MODULE FOR STEPPER MOTORS
MODULE
Hardware Version V1.3
HARDWARE MANUAL
+
+
TMCM-1140
1-Axis Stepper
Controller / Driver
2 A / 24 V
sensOstep™ Encoder
USB, RS485, and CAN
+
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
Table of Contents
1
2
3
Features........................................................................................................................................................................... 3
Order Codes ................................................................................................................................................................... 5
Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1
Dimensions and Mounting Holes ................................................................................................................... 6
3.2
Board mounting considerations ..................................................................................................................... 6
3.3
Connectors of TMCM-1140 ................................................................................................................................. 7
3.3.1 Power and Communication Connector ................................................................................................... 8
3.3.1.1 Power Supply .......................................................................................................................................... 8
3.3.1.2 RS485 ......................................................................................................................................................... 9
3.3.1.3 CAN ........................................................................................................................................................... 10
3.3.2 Multipurpose I/O Connector ..................................................................................................................... 11
3.3.2.1 Digital Inputs IN_1, IN_2, IN_3 ........................................................................................................ 12
3.3.2.2 Analog Input IN_0 ............................................................................................................................... 13
3.3.2.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 13
3.3.3 Motor Connector .......................................................................................................................................... 14
3.3.4 Mini-USB Connector .................................................................................................................................... 15
4
Motor driver current .................................................................................................................................................. 16
5
Reset to Factory Defaults ......................................................................................................................................... 17
6
On-Board LEDs............................................................................................................................................................. 18
7
Operational Ratings ................................................................................................................................................... 19
8
Functional Description .............................................................................................................................................. 21
9
TMCM-1140 Operational Description ..................................................................................................................... 22
9.1
Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 22
10 Life Support Policy ..................................................................................................................................................... 24
11 Revision History .......................................................................................................................................................... 25
11.1 Document Revision ........................................................................................................................................... 25
11.2 Hardware Revision ............................................................................................................................................ 25
12 References .................................................................................................................................................................... 26
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2
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
3
1 Features
The TMCM-1140 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of
the art feature set. It is highly integrated, offers a convenient handling and can be used in many
decentralized applications. The module can be mounted on the back of NEMA 17 (42mm flange size)
stepper motors and has been designed for coil currents up to 2 A RMS and 24 V DC supply voltage. With
its high energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down.
The TMCL™ firmware allows for both, standalone operation and direct mode.
MAIN CHARACTERISTICS
Motion controller
Motion profile calculation in real-time
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
Up to 256 microsteps per full step
High-efficient operation, low power dissipation
Dynamic current control
Integrated protection
stallGuard2 feature for stall detection
coolStep feature for reduced power consumption and heat dissipation
Encoder
sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
RS485 2-wire communication interface
CAN 2.0B communication interface
USB full speed (12Mbit/s) device interface
4 multipurpose inputs:
3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input)
1x dedicated analog input
2 general purpose outputs
1x open-drain 1A max.
1x +5V supply output (can be switched on/off in software)
Software
TMCL:
standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
Supply voltage: +24 V DC nominal (9… 28 V DC)
Motor current: up to 2 A RMS / 2.8 A peak (programmable)
Refer to separate TMCL Firmware Manual, too.
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TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL
stallGuard2™
stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range
of load, velocity, and current settings. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™
coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be
reduced by as much as 75%. coolStep allows substantial energy savings, especially for
motors which see varying loads or operate at a high duty cycle. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
0,9
Efficiency with coolStep
0,8
Efficiency with 50% torque reserve
0,7
0,6
0,5
Efficiency
0,4
0,3
0,2
0,1
0
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 1.2 Energy efficiency example with coolStep
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TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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2 Order Codes
Order code
TMCM-1140-option
Size (mm3)
Description
Single axis bipolar stepper motor controller / driver 37 x 37 x 11.5
electronics with integrated sensOstep encoder and
coolStep feature
Table 2.1 Order codes
The following options are available:
Firmware option
-TMCL
-CANopen
Description
Module pre-programmed with TMCL firmware
Module pre-prgrammed with CANopen firmware
Order code example:
TMCM-1140-TMCL
TMCM-1140-CANopen
Table 2.2 Firmware options
A cable loom set is available for this module:
Order code
TMCM-1140-CABLE
Description
Cable loom for TMCM-1140:
1x cable for power and communication connector (length 200mm)
1x cable for multipurpose In/Out connector (length 200mm)
1x cable for motor connector (length 200mm)
1x USB type A connector to mini-USB type B connector cable (length 1.5m)
Table 2.3 Cable loom order codes
Please note that the TMCM-1140 is available with NEMA17 stepper motors, too. Refer to the PD-1140
documents for more information about these products.
