Trinamic TMC5130-EVAL User Manual

in system for chip

EVAL with

TMC5130-EVAL F

Step/Dir interface with microstep

load dependent current

stealthChop™ for extremely quiet

precision chopper

Passive breaking and freewheeling

EVALUATION FOR ICs

EVALUATION BOARD

Hardware Version V1.00

TMC5130-EVAL EVALUATION BOARD MANUAL

DESCRIPTION

The TMC5130-EVAL is designed for evaluating all features
of the TMC5130A-TA. The evaluation board is part of
TRINAMICs new user-friendly plug­evaluation. Just connect the TMC5130­STARTRAMPE, the associated base board. Therefore, use
the dedicated connector board, called ESELSBRÜCKE.
ESELSBRÜCKE offers test points for every connector pin.

EATURES

Single wire interface to CPU
SPI interface to CPU

interpolation microPlyer™
Power connector
Motor connector
Retrofit option for encoder and
reference switch connectors
Multi-pin connector to base board
Multiple test points

TMCL-IDE 3.0 SOFTWARE

TMCL-IDE 3.0 software allowing access
to all registers
Graphical view of position counter and
motor velocity
Additional tools for special features

TMC5130 MAIN CHARACTERISTICS

2-phase bipolar stepper motors
Drive capability up to 2A coil current
Motion controller / sixPoint™
Voltage range 4.75… 46V DC
SPI & single wire UART
Dual ABN encoder interface
2x reference switch input
256 microsteps per full step
Full protection & diagnostics
dcStep™ load dependent speed control
stallGuard2™ high precision sensorless
motor load detection
coolStep™
control for energy savings up to 75%

operation and smooth motion
spreadCycle™ high­for best current sine wave form and zero
crossing with additional chopSync2™
Integrated current sense option

ramp

TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany

mode

Small Size 9x9mm2 TQFP48 package

TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 2

Load
[Nm]

stallGuard2

Initial stallGuard2
(SG) value: 100%

Max. load

stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.

Motor stalls

0

0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

0 50 100 150 200 250 300 350

Efficiency

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50% torque reserve

Classic operation area

with safety margin

torque

velocity [RPM]

dcStep operation - no step loss can occur

additional flywheel mass torque reserve

microstep

operation

0

M

NOM1

M

MAX

VDCMIN

VMAX

M

NOM

: Nominal torque required by application

M

MAX

: Motor pull-out torque at v=0

application area

max

. motor torque

safety margin

dcStep extended

Safety margin:

Classical application operation area is limited by a certain
percentage of motor pull-out torque

M

NOM2

TRINAMICS UNIQUE FEATURES

stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the

coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range
of load, velocity, and current settings.

coolStep™ coolStep is an automatic current scaling based on the load measurement via stallGuard2

adapting the required current to the load. Energy consumption can be reduced by as
much as 75%. coolStep allows substantial energy savings, especially for motors which
see varying loads or operate at a high duty cycle. Even a constant-load application allows
significant energy savings because coolStep automatically enables torque reserve when
required.

dcStep™ dcStep is an automatic commutation mode for the stepper motor. It allows the stepper

to run with its nominal velocity taken from the ramp generator as long as it can cope
with the load. In case the motor becomes overloaded, it slows down to a velocity, where
the motor can still drive the load. This way, the stepper motor never stalls and can drive
heavy loads as fast as possible.

www.trinamic.com

TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 3

two phase motor

Order Codes

The TMC5130-EVAL is a controller/driver board. It is part of the TRINAMICs evaluation board system. To
have a complete operational system, the evaluation board needs to be connected to a baseboard with
included microcontroller called STARTRAMPE. Therefore, use ESELSBRÜCKE, a special connector board with
test points.

Order codes Description Size of unit [mm2]

TMC5130-EVAL-KIT Evaluation board for TMC5130A-TA

controller/driver including STARTRAMPE and ESELSBRÜCKE

Table 1.1 Order Codes

Note

STARTRAMPE and ESELSBRÜCKE are baseboard and connector board designed for universal use within
TRINAMICs plug-in evaluation system. Both can be used in combination with other EVAL boards (designed
to suit to the system).

