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	(title_block (title "TMC5130 motion-controller core family") (date "2026-10-04") (rev "Source migration 1") (company "Orb Weaver") (comment 1 "Migrated from the saved family core; circuit, variants and PCB unchanged") (comment 2 "Circuit and PCB layout guidance"))

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	(text "TMC5130A motion-controller core with paired external current-sense resistors" (at 15.24 21.082 0) (effects (font (size 1.5 1.5)) (justify left top)) (uuid "11977537-e825-56bc-95cc-37f05d0bb9eb"))
	(text "Matching net labels are connected. Group order explains function; PCB placement priorities are stated below." (at 15.24 26.322 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "e1d7739e-e4e7-537c-a5a0-d73acf31fea0"))
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	(text "1. Driver core" (at 15.24 39.022 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "a329b343-c11f-5a6a-9467-c8bc52d538b3"))
	(text "${ae35752d-d241-43df-909b-31b506731f95:REFERENCE}, the TMC5130A: SPI or UART in, encoder and reference switches in, two full bridges out on OA1/OA2 and OB1/OB2, diagnostics on SWP/SWN. ${d3c56657-4bda-4df0-99bc-6fe5ef977e56:REFERENCE} and ${42b0183a-56ab-4816-a3be-1e1a54bb7267:REFERENCE} (the variant's shunts) return BRA and BRB to GND; ${735d7528-e024-41da-8639-5a2475293264:REFERENCE} and ${47e64c39-7754-411a-80f2-f70556581f70:REFERENCE} (100 nF) filter the sense nodes." (at 15.24 43.172 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f550d8d1-71c5-5c0f-b50c-f5f8176ba59c"))
	(text "${9e763c16-dad3-484e-a669-01715055f5de:REFERENCE} (10 ohm) bridges 5VOUT to VCC and +5V; ${baf77421-44cb-40ec-8e1f-5b430d66d319:REFERENCE} (4.7 uF) is the regulator's output capacitor, ${fa49200e-ca5d-4379-af3a-48bc1a3ccb1d:REFERENCE} (0.47 uF) the VCC/VSA bypass. ${048d7189-492a-44cb-aa68-ec4f53470949:REFERENCE} and ${9e74d5e3-433b-48ec-9de8-b7463117718b:REFERENCE} (100 uF) hold VM; ${2bd20a9e-33f0-4a32-a1b5-22084f033f7a:REFERENCE} and ${58861f02-8a9b-4956-95bc-2303cbd0efba:REFERENCE} (2.2 uF 100 V) and ${71a16cf5-dc1e-47d5-ad3e-004ada028a7d:REFERENCE}, ${c23806c4-7518-4c6e-a155-bbf6924f9995:REFERENCE} (100 nF) bypass VS at the" (at 15.24 45.712 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "3c9825c3-18e6-584e-8dc5-5de115e68633"))
	(text "package. ${0791d690-b611-471f-bc36-8c26ff6a5b7e:REFERENCE} and ${107b64cc-4b24-46ae-9fa0-7dea3aeaaa60:REFERENCE} (100 nF) bypass VCC_IO and the oscillator's +3.3V; ${2fd8aedf-b327-42c6-aa3f-6f0a7df52f87:REFERENCE} (10 k) pulls ENCN down." (at 15.24 48.252 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5e23899b-f02c-562e-852e-1f0ab0057a14"))
	(text "TMC5130A motion controller and driver" (at 20.32 257.224592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f5977624-8229-5f26-b0b5-cb3cca8e9e0a"))
	(text "${0791d690-b611-471f-bc36-8c26ff6a5b7e:REFERENCE}: VCC_IO bypass, 100 nF, pin 10" (at 20.32 259.764592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "769e8f2a-5ce4-596a-b105-f19638dfb591"))
	(text "${fa49200e-ca5d-4379-af3a-48bc1a3ccb1d:REFERENCE}: VCC and VSA bypass (0.47 uF)" (at 20.32 262.304592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "0b370703-328c-57ae-a705-c822bd625d5b"))
	(text "${9e763c16-dad3-484e-a669-01715055f5de:REFERENCE}: 5VOUT to VCC bridge (10 ohm)" (at 20.32 264.844592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5072bbfc-e6d2-53e1-95f3-a8bcbbf8db58"))
	(text "${2fd8aedf-b327-42c6-aa3f-6f0a7df52f87:REFERENCE}: ENCN pull-down, 10 k" (at 20.32 267.384592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "7e88ff95-3f27-5a18-8508-a29ff0e5ab87"))
	(text "${735d7528-e024-41da-8639-5a2475293264:REFERENCE}: BRA sense filter, 100 nF" (at 20.32 269.924592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "178264b9-9ebe-52e1-aebf-5323e3cf8060"))
	(text "${d3c56657-4bda-4df0-99bc-6fe5ef977e56:REFERENCE}: phase_a_shunt" (at 20.32 272.464592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "a7624575-6319-5211-9079-2709749e6de6"))
