Motor Driver CMOS SPI 40-QFN (6x6). Buy TMC4361-LA-T TRINAMIC Motion Control GmbH at hotenda.com, we have TMC4361-LA-T in stock for immediate shipping. You can find the datasheet of TMC4361-LA-T here. Trinamic drivers. Trinamic stepper drivers allow you to have better control of your stepper motors and achieve extremely quiet motion. You can influence how the driver manages motor current as well as the manner of current delivery. The drivers can act as endstops allowing you to simplify wiring. The modules combine Trinamic´s dedicated stepper control and driver ICs with extensive experience in designing custom and off-the-shelf motion control solutions. A powerful, yet easy to use programming environment makes stepper control as simple as a few mouse clicks - cutting six months off the time to market compared to chip-level development. Download TMC5072-LA pdf datasheet by TRINAMIC Motion Control GmbH & Co. Updated 3 Jan 2021. Includes TMC5072-LA characteristics, and configurations.
Trinamic stepper drivers allow you to have better control of your stepper motors and achieve extremely quiet motion. You can influence how the driver manages motor current as well as the manner of current delivery. The drivers can act as endstops allowing you to simplify wiring. Marlin also supports setting the driver current by using software commands, negating the need for adjusting trimpots.
| Driver | Control | StealthChop | Sensorless homing/probing | Driver monitoring | Hybrid threshold | Notes |
|---|---|---|---|---|---|---|
| TMC2100 | none | yes | no | no | no | Standalone mode only |
| TMC2130 | SPI | yes | yes | yes | yes | |
| TMC2208 | UART | yes | no | yes | yes | UART RX line requires an interrupt capable pin. Software UART not support on all platforms, such as DUE based boards. |
| TMC2209 | UART | yes | yes | yes | yes | |
| TMC2660 | SPI | no | not implemented | yes | no |
All configurable drivers can also be operated in standalone mode if so configured in hardware.
The TMC stepper drivers require an external library that allows Marlin to communicate with each driver.
Installing from Arduino IDE library manager
- Open up the Arduino IDE
- Go to Sketch -> Include Library -> Manage Libraries…
- 1.1.9
- Search for TMCStepper
- Older versions of Marlin
- Search for TMC2130Stepper or TMC2208Stepper
- Click
Install
Installing from a zip file
- 1.1.9
- Go to TMC library homepage at https://github.com/teemuatlut/TMCStepper
- Older versions of Marlin
- TMC2130: Go to the library homepage at https://github.com/teemuatlut/TMC2130Stepper
- TMC2208: Go to the library homepage at https://github.com/teemuatlut/TMC2208Stepper
- Click
Clone or downloadandDownload ZIP - In Arduino IDE and go to Sketch -> Include Library -> Add .ZIP Library…
- Point to the downloaded file and click
Open
Because the TMC drivers require a way for communication and configuring the drivers (outside of standalone mode) they also require additional setup. TMC2130 and TMC2660 use SPI for communication and TMC2208 uses UART (Serial).
TMC2130
| Motherboard | Driver |
|---|---|
| SCK | SCK |
| MOSI | SDI |
| MISO | SDO |
| CS | CS |
Software SPI
You can use other than the HW SPI pins by enabling TMC_USE_SW_SPI and defining the required pins:
TMC2208
A 1 kilo-ohm resistor is required between TX and PD_UART
| Motherboard | Driver | |
|---|---|---|
| RX | PD_UART | |
| TX | (1kohm) | PD_UART |
The serial port on master is selected in your pins file. Alternatively you can use the slower software serial by not selecting any of the hardware serial ports. Typically one port per one driver is needed.
Software UART
You can use free pins as UART by disabling all of the hardware serial options in your pins file and by defining the _SERIAL_TX_PIN and _SERIAL_RX_PIN pins.
Note: The receive (RX) pins are limited to only interrupt capable pins. Transmit (TX) pins do not have the same limitation.
