Introduction

Have you ever wondered how the iPhone 8's Home button or the MacBook's trackpad triggers haptic feedback when pressed? If you press them when your iPhone or Mac is powered off, you'll find the Home button/trackpad can't actually be pressed. The tactile feedback you feel when pressing is achieved by LRA (Linear Resonant Actuator) motors. These motors drive a mass block in linear motion via an electromagnetic coil, precisely controlling vibration direction and intensity. They're ideal for delivering haptic feedback effects.
DFRobot's newly launched Gravity: Vibration Motor Driver utilizes the TM6605 chip, specifically designed for LRA motors (linear motors). Via I2C communication, it enables rapid configuration of its built-in 44 vibration patterns. Whether for tactile feedback in smart home devices, interactive designs in educational robots, or immersive vibration experiences in game controllers, the Gravity Vibration Motor Driver enables refined haptic control through simple code.
Note: This driver is specifically designed for LRA motors and is not compatible with ERM (Eccentric Rotating Mass) motors.

Feature

• Built-in 44 distinct vibration modes
• Automatic Resonance Tracking, capable of automatically detecting and tracking the optimal commutation frequency
• Gravity I2C Interface with LRA Motor Included. 2-Minute Quick Deployment—Say Goodbye to Complex Circuit Debugging.

Specification

• Voltage：2.7V-5.2V DC
• Working temperature：-40~85℃
• Supported LRA frequencies：140~220Hz
• Working current：9.5μA (Sleep mode), The current during motor vibration is determined by the motor.
• Size: 30 * 20mm
• Mounting hole dimensions: φ3.0mm

Pinout

Tutorial

Prepare

Hardware

• DFRduino UNO+IO Expansion Shield (SKU:DFR0216-2) ×1
• Gravity: Haptic Motor Driver（SKU:DRI0056）×1

Software

• Download Arduino IDE： Click to download Arduino IDE
• Download DFRobot_TM6605 library：DFRobot TM6605 Github
• Arduino IDE V1.8.19 (or below) can download .zip file and unzip into the library folder in the Arduino IDE installation path.
• Arduino IDE V2.0.0(or above) can search and install the library in the library manager.

Wiring Diagram

Example code

• Upload the following code, the LRA motor will start work, and switch a vibration mode every two second
• The vibration mode could be check in the serial monitor.

/*!
 * @file demo.ino
 * @brief This demo showcases all the vibration effects of the TM6605.
 * @copyright	Copyright (c) 2025 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @license The MIT License (MIT)
 * @author [fary]([email protected])
 * @version V1.0
 * @date 2025-04-08
 * @url https://github.com/DFRobot/DFRobot_TM6605
 */
#include "DFRobot_TM6605.h"
DFRobot_TM6605 TM6605;
DFRobot_TM6605::eEffect_t effects[] = {
   DFRobot_TM6605::eSharpClick,  DFRobot_TM6605::eInstantClick,  DFRobot_TM6605::eLightTap,  DFRobot_TM6605::eDoubleClick,
   DFRobot_TM6605::eLightPulse,  DFRobot_TM6605::eStrongAlert,  DFRobot_TM6605::eMediumDurationAlert,  DFRobot_TM6605::eSharpClick2,
   DFRobot_TM6605::eMediumClick,  DFRobot_TM6605::eFlashStrike,  DFRobot_TM6605::eDoubleHighClickShort,  DFRobot_TM6605::eDoubleMediumClickShort,
   DFRobot_TM6605::eDoubleFlashStrikeShort, DFRobot_TM6605::eDoubleInstantClickLong,  DFRobot_TM6605::eDoubleMediumInstantClickLong,
   DFRobot_TM6605::eDoubleFlashStrikeLong,  DFRobot_TM6605::eAlert,  DFRobot_TM6605::eToggleClick,  DFRobot_TM6605::eLongSlowFadeTransition1,
   DFRobot_TM6605::eLongSlowFadeTransition2,  DFRobot_TM6605::eMediumSlowFadeTransition1,  DFRobot_TM6605::eMediumSlowFadeTransition2,
   DFRobot_TM6605::eShortSlowFadeTransition1, DFRobot_TM6605::eShortSlowFadeTransition2,  DFRobot_TM6605::eLongFastFadeTransition1,
   DFRobot_TM6605::eLongFastFadeTransition2,  DFRobot_TM6605::eMediumFastFadeTransition1,  DFRobot_TM6605::eMediumFastFadeTransition2,
   DFRobot_TM6605::eShortFastFadeTransition1, DFRobot_TM6605::eShortFastFadeTransition2,  DFRobot_TM6605::eLongSlowBoostTransition1,
   DFRobot_TM6605::eLongSlowBoostTransition2, DFRobot_TM6605::eMediumSlowBoostTransition1, DFRobot_TM6605::eMediumSlowBoostTransition2,
   DFRobot_TM6605::eShortSlowBoostTransition1,DFRobot_TM6605::eShortSlowBoostTransition2,  DFRobot_TM6605::eLongFastBoostTransition1,
   DFRobot_TM6605::eLongFastBoostTransition2, DFRobot_TM6605::eMediumFastBoostTransition1, DFRobot_TM6605::eMediumFastBoostTransition2,
   DFRobot_TM6605::eShortFastBoostTransition1,DFRobot_TM6605::eShortFastBoostTransition2,  DFRobot_TM6605::eLongAlert, DFRobot_TM6605::eSoftNoise,
   DFRobot_TM6605::eSleepCommand
};
void setup() {
	Serial.begin(115200);
	while(!Serial);
	Serial.print("TM6605 init...");
	while(TM6605.begin()!=0){
		Serial.print("failed,Not found TM6605!");
	}
	Serial.println("successed");
	TM6605.play();
}
  
