1 2 3 4 5 6 7 8

U1A
TMC4671 U6
Sense reference TMCS1100

MOT_A
17
1 of 2 31 +UB U2
LM5109BSD Series filter resistor as low as possible (tmc current leakage)

C_HS_D
2.5V_REF_A ADC_I0_NEG BRAKE BRAKE_CTRL_TMC

C_LS_D

+UB
16
ADC_I0_POS
D2 1
IN+_2 VS
8
SENSE_A 1.5k
5V_SENSE/2.5D

5V_SENSE/2.5D
19 32 HV >100V 2 7
A A

GNDI
2.5V_REF_C ADC_I1_NEG ENO ENO/2.1B IN+ VOUT SENSE_A
18 1 9 3 6 1 2 C28

I
SENSE_C ADC_I1_POS VDD EP IN-_2 VREF R50
2.5V_REF_A
PWM_UX1_H
39 C_HS_A
100nF 2
HI HB
8 C19 4
IN- GND
5 C43 4.7nF
20 40 3 7 100nF

MOT_A_OUT/2.2E
V_INT_TMC/2.6D ADC_VM PWM_UX1_L C_LS_A LI HO G_HS_D

C5

GNDA
4
VSS HS
6
R4 100nF
41 5
10 D24 MOT_D/2.2E
PWM_VX2_H C_HS_B LO G_LS_D
26 42 I
AENC_UX_N/2.1C
25
AENC_UX_NEG PWM_VX2_L C_LS_B 10 R5
AENC_UX/2.1C AENC_UX_POS GNDI
28 46
U3

R17
AENC_VN_N/2.1C AENC_VN_NEG PWM_WY1_H C_HS_C

10k
+UB D20
27 47
LM5109BSD

C_HS_C
AENC_VN/2.1C AENC_VN_POS PWM_WY1_L C_LS_C

C_LS_C

+UB
30 D3
AENC_WY_N/2.1C
29
AENC_WY_NEG
48 HV >100V
U7

GNDI
AENC_WY/2.1C AENC_WY_POS PWM_Y2_H C_HS_D TMCS1100 2.5V_REF_RAW/2.5D

MOT_C
49 1 9

I
PWM_Y2_L C_LS_D VDD EP
21 100nF 2 8 C20
+3V3

GNDA R18
AGPI_A/2.1B AGPI_A HI HB

10k
22
AGPI_B
3
LI HO
7 100nF 1
IN+_2 VS
8
Y1
AGPI_B/2.5C G_HS_C 1.5k
5V_SENSE/2.5D

C6
4 6 2 7
VSS HS R6
10 D23 MOT_C IN+ VOUT SENSE_C
CLK_25M LO
5 G_LS_C
3
IN-_2 VREF
6 1 2
R51
2.5V_REF_C
C40
4 3 51 I 4 5 C42 4.7nF
VDD OUTPUT CLK 10 R7 IN- GND
GNDI

