TMCM-1311-CABLE

MODULE FOR STEPPER MOTORS MODULE Hardware Version V1.2 HARDWARE MANUAL + + TMCM-1311 1-Axis Stepper Closed Loop Controller/Driver 3.0 A / 48 V Encoder Input 18 GPIOs USB, CAN, RS485 + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com + TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) Table of Contents 1 2 3 4 5 6 7 8 9 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing ..................................................................................................................... 6 3.1 Dimensions ........................................................................................................................................................... 6 3.2 Connectors ............................................................................................................................................................. 7 3.2.1 Power Connector ........................................................................................................................................... 8 3.2.2 Motor Connector ............................................................................................................................................ 8 3.2.3 Encoder Connector ........................................................................................................................................ 9 3.2.4 Reference Switch Connector .................................................................................................................... 10 3.2.5 Step/Dir IN Connector ................................................................................................................................ 10 3.2.6 I/O Connectors 0 and 1 ............................................................................................................................. 10 3.2.7 USB Connector ............................................................................................................................................. 11 3.2.8 CAN / RS485 Connector ............................................................................................................................. 12 3.3 Power Supply ..................................................................................................................................................... 13 3.3.1 Adding an Electrolytic Capacitor ............................................................................................................. 13 3.4 Communication .................................................................................................................................................. 14 3.4.1 RS485 .............................................................................................................................................................. 14 3.4.2 CAN .................................................................................................................................................................. 16 3.4.3 USB .................................................................................................................................................................. 17 3.5 Inputs and Outputs .......................................................................................................................................... 18 3.5.1 Encoder Input ............................................................................................................................................... 18 3.5.2 Reference Switch Inputs ........................................................................................................................... 18 3.5.3 General Purpose Inputs............................................................................................................................. 19 3.5.4 General Purpose Outputs .......................................................................................................................... 19 On-Board LEDs............................................................................................................................................................. 20 Operational Ratings ................................................................................................................................................... 21 Functional Description .............................................................................................................................................. 22 Life Support Policy ..................................................................................................................................................... 23 Revision History .......................................................................................................................................................... 24 8.1 Document Revision ........................................................................................................................................... 24 8.2 Hardware Revision ............................................................................................................................................ 24 References .................................................................................................................................................................... 