	(text "${47e64c39-7754-411a-80f2-f70556581f70:REFERENCE}: BRB sense filter, 100 nF" (at 20.32 275.004592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "9abe743e-dd3d-5c48-aa04-c35b11a17768"))
	(text "${42b0183a-56ab-4816-a3be-1e1a54bb7267:REFERENCE}: phase_b_shunt" (at 20.32 277.544592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5830350a-bc9c-5212-8a21-533a23892053"))
	(text "${baf77421-44cb-40ec-8e1f-5b430d66d319:REFERENCE}: 5VOUT regulator output capacitor, 4.7 uF" (at 20.32 280.084592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "93ee2b3f-4948-56fc-a708-47817cbffe0a"))
	(text "${71a16cf5-dc1e-47d5-ad3e-004ada028a7d:REFERENCE}, ${c23806c4-7518-4c6e-a155-bbf6924f9995:REFERENCE}: VS bypass, 100 nF, pins 21/40" (at 20.32 282.624592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "c7fc7101-1cdf-57e0-817b-b3da1e9fded7"))
	(text "${048d7189-492a-44cb-aa68-ec4f53470949:REFERENCE}, ${9e74d5e3-433b-48ec-9de8-b7463117718b:REFERENCE}: VM bulk (100 uF electrolytic)" (at 20.32 285.164592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5b6e2c91-dc25-57b0-b33a-6e8213926d5f"))
	(text "${2bd20a9e-33f0-4a32-a1b5-22084f033f7a:REFERENCE}, ${58861f02-8a9b-4956-95bc-2303cbd0efba:REFERENCE}: VM bypass (2.2 uF 100 V)" (at 20.32 287.704592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "b168740f-820e-575f-99c3-39334b75b310"))
	(text "${6cbb887c-2606-45ed-9cb3-f97f490ad7b6:REFERENCE}: VCP reservoir to VM, 100 nF" (at 20.32 290.244592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "27bcc43c-5e5c-5397-8f90-cb209f5d51fb"))
	(text "PLACE: The package centre is the family anchor driver_center; the exposed pad (49) takes the thermal vias of the footprint into the GND pour." (at 15.24 295.324592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "c64067bd-3a59-57d1-85f9-8693189c9b59"))
	(text "PLACE: Place each shunt right at its BR pin (44, 17) with the filter capacitor beside it; the sense loops set the current accuracy." (at 15.24 299.134592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "66c3e8c0-86c2-54b1-a314-417690444bc5"))
	(text "PLACE: Place ${baf77421-44cb-40ec-8e1f-5b430d66d319:REFERENCE} at pin 33 and ${fa49200e-ca5d-4379-af3a-48bc1a3ccb1d:REFERENCE} at pins 34/39 with short returns to GNDA (32); ${9e763c16-dad3-484e-a669-01715055f5de:REFERENCE} between them." (at 15.24 302.944592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "77cdaa9f-dd6a-5746-b9de-688c592eda09"))
	(text "PLACE: Place the 100 nF and 2.2 uF parts at VS pins 21 and 40, the electrolytics behind them on the VM entry." (at 15.24 306.754592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "65757e76-650d-5f25-ba9c-f7c8119aae6d"))
	(text "PLACE: Place ${0791d690-b611-471f-bc36-8c26ff6a5b7e:REFERENCE} at pin 10 and ${107b64cc-4b24-46ae-9fa0-7dea3aeaaa60:REFERENCE} at ${d8e9dab7-a516-4a53-9b28-2ed109176fa7:REFERENCE}'s VDD; ${2fd8aedf-b327-42c6-aa3f-6f0a7df52f87:REFERENCE} near pin 23." (at 15.24 310.564592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "0b2ce565-c49e-5c27-acf1-a9b2ba31cbfb"))
	(text "ROUTE: Keep the bridge outputs (MOTOR_2A) and the BRA/BRB shunt loops short and on the component side; logic on the other side of the package." (at 15.24 314.374592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "c865b0b9-1a81-5d47-80db-b7231367d685"))
	(text "ROUTE: Kelvin-style short returns from the shunts to GNDP; no shared copper with the bulk capacitors' ripple current." (at 15.24 318.184592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "67bad48f-ad7e-5a9e-99e5-028276700a21"))
	(text "ROUTE: +5V is the board's rail (PWR_5V); 5VOUT stays inside the block." (at 15.24 321.994592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "431461b4-1485-5de9-b9d2-f6d90c9318b6"))
	(text "ROUTE: VM is PWR_HV_BUS: wide copper from the bulk capacitors to the VS pins; the ripple-current return to GNDP, not through the sense shunts." (at 15.24 325.804592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5d366bf3-682d-51f7-9337-c169422fa793"))
	(text "ROUTE: +3.3V is the board's rail (PWR_3V3); ENCN is a logic input." (at 15.24 329.614592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "179fb5d8-f31c-5fd2-abba-85c9aff2440e"))
