessary. The TMC2100 positions the motor based on step and direction signals and the integrated
MicroPlyer automatically smoothens motion. Basic standby current control can be done by the
TMC2100. Optional feedback signals allow error detection and synchronization. Optionally, current
scaling is possible by providing an analog reference current IREF.

A CPU for configuration, motion control, and diagnostics can be connected, but this is not basically
needed to drive the motor.

Status out

(open drain)

Half Bridge 1

Half Bridge 2

+V

M

VS

current

comparator

2 phase

stepper

motor

N

S

Stepper driver

Protection

& diagnostics

sine table

4*256 entry

DAC

x

step multiplier

microPlyer

OA1

OA2

BRA

spreadCycle &

stealthChop

Chopper

VCC_IO

TMC 2100 Standalone
Stepper Motor Driver

Configuration

interface

with TRISTATE

detection

CFG0

CFG1

CFG3

CFG2

STEP

spreadCycle

&

stealthChop

motor driver

DIR

Half Bridge 1

Half Bridge 2

VS

current

comparator

DAC

OB1

OB2

BRB

CLK oscillator/

selector

DIAG0

CLK_IN

Interface

DIAG1

+V

IO

DRV_ENN

GNDP

GNDP

GNDA

F

F = 60ns spike filter

TST_MODE

DIE PAD

RS=0R15 allows for
maximum coil
current;
Tie BRA and BRB to
GND for internal
current sensing

TRISTATE configuration

(GND, VCC_IO or open)

opt. ext. clock

10-16MHz

3.3V or 5V

I/O voltage

100n

100n

100n

Index pulse

step & dir input

R

S

R

S

ISENSE

ISENSE

ISENSE

ISENSE

+V

M

DAC Reference

AIN_IREF

IREF

IREF

IREF

TG

TG

TG

TG

PDD

PMD

TG= toggle with 166K resistor between VCC
and GND to detect open pin

PDD=100k pulldown
PMD=50k to VCC/2

optional current scaling

F

Standstill

current

reduction

R

REF

5VOUT

Optional for internal current
sensing. R

REF

=9K1 allows for

maximum coil current.

5V Voltage

regulator

charge pump

CPO

CPI

VCP

22n

100n

+V

M

5VOUT

VSA

4.7µ

100n

2R2

470n

2R2 and 470n are optional

filtering components for

best chopper precision

VCC

Driver error

CFG4

TG

CFG5

TG

DRV_ENN_CFG6

TG

CFG6

CFG3

Opt. driver

enable input

CFG0

CFG4

CFG5

CFG1

CFG2

CFG1

CFG2

CFG1

CFG2

B.Dwersteg, ©

TRINAMIC 2014

GNDD

Figure 1.1 TMC2100 standalone driver application diagram

The TMC2100 implements advanced features which are exclusive to TRINAMIC products. These features
contribute toward greater precision and smoother motion in many stepper motor applications.
Particularly, the TMC2100 provides special chopper algorithms in order to reduce engine noise and

react extremely fast to changes in velocity and motor load.

StealthChop™ is a voltage chopper based principle. It guarantees that the motor is absolutely

quiet in standstill and in slow motion, except for noise generated by ball bearings.
The extremely smooth motion is beneficial for many applications.

SpreadCycle™ offers smooth operation and great power efficiency over a wide range of speed and

load. The SpreadCycle chopper scheme automatically integrates a fast decay cycle
and guarantees smooth zero crossing performance.

MicroPlyer™ microstep interpolator for obtaining increased smoothness of microstepping.

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 5

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1.1 Software

Usually, the TMC2100 is configured to a fixed configuration using the related hardware pins. Status
bits for error detection can be read out using ERROR and INDEX. The TMC2100 is a stepper motor
driver chip that can be driven software based with only little effort. It does not need a master CPU or
a motion controller IC, but step and direction signals have to be provided to drive a motor.

1.2 STEP/DIR Interface

The motor is controlled by a step and direction input. Active edges on the STEP input are rising ones.
On each active edge, the state sampled from the DIR input determines whether to step forward or
back. Each step can be a fullstep or a microstep, in which there are 2, 4, 16 or 256 (interpolated)
microsteps per fullstep. During microstepping, a step impulse with a low state on DIR increases the
microstep counter and with a high state decreases the counter by an amount controlled by the
microstep resolution. An internal table translates the counter value into the sine and cosine values
which control the motor current for microstepping.