We recommend getting the original Watterott drivers or the revised FYSETC v1.1 drivers to avoid additional headaches.
The FYSETC v1.0 drivers come pre-configured in standalone mode. This means that the drivers should work for moving the axis but you will not be able to configure them nor take advantage of the additional features of the drivers. To get the drivers working as intended you will need to modify three solder bridges on the driver PCB.
Some versions of the FYSETC v1.0 drivers come with a solder bridge left of the chip, some come with a bridging resistor. This connection needs to be opened for SPI connection to work. The two smaller bridges need to be configured as shown.
There are several technologies specific to Trinamic drivers that are supported by Marlin.
- [stealthChop] is a technology that drives the motors using PWM voltage instead of current. The result is nearly inaudible stepping at low velocities. StealthChop has a lower stepping speed limit and if you need to move faster, for example travel moves, you may want to use spreadCycle or configure Hybrid Mode.
- [spreadCycle] is an alternative stepping mode. The driver will use four stages to drive the desired current into the stepper motor. SpreadCycle provides greater torque which might be useful if you’re experiencing skipped steps. The downside is slightly higher noise levels.
- [stallGuard] measures the load that is applied to the motor. If the load is sufficiently high, Marlin can react to the event. Such an event can be when we drive an axis to its physical limit and the signal provided by the driver can be detected just like an endstop. That way you can use the driver itself as an axis sensor negating the need to an additional endstop and the wiring needed. StallGuard is only active when the driver is in spreadCycle mode.
Hybrid Mode: Marlin can configure the driver to automatically change between stepping modes using a user configured switching velocity. If the velocity is lower than the threshold the stepper is in quiet stealthChop mode. When the axis velocity increases the driver will automatically switch to spreadCycle.
| Option | Description |
|---|---|
| R_SENSE | The current sense resistor used in your product. * Watterott SilentStepSticks typically use 0.11ohm values. * Ultimachine Archim2 board has 0.22ohms. * Panucatt TMC2660 BigFoot drivers use 0.1ohms. |
| HOLD_MULTIPLIER | After the stepper hasn’t been moving for a short while, the driver can decrease the current and let the driver cool down. The multiplier is expressed as a decimal value in the range of 0.0 to 1.0. |
| INTERPOLATE | TMC drivers can take lower microstepping inputs, like the typical 16 and interpolate that to 256 microsteps which provides smoother movement. |
| CURRENT | Driver current expressed in milliamps. Higher current values will need active cooling and a heatsink. Low current values may warrant lower acceleration values to prevent skipping steps. |
| MICROSTEPS | Configures the driver to divide a full step into smaller microsteps which provide smoother movement. |
| SOFTWARE_DRIVER_ENABLE | Some drivers do not have a dedicated enable (EN) line and require the same function to be handled through software commands. |
| STEALTHCHOP | Default state for stepping mode on supporting TMC drivers. |
| CHOPPER_TIMING | Fine tune the spreadCycle chopper timings to optimize noise performance. A set of presets has been provided according to used driver voltage level, but a customized set can be used by specifying { <off_time[1..15]>, <hysteresis_end[-3..12]>, hysteresis_start[1..8] } |
| MONITOR_DRIVER_STATUS | Periodically poll the drivers to determine their status. Marlin can automatically reduce the driver current if the driver report overtemperature prewarn condition. The firmware can also react to error states like short to ground or open load conditions. |
| CURRENT_STEP | Reduce current value when Marlin sees OTPW error. |
| REPORT_CURRENT_CHANGE | Report to the user when automatically changing current setting. |
| STOP_ON_ERROR | If Marlin detects an error where the driver has shut down to protect itself, it can stop the print to save both time and material. |
| HYBRID_THRESHOLD | Configure the axis speed when the driver should switch between stealthChop and spreadCycle modes. |
