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How to drive a stepper motor with your Arduino Mega using a TMC5130-EVAL
Only a few wires including an SPI port are required to control TMC5130-EVAL with your Arduino. Here are the few steps required to get started.
Preparation
If your Arduino is a 5V type you have to resolder one resistor on the TMC5130-EVAL from position R3 to R8. This sets the logic level of the TMC5130 to +5V. While by default the resistor is soldered to the “right-hand” position, you have to move it to the “left-hand” position for 5V operation.
Illustration 1 – Extract from TMC5130-EVAL schematic
Illustration 2 – Position of the logic level resistor on the TMC5130-EVAL board
Wiring
The wiring is very simple. You will need 8 jumper wires. To make the wiring more easy you can print out the TMC5130-EVAL_Pinning.pdf and cut out the template to mount it on the connector header of the TMC5130-EVAL (As seen on illustration 4). As a reference you can use the TMC5130-Eval_v15_01_Schematic.pdf. Here you’ll find the signals that are on each pin. The configuration is documented in the comment section of the Arduino code.
Illustration 3 – Pinheader of TMC5130-EVAL
Illustration 4 – TMC5130 wired up with Arduino Mega 2560
Cable colors of illustration 4
+5V –> red
GND –> blue
SDO –> yellow
SDI –> orange
SCK –> white
CSN –> grey
DRV_ENN –> black
CLK16 –> greenUsing the internal CLK of the TMC5130
This example uses an external CLK provided by the Arduino’s pin 11.
You can use the internal CLK of the TMC5130 by tying the CLK16 signal to GND.
Arduino Code
The Arduino Code below does not need any additional libraries. The SPI library comes with the Arduino IDE. The program initializes the TMC5130 and executes a simple move to position cycle. It will rotate a 200 full step motor 10 revolutions to the one and 10 revolutions to the other direction depending on the wiring of the stepper motor. Please use either the TMC5130 datasheet or the TMCL IDE as a reference for the different registers.
#include <SPI.h> #include "TMC5130_registers.h" /* The trinamic TMC5130 motor controller and driver operates through an * SPI interface. Each datagram is sent to the device as an address byte * followed by 4 data bytes. This is 40 bits (8 bit address and 32 bit word). * Each register is specified by a one byte (MSB) address: 0 for read, 1 for * write. The MSB is transmitted first on the rising edge of SCK. * * Arduino Pins Eval Board Pins * 51 MOSI 32 SPI1_SDI * 50 MISO 33 SPI1_SDO * 52 SCK 31 SPI1_SCK * 25 CS 30 SPI1_CSN * 17 DIO 8 DIO0 (DRV_ENN) * 11 DIO 23 CLK16 * GND 2 GND * +5V 5 +5V */ int chipCS = 25; const byte CLOCKOUT = 11; // const byte CLOCKOUT = 9; --> Uncomment for UNO, Duemilanove, etc... int enable = 17; void setup() { // put your setup code here, to run once: pinMode(chipCS,OUTPUT); pinMode(CLOCKOUT,OUTPUT); pinMode(enable, OUTPUT); digitalWrite(chipCS,HIGH); digitalWrite(enable,LOW); //set up Timer1 TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling OCR1A = 0; //output every cycle SPI.setBitOrder(MSBFIRST); SPI.setClockDivider(SPI_CLOCK_DIV8); SPI.setDataMode(SPI_MODE3); SPI.begin(); Serial.begin(9600); sendData(0x80,0x00000000); //GCONF sendData(0xEC,0x000101D5); //CHOPCONF: TOFF=5, HSTRT=5, HEND=3, TBL=2, CHM=0 (spreadcycle) sendData(0x90,0x00070603); //IHOLD_IRUN: IHOLD=3, IRUN=10 (max.current), IHOLDDELAY=6 sendData(0x91,0x0000000A); //TPOWERDOWN=10 sendData(0xF0,0x00000000); // PWMCONF //sendData(0xF0,0x000401C8); //PWM_CONF: AUTO=1, 2/1024 Fclk, Switch amp limit=200, grad=1 sendData(0xA4,0x000003E8); //A1=1000 sendData(0xA5,0x000186A0); //V1=100000 sendData(0xA6,0x0000C350); //AMAX=50000 