1.3 Standstill Current Reduction

The automatic standstill current reduction allows to automatically reduce the motor current by nearly
two-thirds to save energy in standstill. This is possible in many applications, as normally less holding
torque is required. In case the standstill current option has been enabled, the motor current becomes
softly ramped down from 100% to 34% in 44M clock cycles (3 to 4 seconds) if no step pulse has been
issued for more than 3M clock cycles (standby delay time). The soft current ramp avoids a jerk on the
motor.

t

CURRENT

Standby

delay time

RMS current with CFG6_ENN = open

I_HOLD = 34% * I_RUN

I_RUN

Standby

ramp time

STEP

Figure 1.2 Standstill current reduction

1.4 Diagnostics and Protection

The TMC2100 offers safeguards to detect and protect against shorted outputs, overtemperature, and
undervoltage conditions for enhancing safety and recovery from equipment malfunctions.

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 6

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2 Pin Assignments

2.1 Package Outline

CPI

BRA

OA2

VS

TST_MODE

GNDP

OA1

VCP

STEP

CLK

OB1

GNDP

CFG4

BRB

VS

-

1

DIR

VCC_IO

CFG0

CFG1

CFG2

CFG3

INDEX
ERROR

AIN_IREF

GNDA

CPO

-

OB2

VSA

-

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

28

27

26

25

24

23

22

21

20

19

36

35

34

33

32

31

30

29

CFG6_ENN

VCC
5VOUT

GNDD

CFG5

PAD = GNDD

TMC2100-LA

QFN-36

5mm x 6mm

Figure 2.1 TMC2100-LA package and pinning QFN-36 (5x6mm²)

25

26

3724

-

-

OA2

OA1

-

VS

-

BRA

-

VCP

STEP

CLK

-

OB1

CFG4

BRB

OB2

-

1

TST_MODE

DIR

VCC_IO

CFG0

CFG1

CFG2

CFG3

INDEX
ERROR

AIN_IREF

GNDA

CPO

-

-

-

VSA

-

2

3

4

5

6

7

8

9

10

11

14

15

16

17

18

19

20

21

22

23

36

35

34

33

32

31

30

29

28

27

48

47

46

45

44

43

42

41

40

39

CFG6_ENN

38

GNDP

13

CPI

VCC
5VOUT

PAD = GNDD

12

GNDD

­VS

-

CFG5

-

-

GNDP

TMC2100-TA

TQFP-48

9mm x 9mm

Figure 2.2 TMC2100-TA package and pinning TQFP-48 (9x9mm² with leads)

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 7

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2.2 Signal Descriptions

Pin

QFN36

TQFP48

Type

Function

CLK 1 2

DI

CLK input. Tie to GND using short wire for internal clock or
supply external clock.

CFG3

2 3 DI

Configuration input

CFG2

3 4 DI

Configuration input

CFG1

4 5 DI

Configuration input

CFG0

5 7 DI

Configuration input

STEP

6 8 DI

STEP input

DIR 7 9

DI

DIR input

VCC_IO

8

10 3.3 V to 5 V IO supply voltage for all digital pins.

DNC

9, 17

11, 14, 16,
18, 20, 22,
23, 28, 41,
43, 45, 47

Do not connect. Leave open!

GNDD

10

12 Digital GND. Connect to GND.

N.C.

11

6, 31, 36

Unused pin, connect to GND for compatibility to future versions.

GNDP

12, 35

13, 48

Power GND. Connect to GND plane near pin.

OB1

13

15 Motor coil B output 1

BRB

14

17

Sense resistor connection for coil B. Place sense resistor to GND
near pin. Tie to GND when using internal sense resistors.

OB2

15

19 Motor coil B output 2

VS

16, 31

21, 40

Motor supply voltage. Provide filtering capacity near pin with
short loop to nearest GNDP pin (respectively via GND plane).

CFG4

18

24

DI

Configuration input

CFG5

19

25

DI

Configuration input

ERROR

20

26

DO

Driver error (Open drain output with 50k resistor to 2.5V)

INDEX

21

27

DO

Microstep table position index (Open drain output with 100k
pulldown resistor – use sufficient pullup resistor of 22k max.)