12.6 x 8.5

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 4

Table of Contents

1 Set-up and Features .................................................................................................................................................... 5

2 TMC5130-EVAL-KIT Dimensions................................................................................................................................. 7

2.1 Dimensions ........................................................................................................................................................... 7

2.1.1 Dimensions of TM5130-EVAL and STARTRAMPE ................................................................................... 7

2.1.2 Dimensions of ESELSBRÜCKE ..................................................................................................................... 7

3 Evaluation Kit Connectors .......................................................................................................................................... 8

3.1 TMC5130-EVAL Connectors and Test Points ................................................................................................. 8

3.1.1 Power Connector ........................................................................................................................................... 8

3.1.2 Motor Connector ............................................................................................................................................ 9

3.1.3 Encoder Connector ........................................................................................................................................ 9

3.1.4 Reference Switch Connector ...................................................................................................................... 9

3.1.5 Test Points (in addition to ESELSBRÜCKE) ............................................................................................. 9

3.2 ESELSBRÜCKE: SPI Interface, I/Os, and Test Points ................................................................................. 10

3.3 STARTRAMPE: Connectors on the Base Board ........................................................................................... 11

3.3.1 USB Connector ............................................................................................................................................. 11

3.3.2 RS232 Connector (not soldered) ............................................................................................................. 12

4 System Status LEDs ................................................................................................................................................... 12

5 Operational Ratings of the TMC5130-EVAL-KIT .................................................................................................. 13

6 Getting Started ............................................................................................................................................................ 14

6.1 Starting up ........................................................................................................................................................... 15

6.1.1 Checking the Status of Startrampe and TMC5130-EVAL ................................................................... 16

6.2 Velocity Mode ..................................................................................................................................................... 17

6.3 Positioning Mode .............................................................................................................................................. 18

6.4 Direct Mode Dialogue ....................................................................................................................................... 19

6.5 coolStep and stallGuard2 ................................................................................................................................ 20

6.6 TMCL Creator ....................................................................................................................................................... 20

7 Life Support Policy ..................................................................................................................................................... 21

8 Revision History .......................................................................................................................................................... 22

8.1 Firmware Revision ............................................................................................................................................ 22

8.2 Document Revision ........................................................................................................................................... 22

9 References .................................................................................................................................................................... 22

www.trinamic.com

TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 5

STARTRAMPE

TMC Evaluation Platform

TMC

5130-EVAL

Evaluation Board

USB

Power

Motor

o
o
o
o

o
o
o
o
o

o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o

o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o

ESELSBRÜCKE

Multi-pin

Connector

GND, R, L, +5V

N, B

, A,

GND, +

5V

1 Set-up and Features

The TMC5130-EVAL is part of an evaluation board system. Offering a very convenient handling for chip
evaluation, TRINAMIC developed a plug-in system which consists of three parts: STARTRAMPE,
ESELSBRÜCKE, and TMC5130-EVAL.

STARTRAMPE

STARTRAMPE is a baseboard. It is equipped with a STM32F ARM Cortex-M3 microcontroller (and EEPROM)
and controls the TMC5130. The FLASH memory of the microcontroller holds a program for configuration
of the TMC5130. Further, STARTRAMPE controls the communication with the PC via USB or RS232 interface.
For connecting STARTRAMPE to the PC, use the mini-USB interface connector on the board. Additionally,
it is possible to communicate via the RS232 interface. Therefore, a connector can be soldered with little
effort.

ESELSBRÜCKE

This small board forwards signals from STARTRAMPE to TMC5130-EVAL. ESELSBRÜCKE provides test points
for several measurements.

TMC5130-EVAL

This evaluation board is designed for testing all features of the TMC5130. The TMC5130 motion controller
and driver IC is an intelligent power component interfacing between the CPU and a stepper motor. Several
motion commands can be easily executed. The TMC5130 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 TMC5130 uses dcStep, coolStep, and stallGuard2 automatically in order to optimize every motor
movement.

