Cantara/trinamic

Trinamic Motion Control Manufacturer Skill

Overview

Trinamic (now part of Analog Devices) specializes in motor control ICs:

• TMC21xx: Basic stepper motor drivers
• TMC22xx: Advanced stepper drivers with UART/StallGuard
• TMC23xx/24xx: Stepper drivers
• TMC26xx: High-power stepper drivers
• TMC4xxx: Gate drivers and motion controllers
• TMC5xxx: Integrated motion controllers
• TMC6xxx: 3-phase BLDC/PMSM drivers
• TMC7xxx: Specialized drivers

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MPN Structure

TMC[FAMILY][SERIES]-[PACKAGE][-SUFFIX]
|     |       |        |        |
|     |       |        |        +-- T = Tape and reel
|     |       |        +-- Package code (LA, TA, WA, BOB)
|     |       +-- 2-digit series within family (00-99)
|     +-- Family digit (2, 4, 5, 6, 7)
+-- TMC prefix (all Trinamic parts)

Example: TMC2209-LA
         |  |  | |
         |  |  | +-- LA = QFN package
         |  |  +-- 09 = Series number
         |  +-- 2 = Stepper driver family
         +-- TMC = Trinamic prefix

Example: TMC5160-TA-T
         |  |  | | |
         |  |  | | +-- T = Tape and reel packaging
         |  |  | +-- TA = TQFP package
         |  |  +-- 60 = Series (motion controller)
         |  +-- 5 = Motion controller family
         +-- TMC = Trinamic prefix

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Family Codes

| Family | Description | Applications | |--------|-------------|--------------| | TMC21xx | Basic stepper drivers | TMC2100, TMC2130, TMC2160 | | TMC22xx | Advanced stepper drivers | TMC2208, TMC2209, TMC2225, TMC2226 | | TMC23xx | Stepper drivers | TMC2300 | | TMC24xx | Stepper drivers | TMC2400 | | TMC26xx | High-power stepper | TMC2660, TMC2690 | | TMC4xxx | Gate/motion controllers | TMC4361, TMC4671 | | TMC5xxx | Integrated motion | TMC5041, TMC5072, TMC5130, TMC5160 | | TMC6xxx | 3-phase BLDC/PMSM | TMC6100, TMC6140, TMC6200 | | TMC7xxx | Specialized | Various |

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Package Codes

| Code | Package | Description | |------|---------|-------------| | LA | QFN | Leadless Array - most common | | TA | TQFP | Thin Quad Flat Package | | WA | WQFN | Very thin QFN variant | | BOB | Breakout Board | Evaluation/development board |

Package Selection Guide

| Application | Recommended | Notes | |-------------|-------------|-------| | Production | LA (QFN) | Smallest footprint, best thermal | | Prototyping | TA (TQFP) | Easier to hand solder | | Development | BOB | Plug-and-play evaluation | | Tight spaces | WA (WQFN) | Ultra-thin profile |

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Suffix Codes

| Suffix | Meaning | |--------|---------| | -T | Tape and reel packaging | | -TR | Tape and reel (alternate) | | (none) | Tube/tray packaging |

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Popular Product Series

TMC21xx - Basic Stepper Drivers

| Part | Features | Max Current | |------|----------|-------------| | TMC2100 | Basic driver, stealthChop | 1.2A RMS | | TMC2130 | SPI interface, StallGuard2 | 1.2A RMS | | TMC2160 | High power, spreadCycle | 2.5A peak |

TMC22xx - Advanced Stepper Drivers

| Part | Features | Max Current | Interface | |------|----------|-------------|-----------| | TMC2208 | UART, stealthChop | 1.4A RMS | UART | | TMC2209 | UART, StallGuard4 | 2.0A RMS | UART | | TMC2225 | Enhanced 2208 | 1.4A RMS | UART | | TMC2226 | Enhanced 2209 | 2.0A RMS | UART |

TMC5xxx - Motion Controllers

| Part | Features | Notes | |------|----------|-------| | TMC5041 | Dual driver + controller | 2 motors | | TMC5072 | Dual driver + ramp | 2 motors | | TMC5130 | Driver + controller | Single motor | | TMC5160 | High power + controller | 3A RMS |

TMC6xxx - 3-Phase Drivers

| Part | Application | Voltage | |------|-------------|---------| | TMC6100 | BLDC gate driver | 6-25V | | TMC6140 | BLDC power stage | 6-36V | | TMC6200 | High voltage BLDC | 8-60V |

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Replacement Compatibility

Trinamic parts are compatible when:

1. Same series number (TMC2209 vs TMC2209)
2. Same package (LA vs LA, TA vs TA)
3. Different packaging suffix (-T vs no suffix)

