S2210

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1.Product Introduction

The S2210 driver module is designed based on Trinamic's new generation chip TMC2210. Thanks to the brand-new architecture and process, its peak current can reach 3.0A, its continuous current can reach 2.1A, and it can withstand an input voltage up to 36V. TMC2100. All its functions only need to configure the IO hardware, no software programming is required.

2.Features

Hardware compatible with StepStick and Pololu A4988 Stepper Driver
Components on bottom PCB side for better heat emission
Automatic standby current reduction
StealthChop2™ silent PWM mode- for quiet operation and smooth motion
SpreadCycle - highly dynamic motor control chopper
Drive capability up to 2.1A (RMS) & 3.0A(PEAK) coil current
Step/Dir interface with microstep interpolation (up to 256 microsteps)
Input microsteps 1-64 optional
Configuration via CFG pins
Supply voltage 4.5-36V

3. Specifications Comparison

Model	TMC2100	TMC2209	TMC2210
Interface	Step/Dir	Step/Dir	Step/Dir
Configuration	CFG Pins	UART	CFG Pins
Native Microsteps	up to 1 ⁄ 16	up to 1 ⁄ 32	up to 1 ⁄ 64
microPlyer Microsteps	1 ⁄ 256	1 ⁄ 256	1 ⁄ 256
Logic Supply Voltage (VIO)	3.0 - 5.25V	3 - 5.25V	2.2 - 5V
Motor Supply Voltage (VM)	4.75 - 46V	4.75 - 28V	4.5 - 36V
Motor Phase Current max	1.2A RMS, 1.7A Peak	2A RMS, 2.8A Peak	2.1A RMS, 3.0A Peak
Internal V- Regulator	enabled	enabled	enabled
RDSon (typ. at 25°C)	LS 400mΩ & HS 500mΩ	170mΩ	230mΩ
Rsence	0.11Ω	0.11Ω	chip built-in
stealthChop (quiet)	yes	yes	yes
spreadCycle	yes	yes	yes
coolStep	no	yes	no
stallGuard	no	yes	no
dcStep	no	yes	no

4. Pin Functions

Pin	Function
	Power Supply
GND	Ground
VM	Motor Supply Voltage
VIO	Logic Supply Voltage
	Motor Outputs
B1	Motor Coil 1
B2	Motor Coil 1
A2	Motor Coil 2
A1	Motor Coil 2
	Control Inputs
STEP	Step-Signal Input
DIR	Direction-Signal Input
	CFG Pins
EN	Enable Motor Outputs: GND=on, VIO=off, OPEN=Auto-Power-Down
CFG0	Onboard pulled down，CONFIGURATION OF MICROSTEP RESOLUTION FOR STEP INPUT
CFG1	Onboard pulled down， CONFIGURATION OF MICROSTEP RESOLUTION FOR STEP INPUT
CFG2	Chip internal pull-up，CONFIGURATION OF RUN CURRENT IRUN (ALONG WITH IREF RESISTOR), DO NOT CHANGE DURING OPERATION
CFG5	Chip internal pull-up，SELECTION OF CHOPPER MODE
Index	Open drain index pulse output indicating, microstep 0 position of coil B.
Error	Open-drain error output. Use external pullup resistor. In system reset state, this pin is actively pulled low to indicate reset condition to external controller.
NC	No pins connected
	Onboard Jumper
CFG3	Onboard pulled down，CONFIGURATION OF RUN CURRENT IRUN (ALONG WITH IREF RESISTOR), DO NOT CHANGE DURING OPERATION
CFG4	Onboard pulled down，DIGITAL CURRENT SCALE (MAY BE CHANGED DURING OPERATION)
CFG6	Onboard pulled up，CONFIGURATION OF HOLD CURRENT REDUCTION
CFG7	Onboard pulled down，CONFIGURATION OF HOLD CURRENT REDUCTION

5. Interface Resources

Wiring Diagram

5.1 Motor Current Setting

The current setting method of TMC2210 is slightly different, which is determined by CFG2 and CFG3 and the resistance value connected to IREF. Before we start, we need to clarify several relationships:

IRUN: The current when the motor rotates, set by CFG2 and CFG3 and the resistance value connected to IREF.
IHOLD: The current at which the motor is held still, set by CFG6 and CFG7.
IPEAK: Also known as Imax or Full Scale Current, the driver chip provides peak current (the peak value of the sine wave)
IRMS: The effective value of the current provided by the driver chip (the effective value of the sine wave, usually is about the peak value/1.41)

5.1.1. Setting the Full Scale Current Range

The full scale current IFS is a peak current setting. It is selected with an external reference resistor and the two configuration pins CFG2 and CFG3

Three different full-scale current ranges can be configured through the pins with the same reference resistor to adapt to different motor sizes and applications. This is needed to benefit from the best possible current control resolution.

