Trinamic stepper driver

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TRINAMIC expands stepper motor driver line with 4A device, promises lowest power dissipation


TRINAMIC Motion Control, a leading global developer of motor and motion control technologies, expanded the company's existing product line of micro-stepping motor drives with a new IC that supports motor drive currents up to 4A. The TMC2660 integrates both a pre-driver for real-time calculation of motor coil current values, and power MOSFETS for amplification of coil outputs to directly drive an external motor. Packaged in a single multi-chip module, the integrated driver/amplifier achieves the lowest power dissipation currently available for a 4A stepper motor driver. With an Rds(on) of 65m, the TMC2660 dissipates just 2.8W at 4A, an 85% reduction compared with the most competitive solution previously available. The new device's minimal power dissipation eliminates the need for a heat sink, enabling highly dense board designs and reduced component count and cost. "Our popular TMC260 and TMC261 Stepper Motor Drivers have been widely adopted by manufacturers worldwide," explained TRINAMIC Founder and CEO Michael Randt. "Our customer base requested that we expand our line to support higher current levels, and we responded by introducing the TMC2660." With a peak output current rating of 4A, the TMC2660 can drive motors as large as NEMA 23. The new device is both pin- and software-compatible with TRINAMIC's popular TMC260/261 devices, which support motors up to NEMA 17. Stepper motors are a cost-effective solution for applications that require high-torque at low speeds and precise control of motor axis rotation. Widely used in printers, scanners, robotics, medical and scientific equipment and other applications, TRINAMIC estimates that more than one billion stepper motors are shipped ever year. The TMC2660 is sampling in August 2013, and production volumes will be offered in Q4 2013. The device is available in a 44-pin PQFP package, priced at USD 2.90 in 1,000 unit volumes. To support rapid product development and prototyping, TRINAMIC offers a complete TMC2660 design kit with evaluation board, as well as an Arduino daughter card (shield). TRINAMIC

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TMC2209 – a part number you are going to hear more about in 3D printing (or maybe TMC5160)


In many printers, the stepper drivers can be changed as they are fitted as ‘Pololu’ carrier boards or  ‘stepsticks‘ – small pcbs that plug into the main printer pcb through two rows of header pins. Drive current is set by a small pot on the stepstick, and the driver more is configured by three jumpers on the associated pcb, or, more rarely, a serial bus of some sort. Alterations to the printer software are sometimes required, which is quite straight forward if the printer runs ‘Marlin’.

Trinamic has made a name for itself as a supplier of driver chips that can cut the noise output of 3D printers – which can be intrusive, especially during over-night prints, and largely comes from: fans, stepper motors and moving mechanical parts.

The relevant Trinamic technology is a mode called StealthChop, which smooths the way that stepper motors turn, leading to near-silent operation. Cutting motor-induced vibration has the knock-on effect of injecting far less vibration into the printer chassis, further reducing noise – printers go from being dominated by motor noise to being quiet except for fan noise.

The go-to Trinamic stepper drivers operation have become the TMC2208 or the earlier TMC2130.

The 2130 has an advantage: it it has current sensing feedback (possibly branded StallGuard), allows electro-mechanical end-stop switches to be removed from the printer as that can detect when a motor has moved the driven mechanism to a hard mechanical end-stop – which is what is done in the legendary Prusa i3 Mk3 printer.

However, what Trinamic drivers also are, is less good at running cool.

While the old war horse of 3d printer stepper drivers, the Allegro A4988, does not have all the fancy quiet operation stuff, it does only needs a small heatsink to maintain itself below its thermal limit.

Its eight ( 2x full bridge, one per motor phase) integrated DMOS transistors have a 320mΩ on-resistance (1.5A 25°C supply=35V).

I have no idea what on-resistance is at 12V or 24V, as driver folk (including Allegro and Trinamic) don’t seem to publish Rdson figures over a range of voltages. This said, A4988 drivers are known to work well, if noisily, in 12V printers.

The flexible and stealthy TMC2130 has 400 (bottom) and 500mΩ (top) (100mA 25°C supply=24V) mosfets, and runs hot – needing a larger heatsink to keep it working.

TMC2208 is a later generation, with 280mΩ (100mA 25°C supply=24V) mosfets, – although some folk say they still run hotter than A4988, but there is a lot of hearsay in the 3D print world, and I haven’t tried them, so maybe they are similar, or maybe StealthChop requires the mosfets to operate partially in linear mode, or maybe when people use them at 12V the transistors do not achieve 280mΩ.