CFG6_ENN

22

29

DI

Enable input (high to disable) and power down configuration

AIN_IREF

23

30

AI

Analog reference voltage for current scaling or reference current
for use of internal sense resistors (optional mode)

GNDA

24

32 Analog GND. Tie to GND plane.

5VOUT

25

33

Output of internal 5 V regulator. Attach 2.2 µF to 10µF ceramic
capacitor to GNDA near to pin for best performance.

VCC

26

34

5V supply input for digital circuitry within chip and charge
pump. Attach 470nF capacitor to GND (GND plane). Supply by
5VOUT. Use a 2.2 or 3.3 Ohm resistor for decoupling noise from
5VOUT. When using an external supply, make sure, that VCC
comes up before or in parallel to 5VOUT!

CPO

27

35 Charge pump capacitor output.

CPI

28

37

Charge pump capacitor input. Tie to CPO using 22 nF 50 V
capacitor.

VCP

29

38 Charge pump voltage. Tie to VS using 100 nF 16 V capacitor.

VSA

30

39

Analog supply voltage for 5V regulator. Normally tied to VS.
Provide a 100 nF filtering capacitor.

OA2

32

42 Motor coil A output 2

BRA

33

44

Sense resistor connection for coil A. Place sense resistor to GND
near pin. Tie to GND when using internal sense resistors.

OA1

34

46 Motor coil A output 1

TST_MODE

36 1 DI

Test mode input. Tie to GND using short wire.

Exposed
die pad

- -

Connect the exposed die pad to a GND plane. Provide as many
as possible vias for heat transfer to GND plane. Serves as GND
pin for digital circuitry.

*) All pins of type DI, DI(pu), DI(tpu), DIO and DIO(tpu) refer to VCC_IO and have intrinsic protective

clamping diodes to GND and VCC_IO and use Schmitt trigger inputs.

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 8

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3 Operation

STEP/DIR inputs control the driver. The TMC2100 works in SpreadCycle mode or StealthChop mode. It
provides microstep interpolation and automatic standstill current reduction. ERROR signals driver error
and INDEX signals the microstep table index position (low active open drain outputs).

VCC_IO

TMC2100

Step&Dir input

with microPlyer

STEP

DIR

5V Voltage

regulator

charge pump

22n
63V

100n

16V

CLK_IN

+V

M

5VOUT

VSA

4.7µ

+V

IO

GNDP

GNDA

TST_MODE

DIE PAD

VCC

opt. ext. clock

12-16MHz

3.3V or 5V

I/O voltage

100n

100n

Sequencer

Full Bridge A

Full Bridge B

+V

M

VS

stepper
motor

N

S

OA1

OA2

OB1

OB2

Driver

100n

BRB

100µF

CPI

CPO

BRA

R

SA

Use low inductivity SMD

type, e.g. 1206, 0.5W

R

SB

100n

VCP

Optional use lower

voltage down to 6V

2R2

470n

DAC Reference

AIN_IREF

IREF

Use low inductivity SMD

type, e.g. 1206, 0.5W

Status out

(open drain)

Configuration

interface

with TRISTATE

detection

CFG0

CFG1

CFG3

CFG2

ERROR

INDEX

TRISTATE configuration

(GND, VCC_IO or open)

Index pulse

Driver error

CFG4

CFG5

CFG6_ENN

Opt. driver

enable input

GNDD

B.Dwersteg, ©

TRINAMIC 2014

Figure 3.1 Standalone operation example circuit

3.1 CFG Pin Configuration

TMC2100 configuration is hard wired. All pins CFG0 to CFG6 are evaluated using tristate detection in
order to differentiate between:

- CFG pin tied to GND

- CFG pin open (no connection)

- CFG pin tied to VCC_IO

CFG6_ENN enables the driver chip. Further, it selects whether standby current reduction is used or not.

CFG6_ENN: ENABLE PIN AND CONFIGURATION OF STANDSTILL POWER DOWN

CFG6

Motor driver enable

Standstill power down

GND

Enable

N

VCC_IO

Disable

Driver disabled.

open

Enable

Y. Motor current ramps down from 100% to 34% in 44M
clock cycles (3 to 4 seconds) after standstill detection (no
step pulse for more than 1M clock). In combination with
StealthChop, be sure not to work with too low overall
current setting, as regulation will not be able to
measure the motor current after stand still current
reduction. This will result in very low motor current after
the stand-still period.