24 www.trinamic.com 2 TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 3 1 Features The TMCM-1311 is a single axis stepper motor controller and driver standalone board with USB, CAN and RS485 interface. It supports motor currents up to 3A RMS and supply voltages up to 48V nominal. The module offers inputs for an incremental a/b/n (TTL, open-collector, and differential inputs) encoder. In addition, there are dedicated stop switch inputs and 8 general purpose inputs and 8 general purpose outputs. MAIN CHARACTERISTICS Bipolar stepper motor driver Up to 256 microsteps per full step High-efficient operation, low power dissipation Dynamic current control Integrated protection: overtemperature and undervoltage stallGuard2™ feature for stall detection Encoder Encoder input for incremental a/b/n (TTL, OC or diff.) Interfaces RS485 2-wire communication interface CAN 2.0B communication interface (4x DIP-switch for CAN / RS485 address setting or other settings) USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector) Encoder input: incremental a/b/n (TTL, OC or diff.) Dedicated STOP_L / STOP_R inputs Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs) Up to 8 multi-purpose outputs (Open-drain, incl. 2 outputs for currents up to 1A) Software TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands Closed-loop support Fully supported by TMCL-IDE (PC based integrated development environment) Electrical data Supply voltage: +12V… +48V DC Motor current: up to 3A RMS (programmable) Mechanical data Board size: 110mm x 110mm, height 26.3mm max. Please refer to separate TMCM-1311 Firmware Manual for additional information. www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 4 TRINAMIC FEATURES – CLOSED LOOP MODE The TMCM-1311 is mainly designed to run 2-phase stepper motors in closed loop mode. It offers an automatic motor load adaption in positioning mode, velocity mode, and torque mode, which is based on encoder feedback and closed loop control software for analysis, error detection and error correction. The closed loop mode operation combines the advantages of a stepper driver system with the benefits of a servo drive. Thus, the TMCM-1311 is able to satisfy ambitious requirements in reliability and precision and can be used in several industrial demanding applications. TMCM-1311 Benefits of Stepper Drive Benefits of Servo Drive High torque without gearing No feedback loop oscillations High precision Precise velocity control Reaction to any impact No position loss Torque control Figure 1.1 TMCM-1311 characteristics in closed loop mode THE TRINAMIC CLOSED LOOP MODE OPERATION - prevents the motor from stall and step loss caused by too high load or high velocity. adapts the current amplitude to each motor load which is within the ranges predetermined by motor and controller/driver board characteristics. achieves a higher torque output than in open loop mode. guarantees a precise and fast positioning. enables velocity and positioning error compensation. Using the TMCM-1311, energy will be saved and the motor will be kept cool. www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 5 2 Order Codes Order code TMCM-1311-option Description Size of unit (mm3) 1-axis closed-loop bipolar stepper motor controller / 110 x 110 x 26.5 driver module Table 2.1 Order codes The following options are available: Firmware option -TMCL Description Module pre-programmed with TMCL firmware Order code example: TMCM-1311-TMCL Table 2.2 Firmware options A cable loom set is available for this module: Order code TMCM-1311-CABLE Description Cable loom for TMCM-1311. Contains (see chapter 3.2, also): 1x cable loom for power connector 1x cable loom for reference switch connector 1x cable loom for step/direction input connector 1x cable loom for encoder input connector 1x cable loom for motor connector 2x cable loom for I/O connector 0+1 1x USB type A connector to mini-USB type B connector cable Table 2.3 Cable loom order code www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 6 3 Mechanical and Electrical Interfacing 3.1 Dimensions The TMCM-1311 has an overall size of 110mm x 110mm and offers four mounting holes with 4mm diameter. Maximum height (without mating connectors and cable looms) is about 26.3mm. 98.5 5 74.5 11 46.5 19 26.5 11 6 14 6 11.5 9 20 13.5 32 75.5 Top 12 44 64 89.3 max 7 13 28.5 5 14 6 13.5 9.5 7.5 7.5 9 17 23 44 23 9 94 20 70 3 20 4 4 70 Bottom Mounting holes: Ø = 4mm 110 Figure 3.1 Dimensions of TMCM-1311 (all values in mm). www.trinamic.com 89.3 max 110 TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 7 3.2 Connectors The TMCM-1311 has nine connectors altogether: one detachable connector for the motor one detachable connector for the corresponding encoder input one detachable connector for the reference switches two detachable I/O connectors one detachable power connector one mini-USB connector one connector for RS485 and CAN one detachable connector for external step/direction in r Moto r Powe e renc Refe hes c swit der Enco I/O ctor 1 conne I/ O 0 ector conn U SB IN /Dir Step 85 / RS4 N A C Figure 3.2 TMCM-1311 connectors OVERVIEW OF CONNECTOR AND MATING CONNECTOR TYPES Label Power connector Connector type JST B3P-VH (JST VH series, 3pins, 3.96mm pitch) Motor connector JST B4B-EH-A (JST EH series, 