sendData(0xA7,0x000186A0); //VMAX=100000 sendData(0xAA,0x00000578); //D1=1400 sendData(0xAB,0x0000000A); //VSTOP=10 sendData(0xA0,0x00000000); //RAMPMODE=0 sendData(0xA1,0x00000000); //XACTUAL=0 sendData(0xAD,0x00000000); //XTARGET=0 } void loop() { // put your main code here, to run repeatedly: sendData(0xAD,0x0007D000); //XTARGET=512000 | 10 revolutions with micro step = 256 delay(20000); sendData(0x21,0x00000000); sendData(0xAD,0x00000000); //XTARGET=0 delay(20000); sendData(0x21,0x00000000); } void sendData(unsigned long address, unsigned long datagram) { //TMC5130 takes 40 bit data: 8 address and 32 data delay(100); uint8_t stat; unsigned long i_datagram; digitalWrite(chipCS,LOW); delayMicroseconds(10); stat = SPI.transfer(address); i_datagram |= SPI.transfer((datagram >> 24) & 0xff); i_datagram <<= 8; i_datagram |= SPI.transfer((datagram >> 16) & 0xff); i_datagram <<= 8; i_datagram |= SPI.transfer((datagram >> 8) & 0xff); i_datagram <<= 8; i_datagram |= SPI.transfer((datagram) & 0xff); digitalWrite(chipCS,HIGH); Serial.print("Received: "); PrintHex40(stat, i_datagram); Serial.print("\n"); Serial.print(" from register: "); Serial.println(address,HEX); } void PrintHex40(uint8_t stat, uint32_t data) // prints 40-bit data in hex with leading zeroes { char tmp[16]; uint16_t LSB = data & 0xffff; uint16_t MSB = data >> 16; sprintf(tmp, "0x%.2X%.4X%.4X", stat, MSB, LSB); Serial.print(tmp); }Download
The Arduino and TMC5130 zip file includes the pinning template, the TMC5130-EVAL schematic and the Arduino project.
Related Pages
April 5, 2017 / Lars Jaskulski / 59
Trinamic spreadCycle™ & stealthChop™ technology for silent stepper motors explained How to drive a stepper motor with your Raspberry Pi 3/2 using a TMC5130-EVAL
59 thoughts on “How to drive a stepper motor with your Arduino Mega using a TMC5130-EVAL”
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The next guide will explain howto use your Raspberry Pi 2 or 3 to communicate with the TMC5130-EVAL and turn the motor with a certain speed in velocity mode by the end of this week.
Hi,
if I attempt to compile this code I get this error message.
Arduino: 1.8.2 (Windows 8.1), Board: “Arduino Due (Programming Port)”
C:\Users\iRES-PC\Downloads\TMC5130-EVAL\TMC5130-EVAL.ino: In function ‘void setup()’:
TMC5130-EVAL:34: error: ‘TCCR1A’ was not declared in this scope
TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match
^
In file included from C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/Arduino.h:44:0,
from sketch\TMC5130-EVAL.ino.cpp:1:
TMC5130-EVAL:34: error: ‘COM1A0’ was not declared in this scope
TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match
^
C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro ‘bit’
#define bit(b) (1UL << (b))
^
TMC5130-EVAL:35: error: 'TCCR1B' was not declared in this scope
TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling
^
In file included from C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/Arduino.h:44:0,
from sketch\TMC5130-EVAL.ino.cpp:1:
TMC5130-EVAL:35: error: 'WGM12' was not declared in this scope
TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling
^
C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro 'bit'
#define bit(b) (1UL << (b))
^
TMC5130-EVAL:35: error: 'CS10' was not declared in this scope
TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling
^
C:\Users\iRES-PC\AppData\Local\Arduino15\packages\arduino\hardware\sam\1.6.11\cores\arduino/wiring_constants.h:93:25: note: in definition of macro 'bit'
#define bit(b) (1UL < Preferences.
Hi Convertini,
I just double checked with a fresh installation of Arduino IDE V1.8.3 and it compiles fine (with selected Arduino Uno Platform).