Please refer to Figure 1.2 for more information about standstill power down.

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 9

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A current control mode can be set with CFG3. In particular, the source for the reference voltage (on
chip or external) and the method of current scaling can be chosen.

CFG3 SETS MODE OF CURRENT SETTING

CFG3

Current Setting

GND

Internal reference voltage. Current scale set by external sense resistors, only.

VCC_IO

Internal sense resistors. Use analog input current on AIN as reference current for
internal sense resistor. This setting gives best results when combined with
StealthChop voltage PWM chopper.

open

External reference voltage on pin AIN. Current scale set by sense resistors and
scaled by AIN.

The desired microstep resolution for the STEP input can be chosen via CFG2 and CFG1 configurations.
The driver automatically uses microstep positions which result in a symmetrical wave especially when
switching to a lower microstep resolution.

Note that SpreadCycle mode is possible with and without step interpolation to 256 microsteps.
TRINAMIC recommends using step interpolation for achieving a smoother drive. While the parameters
for SpreadCycle can be configured for best microstep performance, StealthChop has a fixed setting.
CFG0 and CFG4 settings do not influence the StealthChop configuration. This way, it is possible to
switch between SpreadCycle and StealthChop mode by simply switching CFG1 and CFG2.

CFG1 AND CFG2: SET MICROSTEP RESOLUTION FOR STEP INPUT

CFG2, CFG1

Microsteps

Interpolation

Chopper Mode

GND, GND

1 (Fullstep)

N

SpreadCycle

GND, VCC_IO

2 (Halfstep)

N

GND, open

2 (Halfstep)

Y, to 256 µsteps

VCC_IO, GND

4 (Quarterstep)

N

VCC_IO, VCC_IO

16 µsteps

N

VCC_IO, open

4 (Quarterstep)

Y, to 256 µsteps

open, GND

16 µsteps

Y, to 256 µsteps

open, VCC_IO

4 (Quarterstep)

Y, to 256 µsteps

StealthChop

open, open

16 µsteps

Y, to 256 µsteps

Hint

Be sure to allow the motor to rest for at least 100 ms (assuming a minimum of 10 MHz f

CLK

) before
starting a motion using StealthChop. This will allow the current regulation to ramp up to the initial
motor current.

CFG0, CFG4 and CFG5 are intended for chopper configuration. CFG0 is used to set the chopper off
time. This setting also limits the maximum chopper frequency. For operation with StealthChop, this
parameter is not used. In case of operation with StealthChop only, any CFG0 setting is OK.

CFG0: SETS CHOPPER OFF TIME (DURATION OF SLOW DECAY PHASE)

CFG0

TOFF Setting

GND

140 t

CLK

(recommended, most universal choice)

low setting

VCC_IO

236 t

CLK

medium setting

open

332 t

CLK

high setting

TMC2100 DATASHEET (Rev. 1.11 / 2020-JUN-03) 10

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CFG4: SETS CHOPPER HYSTERESIS (TUNING OF ZERO CROSSING PRECISION)

CFG4

Hysteresis Setting

GND

5 (recommended most universal choice): low hysteresis with ≈4% of full scale
current.

VCC_IO

9: medium setting with ≈5% of the full scale current at sense resistor.

open

13: high setting with ≈6% of full scale current at sense resistor.

CFG5 selects the comparator blank time. This time needs to safely cover the switching event and the
duration of the ringing on the sense resistor. For most applications, a setting of 24 clock cycles is
good. For higher capacitive loads, e.g. when filter networks are used, a setting 36 clock cycles will be
required.

CFG5: SETS CHOPPER BLANK TIME (DURATION OF BLANKING OF SWITCHING SPIKE)

CFG5

Blank time (in number of clock cycles)

GND

16 (best performance for StealthChop)

low setting

VCC_IO

24 (recommended, most universal choice)

medium setting

open

36 (may be necessary with high capacitive loads on motor

outputs)

high setting

EXAMPLE 1

It is desired to do slow motions in smooth and noiseless StealthChop mode. For quick motions,
SpreadCycle is to be used. The controller can deliver 1/16 microstep step signals. Leave open CFG2
and drive CFG1 with a three state driver. Switch CFG1 to GND to operate in SpreadCycle, switch it to
hi-Z (open) state for a motion in StealthChop. Be sure to switch during standstill only, because when
switching from a fixed level to an open input, a different mode may be passed for a short time.