	(polyline (pts (xy 343 36.482) (xy 636.46 36.482)) (stroke (width 0.254) (type default)) (fill (type none)) (uuid "1506f925-1f30-59e6-ba13-25c92a1c0eee"))
	(text "2. Clock" (at 343 39.022 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "548afcf5-d401-57cf-8d1c-ef9495783241"))
	(text "${d8e9dab7-a516-4a53-9b28-2ed109176fa7:REFERENCE} (16 MHz oscillator on +3.3V) drives CLK (pin 2); its Tri-State input is open. ${0791d690-b611-471f-bc36-8c26ff6a5b7e:REFERENCE} and ${107b64cc-4b24-46ae-9fa0-7dea3aeaaa60:REFERENCE} (100 nF) bypass VCC_IO and the oscillator's +3.3V; ${2fd8aedf-b327-42c6-aa3f-6f0a7df52f87:REFERENCE} (10 k) pulls ENCN down." (at 343 43.172 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "a10173ff-93bc-55e0-b00e-33b2c2cb1181"))
	(text "16 MHz oscillator for CLK" (at 348.08 132.764592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "890343ef-4410-5e8f-9ab6-2793c08ebe51"))
	(text "${107b64cc-4b24-46ae-9fa0-7dea3aeaaa60:REFERENCE}: Oscillator VDD bypass," (at 348.08 135.304592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "055d12b2-1c8d-54de-9421-76c0d5d97c41"))
	(text "100 nF" (at 348.08 137.844592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "0c882fa9-c51a-549c-83f3-9514121102b7"))
	(text "PLACE: Place ${d8e9dab7-a516-4a53-9b28-2ed109176fa7:REFERENCE} close to ${ae35752d-d241-43df-909b-31b506731f95:REFERENCE} pin 2 (CLK) with its GND at the package's ground." (at 343 142.924592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "a0594c8e-c617-5d7b-b7b9-34146af1bc67"))
	(text "PLACE: Place ${0791d690-b611-471f-bc36-8c26ff6a5b7e:REFERENCE} at pin 10 and ${107b64cc-4b24-46ae-9fa0-7dea3aeaaa60:REFERENCE} at ${d8e9dab7-a516-4a53-9b28-2ed109176fa7:REFERENCE}'s VDD; ${2fd8aedf-b327-42c6-aa3f-6f0a7df52f87:REFERENCE} near pin 23." (at 343 146.734592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "255f2cd7-87d3-5302-be06-cd8de64e82f5"))
	(text "ROUTE: CLK is a 16 MHz single-ended line: short, no stubs." (at 343 150.544592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "a96178dc-10b1-5243-b200-14ad6abaddc7"))
	(text "ROUTE: +3.3V is the board's rail (PWR_3V3); ENCN is a logic input." (at 343 154.354592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "d2ad862c-c880-59a1-99f4-9e2d8eaebafd"))
	(polyline (pts (xy 343 165.784592) (xy 523 165.784592)) (stroke (width 0.254) (type default)) (fill (type none)) (uuid "6cb32cfc-b2da-5033-a3d2-ebe7fe9e902c"))
	(text "3. Charge pump" (at 343 168.324592 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "34839a6b-88e8-54a1-9682-f17c0ae35f8d"))
	(text "${719914a8-df0e-45c3-aece-d94504f7c2a0:REFERENCE} (22 nF 100 V) is the flying capacitor between CPO and CPI; ${6cbb887c-2606-45ed-9cb3-f97f490ad7b6:REFERENCE} (100 nF) holds VCP above VM." (at 343 172.474592 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "625be1f7-3e21-510b-975f-c4e67bde9441"))
	(text "Charge pump flying" (at 348.08 213.297104 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f49a0821-507d-5825-9521-e6f93c3d4130"))
	(text "capacitor (22 nF 100" (at 348.08 215.837104 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "742710da-6029-5363-b45b-2627be30066b"))
	(text "V)" (at 348.08 218.377104 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "e432acd2-d1c0-5137-97e2-b2d08afb6be1"))
	(text "PLACE: Place both at pins 35 to 38 with the shortest loops; ${6cbb887c-2606-45ed-9cb3-f97f490ad7b6:REFERENCE}'s far end goes to the VM copper." (at 343 223.457104 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "fc52e0d5-639c-5797-bb22-301ff9c893dd"))
	(text "ROUTE: BOOTSTRAP class; the charge pump switches at the chopper frequency, keep it away from the sense nodes." (at 343 227.267104 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "79e7a67e-ade9-5f44-a4a2-b757926b3353"))
	(polyline (pts (xy 343 238.697104) (xy 548.819903 238.697104)) (stroke (width 0.254) (type default)) (fill (type none)) (uuid "af3d9831-f9e2-5dcf-ae66-94ec16d8ea80"))
	(text "4. Instrument taps" (at 343 241.237104 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "caa83e69-b38c-5749-8683-58e440d908e6"))