Using the TMCL-IDE V3.0 software tool, all features of the TMC5130A-TA can be tried out.

Figure 1.1 TMC5130-EVAL plug-in system set-up

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 6

On the fly alteration of motor parameters (e.g. position,

Integrated Motor Driver

Electrical Data

Interfaces

Motor Type

Safety Features
Software

-

TMC5130-EVAL FEATURES

Integrated Motion Controller

- Linear six-point ramp generator.

- Motion profile calculation in real-time.

-

velocity, acceleration).

- Up to 256 microsteps per full step.

- High-efficient operation, low power dissipation.

- Dynamic current control.

- stallGuard2 feature for stall detection.

- coolStep feature for reduced power consumption and heat

dissipation.

- dcStep feature for high velocity drive (related to the motor

load).

- stealthChop chopper for noiseless operation and smooth

motion.

- Integrated current sense option.

- Passive breaking and freewheeling mode.

- spreadCycle chopper or classic chopper.

- Motor current: up to 2x 1.1 A RMS nominal motor current.

- Supply voltage: +4.5V… +20V DC operating voltage.

- USB (type B)

- RS232 (connector can be retrofitted)

- Native SPI™ of the TMC5130

- Encoder interface

- Reference switch inputs

- Access to all signals of the TMC5130

- Two phase bipolar stepper motor

- Overcurrent

- Short to GND

- Undervoltage protection

- Integrated diagnostics

- PC software allowing access to all registers.

- Graphical view of position counter and motor velocity.

Special tools for unique features.

www.trinamic.com

TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 7

55

85

4

4

38

61

2 TMC5130-EVAL-KIT Dimensions

2.1 Dimensions

2.1.1 Dimensions of TM5130-EVAL and STARTRAMPE

Board dimensions of both modules are 85mm x 55mm. There are four mounting holes suitable for M3
screws.

TMC5130-EVAL maximum component height (above PCB level) without mating connectors: 12mm.
STARTRAMPE maximum component height (above PCB level) without mating connectors: 11mm.

Figure 2.1 Dimensions: TMC5130-EVAL and STARTRAMPE

2.1.2 Dimensions of ESELSBRÜCKE

Board dimensions are 61mm x 38mm. Maximum component height (above PCB level) without mating
connectors is 9.4mm.

Figure 2.2 Dimensions of ESELSBRÜCKE

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 8

2, screw type terminal block,

mm / 0.197
inches, wire entry parallel to plug
direction

RIA 169-04, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug

pol., 2.54mm pitch, pluggable

Reference
switches

Standard male 4 pin connector, one row,

2.54mm pitch

Standard female 4 pin connector, one
row, 2.54mm pitch

Standard male 5 pin connector, one row,

2.54mm pitch

Standard female 4 pin connector, one
row, 2.54mm pitch

3 Evaluation Kit Connectors

3.1 TMC5130-EVAL Connectors and Test Points

Figure 3.1 Connectors of TMC5130-EVAL

CONNECTORS OF TMC5130-EVAL
Label (Key) Connector type Mating connector type

RIA 349-

Power

Motor

SPI and IOs

Encoder

Table 3.1 Connectors

RIA 330-02, 2 pol., 5mm pitch, shrouded
header

RIA 182-04, 4 pol., 3.5mm pitch, shrouded
header

2 x 22
female connector

pluggable, centerline 5

direction
2 x 22 pol., 2.54mm pitch, pluggable male
connector

3.1.1 Power Connector

Pin Label Description

1 GND Power supply and signal ground
2 +VM Operational voltage: +7… +46V DC

Table 3.2 Power connector 2

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 9

1

O1B1

Motor coil B

4

O1A2

Motor coil A

1

+5V

+5V power supply

4

ENCB

5

ENCN

Zero channel for incremental encoder

3

REF_R

4

GND

System and module ground

R_SENSE1

Sense resistor motor coil A

R_SENSE2

Sense resistor motor coil B

GND

Signal and system ground

(analog current scaling using microcontroller PWM).

