TMC2209 Stepper Motor Driver IC

Stepper Motors are the workhorses of a number of industrial, robotic in addition to shopper/workplace electronics. It rotates in ‘steps’ and helps you obtain a exact positioning of the motor’s shaft. They’re additionally brushless motors however in contrast to BLDC Motors, the drive electronics for a stepper motor could be very easy. Talking of drives, the TMC2209 is a well-liked Stepper Motor Driver IC. You could find this driver in a number of DIY Initiatives, robots and even 3D Printers.

So, on this information, we’ll take nearer have a look at the TMC2209 IC, perceive a few of its options and specs, pin diagram and outline and lots of extra. If you’re a newbie attempting to work with TMC2209 (or different related Stepper Motor Drivers), then this information will certainly assist you getting aware of the IC.

What’s TMC2209?

Trinamic Movement Management is a German firm that develops motor driver ICs, encoders and different motor drive associated merchandise. Trinamic’s TMC2209 is 2-phase Stepper Motor Driver IC. It has a number of proprietary options built-in into the silicon that ensures most effectivity, noiseless operation and gives the perfect torque values.

Relating to the drive currents, the TMC2209 can deal with motor currents as much as 2A (RMS) or 2.8A (peak) per coil. You may interface TMC2209 with a microcontroller by means of UART and supply the management and tuning instructions. There may be additionally an on-chip OTP reminiscence to retailer the tuning values.


It helps a variety of stepper motor voltages (4.75V to 29V) and the working voltage is 5V. Mix this with the truth that noiseless operation is its major function, this low-cost IC is a severe contender to a number of battery-operated functions. The TMC2209 IC is accessible in a 28-pad QFN (Quad Flat with No-Leads) Bundle.

TMC2209 Specs

Here’s a fast listing of some vital options and specs of TMC2209.

  • Two-Part Stepper Motor Driver IC
  • 28-Pad QFN Bundle
  • Peak Coil Present is 2.8A and Coil RMS Present is 2A
  • Motor Provide Voltage is 4.75V to 29V
  • IC Working Voltage is 5V
  • 8, 16, 32 or 64 microsteps with STEP/DIR Interface
  • Each Low-Facet and Excessive-Facet RDSON values are 170mΩ
  • On-chip Oscillator Frequency is 12MHz
  • Most Exterior Clock Frequency is 16MHz
  • Microcontroller Communication Interface: UART
  • Particular Options: MicroPlyer, StealthChop2, SpreadCycle, StallGuard and CoolStep
  • Appropriate Functions: 3DPrinters, Desktop Printers, CCTV, HVAC, House Automation, Battery Operated Units

Particular Options

There are some particular and trademarked options built-in within the silicon of TMC2209 IC that assist in attaining wonderful effectivity, reliability, precision and smoother operation. Here’s a temporary description of those options.

  • MicroPlyer: It’s a microstep interpolator that helps in a clean microstepping in 256 steps.
  • StealthChop2: A high-precision chopper algorithm for noise free operation.
  • SpreadCycle: It’s a high-precision cycle-by-cycle present management for quick present regulation and dynamic actions.
  • StallGuard: A Sensor much less warning mechanism for motor overloads.
  • CoolStep: Utilizing the StallGuard information, the CoolStep modifies the motor present to attain greatest effectivity with much less warmth.

Working Precept

The TMC2XX is a vital household of Stepper Motor Driver ICs from Trinamic and the TMC2209 is low-cost, cost-effective answer for noiseless and exact stepper motor operation. Within the following picture, you possibly can see the fundamental software block diagram of TMC2209 IC.

Utilizing just some management pins, you possibly can management the IC utilizing a microcontroller over UART. One vital setting is adjusting the step decision, for which you might have a alternative of 8, 16, 32 or 64 steps.

Its StealthChop2 expertise, a proprietary silent drive system allows you to have a noiseless operation. With MicroPlyer expertise, you possibly can obtain additional micro stepping as much as 256 steps.

Modes of Operation

The TMC2209 Stepper Motor Driver IC has three modes of operations. They’re:

  • Standalone STEP/DIR Driver Mode
  • Standalone STEP/DIR Driver Mode with OTP Pre-configuration
  • STEP/DIR Driver Mode with Full Diagnostics and Management

Within the Standalone STEP/DIR Driver Mode, a microcontroller is accountable for commanding the TMC2209 IC with correct STEP and DIR indicators. Within the second mode, you possibly can allow further choices utilizing the OTP Reminiscence (or retailer the configuration particulars within the microcontroller and cargo them throughout start-up).

Coming to the diagnostics mode, you possibly can unleash further diagnostics, scale back the step decision to 256, thermal administration and different options.

Pin Diagram and Description

As we talked about earlier, the TMC2209 Stepper Motor Driver IC is accessible in a 28-pad QFN package deal. The next picture exhibits the pin diagram of the IC.


We’ll now see the operate of every pin of the IC with the assistance of the next desk.

Pin Quantity Identify Pin Description
1 OB2 Output 2 for Motor Coil B
2 ENN Allow Not Enter (Lively LOW)
3, 18 GND Floor
4 CPO Cost Pump Capacitor Output
5 CPI Cost Pump Capacitor Enter
6 VCP Cost Pump Voltage
7 SPREAD Chopper Mode Choice (LOW – StealthChop, HIGH – SpreadCycle)
8 5VOUT Output of Inner 5V Regulator
9 MS1_AD0 Microstep Decision Configuration. 00 – 1/8, 01 – 1/32, 10 – 1/64, 11 – 1/16
10 MS2_AD1
11 DIAG Diagnostic and StallGuard Output
12 INDEX Configurable Index Output
13 CLK Clock Enter
14 PDN_UART Energy Down Not Management Enter (Lively LOW)
15 VCC_IO Digital Pins Provide Voltage 3.3V to 5V
16 STEP STEP Enter
17 VREF Analog Reference Voltage for Present Scaling
19 DIR DIR Enter
21 OA2 Output 2 for Motor Coil A
22, 28 VS Motor Provide Voltage
23 BRA Sense Resistor Connection for Coil A
24 OA1 Output 1 for Motor Coil A
26 OB1 Output 1 for Motor Coil B
27 BRB Sense Resistor Connection for Coil B

Pattern Circuits

Allow us to now see some pattern circuits involving TMC2209 Stepper Motor Driver IC. We’ll see three circuits together with respective exterior elements for these circuits.

Normal Utility Circuit

On this circuit, we use a minimal set of exterior elements. Two sense resistors RSA and RSB­ assist us in setting the person motor coil present. All the ability provide filtering capacitors have low ESR. You need to use the 5VOUT to provide the VCC_IO or use an exterior regulator.

Inner Sense Resistors

It can save you house and price by omitting exterior sense resistors and use inner present sensing. To set the reference present, you must use an exterior resistor on the VREF pin.

Circuit for 5V Provide

You need to use the next circuit to run the IC from a 5V provide and the motor provide is 4.7V to five.4V. To reduce the voltage drop of the linear regulator, we have now to make use of excessive capacitance filters. Additionally, we have now to bridge the inner 5V regulator (5VOUT) with the exterior energy provide utilizing a bridge resistor.


The TMC2209 is a highly regarded Stepper Motor Driver IC. You could find modules in a number of DIY Initiatives and the IC built-in into 3D Printers, house automation techniques and lots of extra. This can be a newbie’s information to TMC2209 IC with clarification of its options, specs, pins and their features. We additionally noticed some pattern software circuits.

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