	(text "100 ohm taps ${48b3655d-2550-4999-bab4-2d648dba3b87:REFERENCE} to ${2bcffe5d-94f1-4f86-bfcf-8f7201a41691:REFERENCE} on ~{CS}, SCK, COPI and CIPO; 1 k taps ${c723bfb0-51e6-4484-a2dc-2fe32d5c3c02:REFERENCE} to ${ce2e512d-9e7b-4bf0-a9a8-bae789a6f61c:REFERENCE} on SWN_DIAG0, SWP_DIAG1 and ~{DRV_EN}; each to its _INST port." (at 343 246.287104 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "05724268-9a4f-5167-9c39-9e4b86763842"))
	(text "Instrument tap, 100 R, ~{CS}" (at 348.08 277.506 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "a62d5d55-8668-5b86-9093-746201c34a0e"))
	(text "Instrument tap, 100 R, SCK" (at 403.696347 276.606 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "9c8c582b-4bd6-5516-8a84-d59b94df91e6"))
	(text "Instrument tap, 100 R, COPI" (at 459.18811 276.606 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "19e34a21-2785-57f0-b28a-6e557f8dc016"))
	(text "Instrument tap, 100 R, CIPO" (at 507.952499 276.606 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "dac43158-dc3f-5e2c-bf73-8c9bab77d3fe"))
	(text "Instrument tap, 1 k, SWN_DIAG0" (at 348.08 304.546 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "3814b580-85ac-50dd-9eb5-33d49212db3e"))
	(text "Instrument tap, 1 k, SWP_DIAG1" (at 403.696347 304.546 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "b712280e-6d3c-50fa-8208-594486aa2204"))
	(text "Instrument tap, 1 k, ~{DRV_EN}" (at 459.18811 305.446 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "c30d1708-a460-5240-9ecb-3acd39ca3de4"))
	(text "PLACE: A row toward the instrument-port side of the block." (at 343 310.526 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "eb809741-9390-5285-bb77-47fdfd095e87"))
	(text "ROUTE: INSTRUMENT class to the instrument port; see the note on the shared-line taps." (at 343 314.336 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "4135feb4-838c-587d-8c90-d986e83f03c6"))
	(text "INTERFACES" (at 670.76 36.482 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "1eb8d183-791d-550c-b736-02d061a412bb"))
	(text "Bridge supply VS (pins 21, 40), 5.5 to 46 V, PWR_HV_BUS; bulk ${048d7189-492a-44cb-aa68-ec4f53470949:REFERENCE}/${9e74d5e3-433b-48ec-9de8-b7463117718b:REFERENCE}." (at 670.76 46.99 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "4e5b4d21-3b85-539d-9a77-29773c1f0f91"))
	(text "VCC (pin 34) and VSA (pin 39), 4.6 to 5.25 V; bridged to 5VOUT through ${9e763c16-dad3-484e-a669-01715055f5de:REFERENCE}; ${fa49200e-ca5d-4379-af3a-48bc1a3ccb1d:REFERENCE} bypass." (at 670.76 59.69 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "1ffd9807-93f4-5cab-aa5c-cbc91e46b477"))
	(text "I/O supply VCC_IO (pin 10) and the oscillator, 3.0 to 5.25 V; ${0791d690-b611-471f-bc36-8c26ff6a5b7e:REFERENCE} and ${107b64cc-4b24-46ae-9fa0-7dea3aeaaa60:REFERENCE} bypass." (at 670.76 72.39 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "4de3978d-9eca-5a50-9cc2-3484997dea05"))
	(text "Return: GNDP (13, 48), GNDA (32), the pad (49), TST_MODE (1) and SD_MODE (11) tied low." (at 670.76 85.09 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "c7f201f7-3629-5321-8056-0b3a69a49e6a"))
	(text "SPI data out SDO (pin 7; NAO in the UART profile), tapped by ${2bcffe5d-94f1-4f86-bfcf-8f7201a41691:REFERENCE}." (at 670.76 97.79 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f43e359d-7d5c-5524-b665-18106256a9d8"))
	(text "SPI data in SDI (pin 5; NAI in the UART profile), tapped by ${aed741ed-41e7-49d8-8845-bc6686e8481b:REFERENCE}." (at 670.76 110.49 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "bf5d0b50-41df-5d73-b8d2-a9d9c7d11bef"))
	(text "Encoder A input (pin 25), 3.3 V logic." (at 670.76 123.19 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "35ce0a10-412d-5051-b3b6-4a60744f2549"))
	(text "Encoder B input (pin 24), 3.3 V logic." (at 670.76 135.89 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "4ed13eee-d644-5134-8247-11a6cdd5d276"))
	(text "Encoder index N input (pin 23), pulled down by ${2fd8aedf-b327-42c6-aa3f-6f0a7df52f87:REFERENCE} (10 k)." (at 670.76 146.05 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "4b95bf5d-5019-53a9-8cac-d03b96f7aebc"))