4pins, 2.5mm pitch) Encoder connector JST B8B-PH-K-S (JST PH series, 4pins, 2mm pitch) Reference switch connector Step/Dir In connector I/O connector 0 + 1 Mini-USB connector CAN / RS485 connector JST B4B-PH-K-S (JST PH series, 4pins, 2mm pitch) JST B4B-PH-K-S (JST PH series, 4pins, 2mm pitch) JST B10B-PH-K-S (JST PH series, 10pins, 2mm pitch) Mini USB Type B vertical receptacle Male D-SUB 9-pin Mating connector type Connector housing: JST VHR-3N Contacts: JST SVH-21T-P1.1 Wire: 0.83mm2, AWG 18 Connector housing: JST EHR-4 Contacts: JST SEH-001T-P0.6 Wire: 0.33mm2, AWG 22 Connector housing: JST PHR-8 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 Connector housing: JST PHR-4 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 Connector housing: JST PHR-4 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 Connector housing: JST PHR-10 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 Any standard mini-USB plug Any standard D-SUB female 9-pin Table 3.1 Connectors and mating connectors, contacts and applicable wire www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 8 3.2.1 Power Connector The module has a single power connector with the option to have separate supplies for driver electronics and the digital controller part. A single supply voltage is sufficient. All further voltages required e.g. for the digital components are generated on-board. Pin 1 2 Label GND 3 VDIGITAL VDRIVER Direction Power (GND) Power (supply input) Power (supply input) 1 3 Description Common system supply and signal ground Stepper driver supply voltage. Without this voltage the stepper driver and any motor connected will not be energized. Supply voltage for everything else apart from the stepper motor driver. The on-board voltage regulator generates the necessary voltages for the digital circuits from this supply. The pin can be left unconnected. In this case a diode between VDRIVER and VDIGITAL ensures the supply for the digital parts. ATTENTION: The diode has a current rating of 3A. As VDIGTIAL is available at the I/O connectors and at the reference switch connectors also, always connect this pin to positive supply voltage in case substantial amount of current is withdrawn from these pins for external circuits. It is expected that VDIGITAL and VDRIVER are connected to the same power supply output when both pins are used. Otherwise please ensure that VDIGITAL is always equal or higher than VDRIVER when connected (due to the diode). Table 3.1 Power connector 3.2.2 Motor Connector A 4 pin JST EH series connector is available for motor connection. 1 4 Pin 1 2 3 4 Label A1 A2 B1 B2 Table 3.2 Motor connector www.trinamic.com Direction Output Output Output Output Description Pin Pin Pin Pin 1 2 1 2 of of of of motor motor motor motor coil coil coil coil A A B B TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 9 3.2.3 Encoder Connector A dedicated encoder input connector is available. Connector type is JST PH series 8pin with 2mm pitch. The following encoders are supported in incremental A/B/N interface configuration: - encoders with incremental differential (RS422) output signals with or without zero/index channel encoders with incremental single ended (TTL or open collector) output signals with or without zero/index channel Pin 1 8 1 Label GND Direction Power (GND) Power (supply output) 2 +5V 3 A+ Input 4 A- Input 5 B+ Input 6 B- Input 7 N+ Input 8 N- Input Description Signal and system ground +5V output for external circuit Encoder channel A+ input (differential, non-inverting) Encoder channel A- input (differential, inverting) Encoder channel B+ input (differential, non-inverting) Encoder channel B- input (differential, inverting) Encoder zero / index channel input (differential, non-inverting) Encoder zero / index channel input (differential, inverting) Table 3.3 Encoder connector (configuration for encoders with incremental A/B/N output) For encoders with +5V supply the required +5V output is also available via this connector (max. 100mA per connector). 3.2.3.1.1 Differential A/B/N Encoder Signals For differential encoder signals connect all differential signals (A+ and A-, B+ and B- and optional N+ and N-) to the respective connector input pins. Usually on-board line termination should be also installed for differential signals. Therefore, close all three jumpers for the 120R line termination of the respective differential encoder input. Place jumpers for proper temrination Please refer to the encoder manufacturer data sheet for the correct interface settings. Figure 3.3 Encoder input termination 3.2.3.1.2 Single Ended A/B/N Encoder Signals For single ended encoders (TTL or open collector signals) connect the encoder signals A, B and optional N to the positive / non-inverting differential inputs of the encoder connector A+ / B+ / N+. NECESSARY CONNECTIONS Encoder connector Encoder sign. Description Pin Label A 3 A+ Encoder channel A+ input (differential, non-inverting) B 5 B+ Encoder channel B+ input (differential, non-inverting) N/I (optional) 7 N+ Encoder zero / index channel input (differential, non-inverting) Table 3.4 How to connect single ended encoders The pins A-, B-, and N- of the encoder connector may be left unconnected. www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 10 3.2.4 Reference Switch Connector A separate reference / limit switch input connector is available. Connector type is JST PH series 4pin with 2mm pitch. 