EXAMPLE 2

VCC_IO

CLK_IN

+V

IO

Use internal clock

3.3V or 5V

I/O voltage

100n

Configuration

interface

with TRISTATE

detection

CFG0

CFG1

CFG3

CFG2

CFG4

CFG5

DRV_ENN_CFG6

Use stand still current reduction

B.Dwersteg, ©

TRINAMIC 2014

Medium blank time

Low hysteresis

Use sense resistors

16 microstep step input with

stealthChop

Low slow decay time

further
drivers

Diode ensures

open detection

0=enable, 1=disable

Figure 3.2 TMC2100 example configuration for StealthChop

Attention

Pin open detection will fail, when paralleling CFG pins of different ICs! Use one diode per IC, if one or
multiple pins are switched between GND and open or between VCC_IO and open.
Tristate detection is sensitive to capacitive stray inherent with long interconnections- use a 100pF
filter capacitor, or a diode near to the pin, if the open state shall be controlled via an external source.

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4 Suggestions for Layout

The sample circuits show the connection of external components in different operation and supply
modes.

4.1 Basic Hints for Power Supply

Use low ESR capacitors for filtering the power supply which are capable to cope with the current
ripple. The current ripple often depends on the power supply and cable length. The VCC_IO voltage
can be supplied from 5VOUT, or from an external source, e.g. a low drop 3.3 V regulator. In order to
minimize linear voltage regulator power dissipation of the internal 5 V voltage regulator in
applications where VM is high, a different (lower) supply voltage can be used for VSA, if available. For
example, many applications provide a 12 V supply in addition to a higher supply voltage, like 24 V or
36 V. Using the 12 V supply for VSA will reduce the power dissipation of the internal 5V regulator to
about 37% resp. 23% of the dissipation caused by supply with the full motor voltage.

Basic Layout Hints

Place sense resistors and all filter capacitors as close as possible to the related IC pins. Use a solid
common GND for all GND connections, also for sense resistor GND. Connect 5VOUT filtering capacitor
directly to 5VOUT and GNDA pin. See layout hints for more details. Low ESR electrolytic capacitors are
recommended for VS filtering.

Attention

In case VSA is supplied by a different voltage source, make sure that VSA does not exceed VS by
more than one diode drop upon power up or power down.

4.2 Reduced Number of Components

5V Voltage

regulator

+V

M

5VOUT

VSA

4.7µ

VCC

100n

Optional use lower

voltage down to 6V

Figure 4.1 Reduced number of filtering components

The standard application circuit uses RC filtering to de-couple the output of the internal linear
regulator from high frequency ripple caused by digital circuitry supplied by the VCC input. For cost
sensitive applications, the RC-filtering on VCC can be eliminated. This leads to more noise on 5VOUT
caused by operation of the charge pump and the internal digital circuitry. There is a slight impact on
microstep vibration and chopper noise performance.

4.3 Internal Current Sensing

For cost critical or space limited applications, it may be desired to eliminate the sense resistors. The
TMC2100 allows using the resistance of the internal MOSFETs as a sense resistor. Further, this slightly
reduces power dissipation, because the effective resistance of the driver bridge is reduced. In this
application, a reference current set by a tiny external resistor programs the output current. For
calculation of the reference resistor, refer chapter 9.

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Full Bridge A

Full Bridge B

stepper
motor

N

S

OA1

OA2

OB1

OB2

Driver

BRB

BRA

DAC Reference

AIN_IREF

IREF

AIN_IREF

5VOUT

R

REF

Figure 4.2 RDSon based sensing eliminates high current sense resistors

4.4 External 5V Power Supply

When an external 5 V power supply is available, the power dissipation caused by the internal linear
regulator can be eliminated. This especially is beneficial in high voltage applications, and when
thermal conditions are critical. There are two options for using an external 5 V source: either the
external 5 V source is used to support the digital supply of the driver by supplying the VCC pin, or the
complete internal voltage regulator becomes bridged and is replaced by the external supply voltage.

4.4.1 Support for the VCC Supply

This scheme uses an external supply for all digital circuitry within the driver (Figure 4.3). As the digital
circuitry makes up for most of the power dissipation, this way the internal 5 V regulator sees only low
remaining load. The precisely regulated voltage of the internal regulator is still used as the reference
for the motor current regulation as well as for supplying internal analog circuitry.

