TMCC160-EVAL

motionCookie™ SYSTEM IN A PACKAGE motionCookie™ TMCC160-EVAL MANUAL TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 The TMCC160-EVAL is designed for evaluating all features of the TMCC160-LC motionCookie™. The integrated ARM Cortex-M4 microcontroller is used to control one PMSM/BLDC axis. The power MOSFETs are able to drive up to 10A (RMS) motor current. Several interfaces are supported on the evaluation board (see features). Features • FOC torque-, velocity- and positioncontrol for PMSM/BLDC 3-phase motors • Encoder and hall sensor-based operation • Up to 10A RMS nominal motor current • Supply voltage: +7V… +24V DC operating voltage • Interfaces: RS232, RS485, CAN, SPI™ • 2x reference switch inputs • 1x analog input Figure 1: TMCC160-EVAL Applications • Robotics • Pump and Fan Applications • Industrial Automation • Medical • Lab Automation Block Diagram Ref. Switches I_U, I_V Power Bridge TMCC160 VM Motor RS485 U PWM RS232 Microcontroller CAN SPI0 DIAG Gatedriver V W Current AIN ABN Power Supply HALL DC/DC (3.3V) ABN HALL I_U, I_V Figure 2: Simplified Block Diagram Order Code Order code TMCC160-EVAL Description Evaluation board for TMCC160 single axis BLDC controller. Table 1: TMCC160 Order Code SUPPLEM ENTAL DIRECTIVES © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. Size 85 x 79 x 34 TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 2/16 Read the entire documentation before you make use of this product: • • • Ensure you meet the Target User Requirements on page 13. Read the User Information and Directives provided on page 13. Read the ESD-Sensitivity Directives provided on page 13. Keep this manual and all other applicable and related documents complete, legible and accessible to the specified user at all times. Failure to observe the Supplem ental Directives could result in damage to product and things; to property or persons; or economic loss. i Contact TRI NAM I C support team TRINAMIC is not liable for damages incurred as a result of improper use or disregard of the instructions provided in this docum ent. Please refer to our User I nform ation and Directives for more details (page 13). In case you encounter difficulties or need additional advice, please contact our support team via: www.trinamic.com. Thank you. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 3/16 TABLE OF CONTENTS TMCC160-EVAL Manual......................................................................................... 1 Order Code ...................................................................................................................................... 1 SUPPLEMENTAL DIRECTIVES ............................................................................... 1 Contact TRINAMIC support team ...................................................................................................... 2 TABLE OF CONTENTS ............................................................................................ 3 1.1 1.2 1.3 2 3 Connector Overview ............................................................................................................. 4 LEDs ................................................................................................................................... 7 RS232, RS485 Interface Switch ............................................................................................. 8 Operational Ratings of TMCC160-EVAL........................................................... 9 Getting Started .............................................................................................. 10 Preparations .................................................................................................................................. 10 Start-up Preparations ..................................................................................................................... 11 Graphic Overview: Getting Started .................................................................................................. 11 USER INFORMATION AND DIRECTIVES ............................................................. 13 ESD-DEVICE INSTRUCTIONS .......................................................................................................... 13 Producer Information ..................................................................................................................... 13 Copyright ...................................................................................................................................... 13 Target User ................................................................................................................................... 13 Disclaimer: Life Support Systems .................................................................................................... 13 Disclaimer: Intended use ................................................................................................................ 13 TMCC160-EVAL Document Info ....................................................................................................... 