1 Pin 1 2 4 3 4 Label GND +5V REF_L REF_R Direction Power (GND) Power (supply output) Input Input Description Signal and system ground +5V supply output for external encoder and reference switch circuit. Input for reference / limit switch left Input for reference / limit switch right Table 3.5 Reference switch connector 3.2.5 Step/Dir IN Connector A separate Step / Direction input connector is available. Connector type is JST PH series 4pin with 2mm pitch. Pin 1 1 2 4 3 4 Label COM Direction Input ENABLE Input STEP Input DIR Input Description Common supply for the opto-coupler inputs (+5V… +24V) Enable signal input (function depends on firmware) Step signal input (connected to step input of TMC262 driver IC) Direction signal (connected to direction input of TMC262 driver IC) Table 3.6 Step/Dir In connector 3.2.6 I/O Connectors 0 and 1 The module offers two I/O connectors (JST PH series 8pin with 2mm pitch). Number and type of inputs, outputs and supply are the same for both connectors. It is sufficient to use just one connector if only few I/Os are required. This simplifies cabling. 3.2.6.1 I/O Connector 0 Pin 1 Label GND VCC Direction Power (GND) Power (supply output) AIN0 Input IN1 IN2 IN3 OUT0 Input Input Input Output OUT1 Output OUT2 Output OUT3 Output 2 3 1 4 5 6 10 7 8 9 10 Table 3.7 I/O connector 0 www.trinamic.com Description GND Connected to VDIGITAL of Power connector. Please note: max. current is 500mA (protected via on-board 500mA polyfuse) Dedicated analog input, input voltage range: 0… +10V, resolution: 12bit (0… 4095) Digital input (+24V compatible) Digital input (+24V compatible) Digital input (+24V compatible) Open-drain output (max. 100mA) Integrated freewheeling diode Open-drain output (max. 100mA) Integrated freewheeling diode Open-drain output (max. 100mA) Integrated freewheeling diode Open-drain output (max. 1A) Integrated freewheeling diode TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 11 3.2.6.2 I/O Connector 1 Pin 1 Label GND VCC Direction Power (GND) Power (supply output) AIN4 Input IN5 IN6 IN7 OUT4 Input Input Input Output OUT5 Output OUT6 Output OUT7 Output 2 3 1 4 5 6 10 7 8 9 10 Description GND Connected to VDIGITAL of Power connector. Please note: max. current is 500mA (protected via on-board 500mA polyfuse) Dedicated analog input, input voltage range: 0… +10V, resolution: 12bit (0… 4095) Digital input (+24V compatible) Digital input (+24V compatible) Digital input (+24V compatible) Open-drain output (max. 100mA) Integrated freewheeling diode Open-drain output (max. 100mA) Integrated freewheeling diode Open-drain output (max. 100mA) Integrated freewheeling diode Open-drain output (max. 1A) Integrated freewheeling diode Table 3.8 I/O connector 1 3.2.7 USB Connector An USB (device) interface is available via a mini-USB connector. This module supports USB 2.0 full-speed (12Mbit/s) connections. The on-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other power supply is connected. This is useful for setting parameters and downloading TMCL programs or for performing firmware updates. Using a USB connection to the host, the tasks outlined above can be carried out inside a machine while the machine is powered off. Refer to chapter 3.4.1, please. Pin 5 1 1 2 3 4 5 Label VBUS DD+ ID GND Table 3.9 USB connector www.trinamic.com Direction Power (+5V input) Bi-directional Bi-directional Power (GND) Description +5V supply from Host USB Data USB Data + Connected to signal and system ground Signal and System ground TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 12 3.2.8 CAN / RS485 Connector The TMCM-1311 offers one 9-pin male D-SUB connector for CAN and RS485 communication. An on-board bi-stable relay allows switching between CAN and RS485 connector pin-assignment in software. This bistable relay remembers its state even when un-powered. Hence, the configuration of the pin-assignment for either CAN or RS485 has to be done only once. 3.2.8.1 CAN Connector If selected, a CAN 2.0B interface is available via the on-board 9-pin male D-SUB connector. Only three pins of the connector are used. The pin assignment of these three pins is in accordance with the CiA Draft Recommendation Part 1: Cabling and connector pin assignment. 5 9 1 6 Pin 1 2 3 4 5 6 7 8 9 Label Direction Description CAN_L GND Bi-directional Power (GND) Differential CAN bus signal (inverting) Signal and system ground CAN_H Bi-directional Differential CAN bus signal (non-inverting) Table 3.10 CAN connector 3.2.8.2 RS485 Connector If selected, an RS485 interface is available via the 9-pin male D-SUB connector. The module supports 2wire RS485 communication. Only three pins of the connector are used. 5 9 1 6 Pin 1 2 3 4 5 6 7 8 9 Label Direction RS485GND Bi-directional Power (GND) Differential RS485 bus signal (inverting) Signal and system ground RS485+ Bi-directional Differential RS485 bus signal (non-inverting) Table 3.11 RS485 connector www.trinamic.com Description TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 13 3.3 Power Supply For proper operation care has to be taken with regard to power supply concept and design. The TMCM1311 includes about 40µF of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. Further, the