Upgrade Paths

| Original | Upgrade | Notes | |----------|---------|-------| | TMC2208 | TMC2209 | Adds StallGuard4 | | TMC2100 | TMC2130 | Adds SPI + StallGuard2 | | TMC5130 | TMC5160 | Higher current | | TMC2225 | TMC2226 | Higher current |

NOT Compatible

| Part A | Part B | Reason | |--------|--------|--------| | TMC2130 | TMC2209 | Different interface (SPI vs UART) | | TMC2100 | TMC2208 | Different interface (STEP/DIR vs UART) | | TMC5xxx | TMC21xx | Different architecture |

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Common Applications

3D Printers

| Part | Use Case | |------|----------| | TMC2209 | X/Y/Z axes, extruder | | TMC2208 | Older designs | | TMC5160 | High-current motors |

CNC Machines

| Part | Use Case | |------|----------| | TMC2160 | Light duty spindle | | TMC5160 | Axis motors | | TMC6200 | BLDC spindle |

Robotics

| Part | Use Case | |------|----------| | TMC4671 | Servo control | | TMC6100 | BLDC joints | | TMC2209 | Small actuators |

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Handler Implementation Notes

Pattern Matching

// All Trinamic parts start with TMC
if (!upperMpn.startsWith("TMC")) {
    return false;
}

// TMC21xx - Basic stepper drivers
"^TMC21[0-9]{2}.*"

// TMC22xx - Advanced stepper drivers
"^TMC22[0-9]{2}.*"

// TMC4xxx - Gate drivers / Motion controllers
"^TMC4[0-9]{3}.*"

// TMC5xxx - Motion controllers
"^TMC5[0-9]{3}.*"

// TMC6xxx - 3-phase drivers
"^TMC6[0-9]{3}.*"

Package Code Extraction

String extractPackageCode(String mpn) {
    String upperMpn = mpn.toUpperCase();

    // Check for breakout board first (longest match)
    if (upperMpn.contains("-BOB") || upperMpn.endsWith("BOB")) {
        return "Breakout Board";
    }

    // Package codes: -LA, -TA, -WA (with optional -T suffix)
    if (upperMpn.contains("-LA") || upperMpn.matches(".*LA(-T)?$")) {
        return "QFN";
    }
    if (upperMpn.contains("-TA") || upperMpn.matches(".*TA(-T)?$")) {
        return "TQFP";
    }
    if (upperMpn.contains("-WA") || upperMpn.matches(".*WA(-T)?$")) {
        return "WQFN";
    }

    // Check without hyphen separator
    if (upperMpn.endsWith("LA") || upperMpn.endsWith("LAT")) return "QFN";
    if (upperMpn.endsWith("TA") || upperMpn.endsWith("TAT")) return "TQFP";
    if (upperMpn.endsWith("WA") || upperMpn.endsWith("WAT")) return "WQFN";

    return "";
}

Series Extraction

String extractSeries(String mpn) {
    String upperMpn = mpn.toUpperCase();

    if (!upperMpn.startsWith("TMC")) {
        return "";
    }

    // Find where series number ends
    int seriesEnd = 3;  // Start after "TMC"
    for (int i = 3; i < upperMpn.length() && i < 7; i++) {
        if (Character.isDigit(upperMpn.charAt(i))) {
            seriesEnd = i + 1;
        } else {
            break;
        }
    }

    return upperMpn.substring(0, seriesEnd);  // e.g., "TMC2209"
}

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Related Files

• Handler: manufacturers/TrinamicHandler.java
• Component types: MOTOR_DRIVER, IC
• Note: Trinamic was acquired by Analog Devices in 2021

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Key Features by Series

StealthChop

Silent operation through voltage PWM chopping:

• TMC21xx: StealthChop (1st gen)
• TMC22xx: StealthChop2 (improved)
• TMC5xxx: StealthChop2

StallGuard

Sensorless load detection:

• TMC2130: StallGuard2 (SPI only)
• TMC2209: StallGuard4 (UART)
• TMC5xxx: StallGuard4

CoolStep

Current reduction based on load:

• TMC2130: Yes
• TMC2209: Yes
• TMC5160: Yes

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Learnings & Edge Cases

• Analog Devices acquisition: Trinamic was acquired by Analog Devices in 2021, some new parts may use ADI branding
• BOB = development: "-BOB" suffix indicates breakout board, NOT a production package
• UART vs SPI: TMC2208/2209 use UART, TMC2130 uses SPI - NOT interchangeable without firmware changes
• StallGuard versions: StallGuard2 (TMC2130) and StallGuard4 (TMC2209) have different tuning parameters
• -T suffix: Tape and reel packaging, functionally identical to tube packaging
• TMC5xxx dual: TMC5041/5072 control TWO motors, TMC5130/5160 control ONE motor
• 3-phase vs stepper: TMC6xxx is for BLDC/PMSM motors, NOT stepper motors

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