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TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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3 Mechanical and Electrical Interfacing
3.1 Dimensions and Mounting Holes
The dimensions of the controller/driver board are approx. 37 mm x 37 mm x 11.5 mm in order to fit on
the back of a 42 mm stepper motor. Maximum component height (height above PCB level) without
mating connectors is around 8mm above PCB level and 2 mm below PCB level. There are two mounting
holes for M3 screws for mounting to a NEMA17 stepper motor.
37
34
3
2xM3
37
3
34
Figure 3.1 Dimensions of TMCM-1140 and position of mounting holes
3.2 Board mounting considerations
The TMCM-1140 offers two metal plated mounting holes. Both mounting holes are connected to system
and signal ground (same as power supply ground).
In order to minimize distortion of signals and radiation of HF signals (improve EMC compatibility)
especially in sensitive / noisy environments it is important to ensure a solid ground connection within
the system. In order to support this, it is recommended to connect both mounting holes of the board in
addition to the supply ground connection to system power supply ground.
Nevertheless, this might not always be an option e.g. in case the metal system chassis / TMCM-1140
mounting plate is already connected to earth and a direct connection between supply ground (secondary
side) and mains supply earth (primary side) is not desired / not an option. In this case plastic (e.g. made
of nylon) spacers / distance bolts and screws should be used.
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TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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3.3 Connectors of TMCM-1140
The controller/driver board of the TMCM-1140 offers four connectors including the motor connector which
is used for attaching the motor coils to the electronics. The power and communication connector is used
for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four
multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface.
Multi-purpose
I/O
1
8
6
Power and
Communication
USB
1
4
1
Motor
Figure 3.2 Overview connectors
Label
Connector type
Mating connector type
Connector housing CVIlux: CI01065000-A
Contacts CVIlux: CI01T011PE0-A
Power and
Communication
Connector
CI0106P1VK0-LF
CVIlux CI01 series, 6 pins, 2mm pitch
or
Connector housing JST: PHR-6
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Connector housing CVIlux: CI01085000-A
Contacts CVIlux: CI01T011PE0-A
Multipurpose
I/O Connector
CI0108P1VK0-LF
CVIlux CI01 series, 8 pins, 2mm pitch
or
Connector housing JST: PHR-8
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
Motor
Connector
CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Mini-USB
Connector
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
Table 3.1 Connectors and mating connectors, contacts and applicable wire
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TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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3.3.1 Power and Communication Connector
A 6pin CVIlux CI0106P1VK0-LF 2mm pitch single row connector is used for power supply, RS485 and CAN
serial communication. Please note the additional power supply information in chapter 3.3.1.1.
Note: CAN interface will be de-activated in case USB is connected due to internal sharing of hardware
resources.
1
Pin
1
2
3
4
5
6
6
Label
GND
VDD
RS485+
RS485CAN_H
CAN_L
Direction
Power (GND)
Power (Supply)
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Description
System and signal ground
VDD (+9V…+28V)
RS485 interface, diff. signal (non-inverting)
RS485 interface, diff. signal (inverting)
CAN interface, diff. signal (non-inverting)
CAN interface, diff. signal (inverting)
Table 3.2 Connector for power supply and interfaces
3.3.1.1 Power Supply
For proper operation care has to be taken with regard to power supply concept and design. Due to space
restrictions the TMCM-1140 includes about 40µF/35V of supply filter capacitors. These are ceramic
capacitors which have been selected for high reliability and long life time. The module includes a 28V
suppressor diode for over-voltage protection.
CAUTION!
Add external power supply capacitors!
It is recommended to connect an electrolytic capacitor of significant size (e.g. at least
470µF/35V) to the power supply lines next to the TMCM-1140!