Connect a reference resistor RREF from IREF to GND. Together with pins CFG3 and CFG2, the full scale current range IFS is set based on the external resistor .

The equation below shows the full-scale current IFS as a function of the RREF shunt resistor connected to pin IREF and the configuration pin setting. The proportionality constant KIFS is defined by the CFG2 and CFG3 setting. The external resistor RREF can range between 12kΩ and 60kΩ.

I_{FS}=K_{IFS}(KV)/R_{REF}(kΩ)

Table 9. IFS Full Scale Current Range Settings (Example for RREF = 12KΩ)

PIN CONFIG IN STANDALONE MODE	PIN CONFIG IN STANDALONE MODE	KIFS (A x kΩ)	MAX FS SETTING	TYPICAL RDS(ON) (HS + LS)	NOTES
1	1	36	3A	0.23Ω	Optimized efficiency for motors and applications rated up to 2.1A rms
1	0	36	3A	0.23Ω	Optimized efficiency for motors and applications rated up to 2.1A rms
0	1	24	2A	0.27Ω	Optimized efficiency for motors and applications rated up to 1.4A rms
0	0	11.75	1A	0.40Ω	Optimized efficiency for motors and applications rated up to 0.7A rms

5.1.2. Setting the Rref

IFS Full Scale RMS Current in Ampere (A RMS) based on CFG2/CFG3 Pin Settings and different RREF

RREF(kΩ)	KIFS = 24
12	1.41
15	1.13
18	0.94
22	0.77
27	0.63
33	0.51
39	0.44
47	0.36
56	0.30

According to the circuit of the module, we perform this demonstration calculation:
Rref: The resistor connected to the IREF pin, which consists of a 12K resistor and a maximum 50K adjustable resistor. The factory value of the adjustable resistor is generally located in the center, which is 25K, and all default Rref=37K.
CFG3 is pulled down by default, which is equivalent to the GND level, and CFG2 is high when no external level is connected, so the default KIFS=24KV.

I_{FS}=K_{IFS}(KV)/R_{REF}(kΩ)=24(KV)/37(KΩ)=0.65A

5.1.3 Hold Current (IHOLD) Reduction Configuration

CFG7（Onboard pulled down）/CFG6（Onboard pulled up）: CONFIGURATION OF HOLD CURRENT REDUCTION

CFG7	CFG6	HOLD CURRENT REDUCTION
GND	GND	No hold current reduction. IHOLD = IRUN
GND	VCC_IO	Reduction to 50%. IHOLD = 1/2 IRUN
VCC_IO	GND	Reduction to 25%. IHOLD = 1/4 IRUN
VCC_IO	VCC_IO	Reduction to 12.5%. IHOLD = 1/8 IRUN

5.1.4 Digital Current Scale Configuration

CFG4（Onboard pulled down ）: DIGITAL CURRENT SCALE (MAY BE CHANGED DURING OPERATION)

CFG4	CURRENT SCALE
GND	I = 75% of full scale current IRUN
VCC_IO	I = 100% of full scale current IRUN

5.3 Microsteps Setting

Microsteps Resolution Configuration for the Step Input，CFG1（Onboard pulled down ）CFG0（Onboard pulled down ），So the default is 8 microsteps.

CFG1	CFG0	microsteps	Interpolation	Mode
GND	GND	8	256	StealthChop2
GND	VIO	16	256	StealthChop2
VIO	GND	32	256	StealthChop2
VIO	VIO	64	256	StealthChop2

6. Other Configs

6.1 Chopper Mode Selection

CFG5 （Chip internal pull-up）: SELECTION OF CHOPPER MODE

CFG5	CHOPPER MODE
GND	SpreadCycle operation
VCC_IO	StealthChop2 operation

7. How to config the code in klipper/marlin

S2210 only needs to configure the corresponding STEP, DIR, EN pins on the software, no additional configuration is required.
It is worth noting that the subdivision parameters on the software need to be consistent with the jumpers on the hardware.

For example, the X-axis configuration in klipper is as follows:

c++ Copy

[stepper_x]
##	Connected to X-MOT (B Motor)
step_pin: PE11
dir_pin: PE10
enable_pin: !PE9
rotation_distance: 40
microsteps: 8
full_steps_per_rotation:200  #set to 400 for 0.9 degree stepper
endstop_pin: ^PB14
position_min: 0

##--------------------------------------------------------------------
position_endstop: 300
position_max: 300
##--------------------------------------------------------------------
homing_speed: 25   #Max 100
homing_retract_dist: 5
homing_positive_dir: true

Any configuration such as [tmc2209 stepper_x] is no longer needed.

NOTE：

Pay attention to the direction.
The heat sink is directly attached to the PCB.
The motor direction is the opposite of 4988 and 8825. If you want to replace the 4988 directly, please adjust the firmware or adjust the motor connection.