Anyway, just introduced, the TMC2209 has 170mΩ (200mA 25°C supply=24V) mosfets – which must cut dissipation to some extent, and might even mean heatsinks can be done away if they are directly on a large pcb with plenty of copper – thick layers and lots of layers.

Importantly, TMC2209 also has the ability to work without end-stop switches.

So with TMC2209 you get:

  • The silence of TMC2208 or TMC2130
  • The same or less heat waste than TMC2208 or A4988
  • Operation without end-stop switches like TMC2130
  • UART serial configuration to do away with pcb jumpers – like TMC2208 (UART) and TMC2130 (I2C)

So for companies building anything other than bargain basement printers, TMC2209 offers silent motors and no end-stop switches – opening the doors to printer pcbs with installed drivers and no heatsinks or jumpers. Or cooler running for step-stick retrofits.

Trinamic-TMC5161However, cometh the TMC5161

Coming up alongside the 2209 is yet another pair of stepper drivers from Trinamic, that also integrate a motion controller.

Even ignoring that motion controller for a moment:

  • TMC5161 integrates 45mΩ (1A 25°C 24V) mosfets, and is almost certain to run without a heatsink on stepsticks in a small printers
  • TMC5160 which needs eight external mosfets – of arbritarily low on-resitance –  stepsticks are already available with this chip that folk are running without heatsinks.

So it is just possible that the 2209 might get pipped at the post by the 5161 with its far lower heat dissipation.

If the 5161 is adopted widely, and a proper large mosfet is used for switching the printer heat bed, then the main sources of heat on the the main board of 3d printers will have gone, and the pesky board cooling fan could go to – particularly if the shift from 12V to 24V operation continues, as this halves average board current.

One thing here is that the 5161 comes in a large-ish package (10x10mm aQFN) and might turn out to be expensive, so a 5160 surrounded by a bunch of cheap mosfets (which could easily achieve, say, 20mΩ) might be an even better bet for a fan-less 3d printer main board.

Trinamic partner Watterott is already offeringTMC2209 and TMC5160 SilentStepSticks.
For which is says:

  • TMC2209: A small heat sink placed on the top PCB side is suitable for currents up to 1Arms. For higher currents use a heat sink that nearly fills the top PCB side and a cooling fan.
  • TMC5160: For currents up to 2Arms a good air circulation is enough and for higher currents a cooling fan is needed. On the TMC5160 the external mosfets and shunt resistors have to be cooled.

Big Tree Technology (aka BIQU) also seems to have TMC5160 sticks (Its AliExpress site works better than its own website)

BTW, Trinamic data sheets are very well written, and have a nice fresh format – have a look at at least one.

  1. Macys everyday value
  2. Monoprice tv mount
  3. Painted ceramic elephant
  4. Superior cervical ganglion
  5. Percy jackson fanfiction

Adjust the phase current, crank up the microstepping, and forget about it — that’s what most people want out of a stepper motor driver IC. Although they power most of our CNC machines and 3D printers, as monolithic solutions to “make it spin”, we don’t often pay much attention to them.

In this article, I’ll be looking at the Trinamic TMC2130 stepper motor driver, one that comes with more bells and whistles than you might ever need. On the one hand, this driver can be configured through its SPI interface to suit virtually any application that employs a stepper motor. On the other hand, you can also write directly to the coil current registers and expand the scope of applicability far beyond motors.


Last month, we took a closer look at microstepping on common stepper driver ICs, but left out the ones that we actually want to use: the smart ones. Trinamic provides some of the smartest stepper motor drivers on the market, and since the German hacker store Watterott released their SilentStepStick breakout boards for the TMC2100 and TMC2130, they are also setting a new standard for DIY 3D printers, mills and pick-and-place robots. I recently acquired a set of both of them for my Prusa i3 3D printer, and the TMC2130 with its SPI configuration interface really caught my attention.

The TMC2130 SilentStepStick should not be confused with the — far more popular — TMC2100 variant. As the name suggests, it comes as a StepStick-compatible breakout board, and just like it’s famous sibling, features a Trinamic IC on the bottom side of the little PCB. Several vias and copper spills conduct heat away from the IC’s center pad, allowing a heatsink on the top side to effectively cool the driver.