MOT_C_OUT/2.2E

GNDA
1 100nF
TRI_STATE
56 +UB U4 D19
B DIR LM5109BSD B

C_HS_B
DIR/2.4B

C_LS_B

+UB
GND
2 D4
GND HV >100V

GNDI
2.5V_REF_A
25MHz 35 TMC4671-LA 1 9

I
ENC_A/2.7B ENC_A VDD EP 2.5V_REF_C
34 100nF 2 8 C21

2
ENC_B/2.7B ENC_B HI HB
100nF

SJ1

SJ2
25MHz Clock 33 3 7 SHORT for TMCS11xx & ACS724,

0R

0R
ENC_Z/2.7B ENC_N LI HO G_HS_B

C7
4 6 DISCONNECT for LEM GO SME, MLX91220
VSS HS R8
10 D21 MOT_B/2.2E

1
64 5
ENC2_A/2.4B ENC2_A LO G_LS_B 2.5V_REF/2.1C

GNDA
65 I Current Sense
ENC2_B/2.4B
66
ENC2_B 10 R9
GNDI

100nF

C26
ENC2_Z/2.4B ENC2_N
D18
55
ENABLE/2.1B ENI
+UB U5
LM5109BSD

C_HS_A

C_LS_A

+UB
38
HALL_UX
D5

V+
HALL_UX/2.7C
37 HV >100V Zeners optional

GNDI
HALL_V/2.7B HALL_V
36 1 9

I
HALL_WY/2.7B HALL_WY VDD EP
100nF 2 8 100nF C22
+3V3

R2 10k HI HB
3 7
LI HO G_HS_A

C8
50 4 6
RESET/2.1A NRST VSS HS
5
10 R10
D22 MOT_A
LO G_LS_A
C 58 I
C
PWM_I/2.4B PWM_I 10 R11

BZX384-XXX

BZX384-XXX

BZX384-XXX

BZX384-XXX
59 GNDI U8 U10 U12 U15
GND/2.2A PWM_IDLE_H
60 BSC030N08NS5ATMA1 BSC030N08NS5ATMA1 BSC030N08NS5ATMA1 BSC030N08NS5ATMA1
GND/2.2A PWM_IDLE_L D17
G_HS_A G_HS_B G_HS_C G_HS_D
68

D11
REF_H/2.3B REF_H

D6

D7

D8
67
REF_L/2.3B REF_L MOT_A MOT_B/2.2E MOT_C MOT_D/2.2E
GND 69 Gate Driver For DMTH8003 use lower/zero value gate resistors
REF_R/2.3B REF_R
U9 U11 U13 U16
8 BSC030N08NS5ATMA1 BSC030N08NS5ATMA1 BSC030N08NS5ATMA1 BSC030N08NS5ATMA1
MOSI/2.1B SPI_MOSI
6
CS_TMC/2.1A SPI_NSCS G_LS_A G_LS_B G_LS_C G_LS_D
7
SCK/2.1B SPI_SCK

R12

R13

R14

R20
36k

36k

36k

36k
57
STEP/2.4B STP
54
TEST
I

GND 10 Mosfets Motor GNDI

UART_RX/2.2A UART_RXD

BSC030N08NS5ATMA1

Zener 65V (MMSZ5265BT1G)

D +UB D

HV >100V
U1B non inverting

RES_FET/2.2E
Options w. ext filter & internal ref:
TMC4671 Use MCP1402 or MCP1416

V+
LEM GO SME
MLX91220

D12
2 5
70
2 of 2 9
VDD OUT
GPIO0/2.3B GPIO0/ADC_I0_MCD SPI_MISO MISO/2.1B BRAKE_CTRL
GPIO1/2.4B
71
GPIO1/ADC_I1_MCD
W. changes 3
IN GND
1*2
74 12 D1 FLAG/2.1B TMCS1100 (Set 2.5V jumpers)

R15
GPIO2/2.3B GPIO2/ADC_VM_MCD STATUS

10k
GPIO3/2.4B
75
GPIO3/AGPI_A_MCD/DBGSPI_NSCS ACS724 (Disconnect ref & set 2.5V jumpers to tmc, do not use filter cap C40,C28. Use 4.7nF C42,C43) I

76 11 LV low drop
Crocus CT415. (Disconnect ref & set 2-5V jumpers, do not use filter cap C40,C28. Use 470pF C42,C43). Has constant 2.5V ref! GNDIU17
GPIO4/2.3B GPIO4/AGPI_B_MCD/DBGSPI_SCK UART_TXD UART_TX/2.2A
R3 10k