From the error message I can see you try it with an Arduino Due which is an ARM platform. The code is based on the AVR. There might be some changes needed in the code.
Did you try with a Arduino Leonardo or Mega?
Best regards,
Lars
Hey,
Thanks for the Blog post.
Worked fine with the Arduino Nano.
Do you know where i find other commands, to change the motor behavior?
Best regard
j
Hi j,
Great that it worked for you with the Nano. I am happy to hear that.
The best reference is the TMC5130 datasheet which you can find here: https://www.trinamic.com/products/integrated-circuits/details/tmc5130a-ta/
Is there something particular you are looking into?
Best regards,
Lars
HI j,
I used this script to operate TMC5130-EVAL. actually i got the perfect result. Thanks
but just before motor operation. i listen to high note noise from the motor.
Is it happening to me alone?
my motor is 1.2A , 24V and 17NEMA Stepper MOTOR
Hi,
Great that the example worked for you. Have you tried stealthChop already? You can do so by changing the following code lines (line 46, 52 and 53).
On line 46 please change the register value to 0x00000004. Comment line 52 and uncomment line 53.
sendData(0x80,0x00000004); //GCONF
//sendData(0xF0,0x00000000); // PWMCONF
sendData(0xF0,0x000401C8); //PWM_CONF: AUTO=1, 2/1024 Fclk, Switch amp limit=200, grad=1
This will enable the super silent stealthChop mode. Let me know if that worked for you and what you think.
Best regards,
Lars
Oh, Thanks for your rep
but i had already used that. anyway i will try again.
and I want to know Silent MODE in the TMC2100 and TMC5130
both differance? TMC2100 have very silent operation but TMC5130 is not
plz tell me about that
Best regards,
Qor
Hi Qor,
To activate stealthChop with the TMC5130 the initial code in this post needs to be adapted a bit described in my previous answer. This will give you the same perfomance you experienced with the TMC2100.
The perfomance with the TMC2100 and the TMC5130 is the same. With the TMC5130 you have some more flexibility to tune stealthChop due the fact you have registers with the SPI interface.
Best regards,
Lars
Hey Lars,
great tutorial, it really helped me out a lot. As it happens, I’m currently working on a very similar project. I plan to power a motor with the TMC2660-EVAL board controlled by an Arduino. I wanted to drive the TMC2660 board via the step/direction interface, but this doesn’t seem to work.
My backup plan now is to apply your SPI solution to my problem. I got one question though – Is it possible to use the register library for TMC5130 (TMC5130_registers.h)? Or is there a library for TMC2660?
I would really appreciate your help on this topic.
Kind regards,
Finn
Hi Finn,
Thanks for the positive feedback. The wiring will be very close to the TMC5130 wiring described in this post. Anyhow there might be some transfer work involved.
For the TMC2660 we have our TTAP (Trinamic Technology Access Package) available to download here: https://www.trinamic.com/support/software/access-package/
It is an API and covers most of our chips. You’ll find the TMC2660 in the folder \TMC-EvalSystem\boards\TMC2660_eval.c
This might help to get things started. The registers are build up differently and the datagram is only 20 bits. With the TMC5130 it is 40 bits.
Please let me know if you need further assistance.
Best regards,
Lars
Hey Lars,
thanks for the quick replay and pointing out the TTAP. I wasn’t really aware of that.
Gonna work on that for now and see where I end up.
Kind regards
Finn
Hey Lars,
me again… I’m still struggling with my TMC2660. I’m fairly certain I got it hooked up correctly, but I’m very unsettled how to configure the timer. I transferred some Basic Setup HEX-Codes from the TMC2660 documentation, but the board still seems dead. Also, it’s irritating to me that the return from SPI.transfer is 0xFF or 255 in decimal.
If you happen to have spare time for this, I would much appreciate it, if you could have a quick look at my code (please keep in mind, I’m no expert):
https://github.com/FinnWCode/TMC2660
Kind Regards
Finn
PS: I got the jumpers on the board set to INT_S and INT_D., but EXT_S and EXT_D doesn’t change anything besides that I get 0 instead of 255 as return from transfer.