However, unlike the TMC2100, this one won’t let your motors spin right away. You’ve got two options: Hard-wire it in stand-alone mode, which practically turns it into a TMC2100, or hook up to its SPI-interface and dial in if you want your stepper motor shaken or stirred. In fact, plentiful configuration registers make the TMC2130 an extremely hackable chip, so I’m not even thinking about bridging that solder jumper on the SilentStepStick’s bottom side that activates the stand-alone mode.

First Steps

As said, before the driver does anything, it wants to be configured, and it’s worth mentioning that all configuration registers are naturally volatile, so if I want to use them in my 3D printer, I need to configure them as part of the printers startup routine.

The RAMPS 1.4 on my 3D printer breaks out the hardware SPI interface of the underlying Arduino through its AUX3 pin header, along with two additional digital pins (D53 and D49), which I used for the cable select signals. After crimping a cable to connect two TMC2130’s to the AUX3 header, I could start digging into the software part.

Watterott provides an example sketch, which writes a basic configuration to the driver’s registers and spins an attached stepper motor. Great stuff, but the datasheet describes 23 configuration registers waiting to be finely tuned, and 8 more to read diagnosis and status data from. So, I wrote a little Arduino library that would make the numerous configuration parameters available in a more practical way. From there, I could just include my library into the Marlin-RC7 3D printer firmware I’m using. Luckily, the current Marlin release candidate already features support for TMC26X drivers, so I could reuse some of its code to put together a Marlin fork that includes 59 of the TMC2130’s parameters in its define-based configuration files. And then, I could take the little buddies out for a spin.


Taking Them For A Spin

With the hardware set up and the software working as supposed, I ran a few sanity tests: toggling parameters on and off and checking how the driver’s behavior changes during printing. Since the TMC2130 let’s you tune almost everything it’s doing, that’s a good first step that helps to eliminate some variables and picking others that are worth a deeper look. Most of the settings can be changed on the fly and mid-print, however, not all parameters can actually be safely changed while the motors are running.


To actually tune the drivers for a certain application, Trinamic provides a quick start guide in the datasheet, as well as detailed information on each parameter, and on how they interact. Basically, the first step is adjusting the RMS coil current by using the onboard potentiometer on the SilentStepSticks. Then, we need to chose the analog input pin as a current scaling reference to actually make use of the potentiometer. The mentioned library lets me do this through a simple method:

myStepper.set_I_scale_analog(1); // 0: internal, 1: AIN

The running and holding current are the first real parameter that should be tuned, with the running current typically at the desired maximum current, and the holding current at 70% of this value. The delay between a stillstand and the transition from running current to holding current can be adjusted between 0 and 4 seconds, and for now, I set it to 4 seconds, practically disabling the current reduction while the 3D printer is running. The three values share one write-only register, so the corresponding method call looks like this:

myStepper.set_IHOLD_IRUN(22,31,5); // [0-31],[0-31],[0-5]

and sets the running current to 100% (≙ 31), the holding current to about 70% of this value (≙ 22), and the delay between the two to 4 seconds (≙ 5).

I want torque, so I can leave stealthChop disabled. The datasheet suggests some starting values for configuring the chopper’s off time and the comparator’s blank time settings, but since it’s a key tradeoff between switching noise and torque, it makes sense to iterate through other values as well. The library methods for the two values look like this:

myStepper.set_tbl(1); // [0-3] myStepper.set_toff(8); // [0-15]

And finally, I need to pick a microstepping resolution and choose if I want to make use of the 256 microstep interpolation feature, covered later in this article:

myStepper.set_mres(32); // {1,2,4,8,16,32,64,128,256} myStepper.set_intpol(1); // 0: off, 1: interpolate

I have yet to walk through the entire tuning procedure, which includes monitoring the coil current on the scope and eliminating distortions in the zero crossing, but I’m getting a clue of the driver’s potential.


It’s maximum continuous RMS current of about 1.2 A per coil (at least in the QFN package on the SilentStepSticks) lets it look like a low-current driver, inferior to the common A4988 and DRV8825. In practice, it outperforms both of them by making intelligent use of a 2.5 A peak current margin. This gives it more than enough torque for 3D printing. I wouldn’t recommend pushing them over 0.9 A RMS though since the IC will momentarily pull more current if it needs more. For SilentStepStick users, that’s a Vref of 0.88 V. Through the SPI-interface, you can choose how much current you want to send through the motor coils when it’s spinning, and when it’s idling. You can choose after how many seconds it will start to decrease the current to a lower holding current when the motor is in standstill, and then to an even lower idling current. And, of course, you can also set it to squeeze out the maximum juice for everything.