1
GPIO5/2.4B GPIO5/AENC_UX_MCD/DBGSPI_MOSI BRAKE_GATE
GNDA

D13
4 24 GND
GPIO6/2.3B GPIO6/AENC_VN_MCD/DBGSPI_MISO GNDA
5

R21
GPIO7/2.4B GPIO7/AENC_WY_MCD/DBGSPI_TRG BRAKE_RES_COMP/2.6C

36k
3
5V_SENSE/2.5D GNDIO1 BRAKE_CTRL_TMC
C3 C2
GNDA

23 14 D10

LV low drop D9
I
V5 GNDIO2 R16
44 GNDI
GNDIO3 BRAKE_CTRL_EXT/2.1B

LV low drop
C1

15 53

BRAKE_CTRL
100nF

VCCCORE1 GNDIO4 1.5k

45 62
VCCCORE2 GNDIO5
63 73*2
VCCCORE3 GNDIO6
C4

GND
2 Brake Control
VCCIO1
E GND 13
VCCIO2 E
V+

43 +3V3
+3V3

VCCIO3 5V_SENSE/2.5D
52
VCCIO4
C9 C10 C11 C12 C13 C14
61 C15 C16 C17 C18 100nF C24 C25
+

VCCIO5
72
VCCIO6
motor_board_tmc

100nF
GNDA
680µF 680µF 1µF 1µF 1µF 1µF 100nF 100nF 100nF10µF C23 10µF

I Bottom
Decoupling Caps GND
Shunt Amp Caps
26.06.2023 17:07
GNDI
Sheet: 1/3
1 2 3 4 5 6 7 8
 1 2 3 4 5 6 7 8

SJ3 Green
1 2
CS1 1.5k LED1

GND
SJ4 4+3V3
1 2 3 +3V3
CS2 CS_TMC/1.1C GND/3.1B R29
SJ5 2 UART_TX/1.3D
CS3
1 2 1 UART_RX/1.1D
LEDs

A A
UART
SPI Selection

R35 4.7k+5V
R34 4.7k

R37 4.7k
2516- GND
X1-1 +5V
2 1 1
X1-2
2 +5V
X1-3 RESET/1.1C ENC_Z_5V
1 2 JP5 3
X1-4 +3V3 ENC_B_5V
4
X1-5 MOSI/1.1C 3.3V SJ6 ENC_A_5V

GND
JP8 5
X1-6 MISO/1.3D
1 2
X1-7 CS1 GPIO0/1.1D GPIO1/1.1D
3 4
X1-8 SCK/1.1D GPIO2/1.1D GPIO3/1.1D
5 6
X1-9 CS2 GPIO4/1.1D GPIO5/1.1D
7 8
X1-10 CS3 GPIO6/1.1E GPIO7/1.1E Encoder Terminal
X1-11 FLAG/1.4D

GND
X1-12 BRAKE_CTRL_EXT/1.7E GPIO
14 7
X1-13 V_EXT
JP9 +3V3 VCC GND

R38 4.7k+5V
B X1-14 V_INT
1 2 1 2
B

R36 4.7k

R39 4.7k
X1-15 REF_L/1.1C ENC2_A/1.1B ENC_Z_5V 1A 1Y ENC_Z/1.1B
3 4
X1-16 ENABLE/1.1C REF_H/1.1C ENC2_B/1.1B
5 6 3 4
1.5k R22 REF_R/1.1C ENC2_Z/1.1B ENC_B_5V 2A 2Y ENC_B/1.1B
Interconnect

GND
5 6
ENC_A_5V 3A 3Y ENC_A/1.1B
JP1
2 2 3 5 9 8
AGPI_A/1.1B ENABLE/1.1C DIR/1.1B 4A 4Y HALL_WY/1.1C
1 ENO/1.3A
1 2 STEP/1.1D HALL_UX_5V
4
1.5kR40
GND 1 3 11 10
JP3 Single ended jumper
PWM_I/1.1C HALL_V_5V 1.5kR41 5A 5Y HALL_V/1.1C
JP7 HALL_WY_5V
2
1.5kR42
1 2 1 13 12
AENC_VN_N/1.1A 6A 6Y HALL_UX/1.1C
AENC_UX_N/1.1A
3 4 JP12 +5V 4.7nF
4.7nF
4.7nF
AENC_WY_N/1.1B
5 6 2.5V_REF/1.7B 1.5k - 1n?
C29 C30 C31
Input 5V -> 3.3V buffer
AENC_VN/1.1A
8 7 AENC_VN_N/1.1A Use 1nF to 4.7nF filter caps
AENC_UX/1.1A
6 5 AENC_UX_N/1.1A GND
AENC_WY/1.1B
4 3 AENC_WY_N/1.1B Hall Input
2 1
+5V
C GND C
Analog Encoder