Rule of thumb for size of electrolytic capacitor:
In addition to power stabilization (buffer) and filtering this added capacitor will also
reduce any voltage spikes which might otherwise occur from a combination of high
inductance power supply wires and the ceramic capacitors. In addition it will limit slewrate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors
may cause stability problems with some switching power supplies.
Do not connect or disconnect motor during operation!
Motor cable and motor inductivity might lead to voltage spikes when the motor is
disconnected / connected while energized. These voltage spikes might exceed voltage
limits of the driver MOSFETs and might permanently damage them. Therefore, always
disconnect power supply before connecting / disconnecting the motor.
Keep the power supply voltage below the upper limit of 28V!
Otherwise the driver electronics will seriously be damaged! Especially, when the selected
operating voltage is near the upper limit a regulated power supply is highly
recommended. Please see also chapter 7, operating values.
There is no reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver
transistors.
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TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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3.3.1.2 RS485
For remote control and communication with a host system the TMCM-1140 provides a two wire RS485
bus interface. For proper operation the following items should be taken into account when setting up an
RS485 network:
1.
BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the
connection between each node and the bus itself should be as short as possible. Basically, it
should be short compared to the length of the bus.
Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
RS485
termination
resistor
(120 Ohm)
keep distance as
short as possible
Figure 3.3: Bus structure
2.
BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high
communication speeds, the bus should be properly terminated at both ends. The TMCM-1140
does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both
ends of the bus have to be added externally.
3.
NUMBER OF NODES:
The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a
single bus. The bus transceivers used on the TMCM-1140 units (hardware V1.2: SN65HVD3082ED,
since hardware V1.3: SN65HVD1781D) have a significantly reduced bus load and allow a
maximum of 255 units to be connected to a single RS485 bus using TMCL firmware. Please note:
usually it cannot be expected to get reliable communication with the maximum number of nodes
connected to one bus and maximum supported communication speed at the same time. Instead,
a compromise has to be found between bus cable length, communication speed and number of
nodes.
4.
COMMUNICATION SPEED:
The maximum RS485 communication speed supported by the TMCM-1140 hardware V1.2 is 115200
bit/s and 1Mbit/s since hardware V1.3. Factory default is 9600 bit/s. Please see separate TMCM1140 TMCL firmware manual for information regarding other possible communication speeds
below the upper limit in hardware.
5.
NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is
transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to
communication errors. In order to ensure valid signals on the bus it is recommended to use a
resistor network connecting both bus lines to well defined logic levels.
There are actually two options which can be recommended:
Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both
ends):
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TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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Slave
Slave
node
n- 1
node
n
+5V
pull-up (680R)
RS485+ / RS485A
termination
resistor
(220R)
termination
resistor
(120R)
RS485- / RS485B
pull-down (680R)
GND
Figure 3.4: Bus lines with resistor (Bias) network on one side, only
Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination):
+5V
pull-up (390R)
Slave
Slave
node
n- 1
node
n
+5V
pull-up (390R)
RS485+ / RS485A
termination
resistor
(220R)
termination
resistor
(220R)
RS485- / RS485B
pull-down (390R)
pull-down (390R)
GND
GND
Figure 3.5: Bus lines with resistor (Bias) network at both ends
Certain RS485 interface converters available for PCs already include these additional resistors (e.g.
USB-2-485 with bias network at one end of the bus).
3.3.1.3 CAN
For remote control and communication with a host system the TMCM-1140 provides a CAN bus interface.
Please note that the CAN interface is not available in case USB is connected. For proper operation the
following items should be taken into account when setting up a CAN network:
1.
BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the
connection between each node and the bus itself should be as short as possible. Basically, it
should be short compared to the length of the bus.
Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
CAN
Figure 3.6 CAN bus structure
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termination
resistor
(120 Ohm)
keep distance as
short as possible
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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2.
BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high
communication speeds, the bus should be properly terminated at both ends. The TMCM-1140
does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both
ends of the bus have to be added externally.
3.
NUMBER OF NODES:
The bus transceiver used on the TMCM-1140 units (TJA1050T) supports at least 110 nodes under
optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus
length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).
3.3.2 Multipurpose I/O Connector
An 8pin CVIlux CI0108P1VK0-LF 2mm pitch single row connector is available for all multipurpose inputs
and outputs.