	(text "Motor phase A output 1 (pin 46), MOTOR_2A class." (at 670.76 156.21 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "0c7660d5-c336-5161-a13a-a2410dafe777"))
	(text "Motor phase A output 2 (pin 42), MOTOR_2A class." (at 670.76 166.37 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "70a818ab-9ffd-5acf-8955-ac4cd6b16b22"))
	(text "Motor phase B output 1 (pin 15), MOTOR_2A class." (at 670.76 176.53 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "b79172b9-021b-5fb9-936e-1ce63b8feecd"))
	(text "Motor phase B output 2 (pin 19), MOTOR_2A class." (at 670.76 186.69 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f180a4d0-eac5-5be4-a6f3-6cbf07c218c0"))
	(text "REFL_STEP (pin 8): left reference switch, or STEP in step/dir mode." (at 670.76 196.85 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "1275ef92-c245-54f8-bfb1-e1e2cf18a57d"))
	(text "REFR_DIR (pin 9): right reference switch, or DIR; the SPI profile ties it to GND." (at 670.76 207.01 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "e6716e29-75fa-5a2b-8ca4-dae0bbddb4c1"))
	(text "SPI clock SCK_CFG2 (pin 4): 4 MHz max on the internal clock, 8 MHz with the 16 MHz oscillator." (at 670.76 217.17 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f417d76e-8dc2-5bc4-915c-234db86b082f"))
	(text "SWN_DIAG0 (pin 26): DIAG0 output in SPI, SWION of the single-wire UART pair." (at 670.76 227.33 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "39a1c44f-add5-5a17-977f-6a30e0d1b627"))
	(text "SWP_DIAG1 (pin 27): DIAG1 output in SPI, SWIOP of the UART pair." (at 670.76 237.49 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "b90ecdbc-a4af-5350-8ee8-050b811efab2"))
	(text "SWSEL (pin 28): low (internal pull-down) selects SPI, high selects the UART." (at 670.76 247.65 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "58ab2d04-aa68-5caf-ac11-e1d352889491"))
	(text "SPI chip select ~{CS}_CFG3 (pin 3), active low, tapped by ${48b3655d-2550-4999-bab4-2d648dba3b87:REFERENCE}." (at 670.76 258.71 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "2b2109f6-f6e9-5792-a65f-d1963d12c919"))
	(text "~{DRV_EN}_CFG6 (pin 29): low enables the driver stage, tapped by ${ce2e512d-9e7b-4bf0-a9a8-bae789a6f61c:REFERENCE}." (at 670.76 271.41 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "0296804a-5a6e-54b2-8995-702fd350bba7"))
	(text "100 ohm tap on CIPO for the instrument port." (at 670.76 283.21 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "7e6f0fbe-d1fe-515b-ac12-c0573284cdab"))
	(text "100 ohm tap on COPI for the instrument port." (at 670.76 295.91 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "e9c9b86c-e147-5392-b19c-8efaa5636331"))
	(text "100 ohm tap on SCK for the instrument port." (at 670.76 308.61 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "4e31e428-73d7-5e86-a792-85a4d13293a0"))
	(text "1 k tap on SWN_DIAG0 for the instrument port." (at 670.76 321.31 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f820de69-a5db-5400-b7fe-1bd4b3a98b02"))
	(text "1 k tap on SWP_DIAG1 for the instrument port." (at 670.76 334.01 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "a6f308aa-8bf1-5b09-8a08-cced7514fc57"))
	(text "100 ohm tap on ~{CS} for the instrument port." (at 670.76 347.61 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "e1a6e67a-23a4-5009-abd1-50b7f6d74fa0"))
	(text "1 k tap on ~{DRV_EN} for the instrument port." (at 670.76 360.31 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f26f6eee-f046-5315-a729-9e09c69ef740"))
	(polyline (pts (xy 670.76 375.55) (xy 825.76 375.55)) (stroke (width 0.254) (type default)) (fill (type none)) (uuid "7309572b-2aa3-54e6-b1d7-96a05842195f"))
	(text "INTERNAL NETS" (at 670.76 378.09 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "fd4d867b-9858-5d0a-8eba-5a9cd73ad6da"))
	(text "5VOUT: Internal 5 V regulator output (pin 33), ${baf77421-44cb-40ec-8e1f-5b430d66d319:REFERENCE} (4.7 uF); bridged to VCC and +5V through ${9e763c16-dad3-484e-a669-01715055f5de:REFERENCE} (10 ohm)." (at 670.76 382.24 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "0241bc53-e0a8-5211-af7e-c28888776893"))