REFL_STEP

Left reference input or STEP input (depends on settings of SD_MODE and SPI_MODE
bits). Note that this test point is directly connected to the TMC5130.

REFR_DIR

Right reference input or DIR input (depends on settings of SD_MODE and SPI_MODE
bits). Note that this test point is directly connected to the TMC5130.

GND STEP DIR

3.1.2 Motor Connector

Pin Label Description

2 O1B2 Motor coil B
3 O1A1 Motor coil A

Table 3.3 Motor connector

3.1.3 Encoder Connector

Pin Label Description

2 GND System and module ground
3 ENCA

Table 3.4 Encoder connector

Input A for incremental encoder
Input B for incremental encoder

3.1.4 Reference Switch Connector

Pin Label Description

1 +5V +5V power supply
2 REF_L Left reference switch

Right reference switch

Tabelle 3.1 Reference switch connector

3.1.5 Test Points (in addition to ESELSBRÜCKE)

Apart from ESELSBRÜCKE the evaluation system provides test points on the TMC5130-EVAL.

TEST POINTS ON TMC5130-EVAL

Label Description

AIN_REF Analog reference voltage of AIN_REF_SW (internal current sensing) or of AIN_REF_PWM

Figure 3.2 Test points on TMC5130-EVAL

Figure 3.3 Test points for GND, REFL_STEP, and REFR_DIR

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 10

STARTRAMPE: connected to µC (VM_MEAS) for voltage
measurement.

2

GND

GND

System and module ground.

3

GND

GND

System and module ground.

are used. Both capture 4

5

+5V_USB

VCC_IO

Used to generate 3.3V (VCCIO).

6

ID_CH0

ID_CH0

ID channel 0. Used for automatic module detection.

7

ID_CH1

-

STARTRAMPE: ID_CH1. Not used with TMC5130-EVAL.

Enable (not) input for driver (tie to GND). Switches off all motor

9

DIO1

ENCN_DCO

Encoder N-channel or dcStep ready output when SD_MODE=1.

or dcStep gating input for axis

11

DIO3

ENCB_DCEN

Encoder B-channel or dcStep enable input when SD_MODE=1.

13

DIO5

-

14

AIN0

-

15

AIN1

-

16

AIN2

-

18

DIO7

REF_R

Right reference switch signal

19

DIO8

-

20

DIO9

-

sensing (sense resistors bridged).

22

DIO11

AIN_IREF_PWM

Analog scaling of motor current using microcontroller PWM.

Avoid displacing ESELSBRÜCKE when operating!

3.2 ESELSBRÜCKE: SPI Interface, I/Os, and Test Points

The multi-pin connector ESELSBRÜCKE is used to connect STARTRAMPE and TMC5130-EVAL. Pin connections
include the SPI interface, supply voltages, and IOs like driver enable (DRV_ENN), position compare (PP),
interrupts (INT), and status flags. ESELSBRÜCKE offers test points for several measurements.

Otherwise STARTRAMPE and/or the TMC5130-EVAL
can be damaged!

Figure 3.4 ESELSBRÜCKE: pin assignment

Pin

1 +VM +VM

4 ID_CLK ID_CLK

8 DIO0 DRV_ENN

10 DIO2 ENCA_DCIN

12 DIO4 -

Label

ESELSBRÜCKE

Label

TMC5130-EVAL

Description

Operational voltage: +4.5… 20V DC.

STARTRAMPE: clock pulse test point.
Timer mode 3 (general purpose) and timer mode 8 (advanced
control) of the microcontroller
channels.

outputs (set high for disable).

Encoder A-channel
synchronization when SD_MODE=1.

STARTRAMPE: analogue inputs. Not used with TMC5130-EVAL.

17 DIO6 REF_L Left reference switch signal

STARTRAMPE: digital IOs. Not used with TMC5130-EVAL.

