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# S5160_V1.2

## Product Introduction
---

![TMC5160](https://raw.githubusercontent.com/FYSETC/wiki.fysetc/main/docs/images/crisp/TMC5160.jpg "=800xauto")

The TMC5160 is a high power stepper motor controller and driver IC with serial communication interfaces. It combines a flexible ramp generator for automatic target positioning with industries’ most advanced stepper motor driver. Using external transistors, highly dynamic, high torque drives can be realized. Based on Trinamic's sophisticated SpreadCycle™ and StealthChop™ choppers, the driver ensures absolutely noiseless operation combined with maximum efficiency and best motor torque. High integration, high energy efficiency and a small form factor enable miniaturized and scalable systems for cost effective solutions. The complete solution reduces learning curve to a minimum while giving best performance in class. TMC5160-WA uses a wettable flank package to allow optical inspection of the soldering joints. 

## Features
---

* 2-phase stepper motors up to 20A coil current (external MOSFETs) e
* Motion Controller with SixPoint™ramp 
* Step/Dir Interface with microstep interpolation MicroPlyer™  
* Voltage Range 8 … 60V DC 
* SPI & Single Wire UART  
* Encoder Interface and 2x Ref.-Switch Input 
* Highest Resolution 256 microsteps per full step 
* StealthChop2™ for quiet operation and smooth motion 
* Resonance Dampening for mid-range resonances 
* SpreadCycle™ highly dynamic motor control chopper 
* DcStep™ load dependent speed control 
* StallGuard2™ high precision sensorless motor load detection 
* CoolStep™ current control for energy savings up to 75% 
* Passive Braking and freewheeling mode 
* Full Protection & Diagnostics 

## Technical Specifications

Model                                    | TMC5160 
:---:|:---:
Interface                                | Step/Dir or SPI 
Configuration                       | SPI 
Native Microsteps               |   up to 1/256
microPlyer Microsteps          |    1/256
Logic Voltage (VIO)                 |    3-5V
Motor Voltage (VM)                | 10 - 35V 
Motor Phase Current  max        | 3.0A 
Internal V-  Regulator         |    enabled
RDSon                                    |0.1 Ohm
stealthChop (quiet)               | yes
spreadCycle                           |      yes
coolStep                                | yes 
stallGuard                              | yes 
dcStep                                    | yes 

## Pin Functions
---

![TMC5160引脚图](https://raw.githubusercontent.com/FYSETC/wiki.fysetc/main/docs/images/crisp/TMC5160%E5%BC%95%E8%84%9A%E5%9B%BE.png "=800xauto")

Pin|Function
:---:|---
 |**Power Supply**
 GND|	Ground
VM|	Motor Supply Voltage
VCC-IO	|3.3V to 5V IO supply voltage for all digital pins.
|**Motor Outputs**
B1|	Motor Coil 1
B2	|Motor Coil 1
A1|	Motor Coil 2
A2	|Motor Coil 2
|**Control Inputs**
REFL\_STEP	|STEP input
REFR\_DIR	|DIR input
|**TMC5160**
 EN|	Enable Motor Outputs: GND=on, VIO=off
 CLK| CLK input.Tie to GND using short wire for internal clock or supply external clock.Internal clock-fail over circuit protects against loss of external clock signal.
SDI| SPI data input 
SCK	|SPI serial clock input
CSN	|SPI chip select input (negative active)
SDO	|SPI data output (tristate)
DIAG	|Diagnostics output DIAG0.
ENCB	|DcStep enable input (SD\_MODE=1,SPI\_MODE=1)–leave open
ENCA	|DcStep gating input for axis synchronization
ENCN	|DcStep ready output(SD\_MODE=1)

## Interface Resources
---

###  Wiring Diagram

![5160接线](https://raw.githubusercontent.com/FYSETC/wiki.fysetc/main/docs/images/crisp/5160%E6%8E%A5%E7%BA%BF.png "=800xauto")

###  Mode selection

![5160模式选择](https://raw.githubusercontent.com/FYSETC/wiki.fysetc/main/docs/images/crisp/5160%E6%A8%A1%E5%BC%8F%E9%80%89%E6%8B%A9.jpg "=800xauto")

​    The FYSETC S5160 V1.2 defaults to SPI mode. If you need to change to Standalone mode, you need to change the jumper as shown.

### F6 jumper for TMC5160 SPI mode

![F6_5610](https://raw.githubusercontent.com/FYSETC/wiki.fysetc/main/docs/images/crisp/F6_5610.png "=800xauto")

If you are using the TMC5160 SPI mode on the F6, you do not need extra wiring, just plug in the jumper cap on the F6 as shown. 


## Shop

---
* [TMC5160](https://www.aliexpress.com/item/33011704134.html)

## Tech Support

---
Please submit any technical issue into our [forum](http://forum.fysetc.com/)