Pin
1
1
8
Label
GND
Direction
Power (GND)
2
VDD
Power (Supply)
3
OUT_0
Output
4
OUT_1
Output
5
IN_0
Input
6
IN_1,
STOP_L,
ENC_A
Input
7
IN_2,
STOP_R,
ENC_B
Input
8
IN_3,
HOME,
ENC_N
Input
Description
System and signal ground
VDD, connected to VDD pin of the power and
communication connector
Open-drain output (max. 1A)
Integrated freewheeling diode to VDD
+5V supply output (max. 100mA)
Can be switched on/off in software
Dedicated analog input,
Input voltage range: 0..+10V
Resolution: 12bit (0..4095)
General purpose digital input (+24V compatible)
Alternate function 1: left stop switch input
Alternate function 2: external incremental
encoder channel A input
General purpose digital input (+24V compatible)
Alternate function 1: right stop switch input
Alternate function 2: external incremental
encoder channel B input
General purpose digital input (+24V compatible)
Alternate function 1: home switch input
Alternate function 2: external incremental
encoder index / zero channel input
Table 3.3 Multipurpose I/O connector
Note:
-
All inputs have resistor based voltage input dividers with protection diodes. These resistors
also ensure a valid GND level when left unconnected.
-
For all digital inputs (IN_1, IN_2, IN_3) a 2k2 pull-up resistor to +5V can be activated (default
setting with all more recent TMCL firmware versions). Then these inputs have a default
(unconnected) logic level of 1 and an external switch to GND can be connected. This might be
especially interesting in case these inputs are used as STOP_L / STOP_R and HOME switch inputs
(alternate function 1) or as encoder input for an external incremental A/B/N encoder with opencollector outputs (pull-ups are not necessary for encoder with push-pull outputs).
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3.3.2.1 Digital Inputs IN_1, IN_2, IN_3
The eight pin connector of the TMCM-1140 provides three multipurpose digital inputs IN_1, IN_2 and
IN_3. All three inputs accept up to +24V (nom.) input signals and offer the same input circuit with voltage
resistor dividers, limiting diodes against over- and under-voltage and programmable 2k2 pull-up resistors.
The pull-ups can be switched on or off for all three inputs at once in software.
With TMCL firmware command SIO 0, 0, 0 will switch-off the pull-ups and command SIO 0, 0, 1
will switch them on (see separate TMCL firmware manual, command SIO for more detailed information).
common switch for all
three digital inputs
(programmable in software)
+5V
2k2
IN_1,
IN_2,
IN_3
+3.3V
15k
microcontroller (all)
and TMC429 (STOP_L,
STOP_R)
22k
33pF
GND
GND
GND
Figure 3.7 General purpose inputs (simplified input circuit)
The three digital inputs have alternate functionality depending on configuration in software. The
following functions are available:
Label
(pin)
IN_1
(6)
Default function
Alternate function 1
Alternate function 2
General purpose digital input
STOP_L - left stop switch input,
connected to processor and TMC429
REF input (supporting left stop
functionality in hardware)
ENC_A
external
incremental
encoder
input
channel
A,
connected to processor
encoder counter input
TMCL: GIO 1, 0 // get digital
value of input IN_1
IN_2
(7)
General purpose digital input
TMCL: GIO 2, 0 // get digital
value of input IN_2
IN_3
(8)
General purpose digital input
TMCL: GIO 3, 0 // get digital
value of input IN_3
TMCL: GAP 11, 0 // get digital value
of STOP_L input
STOP_R - right stop switch input,
connected to processor and TMC429
REF input (supporting right stop
switch functionality in hardware)
TMCL: GAP 10, 0 // get digital value
of STOP_R input
HOME - home switch input,
connected to processor
TMCL: GAP 9, 0 // get digital value
of HOME input
Table 3.4 Multipurpose inputs / alternate functions
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ENC_B
external
incremental
encoder
input
channel
B,
connected to processor
encoder counter input
ENC_N
external
incremental
encoder
input index / zero
channel, connected to
processor interrupt input
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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-
13
All three digital inputs are connected to the on-board processor and can be used as general
purpose digital inputs (default).