21 DIO10 AIN_IREF_SW

23 CLK16 CLK CLK input 16MHz.

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Optional current reference when using TMC5130 internal current

TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 11

25

SPI2_CSN1

-

26

SPI0_SCN2

-

27

SPI2_SCK

-

28

SPI2_SDO

-

Chip select input of SPI interface, programmable IO in UART

Data output of SPI interface (Tristate, enabled with CSN=0),

used as digital IOs. Not used with TMC5130-EVAL.

35

DIO13

-

Single wire interface selection input. Tie high for use of single
wire interface.

Single wire IO (positive) when SWSEL=1, otherwise diagnostics

41

DIO19

42

+5V…VM

-

+5V supply. Only available when VM applied, 700mA.

43

GND

GND

System and module ground

44

GND

GND

System and module ground

2 x 22 pol., 2.54mm pitch, pluggable

2

USB-

Differential USB bus

Pin

24 SPI2_CSN0 -

29 SPI2_SDI -

Label

ESELSBRÜCKE

Label

TMC5130-EVAL

Description

STARTRAMPE: SPI2 with three CS lines for driver module. Can
be used as digital IOs. Not used with TMC5130-EVAL.

30 SPI1_CSN CSN/IO0

31 SPI1_SCK SCK/IO1

32 SPI1_SDI SDI/IO2 Data input of SPI interface, programmable IO in UART mode

33 SPI1_SDO SDO/IO3

34 DIO12 -

36 DIO14 SWSEL

37 DIO15 SWP_DIAG1

38 DIO16 SWN_DIAG0

39 DIO17
40 DIO18

Table 3.5 ESELSBRÜCKE pinning

mode
Serial clock input of SPI interface, programmable IO in UART
mode

programmable IO in UART mode

STARTRAMPE: reference switches and end switches. Can be

output DIAG1. Interrupt.
Single wire IO (negative) when SWSEL=1, otherwise diagnostics
output DIAG0. Interrupt or STEP output in motion controller
mode.

STARTRAMPE: reference switches and end switches. Can be
used as digital IOs. Not used with TMC5130-EVAL.

3.3 STARTRAMPE: Connectors on the Base Board

Please find information about the SPI interface and I/O connector ESELBRÜCKE in chapter 3.1.5. Here, only
the interface connectors are mentioned.

Label (Key) Connector type Mating connector type

USB (X1) Mini USB, type B, 5 pol., female
SPI and IOs
(Interface)
RS232
(Con_RS232)

Table 3.6 Connectors on the base board

female connector

not soldered

3.3.1 USB Connector

Pin Label Description

1 +5V

3 USB+ Differential USB bus
4 GND System and module ground
5 GND System and module ground

Table 3.7 USB connector

+5V supply from host

Mini USB, type B, 5 pol., male
2 x 22 pol., 2.54mm pitch, pluggable male
connector

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 12

1

GND

RS232 signal and system ground

Error LED

red

Lights up in case of dysfunction, e.g., if VM is not available.

3.3.2 RS232 Connector (not soldered)

Pin Label Description

2 RXD Received data line
3 TXD Transmitted data line

Table 3.8 RS232 connector

4 System Status LEDs

STARTRAMPE has two LEDs. The green STATUS LED flashes constantly per default and indicates normal
operation of the board. The red ERROR LED only lights up if an error occurred.

Figure 4.1 LEDs

LED

S OF TMC5130-EVAL

Label Color Description

Status LED green

Table 4.1 LEDs

Heartbeat of the module. Flashes constantly per default.

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 13

for external

Environment temperature at rated

5 Operational Ratings of the TMC5130-EVAL-KIT

The operational ratings shown below should be used as design values. The maximum power supply
current depends on the used motors and the supply voltage.

Do not exceed the maximum values during operation! Otherwise the TMC5130 will be damaged!