module includes a 48V suppressor diode and additional varistor for over-voltage protection. CAUTION! Add external power supply capacitors! The module contains a number of capacitors for power supply filtering. Nevertheless, depending on operation and selected motors the resulting capacity might be not large enough for proper supply buffering. Note: upper supply voltage limit must not be exceeded – not even for a short period of time! In this context it should be taken into account that the module will transfer energy from the motor back into the supply rail when the motor is working as generator e.g. during deceleration or brake conditions. In case the power supply capacitors are not sufficient for limiting power supply rising, additional measures have to be considered (e.g. suppressor diodes, brake resistor). Refer to chapter 3.3.1 for further information about adding electrolytic capacitors. 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 52.5V! 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. There is no reverse polarity protection! The module will short any reversed supply voltage due to internal diodes of the driver transistors. 3.3.1 Adding an Electrolytic Capacitor TRINAMIC recommends connecting an electrolytic capacitor of significant size to the power supply lines next to the TMCM-1311. As rule of thumb, around 1000µF of capacity should be added for 1A of module power supply input current. The additional electrolytic capacitor serves for power stabilization (buffer) and filtering. reduces voltage spikes, which can occur in consequence of the combination of high inductance power supply wires and ceramic capacitors. limits the slew rate of the power supply voltage at the module. This is reasonable, because the low ESR (Equivalent Series Resistance) of ceramic-only filter capacitors may cause stability problems with some switching power supplies. VDRIVER Power connector TMC262 + MOSFETs (stepper driver) 48VDC 250A SMBJ48A 4 x 10µF SK36 GND GND GND Supply of other circuits via on-board regulators VDIGITAL 48VDC 250A SMBJ48A GND GND Figure 3.2 TMCM-1311 power supply concept www.trinamic.com 1µF GND VDIGITAL on I/O connector 0 + 1 TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 14 3.4 Communication 3.4.1 RS485 For remote control and communication with a host system the TMCM-1311 provides a two wire RS485 bus interface. The pins are shared with the CAN interface. Therefore, make sure the RS485 interface has been activated in software. To select a modules’ address, the TMCM-1311 is equipped with dip switches with digits from 1 to 4. Anyhow, the switches use the binary digit system. Thus, node addresses from 1 to 15 can be set. THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING - All DIP switches off: RS485 address is taken from the on-board non-volatile memory (EEPROM). Factory default value for the module address is 1. At least one DIP switch on: the 4 DIP switches define the RS485 address. The address is specified as binary 4bit value – DIP switches 1… 4 specify bit 1… 4 of the address Figure 3.3 Dip switch for address selection Note Per default, all dip switches are off and the module address taken from the EEPROM is 1. Per default, the host address is 2. Do not use equal addresses for the host and the TMCM-1311! For proper operation, the following considerations 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 3.4 RS485 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-1311 does not integrate any termination resistor. Therefore, 120 Ω termination resistors at both ends of the bus have to be added externally. www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 3. 4. 15 NUMBER OF NODES: The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-1311 units (SN65HVD3082ED) has just 1/8th of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus. 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 as well defined logic levels. In contrast to the termination resistors this network is normally required just once per bus. Certain RS485 interface converters available for PCs already include additional resistors (e.g. USB-2-485). Slave Slave node n- 1 node n +5V pull-up (1k) RS485+ / RS485A termination resistor (120 Ohm) RS485- / RS485B pull-down (1k) GND Figure 3.5 RS485 bus lines with resistor network www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 16 3.4.2 CAN For remote control and communication with a host system the TMCM-1311 provides a CAN bus interface. To select a modules’ address, the TMCM-1311 is equipped with dip switches with digits from 1 to 4. Anyhow, the switches use the binary digit system. Thus, node addresses from 1 to 15 can be set. THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING - All DIP switches off: RS485 address is taken from the on-board non-volatile memory (EEPROM). Factory default value for the module address is 1. At least one DIP switch on: the 4 DIP switches define the CAN address. The address is specified as binary 4bit value – DIP switches 1… 4 specify bit 1… 4 of the address Figure 3.6 Dip switch for address selection Note Per default, all dip switches are off and the module address taken from the EEPROM is 1. Per default, the host address is 2. Do not use equal addresses for the host and the TMCM-1311! 