In order to use IN_1 and IN_2 as STOP_L and STOP_R inputs, this function has to be enabled
explicitly in software (factory default: switched off). With TMCL firmware the stop switch
functionality can be enabled using SAP 12, 0, 0 (STOP_R / right limit switch) and SAP 13,
0, 0 (STOP_L / left limit switch). As the names already indicate: the status of the left limit
switch (STOP_L) will be significant during motor left turns and the status of the right limit switch
during motor right turns (positive direction), only. Reading out input values using the GAP
commands as listed in the table above is possible at any time. Please see separate TMCL
firmware manual for additional information.
External encoder: an external incremental A/B/N encoder can be connected to the TMCM-1140 and
used in addition or as an alternative to the internal sensOstep™ encoder. Using TMCL the
encoder counter value for this second encoder can be read out via TMCL command GAP 216, 0
(see separate TMCL firmware manual for more details). Factory default scaling of the encoder
counter is 1:1 - that is, after one encoder rotation the encoder counter will be incremented /
decremented by the number of encoder ticks (encoder lines x 4). When using an external encoder
connect encoder channel A to IN_1, channel B to IN_2, the N or zero channel to IN_3 (optional),
encoder ground to module supply ground (e.g. Pin 1 of the Multipurpose I/O connector) and the
+5V supply input of the encoder to OUT_1 (all on the Multipurpose I/O connector). Please note
that in order to supply the encoder with +5V the output OUT_1 has to be activated first using
SIO 1, 2, 1 (see also chapter 3.3.2.3).
3.3.2.2 Analog Input IN_0
The eight pin connector of the TMCM-1140 provides one dedicated analog input IN_0. This dedicated
analog input offers a full scale input range of approx. 0… +10 V (0..+10.56V nom.) with a resolution of the
internal analog-to-digital converter of the microcontroller of 12bit (0… 4095).
The input is protected against higher voltages up to +24 V using voltage resistor dividers together with
limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below).
+3.3V
IN_0
22k
ADC input
(microcontroller)
10k
100nF
GND
GND
GND
Figure 3.8 General purpose inputs (simplified input circuit)
With TMCL firmware the analog value of this input may be read using command GIO 0, 1. The
command will return the raw value of the 12bit analog-to-digital converter between 0 .. 4095. It is also
possible to read the digital value of this input using TMCL command GIO 0, 0. The trip point (between
0 and 1) will be at approx. +5V input voltage (half the analog input range).
3.3.2.3 Outputs OUT_0, OUT_1
The eight pin connector of the TMCM-1140 offers two general purpose outputs OUT_0 and OUT_1. OUT_0
is an open-drain output capable of switching (sinking) up to 1A. The output of the N-channel MOSFET
transistors is connected to a freewheeling diode for protection against voltage spikes especially from
inductive loads (relais etc.) above supply voltage (see figure below).
OUT_0 should not be connected to any voltage above supply voltage of the module due to the internal
freewheeling diode.
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TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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VDD
microcontroller
GND
Figure 3.9 General purpose output OUT_0 (simplified circuit)
With TMCL firmware OUT_0 can be switched on (OUT_0 pulled low) using command SIO 0, 2, 1 and
off again (OUT_0 floating) using command SIO 0, 2, 0 (this is also the factory default setting of this
output). In case a floating output is not desired in the application an external resistor to e.g. supply
voltage may be added.
In contrast OUT_1 is able to supply +5V (sourcing 100mA max.) to an external load. An integrated Pchannel MOSFET allows switching on / off this +5V supply in software (see figure below). This output
might be used in order to supply +5V to an external encoder circuit. Please note that the +5V supply has
to be activated explicitly in software.
+5V
microcontroller
OUT_0
10k
100pF
GND
GND
Figure 3.10 General purpose output OUT_1 (simplified circuit)
With TMCL firmware OUT_1 can be switched on (supply +5V to external circuit) using command SIO 1,
2, 1 and off (output pulled low via 10k pull-down resistor) using command SIO 1, 2, 0 (this is also
the factory default setting of this output).
3.3.3 Motor Connector
As motor connector a 4pin CVIlux CI0104P1VK0-LF 2mm pitch single row connector is available. The
motor connector is used for connecting the four motor wires of the two motor coils of the bipolar
stepper motor to the electronics.