Shifting The Gears

Where it starts getting interesting are settings like the high-velocity mode. Above a configurable velocity threshold, the driver offers you to automatically switch the chopper to a faster decay time to squeeze out some extra speed. You can also literally shift the gears by letting the driver internally switch from microstepping to full-step mode once it’s up to speed.


Choosing a finer microstepping resolution smoothens the stepper’s movement, reduces vibrations and sometimes even increases the positioning accuracy. However, it also multiplies the load on the microcontroller, which has to churn out 16, 32 or 256 times more step pulses per second. The TMC2130 lets you pick an input resolution between 1 and 256 microsteps per full-step, and then gives you the option of interpolating the output resolution to 256 microsteps. This allows for smooth operation even on increasingly retro 8-bit AVR motion controllers, which cannot deliver high step frequencies. Also, by configuring the TMC2130’s interface to double-edge step pulses, you can at least double the step frequency at almost no cost. Given that the modern IC still features the classic step/direction interface and even an enable pin, those few additional features actually make it a sweet drop-in upgrade for less-recent CNC and 3D printer electronics.

Noise Reduction


Just like the TMC2100, the TMC2130 features two efficient and silent drive modes: spreadCycle, and stealthChop. The former delivers high torque at relatively low noise emissions, the latter one is almost inaudible, and there are quite some confusions out there about whether or not that affects torque: Some users experience dramatically reduced torque, while Trinamic’s paper on the issue states the opposite. Below 300 RPM (typical 3D-printing speeds), stealthChop should not affect torque at all. According to Stephan Watterott, double- and quad-stepping, as used in most 3D printer firmwares, could be to blame here.

Either way, the flexible TMC2130 allows you to tweak the chopper yourself to find the right balance between torque, noise, and efficiency for your application. One of the more noteworthy options in this regard is the possibility of randomizing the chopper’s off time. Since most of the audible noise is released due to  the chopper busily switching the stepper motor’s coils, this option spreads the noise over a wider frequency range to subjectively silence the stepper motor.

Stall Detection

The TMC2130 notices when the motor is stalled and losing steps by measuring the motor’s back EMF. Along the way, it counts missed steps, allowing the controller to compensate for otherwise irreversible step-loss. It’s also a great way to react to obstacles rather than running into them full-force and, of course, the feature can be used as an axis endstop. Trinamic calls this feature StallGuard, and just like anything else in this motor driver, it’s highly configurable.

Direct Mode

microstepping_exlained-01Instead of letting the motor driver handle everything for you, you can also choose the direct mode. This mode practically turns the driver into a two-channel, bipolar constant-current source with SPI interface. You can still use it as a motor driver, but the possibilities reach far beyond that. It’s worth mentioning that the datasheet might be a bit confusing here, and the corresponding XDIRECT register actually accepts two signed 9 bit integers (not 8 bit) for each coil and operates as expected within a numeric range of, naturally, ± 254 (not ± 255) to vary the current between ± Imax/RMS..

The Takeaway

About half a year after the release of Watterott’s breakout board, the potential of smarter stepper motor drivers piqued the curiosity of the 3D printing community, but not much has happened in terms of implementation. Admittedly, it takes some effort to get them running. If you’re still busy dialing in the temperature on your 3D printer, you surely don’t want to add a few dozen new variables, but if you’re keen on getting the best out of it, the TMC2130 has a lot to offer: low-noise printing, high-speed printing, print interrupt on failure and recovery from lost steps. Because the driver IC is so hackable, it’s clearly intended to be tuned in to accommodate specific applications. Throwing it on a general purpose test bench probably won’t yield meaningful, general purpose results.

I hope you enjoyed taking a look at a smarter-than-usual stepper motor driver, as one of the new frontiers of DIY 3D printing, and as an interesting component with many other applications. If you’re thinking about experimenting with this IC or breakout board in your 3D printer, feel free to try my Marlin fork to get started. If you’re building something entirely different, the underlying Arduino library will help you out. Who else is using this part? I’ll be glad to hear about your ideas, applications, and experiences in the comments!


Trinamic’s motion control expertise and Analog Device's analog process technology and power design skills will enable a new class of intelligent actuators. This extends our customers’ ability to deliver intelligence at the edge.

