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 --- ## 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 ``` --- ## 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 | --- ## 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 | --- ## Suffix Codes | Suffix | Meaning | |--------|---------| | -T | Tape and reel packaging | | -TR | Tape and reel (alternate) | | (none) | Tube/tray packaging | --- ## 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 | --- ## 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 | --- ## 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 | --- ## Handler Implementation Notes ### Pattern Matching ```java // 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 ```java 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 ```java 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" } ``` --- ## Related Files - Handler: `manufacturers/TrinamicHandler.java` - Component types: `MOTOR_DRIVER`, `IC` - Note: Trinamic was acquired by Analog Devices in 2021 --- ## 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 --- ## 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 <!-- Add new learnings above this line -->