PPS: My power supply delivers solid 24 V, the arduino obviously 5V.
Hi Lars,
i give up to operate Stealth mode TMC5130 by SPI .
So i going to use Step/Dir mode. In TMC5130 datesheet , for the Step/Dir mode. SP_MODE pin tied LOW
but my TMC5130_EVAL have not that external pin. how to use Step/dir mode
plz help me about that
Best regards,
Qor
Me again…
Is it possible, that I have to resolder R7 to position R8 in order to set the logic level to 5V?
Hi Qor,
I really want you to use stealthChop with SPI as well. What can I do to help you? What issues do you have? Using stealthChop with SPI is possible. It might be that you need to reduce the velocity. To do so please change the register value for VMAX to a lower value.
If you like to use STEP/DIR there is a solder jumper located close to the TMC5130. Please download the layout data: https://www.trinamic.com/fileadmin/assets/Products/Eval_Drawings/TMC5130-Eval_v15_LayoutData.zip
and open the TMC5130-Eval_v15_12_FullViewTop.pdf. You need to solder the R_SD solder jumper.
Best regards,
Lars
Hi Finn,
When R7 is assembled the V_IO get the supply from the 3V3 LDO. When disassembling R7 and assemble R8 +5V from the USB rail will be used.
You might need to check the SPI function of Arduino. I am not sure if you can send 5 bytes as you have it in your github example code. Probably the TMC5130 example might help to do the SPI communication.
I like to build up a TMC2660-EVAL setup to try it myself. I need some spare time and get back to you.
Best regards,
Lars
Hi Finn,
Did you have success in the mean time? What I recognized is that the delay in your step generation seems to be fairly high. Might be the reason you do not experience any motor movement with a micro step resolution of 256. Looking forward to your reply.
Best regards,
Lars
Hey Lars,
thank you very much for your help.
You are correct: The SPI.function can indeed only send one byte at a time. I got that fixed in the code linked in my github above.
After correcting the delays in the step generation and adjusting the motor current, everything is up and running.
Only concern I have at the moment is a very high pitched noise when the motor is powered on. But I am positive to fix that via the various settings the TMC2660 offers.
Thanks again and kind regards
Finn
Hi Finn,
Great!
In regard of the high pitch noise: Please try to modify TOFF in the CHOPCONF register. TOFF = 1 is something you could try first. It might make sense to reduce TOFF to 1 when in standstill and get back to the default value before a movement starts. With TOFF = 0 you completely deactivate the driver stage. If you do not need any holding torque at this position this might be an option as well.
Since this is off topic I will contact you directly so we can work on your application.
Best regards,
Lars
Hello,
I’m thinking about using a TMC5041 because I need to control two motors. Can this code be modified to work with a TMC5041, and how would I move two motors simultaneously? Any help is greatly appreciated.
Thanks!
Chase
Hi Chase,
Please check out the blog post from Mario: http://blog.trinamic.com/2017/08/02/how-to-drive-a-stepper-motor-via-uart-with-your-arduino-mega-using-a-tmc5072-eval/
This is based on the TMC5072 dual axis driver band should be a very good starting point. The blog post from Mario usees the single wire UART interface, anyhow the structure of the program might help.
The SPI communication with The TMC5130 and the TMC5041 is 40 bit so the SPI communication stays the same. The only thing to adapt is the register addressess when using this code example.
To move motors simultaneously you would simple write the same values in the registers of each axis, for example the target position.
Let me know if you have furrther questions.
Best regards,
Lars
Hi,
if i want to write my own program with arduino and TMC5130 – where can i found a software manual? , or some more guidance and explanation of the syntax and addresses and the data that i need to send from arduino to the driver.
TX
Hi Lars I have spend now few week on Internet searching for solution of my problem without success my problem is I em currently upgrading my CNC so i bought some TMC262-BOB60.
My problem is i want to run it only in step/ dir mode i have been trying write program for arduino nano to send driver configuration to run no success.
all what i need is set driver to step/dir mode , step size , current limits , stall guard.
Best regards
Peter.