| SENSORLESS_HOMING | Use the TMC drivers that support this feature to act as endstops by using stallGuard to detect a physical limit. |
| SENSORLESS_PROBING | Use stallGuard on supporting TMC drivers to replace a bed probe. Recommended to be used on delta printers only. |
| HOMING_SENSITIVITY | The Sensorless Homing sensitivity can be tuned to suit the specific machine. A higher value will make homing less sensitive. A lower value will make homing more sensitive. |
| TMC_DEBUG | Extend the information M122 reports. This will give you a lot of additional information about the status of your TMC drivers. |
| TMC_ADV | You can use this to add your own configuration settings. The requirement is that the command used must be part of the respective TMC stepper library. Remember to add a backslash after each command! |
| AUTOMATIC_CURRENT_CONTROL | Replaced by MONITOR_DRIVER_STATUS.Marlin will poll the driver twice a second to see if the driver is in an error state. Such an error can be overtemperature pre-warn condition (OTPW) or short to ground or open load. Marlin can react to the temperature warning and automatically reduce the driver current. Short to ground error will disable the driver and Marlin can terminate the print to save time and material. |
| Command | Configuration required | Description |
|---|---|---|
| M122 | none | Test driver communication line and get debugging information of your drivers. TMC_DEBUG adds more reported information. |
| M569 | TMC2130 or TMC2208 | Toggle between stealthChop and spreadCycle on supporting drivers. |
| M906 | none | Set the driver current using axis letters X/Y/Z/E. |
| M911 | MONITOR_DRIVER_STATUS | Report TMC prewarn triggered flags held by the library. |
| M912 | MONITOR_DRIVER_STATUS | Clear TMC prewarn triggered flags. |
| M913 | HYBRID_THRESHOLD | Set HYBRID_THRESHOLD speed. |
| M914 | SENSORLESS_HOMING | Set SENSORLESS_HOMING sensitivity. |
| M915 | TMC_Z_CALIBRATION | (Deprecated in Marlin 2.0.) Level your X axis by trying to move the Z axis past its physical limit. The movement is done at a reduced motor current to prevent breaking parts and promote skipped steps. Marlin will then rehome Z axis and restore normal current setting. |
- Some SilentStepSticks with variable 3-5V logic voltage (VIO) might get damaged if only powered over USB.
- Test driver communication status with
M122. - Test Marlin’s bugfix branch (on GitHub) to see if your issue is fixed.
- Test the latest TMCStepper library to see if your issue is fixed.
- Check all wiring and wire crimps.
- SPI: Use a multimeter to check connectivity all the way down the chain on all the communication lines.
- SPI conflict with the SD card? Solutions vary.
- UART:
- Make sure your receive (RX) pin is interrupt capable
- Check the resistance value between receive (RX) and transmit (TX) lines. You should see 1kOhm.
- Check connectivity from RX to the TMC chip
- Check 12V (24V) power in the Vm pin and 5V (3.3V) in the Vio pin.
- Check that configured pins match your firmware configuration.
- Enable
TMC_DEBUGand sendM122to see further debugging output.- Reported register values of either
0x00000000or0xFFFFFFFFare bad responses.
- Reported register values of either
- Try the examples provided by the respective library. Please detach any belts beforehand however, as the examples will not respect any endstop signals or physical limits. You may need to change the pin definitions.
- If you’re experiencing skipped steps there are a few things you can try
- First check for mechanical obstructions and that the parts move freely and do not bind
- Check that your nozzle doesn’t bump into your print if it starts curling upwards (cooling issue)
- Lower acceleration and jerk values
- Increase driver cooling
- Increase motor current
- Disable
INTERPOLATE
Drivers Trinamic Motion Control Gmbh & Co Kg
Arduino library for TMC drivers (Replaces the following two)
Short for Trinamic Motion Control Language - Integrated Development Environment, the TMCL-IDE is an integrated development environment made for developing applications using Trinamic modules and chips. The graphical user interface provides tools for easily setting parameters, for visualizing data in real-time, and for developing and debugging stand-alone applications with TMCL™.
