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trinamic

Trinamic 运动控制 MPN 编码模式、电机驱动器系列解码,以及处理器指引。适用于与 Trinamic 步进驱动器和运动控制器(TMC 系列)合作时使用。

SKILL.md
--- frontmatter
name: trinamic
description: Trinamic Motion Control MPN encoding patterns, motor driver series decoding, and handler guidance. Use when working with Trinamic stepper drivers and motion controllers (TMC series).

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

code
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

FamilyDescriptionApplications
TMC21xxBasic stepper driversTMC2100, TMC2130, TMC2160
TMC22xxAdvanced stepper driversTMC2208, TMC2209, TMC2225, TMC2226
TMC23xxStepper driversTMC2300
TMC24xxStepper driversTMC2400
TMC26xxHigh-power stepperTMC2660, TMC2690
TMC4xxxGate/motion controllersTMC4361, TMC4671
TMC5xxxIntegrated motionTMC5041, TMC5072, TMC5130, TMC5160
TMC6xxx3-phase BLDC/PMSMTMC6100, TMC6140, TMC6200
TMC7xxxSpecializedVarious

Package Codes

CodePackageDescription
LAQFNLeadless Array - most common
TATQFPThin Quad Flat Package
WAWQFNVery thin QFN variant
BOBBreakout BoardEvaluation/development board

Package Selection Guide

ApplicationRecommendedNotes
ProductionLA (QFN)Smallest footprint, best thermal
PrototypingTA (TQFP)Easier to hand solder
DevelopmentBOBPlug-and-play evaluation
Tight spacesWA (WQFN)Ultra-thin profile

Suffix Codes

SuffixMeaning
-TTape and reel packaging
-TRTape and reel (alternate)
(none)Tube/tray packaging

Popular Product Series

TMC21xx - Basic Stepper Drivers

PartFeaturesMax Current
TMC2100Basic driver, stealthChop1.2A RMS
TMC2130SPI interface, StallGuard21.2A RMS
TMC2160High power, spreadCycle2.5A peak

TMC22xx - Advanced Stepper Drivers

PartFeaturesMax CurrentInterface
TMC2208UART, stealthChop1.4A RMSUART
TMC2209UART, StallGuard42.0A RMSUART
TMC2225Enhanced 22081.4A RMSUART
TMC2226Enhanced 22092.0A RMSUART

TMC5xxx - Motion Controllers

PartFeaturesNotes
TMC5041Dual driver + controller2 motors
TMC5072Dual driver + ramp2 motors
TMC5130Driver + controllerSingle motor
TMC5160High power + controller3A RMS

TMC6xxx - 3-Phase Drivers

PartApplicationVoltage
TMC6100BLDC gate driver6-25V
TMC6140BLDC power stage6-36V
TMC6200High voltage BLDC8-60V

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

OriginalUpgradeNotes
TMC2208TMC2209Adds StallGuard4
TMC2100TMC2130Adds SPI + StallGuard2
TMC5130TMC5160Higher current
TMC2225TMC2226Higher current

NOT Compatible

Part APart BReason
TMC2130TMC2209Different interface (SPI vs UART)
TMC2100TMC2208Different interface (STEP/DIR vs UART)
TMC5xxxTMC21xxDifferent architecture

Common Applications

3D Printers

PartUse Case
TMC2209X/Y/Z axes, extruder
TMC2208Older designs
TMC5160High-current motors

CNC Machines

PartUse Case
TMC2160Light duty spindle
TMC5160Axis motors
TMC6200BLDC spindle

Robotics

PartUse Case
TMC4671Servo control
TMC6100BLDC joints
TMC2209Small 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
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