14 Related Documents ........................................................................................................................ 14 Collateral documents ...................................................................................................................... 14 REVISION HISTORY ............................................................................................ 15 Hardware Product Revision History (HW V.) ..................................................................................... 15 REFERENCES ....................................................................................................... 15 Related Documents and Tools ......................................................................................................... 15 TABLE INDEX ...................................................................................................... 16 FIGURE INDEX .................................................................................................... 16 CLOSING NOTE ................................................................................................... 16 Hardware © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 4/16 1.1 Connector Overview Brake 1 Power 1 1 Motor Interface Encoder-, Hall-, Ref. Switches 1 2 1 Figure 3: TMC160-EVAL Connectors TMCC160-EVAL Connectors Label (Key) Connector Type Power RIA 330-02, 2 pol., 5mm pitch, shrouded header Brake RIA 182-02, 2 pol., 3.5mm pitch, header Motor RIA 182-03, 3 pol., 3.5mm pitch, header Encoder-, Hall-, Ref. Switches Standard male 12 pin connector, one row, 2.54mm pitch Mating Connector Type RIA 349-2, screw type terminal block, pluggable, centerline 5 mm / 0.197 inches, wire entry parallel to plug direction RIA 169-02, screw type terminal block, pluggable, centerline 3.5 mm / 0.138 inches, wire entry parallel to plug direction RIA 169-03, screw type terminal block, pluggable, centerline 3.5 mm / 0.138 inches, wire entry parallel to plug direction Standard female 12 pin connector, one row, 2.54mm pitch © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 5/16 TMCC160-EVAL Connectors Label (Key) Connector Type 2 x 22 pol., 2.54mm pitch, pluggable female connector 2 x 22 pol., 2.54mm pitch, pluggable male connector Interface Mating Connector Type 2 x 22 pol., 2.54mm pitch, pluggable female connector 2 x 22 pol., 2.54mm pitch, pluggable male connector Table 2: TMC5031-EVAL Connectors This connector fits for commercially available power supply units for e.g. 24V DC. Power Connector Pin Label Description 1 +VM Power supply input +7V .. 24V DC 2 GND System GND Table 3: Power Connector Brake Connector Pin Label Description 1 2 Brake +VM Open collector brake output. Power supply output Table 4: Brake Connector Motor Connector Pin 1 2 3 Label Description W V U Motor coil W Motor coil V Motor coil U Table 5: Motor Connector Encoder-, Hall-, Ref. Switches Connector Pin 1 2 3 4 5 6 7 8 9 10 Label GND GND ENC_N ENC_B ENC_A HALL_1 HALL_2 HALL_3 REF_R REF_L Pull-up 4k7 4k7 4k7 4k7 4k7 4k7 3k3 3k3 Description System GND System GND Encoder index channel input. Encoder quadrature channel B input. Encoder quadrature channel A input. Hall signal 1 input. Hall signal 2 input. Hall signal 3 input. Right reference switch input. Left reference switch input. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 6/16 Encoder-, Hall-, Ref. Switches Connector 11 12 - +5V +5V Supply output for encoder-, hall-sensors Supply output for encoder-, hall-sensors Table 6: Encoder-, Hall-, Reference Switches Connector Interface Connector Pin 1 2 3 4 5 6 7 Label +VM GND GND ID_CLK ID_CH0 ID_CH1 8 ENABLE 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 RS485_BRS485_A+ RS232_TX RS232_RX CAN_H CAN_L AIN CSN SCLK MOSI MISO GND Description Power supply. System GND. System GND. STARTRAMPE: clock pulse test point. Not used. ID channel 0. Not used with TMCC160-EVAL. ID channel 1. Used for automatic module detection. TMCC160 enable signal. Use open collector output only to switch enable signal to GND. Not used. Negative differential RS485 interface signal. Not used. Positive differential RS485 interface signal. Not used. RS232 interface output. Not used. RS232 interface input. Not used. CAN high interface signal. Not used. CAN low interface signal. Not used. 10V analog input. Not used. Not used. Not used. Not used. Not used. Not used. Not used. SPI interface chip select signal. Low active. SPI interface clock signal. SPI interface master out slave in signal. SPI interface master in slave out signal. Not used. Not used. Not used. Not used. Not used. Not used. Not used. Not used. Not used. System ground. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 7/16 Interface Connector Pin 44 GND Label Description System ground. Table 7: Interface Connector 1.2 LEDs The TMCC160-EVAL has three LEDs. Two of them indicate the digital 3.3V (LED1) and 5V (LED2) power supply. The third LED is connected with the brake chopper output pin. Whenever the brake chopper is active LED3 is on. Figure 4: LEDs © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 8/16 1.3 RS232, RS485 Interface Switch TMCC160-EVAL board supports RS232 or RS485 interface. To switch between both two jumpers have to be configured as described in the table below. RS232, RS485 Interface Switch Connector PIN Description 1-2 If pin 1 and 2 of the interface switch is connected, RS485 interface is active. 