1 14
AGPI_B/1.1B OUTA OUTD BRAKE_RES_COMP/1.8E

2 13
INA- IND- BRAKE_RES_TH

3 12
TH_FET INA+ IND+ V_INT_TMC/1.1A

4 11
5V_SENSE/1.8A VCC GND
5 10 GNDA
2.5V_REF_RAW/1.8B INB+ INC+ V_INT_TMC_RAW

6 9
INB- INC-
V_GD/1.7D

D 7 8
D
2.5V_REF/1.7B OUTB OUTC V_INT_TMC/1.1A
JP4
+UB

1
2 1 MCP6004 or MCP6009
X2-1
I
+5V V_DRV 2 GNDI
X2-2 V+/3.2A
Testpoints
10k thermistor

3 +3V3
X2-3 V_MOT_IN/3.2A
2.5V_REF/1.7B
SJ7 4
X2-4
Brake resistor forced activation point
RES_FET/1.8D R32 71.5k
1 2 H1
60V=>1.25V
65V=>1.336

MOUNT-PAD-ROUND3.0 GMSTBA4
R30

SJ8 MOTOR SUPPLY Thermistor 10k

V+
71.5k

H2
Limit should be set to 1.7V max

1 2
R23

V_MOT_IN/3.2A TH_FET 1.3V

I MOUNT-PAD-ROUND3.0 BRAKE_RES_TH
Linear range up to 1.25V

GNDI
R33 47k

H3 1
294k

294k
R25

R27

X3-1 MOT_A_OUT/1.6A
MOUNT-PAD-ROUND3.0
V_INT

1.5k
R24

R31
V_INT_TMC_RAW

2
1.5k

X3-2 MOT_B/1.7C
E H4 V_EXT E
R28 10k
10k R26

MOUNT-PAD-ROUND3.0 3
X3-3 MOT_C_OUT/1.6B
GNDA

H5
GNDA

X3-4 4 MOT_D/1.8C GND Connectors

MOUNT-PAD-ROUND3.0
GMSTBA4
Motor motor_board_tmc
H6 Voltage Sense GND Temperature sense mosfets
MOUNT-PAD-ROUND3.0 26.06.2023 17:07
GND Sheet: 2/3
1 2 3 4 5 6 7 8
 1 2 3 4 5 6 7 8
LQH43PN100M26L

C36
4.5x3.2mm - 4.5x4mm ~10V

+5V/2.5B

+UB
INPUT_GATE
C33 100nF D16

HV >100V
HV >100V
100nF U23

+5V

+5V
LV low drop

L2
L1

BSC030N08NS5ATMA1
U22
MAX5033BASA+T 10µH C39

+5V
1 2 U24

71.5k
D14
D15

C38
1
220µH

C35

R45
VIN SW

593D476X0016D2TE3
1
VCAP ANODE
6 1
BST LX
8
NSHDN
10µF

V+

2
2 7
100nF3 VD VIN GND FB
2 5 6
A GND GATE SGND GND R43 A

47k
1µF

R1
I V+ 4 5 AP3012KTR-G1
FB ON/OFF
GNDI 3 4
294k C37

R46
EN CATHODE 15k

10k
R44
V_MOT_IN/2.3E V+/2.2D R49
71.5k

V+
Backfeed Protection GND Boost V_Gate GND
GND Low ESR output cap. See MAX5033/5 Datasheet for selection info.
5V VM buck Must have good input decoupling.
Freewheeling diode and inductor must be capable of peak current.
+5V

220µH inductor 1A+ recommended.

+3V3

C32 C34 https://datasheets.maximintegrated.com/en/ds/MAX5033.pdf

MAX5033/5
10µF 10µF Note:
When using adjustable D use R1 41k, R49 15k. When using fixed 5v B use R1 0R and leave R49 open
Vreg 3.3V
GND
V_GD

B B
5V_SENSE/2.5D

C41

10µF
GNDA

Vreg 5V analog

R47 R48
R19
0 0
R52
GNDA

0
I
0
GND GNDI

C C

D D

E E

motor_board_tmc
26.06.2023 17:07
Sheet: 3/3
1 2 3 4 5 6 7 8