	(text "BRA: Phase A bridge return (pin 44) through shunt ${d3c56657-4bda-4df0-99bc-6fe5ef977e56:REFERENCE} to GND; ${735d7528-e024-41da-8639-5a2475293264:REFERENCE} (100 nF) filters it." (at 670.76 386.05 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "ec4e50e1-27ec-5724-a9f5-81d4bb29524c"))
	(text "BRB: Phase B bridge return (pin 17) through shunt ${42b0183a-56ab-4816-a3be-1e1a54bb7267:REFERENCE} to GND; ${47e64c39-7754-411a-80f2-f70556581f70:REFERENCE} (100 nF) filters it." (at 670.76 389.86 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "4ce5dca5-be3d-5dc2-9d1f-154e7bd1f4de"))
	(text "CLK: 16 MHz from ${d8e9dab7-a516-4a53-9b28-2ed109176fa7:REFERENCE} OUT into CLK (pin 2)." (at 670.76 393.67 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "d60bdcfc-051d-57b7-a776-c7c45f8e9643"))
	(text "CPI: Charge pump flying capacitor ${719914a8-df0e-45c3-aece-d94504f7c2a0:REFERENCE} (22 nF 100 V), CPI side (pin 37)." (at 670.76 397.48 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "e5756b42-b998-5056-99e1-13ba86add1c3"))
	(text "CPO: Charge pump flying capacitor ${719914a8-df0e-45c3-aece-d94504f7c2a0:REFERENCE}, CPO side (pin 35)." (at 670.76 401.29 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "d7b2c333-f208-5ed1-8e03-413dc0478de5"))
	(text "VCP: Charge pump output (pin 38), ${6cbb887c-2606-45ed-9cb3-f97f490ad7b6:REFERENCE} (100 nF) to VM." (at 670.76 405.1 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "46f4f761-7713-551f-8baf-6f6a56892068"))
	(polyline (pts (xy 670.76 416.53) (xy 825.76 416.53)) (stroke (width 0.254) (type default)) (fill (type none)) (uuid "911936cd-2f40-59c9-b971-1197ea81805d"))
	(text "OPERATION" (at 670.76 419.07 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "0bcc2eee-5af5-5943-bfc5-133dbefbb1b2"))
	(text "Supplies: VM (5.5 to 46 V, PWR_HV_BUS) on VS (pins 21, 40) with ${048d7189-492a-44cb-aa68-ec4f53470949:REFERENCE} and ${9e74d5e3-433b-48ec-9de8-b7463117718b:REFERENCE} (100 uF) bulk, ${2bd20a9e-33f0-4a32-a1b5-22084f033f7a:REFERENCE} and ${58861f02-8a9b-4956-95bc-2303cbd0efba:REFERENCE} (2.2 uF 100 V) and" (at 670.76 423.22 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "2bef669f-2b05-54d4-929a-6ab8fde5df52"))
	(text "${71a16cf5-dc1e-47d5-ad3e-004ada028a7d:REFERENCE}, ${c23806c4-7518-4c6e-a155-bbf6924f9995:REFERENCE} (100 nF) bypass; +5V on VSA (39) and VCC (34), so the internal 5 V regulator is bridged: 5VOUT (33) feeds VCC through ${9e763c16-dad3-484e-a669-01715055f5de:REFERENCE}" (at 670.76 425.76 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "a51e6d90-4eef-56c0-ba8d-1cc0c3e6c761"))
	(text "(10 ohm) with ${baf77421-44cb-40ec-8e1f-5b430d66d319:REFERENCE} (4.7 uF) and ${fa49200e-ca5d-4379-af3a-48bc1a3ccb1d:REFERENCE} (0.47 uF) as its capacitors (facts: 4.7 to 5.4 V with the regulator bridged, VCC 4.6 to 5.25 V); +3.3V" (at 670.76 428.3 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5f62b95d-944e-5104-a645-b71ae747ad5f"))
	(text "on VCC_IO (10) and the oscillator (3.0 to 5.25 V). Supply current about 15 mA at 16 MHz with the driver disabled." (at 670.76 430.84 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "b03ef7c7-ac01-56ef-a0a8-32e3d367f708"))
	(text "Clock and modes: ${d8e9dab7-a516-4a53-9b28-2ed109176fa7:REFERENCE} (16 MHz oscillator, Tri-State pin 1 open) drives CLK (pin 2), which lets SCK run to 8 MHz (4 MHz on the internal clock)." (at 670.76 434.65 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "8c345684-ab7b-5c84-b65f-3dd56ff890f2"))
	(text "TST_MODE (1) and SD_MODE (11) are tied to GND: motion-controller mode with the internal ramp generator, not step/dir; SPI_MODE (12) is left open" (at 670.76 437.19 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "8af4e544-7f5f-592f-9e2d-5765dc238f0d"))
	(text "(internal pull-up, high) and AIN_IREF (30) open (internal reference, no analog current scaling); ENCN is pulled down by ${2fd8aedf-b327-42c6-aa3f-6f0a7df52f87:REFERENCE} (10 k); ~{DRV_EN} low" (at 670.76 440.63 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "1ddeb257-6bce-5120-914e-26a22f9663ce"))