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 termination resistor (120 Ohm) keep distance as short as possible Figure 3.7 CAN bus structure 2. 3. 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-1311 does not integrate any termination resistor. Therefore, 120 Ω termination resistors at both ends of the bus have to be added externally. NUMBER OF NODES The bus transceiver used on the TMCM-1311 units (TJA1050T) supports at least 110 nodes under optimum conditions. In practice, the achievable number of nodes per CAN bus highly depends on the bus length (longer bus -> less nodes) and on the communication speed (higher speed -> less nodes). www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 17 3.4.3 USB For remote control and communication with a host system the TMCM-1311 provides a USB 2.0 full-speed (12Mbit/s) interface. As soon as the USB-host is connected the module accepts commands via the USB interface. The TMCM-1311 supports USB self powered operation with external power supply via the power supply connector and USB bus powered operation without this external power supply. USB BUS POWERED OPERATION During USB bus powered operation only the core digital circuit parts - microcontroller and EEPROM - are operational. Motor movements are not possible. This mode has been implemented in order to enable configuration, parameter setting, read-out, firmware updates, etc. by connecting an USB cable between the module and an USB-host. 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. This depends on the voltage level of this supply. www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 18 3.5 Inputs and Outputs 3.5.1 Encoder Input The dedicated encoder connector offers support for the connection of an incremental encoder with a/b signals and optional n/index-channel. Encoders with +5V TTL, open-collector, or differential output signals can be connected directly. A +5V output - available at one connector pin - can be used for the encoder circuit supply. The on-board +5V switching voltage regulator has been designed in order to provide a maximum of 100mA for external circuits (shared with external encoder and reference switch circuit). Termination jumper 120R 120R 120R 470R 470R 470R +5V A+ microcontroller AB+ microcontroller BN+ microcontroller N- 3k3 47k 47k 47k +5V 3k3 GND Figure 3.8 Encoder input circuit (simplified diagram) 3.5.2 Reference Switch Inputs The reference switch connector provides two reference/limit switch inputs, REF_L and REF_R. Both inputs offer the same input circuit including voltage resistor dividers, limiting diodes against over- and undervoltage, and programmable 1k pull-ups to +5V. The programmable pull-ups can be switched on or off in software (both together). +5V 1k REF_L REF_R +3.3V 10k microcontroller 22k 1nF GND GND GND Figure 3.9 Reference switch input circuit (simplified diagram) www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 19 3.5.3 General Purpose Inputs The TMCM-1311 has two I/O connectors with 8 inputs altogether including two dedicated analog inputs. All inputs offer the same basic input protection circuit, but digital and analog inputs have different input voltages: the digital inputs have been designed for +5V and +24V signal levels. The analog inputs have different input voltage dividers to support a full scale input voltage range of 0… +10V. IN_1 IN_2 IN_3 IN_5 IN_6 IN_7 +3.3V 10k microcontroller 22k 1nF GND GND GND Figure 3.10 General purpose digital input circuit AIN_0 AIN_4 +3.3V 22k microcontroller 10k 1nF GND GND GND Figure 3.11 General purpose analog input circuit The function of the inputs might differ depending on the firmware version. 3.5.4 General Purpose Outputs The TMCM-1311 offers two I/O connectors with 8 outputs altogether. All outputs are open-drain outputs and a freewheeling diode (to VDIGTAL) is already integrated. Six outputs are designed for currents up to 100mA and two outputs offer more powerful MOSFET driver transistors supporting currents up to 1A. If the VCC connection of the I/O connectors (connected internally to VDIGITAL) is used for the supply of substantial current to any external circuit, make sure to connect VDIGTIAL to VDRIVER of the power supply connector. VDIGITAL OUT_0 OUT_1 OUT_2 OUT_3 OUT_4 OUT_5 OUT_6 OUT_7 microcontroller GND Figure 3.12 General purpose output (open-drain with freewheeling diode) www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 20 4 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 blinking during operation and the red LED should be off. When there is no valid firmware programmed into the board or during firmware update (with boot loader active) the red and green LEDs are permanently on. Error Run Figure 4.1 On-board LEDs www.trinamic.com TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 21 5 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 VDRIVER VDIGITAL VUSB IUSB ICOIL IMC IS Parameter Power supply voltage for driver Separate power supply voltage for controller (option, can be left unconnected) Power supply via USB connector Current withdrawn from USB supply when USB bus powered (no other supply connected) Motor coil current for sine wave peak (chopper regulated, adjustable via software) Continuous motor current (RMS) Power supply current Min 10 VDRIVER Typ 12..24..48 Max 52.5 5 tbd 0 0