BB-1630

MODULE FOR STEPPER MOTORS MODULE V 1.0 HARDWARE MANUAL + + BB-1630 Baseboard for TMCM-1630 and TMCM-160 10A / 48V DC RS232, CAN, RS485, and USB Encoder interface + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com + BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) Table of contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features ........................................................................................................................................................................... 4 Order codes .................................................................................................................................................................... 4 Mechanical and electrical interfacing ..................................................................................................................... 5 4.1 Dimensions of the module ............................................................................................................................... 5 5 Connectors ...................................................................................................................................................................... 6 5.1 Power / motor connector .................................................................................................................................. 7 5.2 I/O connector ........................................................................................................................................................ 7 5.3 Power connector .................................................................................................................................................. 8 5.4 Motor connector ................................................................................................................................................... 8 5.5 Hall connector ....................................................................................................................................................... 8 5.6 Encoder connector ............................................................................................................................................... 9 5.7 Interface connectors of BB-1630 ..................................................................................................................... 9 5.7.1 USB interface ................................................................................................................................................... 9 5.7.2 CAN interface .................................................................................................................................................. 9 5.7.3 RS232 interface ............................................................................................................................................... 9 5.7.4 RS485 interface ............................................................................................................................................... 9 6 Jumpers ......................................................................................................................................................................... 10 7 LEDs ................................................................................................................................................................................ 11 8 Operational ratings .................................................................................................................................................... 11 9 Revision history .......................................................................................................................................................... 12 9.1 Document revision ............................................................................................................................................ 12 9.2 Hardware revision ............................................................................................................................................. 12 10 References..................................................................................................................................................................... 12 www.trinamic.com 2 BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 1 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 2012 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. www.trinamic.com 3 BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 4 2 Features The BB-1630 is the baseboard for the TMCM-1630 and TMCM-160 plug-in modules. The baseboard has been primarily designed for evaluation of the plug-in boards. Applications  Baseboard / Evaluation board for TMCM-1630 and TMCM-160 Electrical data  Supply voltage: +24V DC or +48V DC nominal (+12… +55V DC max.)  Motor current: up to 10A RMS peak Interfaces  The interface connectors refer to the assembly options of the TMCM-1630 and TMCM-160: RS232 CAN (2.0B up to 1Mbit/s) RS485 USB (High-speed 12Mbit/s) The baseboard integrates all communication connectors. There are no assembly options. Please note: Functionality of communication interfaces depends on assembly options of TMCM-1630 and TMCM-160 modules Other  Separate connectors for interfaces, encoder, power supply, motor, and hall sensors  Potentiometers for analog inputs plus push-button for digital input (function depending on firmware)  ROHS compliant  Size: 120x90mm² 3 Order codes Order code BB-1630 Table 3.1: Order codes www.trinamic.com Description Baseboard for TMCM-1630 and TMCM-160 Dimensions [mm] 120 x 90 x 38 BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 5 4 Mechanical and electrical interfacing 4.1 Dimensions of the module The module has a size of 120mm x 90mm. Maximum overall height of the module including connectors and screws: approx. 