	(text "enables the bridges." (at 670.76 443.17 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "33744ba6-d96b-5fe8-b819-771e6d73e43d"))
	(text "Current sense and variants (family.json): external sensing on BRA (44) and BRB (17) through ${d3c56657-4bda-4df0-99bc-6fe5ef977e56:REFERENCE} and ${42b0183a-56ab-4816-a3be-1e1a54bb7267:REFERENCE}; the variant selects both shunts" (at 670.76 446.98 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5d943ad7-e8bc-5e84-9ef3-df6d2fb9535a"))
	(text "together, r150 = OW-PASS-RLH12FTCR150 (0.15 ohm, 1 W) and r120 = OW-PASS-KRL1632E-M-R120-F-T5 (0.12 ohm, 0.75 W). I_RMS = ((CS + 1)" (at 670.76 449.52 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "fd814db3-2785-54bf-abae-fd95d3508ccd"))
	(text "/ 32) x V_FS / (R + 0.02 ohm) / sqrt(2) with V_FS 0.325 V (vsense 0) or 0.180 V (vsense 1): at CS = 31 about 1.35 / 0.75 A RMS for 0.15 ohm" (at 670.76 452.06 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "00ab0bbc-728b-57d6-8580-cdafe0a5b06c"))
	(text "and 1.64 / 0.91 A for 0.12 ohm against the 1.4 A RMS design guideline; the shunt_pair_inventory qualification judges stock and dissipation at" (at 670.76 454.6 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "decab2f8-9f2d-5b0f-85bf-b7a1540e83a6"))
	(text "publication (release.json). Firmware sets vsense, IRUN and IHOLD; the KiCad variant does not." (at 670.76 457.14 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f4e93c2f-e35b-578b-ab28-fb8911ce1836"))
	(text "Profiles (family.json): the SPI blocks are placed with SWSEL and REFR to GND (SPI_MODE high by its pull-up, SD_MODE low) and talk on SCK, COPI" (at 670.76 460.95 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "e5ad9213-e0c3-5a98-bc57-745df40a8a66"))
	(text "(SDI), CIPO (SDO) and ~{CS}, each tapped by 100 ohm into an instrument port; the UART blocks are placed with SWSEL to +3.3V, SCK to GND and ~{CS} to" (at 670.76 464.39 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "54da4ce7-097d-534b-af4f-ed7d0e1c6652"))
	(text "+3.3V, SWP_DIAG1 as SWIOP and SWN_DIAG0 as SWION (the single-wire pair, RS-485-like differential or single wire), COPI and CIPO as NAI and NAO" (at 670.76 466.93 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "f51e256d-9bf0-54eb-869f-0576e0db9c76"))
	(text "for the address chain; 8N1, sync 0x05, CRC8, 9000 baud minimum at 20 MHz CLK, fCLK / 16 maximum. SPI and UART blocks share one copper; they" (at 670.76 469.47 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "0b519cee-8572-582e-b168-63554669b947"))
	(text "differ in description and Profile field only." (at 670.76 472.01 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "b309c648-5c99-50a8-9ebb-0a747203494b"))
	(text "Charge pump: ${719914a8-df0e-45c3-aece-d94504f7c2a0:REFERENCE} (22 nF 100 V) between CPO (35) and CPI (37) and ${6cbb887c-2606-45ed-9cb3-f97f490ad7b6:REFERENCE} (100 nF) from VCP (38) to VM supply the high-side gates; the" (at 670.76 475.82 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "9150923c-6d11-52fc-8bde-866e9d8e625c"))
	(text "undervoltage threshold is VCP - VS of about 3.6 V. Motor outputs OA1/OA2 (46, 42) and OB1/OB2 (15, 19) carry the MOTOR_2A class, 1.4 A RMS per" (at 670.76 478.36 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5efb88d4-28eb-547e-90cb-a01534f7b857"))
	(text "coil as the design guideline, 2 A peak." (at 670.76 480.9 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "c721353c-f247-5674-882b-7fcb3d2fa51c"))
	(text "What the board provides and an inherited deviation: the motor connector and the VM entry on their own classes, the bus pulls, the mode-pin ties of" (at 670.76 484.71 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "e42a0382-b351-59eb-9c4b-47d7dbdce63e"))
	(text "the chosen profile and the instrument port behind the taps. This core carries taps on the shared SPI lines SCK, COPI and CIPO (${17810de7-5ac1-427d-994c-ad82e0727783:REFERENCE} to ${2bcffe5d-94f1-4f86-bfcf-8f7201a41691:REFERENCE})" (at 670.76 487.25 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "7542ff72-bbf1-5898-813f-491c8d2b44eb"))