Symbol Parameter Min Typ Max Unit

VM Power supply voltage for operation 7 24 46 V

VCCIO

+5V Output of internal switch regulator 5 5.1 V

Digital power supply (
microcontroller)

3.3 V

I

SUPPLY

T

ENV

Table 5.1 General operational ratings of the module

Power supply current 0.5… 1.5 2 A

current (no forced cooling required)

20°C °C

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 14

6 Getting Started

YOU NEED

- TMC5130-EVAL

- STARTRAMPE

- ESELSBRÜCKE

- Stepper motor (e.g. QSH4218)

- USB interface

- Nominal supply voltage +24V DC (+7… +46V DC)

- TMCL-IDE V3.0 and PC

- Cables for interface, motors, and power

PRECAUTIONS

- Do not mix up connections or short-circuit pins.

- Avoid bounding I/O wires with motor wires.

- Do not exceed the maximum power supply of

+46V DC!

- Do not connect or disconnect the motor while

powered!

- START WITH POWER SUPPLY OFF!

Figure 6.1 Getting started

USB BUS POWERED MODE FOR CONFIGURATION

The TMC5130-EVAL-KIT supports both, USB self powered operation (when an external power is supplied
via the power supply connector on the TMC5130-EVAL) and USB bus powered operation (only the USB
interface is connected to the PC). On-board digital core logic will be powered via USB in case no other
supply is connected. The digital core logic comprehends the microcontroller itself and also the EEPROM.
The USB bus powered operation mode has been implemented to enable configuration, parameter settings,
read-outs, etc. by just connecting an USB cable between module and host PC.
Motor movements are not possible in USB bus powered operation mode. Therefore, connect the power
connector and change to USB self powered operation mode.

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 15

Further, the

motion controller and

, a
window pops up
immediately after

dialogue offers the

settings or to reset the

6.1 Starting up

1. Download the TMCL-IDE 3.0 from www.trinamic.com and install it. Afterwards, the TMCL-IDE opens

up automatically.

2. Connect the USB interface. Now, the software guides you through the installation of a virtual COM

port for the USB interface.

It is necessary to allow software access. Do not interrupt the process. Otherwise the automatic setup
is not possible.

If there are problems related to communication, connect the USB interface directly to your PC
(without a USB-hub). In case the following error window appears on the screen, just unplug
STARTRAMPE and plug the USB connection again. Thereafter, everything should work.

Note:
Usually, the virtual COM port becomes installed automatically.
If the automatic device detection does not work for any
reason, e.g., a problem with the windows software, install it
manually.

Figure 6.2 Error window

The TMCL-IDE includes a
dialogue for diagnostic
tasks.
dialogue provides an
overview of the connected

driver chips. Thus

connecting the evaluation
kit the first time. The
window shows the actual
status of the connections.
The second tab of the

possibility to choose basic

module to factory defaults.

3. The TMCL-IDE 3.0 needs room to show all important information and to provide a good overview.

Therefore, arrange the main window related to your needs. We recommend using full screen. For
evaluation boards it is essential to have access to the registers. Therefore open up the Register
Browser (left side). For a better view click top right on the normal icon to get a big register browser
window.

Click and now click

Now, choose a maximum current setting for your motor (IRUN). For QSH4218, e.g., an absolute
maximum setting of 22 is suitable. For a cooler QSH4218 motor choose 20. For setting the maximum
current to a desired value, choose IRUN in the All Registers area and change the value on the right
side of the window (refer to Figure 6.4). The default settings of the module are mean values which
should be adjusted in relation to the connected motor.

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Figure 6.3 Startrampe dialogue

TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 16

Here, information about each chosen
parameter is given.

Here, new values can be set for each
chosen parameter.

Here is an overview of all

parameters. Choose one and all

necessary information appears on

the right side of the window.

Here, connections
are indicated and
modes of
operation can be
chosen.

Figure 6.4 Main window with registers dialogue. The screenshot shows how to change IRUN.

4. After selecting a value for IRUN, connect the motor and the power supply. For QSH4218 24V are

recommended. Turn power ON. The green LED for the heartbeat (STATUS) flashes and the red LED
for ERROR is off. The motor is powered but in standstill now. In case the ERROR LED glows, check
your power supply again.