When cutting VCC from 5VOUT, make sure that the VCC supply comes up before or synchronously
with the 5VOUT supply to ensure a correct power up reset of the internal logic. A simple schematic
uses two diodes forming an OR of the internal and the external power supplies for VCC. In order to
prevent the chip from drawing part of the power from its internal regulator, a low drop 1A Schottky
diode is used for the external 5V supply path, while a silicon diode is used for the 5VOUT path.

5V Voltage

regulator

5VOUT

VSA

4.7µ

VCC

100n

470n

+5V

LL4448

MSS1P3

+V

M

VCC supplied from external 5V. 5V or 3.3V IO voltage.

Figure 4.3 Using an external 5V supply for digital circuitry of driver

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4.4.2 Internal Regulator Bridged

In case a clean external 5 V supply is available, it can be used for supply of analog and digital part
(Figure 4.4). The circuit will benefit from a well-regulated supply, e.g. when using a +/-1% regulator. A
precise supply guarantees increased motor current precision, because the voltage on 5VOUT directly is
used as reference for all internal units of the driver, especially for motor current control. For best
performance, the power supply should have low ripple to give a precise and stable supply at 5VOUT
pin with remaining ripple well below 5 mV. Some switching regulators have a higher remaining
ripple, or different loads on the supply may cause lower frequency ripple. In this case, increase
capacity attached to 5VOUT. In case the external supply voltage has poor stability or low frequency
ripple, this would affect the precision of the motor current regulation as well as add chopper noise.

5V Voltage

regulator

+5V

5VOUT

VSA

4.7µ

VCC

470n

10R

Well-regulated, stable

supply, better than +-5%

Figure 4.4 Using an external 5V supply to bypass internal regulator

4.5 5V Only Supply

VCC_IO

TMC2100

Step&Dir input

with microPlyer

STEP

DIR

5V Voltage

regulator

charge pump

22n
63V

100n

16V

CLK_IN

+V

IO

GNDP

GNDA

TST_MODE

DIE PAD

opt. ext. clock

12-16MHz

3.3V or 5V

I/O voltage

100n

Sequencer

Full Bridge A

Full Bridge B

+5V

VS

stepper
motor

N

S

OA1

OA2

OB1

OB2

Driver

100n

BRB

100µF

CPI

CPO

BRA

R

SA

Use low inductivity SMD

type, e.g. 1206, 0.5W

R

SB

100n

VCP

DAC Reference

AIN_IREF

IREF

Use low inductivity SMD

type, e.g. 1206, 0.5W

Status out

(open drain)

Configuration

interface

with TRISTATE

detection

CFG0

CFG1

CFG3

CFG2

ERROR

INDES

TRISTATE configuration

(GND, VCC_IO or open)

Index pulse

Driver error

CFG4

CFG5

DRV_ENN_CFG6

Opt. driver

enable input

GNDD

B.Dwersteg, ©

TRINAMIC 2014

GNDD

leave open

+5V

5VOUT

VSA

4.7µ

VCC

470n

Figure 4.5 5V only operation

While the standard application circuit is limited to roughly 5.5 V lower supply voltage, a 5 V only
application lets the IC run from a normal 5 V +/-5% supply. In this application, linear regulator drop
must be minimized. Therefore, the major 5 V load is removed by supplying VCC directly from the
external supply. In order to keep supply ripple away from the analog voltage reference, 5VOUT should
have an own filtering capacity and the 5VOUT pin does not become bridged to the 5V supply.

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4.6 High Motor Current

When operating at a high motor current, the driver power dissipation due to MOSFET switch on­resistance significantly heats up the driver. This power dissipation will significantly heat up the PCB
cooling infrastructure, if operated at an increased duty cycle. This in turn leads to a further increase of
driver temperature. An increase of temperature by about 100 °C increases MOSFET resistance by
roughly 50%. This is a typical behavior of MOSFET switches. Therefore, under high duty cycle, high
load conditions, thermal characteristics have to be carefully taken into account, especially when
increased environment temperatures are to be supported. Refer the thermal characteristics and the
layout hints for more information. As a thumb rule, thermal properties of the PCB design become
critical for the tiny QFN-36 package at or above about 1000 mA RMS motor current for increased
periods of time. Keep in mind that resistive power dissipation raises with the square of the motor
current. On the other hand, this means that a small reduction of motor current significantly saves heat
dissipation and energy.