	(text "as well as on its own ~{CS}, SWP/SWN and ~{DRV_EN}; a board that places two cores on one bus gets two taps per shared line, a deviation from layout" (at 670.76 490.69 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "6edd95d2-278f-5b87-9129-33243fd5f84a"))
	(text "convention 14 (shared lines are tapped once, by the board) that the migration preserves rather than corrects." (at 670.76 493.23 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "885c7a84-25b4-5dec-98c1-b63534b0600b"))
	(polyline (pts (xy 670.76 504.66) (xy 825.76 504.66)) (stroke (width 0.254) (type default)) (fill (type none)) (uuid "d7aac4c9-ef57-54cc-a556-8ef0f32b5e62"))
	(text "DESIGN NOTES" (at 670.76 507.2 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "781612a0-810b-5d02-bd91-b4a18d61d97f"))
	(text "TMC5130 Rsense options in stock, approx full-scale current at CS=31:" (at 670.76 511.35 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "887408da-0793-56e0-9777-f92fb6d2e7c5"))
	(text "360m 1206 250mW: vsense=0 0.60A RMS / 0.86A peak; vsense=1 0.33A RMS / 0.47A peak OW-PASS-RL1206FR-070R36L 150m 1206 1W: vsense=0" (at 670.76 513.89 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "c70f55e7-8893-5be6-bf6c-570fca7c508a"))
	(text "1.35A RMS / 1.91A peak; vsense=1 0.75A RMS / 1.06A peak OW-PASS-RLH12FTCR150 120m 1206 750mW: vsense=0 1.64A RMS / 2.32A peak;" (at 670.76 516.43 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "5f247799-f3b7-57e0-80df-6314ba686207"))
	(text "vsense=1 0.91A RMS / 1.29A peak OW-PASS-KRL1632E-M-R120-F-T5 Set lower current in firmware; choose Rsense so normal IRUN is ~16-31." (at 670.76 518.97 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "fa952ead-a949-542c-a55c-be8e8013eb5a"))
	(text "TMC5130 TQFP thermal behavior needs validation above ~1.2A RMS continuous." (at 670.76 521.51 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "00aa0e4b-26f5-5dbe-968b-d13d810c187d"))
	(text "SWSEL (pin 28): tie HIGH for the UART profile; its level does not matter for SPI (the SPI profile ties it to GND; left open, the internal pull-down reads" (at 670.76 525.32 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "b40c4803-625c-56ea-8660-ba5dde44e901"))
	(text "low)." (at 670.76 527.86 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "d5434e37-a2a0-5c9d-97b8-9e290d828810"))
	(polyline (pts (xy 670.76 539.29) (xy 825.76 539.29)) (stroke (width 0.254) (type default)) (fill (type none)) (uuid "0971e487-6700-5b19-9640-be70120ebe30"))
	(text "DESIGN CONTRACT" (at 670.76 541.83 0) (effects (font (size 1.6 1.6) (bold yes)) (justify left top)) (uuid "d9eb3a69-eb2b-5e2f-b4a7-bf300133698a"))
	(text "TMC5130A motion-controller core with paired external current-sense resistors" (at 670.76 545.98 0) (effects (font (size 1.27 1.27)) (justify left top)) (uuid "a09013a2-1933-5778-8939-17aa93f413be"))
	(group "Review page 01: 1. Driver core (1 of 3)" (uuid "6beead88-c30e-53dc-874e-d73c67f10e34") (members "ded19b95-813d-5ca8-8302-ee8a6be67f56" "a329b343-c11f-5a6a-9467-c8bc52d538b3" "f550d8d1-71c5-5c0f-b50c-f5f8176ba59c" "3c9825c3-18e6-584e-8dc5-5de115e68633" "5e23899b-f02c-562e-852e-1f0ab0057a14"))
	(group "Review page 02: 1. Driver core (2 of 3)" (uuid "11741bf4-02c4-523d-b312-30e9e0058e9b") (members "0791d690-b611-471f-bc36-8c26ff6a5b7e" "a07a2227-642d-5aa8-abd9-5c77a10198a3" "9f2d2c9c-e1e5-5e6a-8202-aa25333d1c54" "fdcbf41a-bcf5-5e30-a2e6-acc895e9a176" "6316fed4-61f6-5040-860c-0299c1640e0d" "6cbb887c-2606-45ed-9cb3-f97f490ad7b6" "effbb06f-7f12-5e91-ab31-136e53e86db8" "4445d936-6ae4-59b1-b9ee-5b0c36fb61d1" "b5d5a6e6-9f48-5fe7-87e1-ceb6b93b236d" "9a694b13-d477-5999-9749-f88d28bf2689" "735d7528-e024-41da-8639-5a2475293264" "68709af8-ec70-564d-8a14-dc38a1e6050f" "0a12c421-ea7a-5f9e-bd72-e690eef813f7" "65db9723-2a19-54cd-b0f3-6fce809ef7c7" "e0b1cbca-ecfa-5375-bcb6-c6067e54ba81" "47e64c39-7754-411a-80f2-f70556581f70" "5cf5c6dd-aa4a-5131-a718-b8f974ec607d" "27cc5658-2877-5b44-bcd9-eaaa26950e69" "0e53c4ef-549f-5046-bfa4-7d15a04b4294" "51ab0fb3-ee49-5981-92f3-b6738cb8a8a5" "71a16cf5-dc1e-47d5-ad3e-004ada028a7d" "0078bf96-f8c9-5a71-a698-daf67d1b3ae2" "b222f4fb-cc42-5259-b5c0-090ef2095876" 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