“The TMCL is a really flexible language, which is a key point if you want to develop something in a short timeline and still be flexible. That’s really important for us because it allows you to try out one solution and, if you find out it’s not the right solution, you can easily change and adapt the behavior of the components since it’s not hard-coded.” Jonathan Aubert, Electronic Engineer at Andrew Alliance
Trinamic's free and easy to use graphical user interface is perfect for developing applications based on Trinamic's industry-leading solutions. The flexible integrated development environment has a Wizard to guide you and supports the use of commands in direct mode, monitors real-time behavior visualized in graphs, and logs and stores data. All settings can quickly be exported for your own firmware project. Dedicated to motion control, the development program allows you to use simple commands for positioning and setting all relevant parameters of the motion controller to accelerate firmware and application development.
Various interfaces can be used to connect a Trinamic module or evaluation board, including USB, RS232, RS485, CAN, and Trinamic's Real-Time Monitoring Interface (RTMI). If the product has a USB interface, it can be connected directly via USB. The IDE will automatically recognize the product. Modules equipped with RS232, RS485, or CAN interface require the corresponding interface to be installed on the PC, for which many standard off-the-shelf interfaces can be used. Lastly, some products support the RTMI interface which allows for real-time monitoring and on-the-fly debugging, requiring the USB-2-RTMI adapter.
Type | Date | |
|---|---|---|
| TMCL-IDE 3.2.0.0 Setup | 60 MB | Dec 1, 2020, 9:00 AM |
| TMCL-IDE 3.2.0.0 no install | 58 MB | Dec 1, 2020, 9:06 AM |
| TMCL-IDE 3.2.0.0 Linux | 58 MB | Dec 8, 2020, 4:39 PM |
The TMCL-IDE includes the following:
- Text editor for writing and modifying TMCL™ programs
- TMCL™ assembler and disassembler
- TMCL™ module programmer
- Easy, interactive way of setting the configuration of a module
- Dialogue window for entering and executing TMCL™ commands in direct mode
- Function for updating the firmware of a module
- Option to log all data
The following interfaces are supported by the TMCL-IDE:
- USB
- RS232
- RS485
- Step/Direction
- CAN
- RTMI
For more information on Trinamic's interface adapters, please visit the Interfaces & Protocols page or check out the Evaluation Kits.
There are two options to install the TMCL-IDE:
- Automatic installation: Download the 'TMCL-IDE Setup' file below to your computer and start the installation by clicking on the file. The installation routine will create an icon in the Windows Start Menu.
- Manual installation: Download the 'TMCL-IDE no install' file below and copy it to a folder on your hard drive. The application just starts by clicking. To uninstall, simply remove the file from your hard drive.
To remove the TMCL-IDE, go to the Windows System Control > Applications > Uninstall Application.
By downloading the TMCL-IDE you agree to the End User License Agreement (EULA).
An overview of the tested Linux distributions can be found on GitHub.