1
4
Pin
1
2
3
4
Label
OB2
OB1
OA2
OA1
Direction
Output
Output
Output
Output
Pin
Pin
Pin
Pin
2
1
2
1
of
of
of
of
motor
motor
motor
motor
Description
coil B
coil B
coil A
coil A
Table 3.5 Motor connector
Example for connecting the QSH4218 NEMA 17 / 42mm stepper motors:
TMCM-1140
www.trinamic.com
QS4218 Motor
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
Coil
B
BAA
Description
Motor coil B
Motor coil B
Motor coil A
Motor coil A
green
pin
pin
pin
pin
1
2
2
1
M
A
black
red
blue
B
Motor connector pin Cable color
1
Red
2
Blue
3
Green
4
Black
15
3.3.4 Mini-USB Connector
A 5pin mini-USB connector is available on-board for serial communication (as alternative to the CAN and
RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
CAN interface will be de-activated as soon as USB is connected due to internal sharing of hardware
resources.
Pin
1
5
1
2
3
4
5
Label
VBUS
DD+
ID
GND
Direction
Power
(supply input)
Bidirectional
Bidirectional
Power (GND)
Power (GND)
Description
+5V supply from host
USB Data –
USB Data +
Connected to signal and system ground
Connected to signal and system ground
Table 3.6 Connector for USB
For remote control and communication with a host system the TMCM-1140 provides a USB 2.0 full-speed
(12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept
commands via USB.
USB BUS POWERED OPERATION MODE
The TMCM-1140 supports both, USB self powered operation (when an external power is supplied via the
power supply connector) and USB bus powered operation, (no external power supply via power supply
connector).
On-board digital core logic will be powered via USB in case no other supply is connected (USB bus
powered operation). The digital core logic includes the microcontroller itself and also the EEPROM. The
USB bus powered operation mode has been implemented to enable configuration, parameter settings,
read-outs, firmware updates, etc. by just connecting an USB cable between module and host PC. No
additional cabling or external devices (e.g. power supply) are required.
Please note that the module might draw current from the USB +5V bus supply even in USB self powered
operation depending on the voltage level of this supply.
Motor movements are not possible in this mode. Therefore, always connect a power supply to the Power
and Communication Connector for motor movements.
www.trinamic.com
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
16
4 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed in
software for motor coil currents up-to 2A RMS with 32 effective scaling steps in hardware (CS in table
below).
Explanation of different columns in table below:
Motor current
setting in
software
(TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor
standby current). They are used to set the run / standby current using the following
TMCL commands:
SAP 6, 0, // set run current
SAP 7, 0, // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-1140 firmware
manual for further information)
Motor current
IRMS [A]
Motor current
setting in
software (TMCL)
0..7
8..15
16..23
24..31
32..39
40..47
48..55
56..63
64..71
72..79
80..87
88..95
96..103
104..111
112..119
120..127
128..135
136..143
144..151
152..159
160..167
168..175
176..183
184..191
192..199
200..207
208..215
216..223
224..231
232..239
240..247
248..255
www.trinamic.com
Resulting motor current based on motor current setting
Current
scaling step
(CS)
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Motor
current
ICOIL_PEAK [A]
0.092
0.184
0.276
0.368
0.460
0.552
0.645
0.737
0.829
0.921
1.013
1.105
1.197
1.289
1.381
1.473
1.565
1.657
1.749
1.842
1.934
2.026
2.118
2.210
2.302
2.394
2.486
2.578
2.670
2.762
2.854
2.946
Motor
current
ICOIL_RMS [A]
0.065
0.130
0.195
0.260
0.326
0.391
0.456
0.521
0.586
0.651
0.716
0.781
0.846
0.912
0.977
1.042
1.107
1.172
1.237
1.302
1.367
1.432
1.497
1.563
1.628
1.693
1.758
1.823
1.888
1.953
2.018
2.083
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
17
In addition to the settings in the table the motor current may be switched off completely (free-wheeling)
using axis parameter 204 (see TMCM-1140 firmware manual).
5 Reset to Factory Defaults
It is possible to reset the TMCM-1140 to factory default settings without establishing a communication
link. This might be helpful in case communication parameters of the preferred interface have been set to
unknown values or got accidentally lost.
For this procedure two pads on the bottom side of the board have to be shortened.
Please perform the following steps:
1.
2.
3.
4.
5.
6.
7.