Hi Peter,
Have you checked the TOS-100 project with the sample code?
https://github.com/trinamic/TMC26XStepper
Best regards,
Lars
Hi Yakov,
The datasheet of the TMC5130 has all the information that you need to know what to send to what address. Please check:
https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC5130_datasheet.pdf
On page 29 the documentation of the registers start.
Additionally you can check the TMC5130-EVAL manual:
https://www.trinamic.com/fileadmin/assets/Products/Eval_Documents/TMC5130_Eval_manual.pdf
The basic SPI communication described above is the start to write and read the registers and the rest is your software work 😉
You can check our API as well (scroll to the bottom of the page):
https://www.trinamic.com/support/software/access-package/
Hope that helps,
Best regards,
Lars
Hello,
We have been trying your TMC5130-EVAL-KIT and like the smooth operations and programming features using the Arduino. Can your TMCM-3212 three axis controller be run by an Arduino also? We have XYZ (three axis) projects we would like to adapt for the Arduino if this is possible. We also have a six axis requirement run from an Arduino, perhaps using two 3212’s?
Thank you for your assistance.
Chuck
Hello Chuck,
The TMCM-3212 can in general be controlled by an Arduino as well. For this case you would use the TMCM-3212-TMCL version and the RS-485 interface. A connection thru USB might work as well. Furthermore you would send TMCL commands that are described in the TMCM-3212 Firmware manual which you can download here: https://www.trinamic.com/products/modules/details/tmcm-3212/#downloads-3
Let me know if that is what you are looking for or if you have additional question.
Best regards,
Lars
Hello Lars,
I just received from Digi-Key the TMCM-3212-TMCL board with the wire loom TMCM-G4-CABLE. I will be trying to use it for repetitive 3 axis motors production with an Arduino. I will store the TMCL 3 motors commands inside the 3212 as a single 3212 function.
My question is: How do I call this stored function from an Arduino to run the 3 motors?
If this works with an Arduino, I will buy another 3212 to try for the 6 axis production machines.
Thank you for your assistance!
Chuck
Hello,
I have been using the TMCM-3212-TMCL for 3 motors and getting it to work well using Direct Mode binary commands from an Arduino through a MAX RS385 board. I am learning the very powerful Stand Alone use using the TMCL creator to create my program I download into the 3212. Then with just a single 9 byte serial command from the Arduino I can run stored multi-motor routines from the 3212. This is just what I was looking for.
Is there anything similar for the TMC5130 single motor controller? I noticed there is no 5130 software plugin for the TMCL–IDE 3.0, is this due to no 5130 memory capabilities like the 3212?
Also it seems the only real difference between the 3212 and the 6 axis TMCM-6212 board is the 6212 has less motor current capability per motor. Are there any other real differences than that?
Thank you.
Chuck
Hi,
What modification to this code will be needed to get this to run with a TMC5160?
Best regards,
Tony
Hello Lars
Great Work ,I need your help to work with TMC5160- TA. I am working with a driver with LPC1313 as its controller. I like to use STEP/DIR mode.please pass me any information you have about it.
Hi Anna,
Thank you! Please use the support system on our webpage to get support for the TMC5160. Please understand that the comment section is intended to be used for the corresponding blog entry.
You find a blue button on the bottom right on every page of our main webpage: trinamic.com
Best regards,
Lars
Hi Tony,
This should be fairly easy to be done. Please compare the TMC5130 and TMC5160 datasheet. The SPI datagram is pretty much the same but the addresses differ. If you need further support please use our support system on the webpage http://trinamic.com. You find a blue button on the bottom right of each page. Please understand that the comment section is intended to be used for the respective article on this blog and that we can not support other products.
Best regards,
Lars
Hello,
It seems I found bug/mistake in the TMC5130 datasheet. Have a look at the page 103 (23 DC Motor or Solenoid)
There is:
1) “Bits 8..0 control motor A and Bits 24..16 control motor B PWM”
2) “Setting the corresponding PWM bits between -255 and +255 (signed, two’s complement numbers) will vary motor voltage from -100% to 100%.”
If I understood it correctly only 8 bits used to regulate power from -100% to 100%. In that case it should be values -128 to +127 accordingly.
Please correct me if I am wrong.