An effect which might be perceived at medium motor velocities and motor sine wave peak currents
above roughly 1.2 A peak is slight sine distortion of the current wave when using SpreadCycle. It
results from an increasing negative impact of parasitic internal diode conduction, which in turn
negatively influences the duration of the fast decay cycle of the SpreadCycle chopper. This is, because
the current measurement does not see the full coil current during this phase of the sine wave,
because an increasing part of the current flows directly from the power MOSFETs’ drain to GND and
does not flow through the sense resistor. This effect with most motors does not negatively influence
the smoothness of operation, as it does not impact the critical current zero transition. It does not
occur with StealthChop.

4.6.1 Reduce Linear Regulator Power Dissipation

When operating at high supply voltages, as a first step the power dissipation of the integrated 5V
linear regulator can be reduced, e.g. by using an external 5V source for supply. This will reduce overall
heating. It is advised to reduce motor stand still current in order to decrease overall power
dissipation. If applicable, also use coolStep. A decreased clock frequency will reduce power dissipation
of the internal logic. Further a decreased clock frequency also reduces power dissipation.

4.6.2 Operation near to / above 2A Peak Current

The driver can deliver up to 2.5 A motor peak current. Considering thermal characteristics, this only is
possible in duty cycle limited operation. When a peak current up to 2.5 A is to be driven, the driver
chip temperature is to be kept at a maximum of 105 °C. Linearly derate the design peak temperature
from 125 °C to 105 °C in the range 2 A to 2.5 A output current (see Figure 4.6). Exceeding this may lead
to triggering the short circuit detection.

Die

Temperature

Peak coil

current

105°C

125°C

2A

Opearation not recommended

for increased periods of time

2.5A1.75A

115°C

135°C

1.5A

Limit by lower limit of
overtemperature threshold

Specified operational
range for max. 125°C

Derating

for >2A

High temperature

range

Current

limitation

2.25A

Figure 4.6 Derating of maximum sine wave peak current at increased die temperature

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4.7 Driver Protection and EME Circuitry

Some applications have to cope with ESD events caused by motor operation or external influence.
Despite ESD circuitry within the driver chips, ESD events occurring during operation can cause a reset
or even a destruction of the motor driver, depending on their energy. Especially plastic housings and
belt drive systems tend to cause ESD events of several kV. It is best practice to avoid ESD events by
attaching all conductive parts, especially the motors themselves to PCB ground, or to apply electrically
conductive plastic parts. In addition, the driver can be protected up to a certain degree against ESD
events or live plugging / pulling the motor, which also causes high voltages and high currents into
the motor connector terminals. A simple scheme uses capacitors at the driver outputs to reduce the
dV/dt caused by ESD events. Larger capacitors will bring more benefit concerning ESD suppression,
but cause additional current flow in each chopper cycle, and thus increase driver power dissipation,
especially at high supply voltages. The values shown are example values – they might be varied
between 100pF and 1nF. The capacitors also dampen high frequency noise injected from digital parts
of the application PCB circuitry and thus reduce electromagnetic emission. A more elaborate scheme
uses LC filters to de-couple the driver outputs from the motor connector. Varistors in between of the
coil terminals eliminate coil overvoltage caused by live plugging. Optionally protect all outputs by a
varistor against ESD voltage.

Full Bridge A

Full Bridge B

stepper
motor

N

S

OA1

OA2

OB1

OB2

Driver

470pF
100V

470pF
100V

470pF
100V

470pF
100V

Full Bridge A

Full Bridge B

stepper
motor

N

S

OA1

OA2

OB1

OB2

Driver

470pF
100V

470pF
100V

50Ohm @

100MHz

50Ohm @

100MHz

50Ohm @

100MHz

50Ohm @

100MHz

V1

V2

Fit varistors to supply voltage

rating. SMD inductivities

conduct full motor coil

current.

470pF
100V

470pF
100V

Varistors V1 and V2 protect
against inductive motor coil
overvoltage.

V1A, V1B, V2A, V2B:
Optional position for varistors
in case of heavy ESD events.

BRB

R

SA

BRA

100nF
16V

R

SB

100nF
16V

V1A

V1B

V2A

V2B

Figure 4.7 Simple ESD enhancement and more elaborate motor output protection