- Added TMCM-1243
- Added TMCM-1000
- Added TMCM-1273
- Added TMCM-0930
- Using Qt 5.12.10
- A lot of bugfixes and improvements
- Added TMC7300-EVAL
- Added TMC6300-EVAL
- Added TMC6100-EVAL
- Added TMC2226-Eval
- TMCM-1636 ready
- Added TOSV
- Added TMCM-1617
- Added USB CAN-Adapter Ixxat
- Tool updates for CoolStep & StallGuard; Current-Settings; TMC846x-EVAL
- Minor bugfixes
- Added TMC2160-EVAL and TMC2209-EVAL
- Added TMCM-0010-OPC
- Added new tool Biquad-Tuning
- Improved tool Global Parameter
- Added TMCM-1683
- Added TMC2590
- Some enhancements like moving multiple motors without interpolation
- Minor bugfixes
- Added TMC5161
- Added TMC8460, TMC8461, TMC8462 with access control tool
- Added USB-2-RTMI interface and TMC4671-EVAL
- Enclosed TMCL-IDE PDF manual
- Minor bugfixes
- Added TMC4330
- Added Step/Dir for TMC5160
- Enabled printing TMCL-Creator/PC-Host
- Optimized for Qt 5.10.0
- Added some USB-CAN adapters from Kvasar and ESD
- Minor bugfixes
- Added TMCM1315, TMCM1370, TMCM3230 and TMCM3351
- Added TMCM1111 and TMC8460-EVAL
- Added TMC2041, TMC4661A Eval
- Register browser with classic export menu
- Show register values in info graphs
- Added LINUX version
- Windows XP and older versions are not supported
- Bugfixing firmware update
- Initialization the geometry of sub-windows
- Added new devices
- Minor fixes
Type | Date | |
|---|---|---|
| Send TMCL Datagram in C | 2.3 KB | Nov 3, 2016, 4:23 PM |
| Send TMCL Datagramm in Windows (C Class) | 5.1 KB | Nov 3, 2016, 4:23 PM |
| Send TMCL Datagramm in Windows (C Header) | 750 Byte | Nov 3, 2016, 4:23 PM |
| TMCL Test for Visual C++ | 630 KB | Nov 3, 2016, 4:23 PM |
| TMCL Example for LabView | 61 KB | Nov 3, 2016, 4:23 PM |
| TMCL Script Examples | 18 KB | Mar 20, 2019, 4:18 PM |
Trinamic Stepper Driver
Type | Date | |
|---|---|---|
| TMCL-IDE 3.1.0.0 Setup | 60 MB | May 29, 2020, 11:20 AM |
| TMCL-IDE 3.1.0.0 no install | 57 MB | Jun 2, 2020, 2:45 PM |
| TMCL-IDE 3.1.0.0 Linux | 58 MB | Jun 11, 2020, 11:00 AM |
| TMCL-IDE 3.0.25.0 Setup | 56 MB | Oct 22, 2019, 11:23 AM |
| TMCL-IDE 3.0.25.0 no install | 53 MB | Oct 22, 2019, 11:24 AM |
| TMCL-IDE 3.0.25.0 Linux | 55 MB | Nov 20, 2019, 1:20 PM |
| TMCL-IDE 3.0.24.0 Setup | 56 MB | Apr 23, 2019, 8:34 AM |
| TMCL-IDE 3.0.24.0 no install | 54 MB | Apr 23, 2019, 8:33 AM |
| TMCL-IDE 3.0.21.0 Setup | 45 MB | Mar 28, 2018, 1:33 PM |
| TMCL-IDE 3.0.21.0 no install | 42 MB | Mar 28, 2018, 1:34 PM |
| TMCL-IDE 3.0.20.0 Setup | 44 MB | Mar 28, 2018, 1:40 PM |
| TMCL-IDE 3.0.20.0 no install | 42 MB | Mar 28, 2018, 1:41 PM |
| TMCL-IDE 3.0.18.0 Setup | 42 MB | Apr 21, 2017, 3:25 PM |
| TMCL-IDE 3.0.18.0 no install | 39 MB | Apr 21, 2017, 2:34 PM |
| TMCL-IDE 3.0.17.0 Setup | 42 MB | Mar 10, 2017, 4:50 PM |
| TMCL-IDE 3.0.17.0 no install | 40 MB | Mar 10, 2017, 4:50 PM |
| Legacy TMCL-IDE 2.27.0.0 No install | 1.1 MB | Jul 24, 2019, 1:57 PM |
| TMCL-IDE 3.0.16.0 Setup | 40 MB | Nov 10, 2016, 10:14 AM |
| TMCL-IDE 3.0.16.0 no install | 38 MB | Nov 10, 2016, 10:13 AM |
| TMCL-IDE 3.0.14.0 | 40 MB | Nov 4, 2016, 11:37 AM |
| TMCL-IDE 3.0.13.0 | 39 MB | Nov 4, 2016, 11:37 AM |