We have been using the Trinamic chip for a very long time and are impressed by the performance and lifetime of the product. Thanks to good documentation and instructions, the products are easy to assemble. TRINAMIC Motion Control manages to combine logic and performance in its products. In particular, Trinamic convinces us with its excellent service. Tobias Kuentzle - Head of Technical Innovations & Co-Founder

Why do the most forward-thinking companies on the planet repeatedly choose Trinamic? Of course, some choose us because of superior product features. However, the majority of our customers selects us because our sole focus on motor and motion control provides access to deep application knowledge, enabling our customers to be the market leader.

Micro Stepping

The higher the micro-step resolution, the smoother the motor, greatly reducing resonance and distortion.

Ramp Generation

No beer gets spilled! Trinamic's advanced motion controllers support S-shaped acceleration ramps for super smooth motion.


Stepper driver trinamic

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. Marlin also supports setting the driver current by using software commands, negating the need for adjusting trimpots.

Driver monitoringHybrid thresholdNotes
TMC2100noneyesnononoStandalone mode only
TMC2208UARTyesnoyesyesUART RX line requires an interrupt capable pin.
Software UART not support on all platforms, such as DUE based boards.
TMC2660SPInonot implementedyesno

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
  • Older versions of Marlin
    • Search for TMC2130Stepper or TMC2208Stepper
  • Click

Installing from a zip file

  • 1.1.9
    • Go to TMC library homepage at
  • Older versions of Marlin
    • TMC2130: Go to the library homepage at
    • TMC2208: Go to the library homepage at
  • Click and
  • In Arduino IDE and go to Sketch -> Include Library -> Add .ZIP Library…
  • Point to the downloaded file and click

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).



Software SPI

You can use other than the HW SPI pins by enabling and defining the required pins:


A 1 kilo-ohm resistor is required between TX and PD_UART


The serial port on master is selected in your 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 file and by defining the and 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.

  • stealthChop
  • spreadCycle
  • stallGuard
R_SENSEThe 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_MULTIPLIERAfter 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.
INTERPOLATETMC drivers can take lower microstepping inputs, like the typical 16 and interpolate that to 256 microsteps which provides smoother movement.
CURRENTDriver 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.
MICROSTEPSConfigures the driver to divide a full step into smaller microsteps which provide smoother movement.
SOFTWARE_DRIVER_ENABLESome drivers do not have a dedicated enable (EN) line and require the same function to be handled through software commands.
STEALTHCHOPDefault state for stepping mode on supporting TMC drivers.
CHOPPER_TIMINGFine 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
MONITOR_DRIVER_STATUSPeriodically 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_STEPReduce current value when Marlin sees OTPW error.
REPORT_CURRENT_CHANGEReport to the user when automatically changing current setting.
STOP_ON_ERRORIf 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_THRESHOLDConfigure the axis speed when the driver should switch between stealthChop and spreadCycle modes.
SENSORLESS_HOMINGUse the TMC drivers that support this feature to act as endstops by using stallGuard to detect a physical limit.
SENSORLESS_PROBINGUse stallGuard on supporting TMC drivers to replace a bed probe.
Recommended to be used on delta printers only.
HOMING_SENSITIVITYThe 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_DEBUGExtend the information reports. This will give you a lot of additional information about the status of your TMC drivers.
TMC_ADVYou 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!
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.
M122noneTest driver communication line and get debugging information of your drivers. adds more reported information.
M569 or Toggle between stealthChop and spreadCycle on supporting drivers.
M906noneSet the driver current using axis letters X/Y/Z/E.
M911Report TMC prewarn triggered flags held by the library.
M912Clear TMC prewarn triggered flags.
M914Set SENSORLESS_HOMING sensitivity.
M915(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 .
  • 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 and send to see further debugging output.
    • Reported register values of either or are bad responses.
  • 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

Arduino library for TMC drivers (Replaces the following two)

Arduino library for TMC2130

Arduino library for TMC2208

SilentStepStick TMC2130 schematic and pinout

SilentStepStick TMC2208 schematic and pinout

Watterott documentation




TMC2130 datasheet

TMC2208 datasheet

TMC2130 Hackaday article by Moritz Walter

Video guide by Thomas Sanladerer

TMC2208 Torque testing by Alex Kenis

Honest pre-review: The all-new Trinamic TMC2100 stepper drivers!

One thought came to Egor in lawsuits, what will happen. Leo loves me so much that he agreed to cut his hair a little on his bolt so that he could at least be seen in these. Thickets.

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