6.1.1 Checking the Status of Startrampe and TMC5130-EVAL

In case it is desired to check if the communication is established, the driver enabled, and the software
correctly installed, click on Startrampe respectively TMC5130 on the left side of the main window.
Thereafter, the related small dialogues will pop up and provide information.

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 17

Note

In order to achieve good settings it is necessary to work using the TMC5130 datasheet. The register
browser of the TMCL-IDE offers helpful information about any parameter which is selected. But the list is
alphabetically. Beyond that, the datasheet explains concepts and ideas which are basically for
understanding how the registers are linked together and which setting will fit for which kind of
application.

For getting more familiar with the evaluation kit in the beginning of your examinations, drive the motor
using velocity mode and/or positioning mode first.

Beyond this, the direct mode function can be used. This way, TMCL commands can be sent to the
evaluation board system. The direct mode dialogue is designed for TRINAMICs board level solutions and
not mainly for evaluation board systems.

6.2 Velocity Mode

For moving the motor in velocity mode set two ticks on the left side of the main window to open the
velocity mode dialogue and the velocity graph. Thereafter, choose a target velocity and an acceleration
value and click on one arrow (increasing the position counter or decreasing it) for sending the command
to the evaluation system.

Please note that you get a better value report on the velocity graph if the register browser has been
closed before.

Figure 6.5 Driving the motor in velocity mode

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6.3 Positioning Mode

For moving the motor in positioning mode, set two ticks on the left side of the main window in order
to open the positioning mode dialogue and the position graph. Thereafter choose settings for

- maximum velocity,

- acceleration,

- deceleration,

- start velocity (can be 0),

- acceleration A1,

- velocity V1,

- deceleration D1, and

- stop velocity (not less than 1)

Please note that the default deceleration D1 value has to be changed before moving because it is too
high.

Figure 6.6 Driving the motor in positioning mode

The motor can be driven relatively or absolutely to the target position or to the actual position. If the
desired position has been reached the motor stops using the deceleration parameters.

Figure 6.7 Basis of movement

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6.4 Direct Mode Dialogue

For driving the motor in direct mode, set a tick on the left side of the main window. Now, the direct
mode dialogue window pops up. The direct mode is used to issue commands and create complete
programs. The handling of these TMCL-IDE commands is easy, but for evaluating the TMC5130 the other
modes of operation and the direct register access via the register browser may be better, because the
register access is not visible in direct mode.

Figure 6.8 How to use direct mode.

Figure 6.9 Selecting a command in direct mode

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6.5 coolStep and stallGuard2

This dialogue can be used to set stallGuard2 and coolStep parameters and to read out actual motor
current values as well as the stallGuard values. Choose a stallGuard threshold to use stallGuard2. With a
tick at filter enable reading out the values gets more comfortable. The dialogue offers three tabs for
stallGuard2, coolStep and a display of TMCL commands which can be copied to the TMCL creator.

Figure 6.10 coolStep and stallGuard2 dialogue

6.6 TMCL Creator

The TMCL creator is a tool for writing programs which can be loaded into the module in order to drive
autonomously afterwards.

Figure 6.11 TMCL creator

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7 Life Support Policy

TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent of
TRINAMIC Motion Control GmbH & Co. KG.

Life support systems are equipment intended to support
or sustain life, and whose failure to perform, when
properly used in accordance with instructions provided,
can be reasonably expected to result in personal injury
or death.

© TRINAMIC Motion Control GmbH & Co. KG 2014-2015

Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result from its use.

Specifications are subject to change without notice.

All trademarks used are property of their respective
owners.

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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 22

Version

Date

Author

Description

0.92

2014-DEC-04

SD

Initial version

8 Revision History

8.1 Firmware Revision

Version Date Author Description

3.0 2014-NOV-07 OK, MJ, TE TMCL-IDE 3.0 ßVersion

Table 8.1 Firmware revision

8.2 Document Revision

SD – Sonja Dwersteg

Table 8.2 Document revision

9 References

[TMC5130A-TA] TMC5130A-TA Datasheet (please refer to http://www.trinamic.com

)

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