Power supply off and USB cable disconnected
Short two pads as marked in Figure 5.1
Power up board (power via USB is sufficient for this purpose)
Wait until the on-board red and green LEDs start flashing fast (this might take a while)
Power-off board (disconnect USB cable)
Remove short between pads
After switching on power-supply / connecting USB cable all permanent settings have been
restored to factory defaults
Short these two pads
Figure 5.1 Reset to factory default settings
www.trinamic.com
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
18
6 On-Board LEDs
The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on
the firmware version. With standard TMCL firmware the green LED should be flashing slowly during
operation and the red LED should be off.
When there is no valid firmware programmed into the board or during firmware update the red and
green LEDs are permanently on.
BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE
Status
Label
Description
Heartbeat
Run
This green LED flashes slowly during operation.
Error
Error
This red LED lights up if an error occurs.
Green LED
Figure 6.1 On-board LEDs
www.trinamic.com
Red LED
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
19
7 Operational Ratings
The operational ratings show the intended or the characteristic ranges and should be used as design
values.
In no case shall the maximum values be exceeded!
Symbol
Parameter
Min
Typ
Max
Unit
VDD
ICOIL_peak
Power supply voltage for operation
Motor coil current for sine wave peak
(chopper regulated, adjustable via software)
Continuous motor current (RMS)
Power supply current
Environment temperature at rated current (no
forced cooling required)
Environment temperature at 1A RMS motor
current / half max. current (no forced cooling
required)
9
0
12… 24
28
2.8
V
A
ICOIL_RMS
IDD
TENV
TENV_1A
0
-30
2.0
A
1.4 * ICOIL A
+50
°C
-30
+70
°C
Max
Unit
+VDD
1
V
A
0
100
+VDD
V
mA
V
0
3.4
0
1.1
+VDD
+10*)
V
V
V
110
1000
1000
kbit/s
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
21
8 Functional Description
The TMCM-1140 is a highly integrated controller/driver module which can be controlled via several serial
interfaces. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are
performed on board. The nominal supply voltage of the unit is 24V DC. The module is designed for both,
standalone operation and direct mode. Full remote control of device with feedback is possible. The
firmware of the module can be updated via any of the serial interfaces.
In Figure 8.1 the main parts of the TMCM-1140 are shown:
-
the
the
the
the
the
microprocessor, which runs the TMCL operating system (connected to TMCL memory),
motion controller, which calculates ramps and speed profiles internally by hardware,
power driver with stallGuard2 and its energy efficient coolStep feature,
MOSFET driver stage, and
sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.
TMCL™
Memory
TMCM-1140
SPI
SPI
USB
Power
RS485
SPI
µC
CAN
I/Os
5
OUT_0
S/D
TMC429
Motion
Controller
Energy
Efficient
Driver
Driver
TMC262
TMC262
with
coolStep™
Step
MOSFET
Driver
Stage
Motor
S/D
Stop
switches
+5V
+5V
9… 28V DC
SPI
DC/DC
sensOstep™
Encoder
Figure 8.1 Main parts of the TMCM-1140
The TMCM-1140 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCM). Using predefined TMCL high level commands like move to position a
rapid and fast development of motion control applications is guaranteed.
Please refer to the TMCM-1140 Firmware Manual for more information about TMCL commands.
www.trinamic.com
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
22
9 TMCM-1140 Operational Description
9.1 Calculation: Velocity and Acceleration vs. Microstep and
Fullstep Frequency
The values of the parameters sent to the TMC429 do not have typical motor values like rotations per
second as velocity. But these values can be calculated from the TMC429 parameters as shown in this
section.
PARAMETERS OF TMC429
Signal
fCLK
velocity
a_max
pulse_div
ramp_div
Usrs
Description
clock-frequency
maximum acceleration
divider for the velocity. The higher the value is, the less is
the maximum velocity
default value = 0
divider for the acceleration. The higher the value is, the
less is the maximum acceleration
default value = 0
microstep-resolution (microsteps per fullstep = 2usrs)
Range
16 MHz
0… 2047
0… 2047
0… 13
0… 13
0… 8
Table 9.1 TMC429 velocity parameters
MICROSTEP FREQUENCY
The microstep frequency of the stepper motor is calculated with
usf [ Hz ]
f CLK [ Hz ] velocity
2 pulse_ div 2048 32
with usf: microstep-frequency
FULLSTEP FREQUENCY
To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be
divided by the number of microsteps per fullstep.
