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Product Introduction


The TMC2130 provides an integrated motor driver solution for 3D-Printing, Cameras, Scanners and other automated equipment applications. The device has an integrated microstepping indexer, the sensorless stall detection technology StallGuard2™, the sensorless load dependent current control CoolStep™ and the completely noiseless current control mode StealthChop™ and is intended to drive a bipolar stepper motor.


  • SPI configuration interface (up to 4MHz)
  • Up to 256 native microsteps (without interpolation)
  • Reduce energy consumption by 75%
  • High accuracy sensorless motor load detection
  • High load driver will not lost step
  • Automatic stealthChop and spreadCycle switchover depending on velocity
  • Hardware compatible with StepStick and Pololu A4988 Stepper Driver
  • Components on bottom PCB side for better heat emission
  • Automatic standby current reduction
  • stealthChop - for quiet operation and smooth motion
  • spreadCycle - highly dynamic motor control chopper

Technical Specifications

Model TMC2130
Interface Step/Dir or SPI
Configuration CFG Pins or SPI
Native Microsteps up to 1/256
microPlyer Microsteps 1/256
Logic Voltage (VIO) 3-5V
Motor Voltage (VM) 5.5-46V
Motor Phase Current max 1.2A RMS, 2.5A Peak
Internal V- Regulator enabled
RDSon >=0.5 Ohm
stealthChop (quiet) yes
spreadCycle yes
coolStep yes
stallGuard yes
dcStep yes

Pin Functions


Pin Function
Power Supply
GND Ground
VM Motor Supply Voltage
VIO Logic Supply Voltage
Motor Outputs
M1A Motor Coil 1
M1B Motor Coil 1
M2A Motor Coil 2
M2B Motor Coil 2
Control Inputs
STEP Step-Signal Input
DIR Direction-Signal Input
TMC2130 (SPI_MODE=1)
EN Enable Motor Outputs: GND=on, VIO=off, OPEN=Auto-Power-Down
SDO/CFG0 Serial Data Output (SPI)
SDI/CFG1 Serial Data Input (SPI)
SCK/CFG2 Serial Clock Input (SPI)
CS/CFG3 Chip Select Input (SPI)
DCEN/CFG4 dcStep Enable Input (GND=off)
DCIN/CFG5 dcStep Gating Input
DIAG0 Diagnostics Output 0
DIAG1 Diagnostics Output 1

Interface Resources

Wiring Diagram


Motor Current Setting


The best way to set the motor current is by measuring the voltage on the Vref pin (0…2.5V) and adjusting the voltage with the potentiometer. The maximum settable motor current is 1.77A RMS (0.11Ohm sense resistors), but the SilentStepSticks can only be used up to 1.2A RMS.
Irms = (Vref * 1.77A) / 2.5V = Vref * 0.71
Vref = (Irms * 2.5V) / 1.77A = Irms * 1.41 = Imax
Vref -> Voltage on Vref pin
Irms -> RMS (Root Mean Square) current per phase (Irms = Imax / 1.41)
Imax -> Maximum current per phase (Imax = Irms * 1.41)


​ 1.Vref measures G nd and the voltage at the middle of the potentiometer.
​ 2.Do not connect the motor when measuring the voltage, otherwise it is easy to burn the driver.
​ 3.Power should be connected when measuring voltage, do not just connect USB power supply.
​ 4.Please pay special attention to directions!


RMS Current (A): Reference Voltage (V):

Versions Difference

Versions difference
V1.0 The default is standalone mode,If you need SPI mode,you must config by yourself.
V1.1 SPI mode, SPI pin out(top),you must connect wires to your board,and config the firmware for it,otherwise the stepper can't run.
V1.2 SPI mode, SPI&DIAG pin out(bottom), it’s used for F6.


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