TAP on Trinamic's Technology!

Trinamic products offer easy access to comprehensive motion and motor control features. To close the gap between digital and physical layers, engineers need to create custom hardware and software.

Technology Access Package

It's important to have the right documents when developing applications to make the process as easy as possible. This means both software and hardware files are necessary, such as schematic symbols and footprints for layout, code libraries and examples in a commong programming language, and the right firmware. To make sure you have everything needed to get started, Trinamic offers the TTAP package - Trinamic Technology Access Package - consisting of hardware and software documents and downloads.


Each of the proven products come with extensive hardware documents verified by Trinamic's own Engineers, which you can find on the respective product page.


Trinamic's API software is written in C and provided in terms of complete Eclipse™ projects to support own firmware development and integration of Trinamic chip components.

Download The Latest EVAL System Firmware & API

TMC EVAL System (incl. API) V3.06 3.5 MBApr 11, 2019, 12:59 PM

Folder Description


  • tmc/helpers contains general definitions for data types and bit handling, regardless of the processor used.
  • tmc/ic contains a folder for each Trinamic chip, e.g. tmc/ic/TMC4670. Each of these folders contains a header file with the chip’s register address list (e.g. TMC4670_Register.h). Another .h and .c file (e.g. TMC4670.h/.c) provide low-level, mid-level, and high-level functions for the specific chip. Low-level functions are necessary for SPI read and write access. Mid-level functions like setTargetVelocity(. . . ) or getActualPosition() demonstrate the typical register access for different application scenarios, e.g. for velocity or position mode. For some chips, there are also functions available for encoder initialization and real-world current scaling.

Trinamic's API Structure

Trinamic's application programming interface (API) is designed for C applications and can be used for different CPU types. Besides code examples and code libraries, the API also contains firmware for the modular evaluation system including the interface boards forming the starting point for Trinamic’s modular evaluation system. There are two interface boards, one called Landungsbrücke (Freescale MK20 cortex M4 processor) and one called Startrampe (STM-F205 cortex M3 processor). These communicate with the evaluation board, forming the connection between your PC and Trinamic's powerful ICs.

Requirements and Installation

To use the TMC-API in your own project, there are a few software packages needed. First, the eclipse software - an open-source integrated development environment (IDE). Second, the GNU ARM Embedded Toolchain is needed - a pre-built GNU toolchain for ARM Cortex-M processors. Third, you need the TMCL-IDE - Trinamic's own graphical user interface (GUI) to control and update Trinamic modules and evaluation kits.

Older Versions and Nightly Builds

TMC-EVAL System V3.05 - Eclipse Project 1.2 MBOct 16, 2018, 2:25 PM
TMC-EVAL System V3.04 - Eclipse Project 1.2 MBSep 13, 2018, 12:32 PM
TMC-EVAL System V3.03 - Eclipse project 3.7 MBJul 10, 2018, 8:21 AM
TMC-EVAL System V3.02 - Eclipse project 1.3 MBDec 12, 2017, 10:48 AM
TMC-EVAL System V3.01 - Eclipse project 1.2 MBAug 7, 2017, 12:59 PM
TMC-API V3.05 - Eclipse project 410 KBOct 16, 2018, 2:25 PM
TMC-API V3.04 - Eclipse project 420 KBSep 13, 2018, 12:32 PM
TMC-API V3.03 - Eclipse project 2.4 MBJul 10, 2018, 8:21 AM
TMC-API V3.02 - Eclipse project 400 KBDec 12, 2017, 10:48 AM
TMC-API V3.01 - Eclipse project 150 KBAug 7, 2017, 12:59 PM
Application Note 38 - Using TRINAMICs IC Software API and Examples 540 KBMay 16, 2017, 8:11 AM

Besides official releases, the Trinamic's API and evaluation system firmware is also available as nightly builds. These are released whenever there's a new update which hasn't been tested yet.

Evaluation Board Project Structure


The evaluation board project demonstrates the usage of the TMC-API and can be used as a starting point for your own firmware development. It should be an example for you to simplify and speed-up firmware development based on hardware with TRIANMIC Motion Control IC’s.