Is there any reason or advantage to use the internal clock (CLK16) rather than the external clock provided by the SPI master?
Hello Lars
i`m using TMC5130 for my project. its a great!
and i need your help to work with tmc5130-TA..
in the introduce TMC5130 on youtube, there is a Button of actual position clear. right?
I wanna working TMC5130 to reset Actual position
Actually I am using the power shorting method. but it`s not smart
so i wanna code about reset actual position or other thing
Best regards,
Hello,
You can simply write 0 to the actual position register.
Best regards,
Lars
Hello Lars,
Thank you for your reply.
But the problem was not solved.
Your method is to turn the motor back to its initial position.
I want to know how to set the current position of the motor the initial value.
Currently I am using the power off method to set initial value. Is there another way?
Best regards,
Hello,
If you want to reset the position you need to do the following:
1) Set VMAX = 0 (If you don’t the motor will turn to the new target position if in position mode)
2) Set the actual position to 0
3) Set the target position to 0
Hopefully that should give your intended results. If not let us know.
Best regards,
Lars
Hi Daniel,
Please check page 114 of the TMC5130 datasheet Revision 1.15
https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC5130_datasheet_Rev1.15.pdf
Here you’ll find information on using the internal or external CLK. If you need further help please use our support system on our webpage: http://www.trinamic.com/
Best regards,
Lars
Hi Alex,
Thanks for the hint. We check your finding and correct it if needed and provide a new documentation with the next release of the datasheet.
Much appreciated!
Best regards,
Lars
Hallo Lars,
this is a wonderful work and a nice blog. I’m trying this with the TMC2130-EVAL, isn’t the code quite similar ? I was not sucessful with the EVAL-Kit, i.e. using the Landungsbrücke. The motor is blocking easily at high velocities (more than 200) or with microstepping (only up to halfstep 🙁 ), but this may be an issue of the motor. I want to setup StallGuard, which needs higher velocities, if I understood this right. My intention in using the arduino is that I’m driving a similar motor with the SilentStepStick 2130, which runs quite smoothly but so far without StallGuard.
Hi Lars,
Thanks for the example, it helped me getting started with TMC5130. However, I am having trouble enabling the dcStep feature of the controller. I am pretty sure I have set everything correctly, however, the motor misses steps and doesn’t slow down when I apply a load. Do you have any examples of how to configure the dcStep?
Thanks!
Hi Christian,
Please check out this application note: AN002-stallGuard2.pdf
Best regards,
Lars
Hi Emil,
To make an example with dcStep is a good idea. Right now we can offer the application note AN003_-_dcStep_Basics_and_Wizard.pdf
Please check if that helps you. If you have further questions or need additional support please do not hesitate to use our support system. You’ll find a blue button on every page of our main webpage: http://www.trinamic.com
Best regards,
Lars
Hi Lars,
First of all : congratulation for the whole Trinamic’s team for providing such good quality products.
I m planning to make a robot with stepper. I m using teensy’s board for their powerfull chip, and software.
I tried your code with a teensy 3.2 and the tmc5130 eval board, internal clock. It works perfectly (the line with stealth chop mode, didn’t work, but i ll try to take a look a the datasheet.), in exchange of a little change in the code concerning the SPI.
For those who are interested here is the code :
Modification for initializing SPI (put it before the setup function) :
SPISettings settingsA(2000000, MSBFIRST, SPI_MODE3);
In the setup, juste use SPI.begin()
And modify the sendData function :
void sendData(unsigned long address, unsigned long datagram) {
//TMC5130 takes 40 bit data: 8 address and 32 data
delay(100);
unsigned long i_datagram;
SPI.beginTransaction(settingsA);
digitalWrite(chipCS,LOW);
delayMicroseconds(10);
SPI.transfer(address);
i_datagram |= SPI.transfer((datagram >> 24) & 0xff);
i_datagram <> 16) & 0xff);
i_datagram <> 8) & 0xff);
i_datagram <<= 8;
i_datagram |= SPI.transfer((datagram) & 0xff);
digitalWrite(chipCS,HIGH);
SPI.endTransaction();
Serial.print("Received: ");
Serial.println(i_datagram,HEX);
Serial.print(" from register: ");
Serial.println(address,HEX);
}
Only 2Mhz speed tested, maybe fastest is possible.