void loop() {
  // Traverse all effects
  for (auto effect  : effects) {
    Serial.print("Playing: ");
    Serial.print(getEffectName(effect));
    Serial.print(" (ID:");
    Serial.print(effect);
    Serial.println(")");
    if(effect==TM6605.eSleepCommand)
			continue;
    TM6605.selectEffect(effect);
    TM6605.play();
    delay(2000); // Each effect is displayed for 2 seconds.
    if(effect==TM6605.eLongAlert)
			delay(8000);
    TM6605.stop(); // Stop the current effect.
    delay(500);   // The effect interval is 500ms.
  }
}

const char* getEffectName(uint8_t effect) {
	switch(effect) {
	  case TM6605.eSharpClick:                return "Sharp Click";
	  case TM6605.eInstantClick:              return "Instant Click";
	  case TM6605.eLightTap:                  return "Light Tap";
	  case TM6605.eDoubleClick:               return "Double Click";
	  case TM6605.eLightPulse:                return "Light Pulse";
	  case TM6605.eStrongAlert:               return "Strong Alert";
	  case TM6605.eMediumDurationAlert:       return "Medium Alert";
	  case TM6605.eSharpClick2:               return "Sharp Click2";
	  case TM6605.eMediumClick:               return "Medium Click";
	  case TM6605.eFlashStrike:               return "Flash Strike";
	  case TM6605.eDoubleHighClickShort:      return "Double High Click (Short)";
	  case TM6605.eDoubleMediumClickShort:    return "Double Medium Click (Short)";
	  case TM6605.eDoubleFlashStrikeShort:    return "Double Flash Strike (Short)";
	  case TM6605.eDoubleInstantClickLong:    return "Double Instant Click (Long)";
	  case TM6605.eDoubleMediumInstantClickLong: return "Double Medium Instant Click (Long)";
	  case TM6605.eDoubleFlashStrikeLong:     return "Double Flash Strike (Long)";
	  case TM6605.eAlert:                     return "Alert";
	  case TM6605.eToggleClick:               return "Toggle Click";
	  case TM6605.eLongSlowFadeTransition1:   return "Long Slow Fade 1";
	  case TM6605.eLongSlowFadeTransition2:   return "Long Slow Fade 2";
	  case TM6605.eMediumSlowFadeTransition1: return "Medium Slow Fade 1";
	  case TM6605.eMediumSlowFadeTransition2: return "Medium Slow Fade 2";
	  case TM6605.eShortSlowFadeTransition1:  return "Short Slow Fade 1";
	  case TM6605.eShortSlowFadeTransition2:  return "Short Slow Fade 2";
	  case TM6605.eLongFastFadeTransition1:   return "Long Fast Fade 1";
	  case TM6605.eLongFastFadeTransition2:   return "Long Fast Fade 2";
	  case TM6605.eMediumFastFadeTransition1: return "Medium Fast Fade 1";
	  case TM6605.eMediumFastFadeTransition2: return "Medium Fast Fade 2";
	  case TM6605.eShortFastFadeTransition1:  return "Short Fast Fade 1";
	  case TM6605.eShortFastFadeTransition2:  return "Short Fast Fade 2";
	  case TM6605.eLongSlowBoostTransition1:  return "Long Slow Boost 1";
	  case TM6605.eLongSlowBoostTransition2:  return "Long Slow Boost 2";
	  case TM6605.eMediumSlowBoostTransition1: return "Medium Slow Boost 1";
	  case TM6605.eMediumSlowBoostTransition2: return "Medium Slow Boost 2";
	  case TM6605.eShortSlowBoostTransition1: return "Short Slow Boost 1";
	  case TM6605.eShortSlowBoostTransition2: return "Short Slow Boost 2";
	  case TM6605.eLongFastBoostTransition1:  return "Long Fast Boost 1";
	  case TM6605.eLongFastBoostTransition2:  return "Long Fast Boost 2";
	  case TM6605.eMediumFastBoostTransition1: return "Medium Fast Boost 1";
	  case TM6605.eMediumFastBoostTransition2: return "Medium Fast Boost 2";
	  case TM6605.eShortFstBoostTransition1: return "Short Fast Boost 1";
	  case TM6605.eShortFastBoostTransition2: return "Short Fast Boost 2";
	  case TM6605.eLongAlert:                 return "Long Alert";
	  case TM6605.eSoftNoise:                 return "Soft Noise";
	  case TM6605.eSleepCommand:              return "Sleep Command";
	  default:                         return "Unknown Effect";
	}
}

Vibration mode

FAQ

More

• Schematic
• Layout
• Dimension
• Datasheet(CN)

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