2-3 If pin 2 and 3 of the interface switch is connected, RS232 interface is active. Table 8: RS232, RS485 Interface Switch © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 9/16 2 Operational Ratings of TMCC160-EVAL The operational ratings shown below should be used as design values. The maximum power supply current depends on the used motors and the supply voltage. AREAS OF SPECIAL CONCERN ! Do not exceed the maximum values during operation! Otherwise the driver will be damaged! General Operational Ratings of the Module Symbol +VM VAIN Parameter Power supply voltage for operation 10V analog input voltage (24V compatible) Min Type Max Unit 7 24 28 V 10 24 V VENC_x Encoder input signals 0 5 5.1 V VHALL_x Hall sensor input signals 0 5 5.1 V VREF_x Reference input signals 0 5 5.1 V IMotor Motor coil current [RMS] ISUPPLY Power supply current TENV Environment temperature at rated current (no forced cooling required) 10 A 10 20°C Table 9: General Operational Ratings of the Module © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. A °C TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 10/1 6 3 Getting Started Follow guidelines provided in this chapter: • • • Disconnect power supply. Read safety instructions. Follow configuration guidelines. Failure to observe could result in damage to product and things; to property or persons; or economic loss. Preparations You need: • • • • • • TMCC160-EVAL RS232, RS485, CAN interface PMSM/BLDC motor TMCL-IDE V3. And PC Cables for interface, motor, and power supply Nominal supply voltage +24V DC (+7…+24V DC) Before You Connect the Devices CAUTION Minor injuries or unintended system behavior through incorrect handling! • • • • Do Do Do Do NOT NOT NOT NOT connect or disconnect the motor while still powered. mix up connections and short-circuit pins. bound I/O wires with motor wires. exceed the maximum power supply of +28 DC. Connect all devices according to specification and user manual instructions in order to ensure safe handling and correct system behavior. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. 11/1 6 TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 Start-up Preparations The following actions have to be carried out prior to start-up: Action 1:  Download the TMCL-IDE 3.0 from www.trinamic.com and install it. Result: The TMCL-IDE then opens automatically. Action 2:  Step 1: Connect one of the supported interfaces to the TMCC160-EVAL board.  Step 2: Connect a PMSM/BLDC motor with hall- or encoder sensor to the specific connectors.  Step 3: Connect the +24V power supply to the TMCC160-EVAL board  Step 4: Turn power ON. The green LEDs one and two should turn ON  Step 5: Start TMCL-IDE V3.0 and select connected interface. Result: Now, all your connections have been established in order to start up the system, NOTE: → Default interface settings: RS232: 115.200 kbit/s RS485: 115.200 kbit/s CAN: 1Mbit/s Graphic Overview: Getting Started +24V Power Supply R RS232 RS485 CAN W V U Motor HALL 1, 2, 3 Encoder A, B, N Encoder Figure 5: Graphic Overview: Getting Started TMCC160-EVAL Size and Mounting Holes The board dimensions are 85mm x 79mm. Maximum component height (above PCB level) without mating connectors is 32mm. There are four mounting holes suitable for M3 screws. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. 12/1 6 TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 79 85 4 4 Figure 6: TMCC160-EVAL Dimensions © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 13/1 6 USER INFOR M ATION AND DIRECTIVES ESD-DEVICE INSTRUCTIONS This product is an ESD-sensitive CMOS device. It is sensitive to electrostatic discharge. • • • Provide effective grounding to protect personnel and machines. Ensure work is performed in a non-static environment. Use personal ESD control footwear and ESD wrist straps, if necessary. Failure to do so can result in defects, damages and decreased reliability. Producer Information The producer of the product TMCC160 is TRINAMIC GmbH & Co. KG in Hamburg, Germany; hereafter referred to as TRINAMIC. TRINAMIC is the supplier; and in this function provides the product and the production documentation to its customers Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2015 TRINAMIC®. All rights reserved. Electronically published by TRINAMIC®, Germany. All trademarks used are property of their respective owners. Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available product-related documentation. Target User The documentation provided here, is for programmers and engineers only, who are equipped with the necessary skills and have been trained to work with this type of product. The Target User knows how to responsibly make use of this product without causing harm to himself or others, and without causing damage to systems or devices, in which the user incorporates the product. Disclaimer: Life Support Systems TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. Information given in this document is believed to be accurate and reliable. However, no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use. Specifications are subject to change without notice. Disclaimer: Intended use The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 14/1 6 In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in significant personal injury or death (Safety-Critical Applications) without TRINAMIC’s specific written consent. TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product. TMCC160-EVAL Document Info This EVALBOARD User Manual contains only one document, which is the document “EVALBOAR D User M anual. Section: Hardw are ”. It is made available to you by TRINAMIC Motion Control GmbH & Co. KG in Hamburg, Germany. To access other Datasheets/User Manuals pertaining to TMCC160, please visit the TMCC160 product page at www.trinamic.com . Related Documents The TMCC160 DATASHEET User Manual is related to this product. Collateral documents This product documentation comes with additional tool kits, firmware and/or other items, as provided on the specified product page on our company website. i They are made available to you for your convenience but are not part of the TMCC160- EVALBOARD User Manual documentation. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 15/1 6 R EVISION HISTOR Y Hardware Product Revision History (HW V.) Version 1.1 Date 2015-OCT-16 Description Initial version. Table 10: Hardware Revision History  Hardware Document Revision History (DC Rev.) Version 1.00 1.01 1.02 Date 2015-OCT-16 2016-JAN-04 2017-OCT-06 Author/s JM/JP/SV JP JP Description Initial version. Format Edits. Table 3 lines swapped. Table 11: Document Revision History NOTE: → Please refer to associated documentation available on product webpage at www.trinamic.com. R EFER ENCES Related Documents and Tools [TMCC160] TMCC160 Datasheet (please refer to http://www.trinamic.com) © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives. TMCC160 TMCL Hardware Version 1.1 | Document Revision 1.02 • 2017-OCT-06 16/1 6 TABLE INDEX Table Table Table Table Table Table Table Table Table Table Table 1: TMCC160 Order Code ................................................................................................................. 1 2: TMC5031-EVAL Connectors ........................................................................................................ 5 3: Power Connector ....................................................................................................................... 5 4: Brake Connector ........................................................................................................................ 5 5: Motor Connector ........................................................................................................................ 5 6: Encoder-, Hall-, Reference Switches Connector ............................................................................ 6 7: Interface Connector ................................................................................................................... 7 8: RS232, RS485 Interface Switch ................................................................................................... 8 9: General Operational Ratings of the Module .................................................................................. 9 10: Hardware Revision History ...................................................................................................... 15 11: Document Revision History ..................................................................................................... 15 FIGUR E INDEX Figure Figure Figure Figure Figure Figure 1: TMCC160-EVAL ......................................................................................................................... 1 2 Block Diagram: .......................................................................................................................... 1 4: TMC160-EVAL Connectors ......................................................................................................... 4 5: LEDs ........................................................................................................................................ 7 6: Graphic Overview: Getting Started ........................................................................................... 11 7: TMCC160-EVAL Dimensions ..................................................................................................... 12 CLOSING NOTE © TRINAMIC Motion Control GmbH & Co. KG 2015 Information given in this data sheet is believed to be accurate and reliable. However, neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use. Specifications are subject to change without notice. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the Supplemental Directives.