fsf [ Hz ]
usf [ Hz ]
2usrs
with fsf: fullstep-frequency
The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a) is
given by
a
f CLK 2 a max
2 pulse_ div ramp _ div 29
This results in acceleration in fullsteps of:
a
af
2
usrs
www.trinamic.com
with af: acceleration in fullsteps
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
EXAMPLE
Signal
f_CLK
velocity
a_max
pulse_div
ramp_div
usrs
msf
16 MHz 1000
122070.31 Hz
21 2048 32
122070.31
fsf [ Hz ]
a
value
16 MHz
1000
1000
1
1
6
26
(16Mhz ) 2 1000
11 29
2
1907.34 Hz
119.21
MHz
s
MHz
s 1.863 MHz
6
s
2
119.21
af
CALCULATION OF THE NUMBER OF ROTATIONS
A stepper motor has e.g. 72 fullsteps per rotation.
RPS
RPM
fsf
1907.34
26.49
fullsteps per rotation
72
fsf 60
1907.34 60
1589.46
fullsteps per rotation
72
www.trinamic.com
23
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
10 Life Support Policy
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.
© TRINAMIC Motion Control GmbH & Co. KG 2013 – 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.
All trademarks used are property of their respective owners.
www.trinamic.com
24
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
25
11 Revision History
11.1 Document Revision
Version
0.90
0.91
Date
2011-DEC-22
2012-MAY-02
Author
GE
GE
1.00
2012-JUN-12
SD
1.01
2012-JUL-30
SD
1.02
2013-MAR-26
SD
1.03
2013-JUL-23
SD
1.04
2015-JAN-05
GE
Description
Initial version
Updated for TMCM-1140_V11 pcb version
First complete version including new chapters about:
reset to factory defaults, and
LEDs
Internal circuit of inputs corrected.
Names of inputs changed:
AIN_0 IN_0
IN_0
IN_1
IN_1
IN_2
IN_2
IN_3
Names of outputs changed:
OUT_1 = OUT_0
OUT_0 = OUT_1
Connector types updated.
Chapter 3.3.1.1 updated.
New hardware version V13 added
Motor driver current settings added (chapter 4)
Several additions
Table 11.1 Document revision
11.2 Hardware Revision
Version
TMCM-1040_V10*)
TMCM-1140_V11*)
Date
2011-MAR-08
2011-JUL-19
TMCM-1140_V12**)
2012-APR-12
TMCM-1140_V13**)
2013-AUG-22
www.trinamic.com
Description
Initial version
Optimization of multipurpose I/O circuits
Clock generation and distribution changed (16MHz
oscillator)
Further cost optimization incl. different sensor IC
with 10bit max. resolution
Stepper motor driver MOSFETs: The MOSFETs of the
driver stage have been replaced. The new MOSFETs
offer less heat dissipation than the previous /
currently used ones. Apart from that the
performance and settings including driver output
current and output waveform are essentially the
same.
General purpose outputs OUT_0 / OUT_1: The
MOSFETs used for switching these outputs on / off
have been replaced. The new MOSFETs offer less
heat dissipation than the previous / currently used
ones. Apart from that the functionality and ratings
are essentially the same.
RS485 transceiver: the RS485 transceiver has been
replaced with the SN65HVD1781 transceiver offering
better fault protection (up-to 70V fault protection)
and supporting higher communication speeds (upto 1Mbit/s).
In progress (coming soon): Conformal coating of
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
Version
Date
26
Description
both sides of the PCB. Provides improved
protection against humidity and dust / swarf (e.g.
in case of the motor mounted versions PD42-x-1140:
tiny metal parts on the PCB attracted by the
encoder magnet might lead to malfunction of the
unprotected device).
Table 11.2 Hardware revision
*): V10, V11: prototypes only.
**) V12: series product version. Is replaced with V13 series product version due to EOL (end-of-life) of MOSFETs.
Please see “PCN_1014_08_29_TMCM-1140.pdf” on our Web-site, also
12 References
[TMCM-1140 TMCL]
[TMC262]
[TMC429]
[TMCL-IDE]
TMCM-1140 TMCL Firmware Manual
TMC262 Datasheet
TMC429 Datasheet
TMCL-IDE User Manual
Please refer to www.trinamic.com.
www.trinamic.com
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