I now have a question : i bought the TMC5130 BOB. I can t find on the internet a way to control this with an arduino (or like) controller. So i will just try exactly the same thing i did with the eval board. But, are there any cautions to take? For exemple, i played with the tmc2130 Silentstepstick, with a tmc protector (from here https://www.watterott.com/), i had no problem. I removed the protector to try something : i toasted it! So, to summarize:
Can i juste use the TMC5130 BOB as is (i put a large capacitor 330 uF, on the pcb, near power supply pins, as indicated), or must i use a protector circuit with it? If yes, witch one?
Thanks in advance.
Sincerly
Hi jpv,
Thanks for your comment and the great feedback!
In general you should be good using the BOB and connect it in the same way as the EVAL board. Additional protection is not necessary. You should of course avoid disconnecting motors with activated driver. If you need further assistance I would recommend our support system on our webpage. You’ll find a blue “button” on every page on http://www.trinamic.com
Best regards,
Lars
I want to use the stallGuard function, which registers and bits should I concerned? Is there any code that I can use to learn?
Hi Lars,
Do the parameters reset to default after power down? Do I need to reparameterize after each power up?
Also will the tmc5160 behave similarily?
Brett
Hi Lars,
This works great on a mega but fails on a Uno,any idea why?
I have checked pin numbers 1000 times to be sure.
All registers return 0xFFFFFFFFFF
Hi Brett,
My best guess would be the SPI library being used. The pins you use are important I assume. I suggest to check the SPI library in combination with the UNO.
Hope that hint helps. Let me know if you solved it and if not, let me know as well 😉
Best regards,
Lars
Hi Brett,
Yes, the registers need to be initialized after power up. That is for the TMC5130 and the TMC5160.
Best regards,
Lars
Hi,
For StallGuard set a speed first and then read out the stallGuard value (DRV_STATUS register 0x6F). With that you will tune the SGT threshold value (COOLCONF register 0x6D).
Here is an appnote for StallGuard and the technology:
https://www.trinamic.com/fileadmin/assets/Support/Appnotes/AN002-stallGuard2.pdf
Hope that this information helps.
Best regards,
Lars
Hi Brett,
I just hurdled into something else related to this:
You might need to use another pin to output the CLK for the TMC5130 with the UNO.
Please replace
const byte CLOCKOUT = 11; // Mega 2560with
const byte CLOCKOUT = 9; // Uno, Duemilanove, etc.and rewire the pin for the CLK respectively.
Hope that helps. Will add this to the code.
Best regards,
Lars
Is this example comparable with driver tmc5160?
Hi,
The registers are different but the SPI datagram is the same. By adapting the code for the TMC5160 registers you can use a lot of code in this example.
I will actually release a new blog post soon (might be tomorrow) that uses the TMC5160. Stay tuned!
Best regards,
Lars
Hello Lars,
I have two TMC5130-EVAL boards connected to an Arduino Mega. I am trying to make both motors move at the same time. I am not sure if this is possible, I tried setting the chip select pins properly, but only one motor would work and the other wouldn’t. My question is: is it possible to move both motors with just one Arduino and two 5130 evals or do I need a BOB? Any advice is appreciated.
Kind regards,
Hajer
Hi Hajer,
That is possible. The ways how to do so are either to connect two CS signals to each board or to connect the TMC5130-EVALS in “daisy chain” mode. Daisy chain means that you are connecting one CS signal to the different CS of the TMC5130-EVAL boards and connect the first board’s MISO pin to the MOSI pin of the µController. The first boards MOSI goes to the second board’s MISO and the MOSI back to the µControllers MISO. With this approach you will need to send the datagram for both chips at once as soon as you put the CS to low respectively you send 80 bits instead of 40 bits.
You could also use the single wire UART interface. There is an app note: link
The app note is written for the TMC5072 but you can use it as a reference. The UART interface is described in the datasheet of the TMC5130A-TA as well won page 24.
Hope that helps.
Best regards,
Lars