38mm. 120 90 4 x 3.2 Figure 4.1: Size of module www.trinamic.com BB-1630 BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 6 5 Connectors The baseboard offers two double row 2.54mm pitch standard connectors (female) for connecting the TMCM1630 (I/O-connector and supply / motor connector) USB 1 1 Power supply 1 CAN 1 Motor 1 Hall RS232 1 1 1 1 1 RS485 Encoder Figure 5.1: Connectors of BB-1630 Domain I/O connector Power / motor connector USB Connector type SSW series, socket strip, 2x13 poles, double row, 2.54mm pitch, Samtec SSW series, socket strip, 2x13 poles, double row, 2.54mm pitch, Samtec USB, type B, 4 pol., vertical, female D-sub, 9 poles, female RS232 VS-09-BU-D-SUB/10-MPT-0,5 D-sub, 9 poles, male CAN VS-09-ST-DSUB/10-MPT-0,5 RIA Connect 31383104, 4 poles, grid RS485 dimension 3.81mm RIA Connect 31220103, 3 poles, grid Motor dimension 5.08mm low profile box header without Encoder locking bar, 2.54mm pitch RIA Connect 31220102, 2 poles, grid Power supply dimension 5.08mm RIA Connect 31383105, 5 poles, grid Hall dimension 3.81mm Table 5.1: Connectors of the BB-1630 Mating connector TSM-113-03-L-DV-K-A, 2x13 poles, double row, 2.54mm pitch, SMD vertical, Samtec TSM-113-03-L-DV-K-A, 2x13 poles, double row, 2.54mm pitch, SMD vertical, Samtec USB, type B, 4 poles, male D-sub, 9 poles, male D-sub, 9 poles, male RIA Connect 31114104, 4 poles, grid dimension 3.81mm RIA Connect 31249103, 3 poles grid dimension 5.08mm Female connector, 10 poles, 2.54mm pitch RIA Connect 31249102, 2 poles, grid dimension 5.08mm RIA Connect 31114105, 5 poles, grid dimension 3.81mm Since the two connectors of the TMCM-1630 are similar be careful not to plug-in the module the other way round. Also, be sure to place the connectors exactly to their mating opponents. Not following these guidelines might cause permanent damage to the module when turning power supply on. www.trinamic.com BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 7 5.1 Power / motor connector A double row 26 pin socket strip with 2.54mm pitch is used for connecting all motor related signals and module power supply. Pin Label 1 3 5 7 9 11 13 15 W W V V U U VM VM 17 GND 19 GND 21 GND 23 +5V 25 HALL1 Description Pin Motor coil W Motor coil W Motor coil V Motor coil V Motor coil U Motor coil U Module driver supply voltage Module driver supply voltage Module ground (power supply and signal ground) Module ground (power supply and signal ground) Module ground (power supply and signal ground) +5V output (100mA max.) for encoder and/or hall sensor supply Hall sensor 1 signal input Label Description 2 4 6 8 10 12 14 16 W W V V U U VM VM Motor coil W Motor coil W Motor coil V Motor coil V Motor coil U Motor coil U Module driver supply voltage Module driver supply voltage Module ground (power supply and signal ground) Module ground (power supply and signal ground) Module ground (power supply and signal ground) 18 GND 20 GND 22 GND 24 HALL3 Hall sensor 3 signal input 26 HALL2 Hall sensor 2 signal input Table 5.2: Connector for motor related signals and power supply 5.1.1.1 Power supply requirements The power supply should be designed in a way, that it supplies the nominal motor voltage at the desired maximum motor current. In no case shall the supply voltage exceed the upper or lower voltage limits. To be able to cope with high voltage spikes which might be caused by energy fed back from the motor during deceleration, a sufficient power supply capacitor should be added on the baseboard closed to the module. Depending on the motor and expected motor current please use a 4700µF or larger capacitor with suitable voltage rating. Additionally, a suitable suppressor (zener-) diode might be useful. 5.2 I/O connector A double row 26 pin socket strip with 2.54mm pitch is used for connecting all communication and GPIO signals. Pin 1 Label +5V 3 Torque 5 Dir_IN www.trinamic.com Description 5V analog reference as used by the internal DAC. Max. load 0.5mA Used for max. motor current / torque control in standalone operation by supplying external 0-10V signal 5V TTL input. Tie to GND to inverse motor direction, leave open or tie to 5V otherwise. Pin Label Description Used for velocity control in standalone operation by supplying external 0 - 10V signal 2 Velocity 4 GND Module ground (power supply and signal ground) 6 Tacho This pin outputs a tacho impulse, i.e. toggles on each hall sensor change BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) Pin Label Description Emergency stop. Tie this pin to GND to stop the motor (same as the Motor Off switch on PCB). 7 Stop_IN The motor can be restarted via the interface, or by cycling the power supply High, when module goes into 9 LED-Curlim current limiting mode 11 GND GND reference Encoder A+ channel 13 Enc_A+ Encoder B+ channel 15 Enc_B+ 17 Enc_N+ Encoder N+ channel CAN low / 19 CANL/USBDUSB D- bus line CAN high / 21 CANH/USBD+ USB D+ bus line Use to detect availability of 23 USB_+VB attached host system (e.g. PC) 25 GND GND reference Table 5.3: Connector for communication and GPIOs 8 Pin Label Description 8 LED-Temp 5V TTL output: Toggling with 3Hz when temperature prewarning threshold is exceeded, high when module shut down due to overtemperature 10 +5V 12 14 16 18 GND Enc_AEnc_BEnc_NRXD/ 485TXD/ 485+ 20 22 24 n.c. 26 GND 5V output as reference for external purpose GND reference Encoder A- channel Encoder B- channel Encoder N- channel RXD signal for RS232 / inverting signal for RS485 TXD signal for RS232 / non inverting signal for RS485 GND reference 5.3 Power connector Pin Label Description 1 2 GND VDD Module ground (power supply and signal ground) Power supply input Table 5.4: Power connector 5.4 Motor connector Pin 1 2 3 Label U V W Description Motor coil U Motor coil V Motor coil W Table 5.5: Motor connector 5.5 Hall connector Pin 1 2 3 4 Label Hall1 Hall2 Hall3 GND 5 +5V_Hall Table 5.6: Hall connector www.trinamic.com Description Hall sensor 1 signal input Hall sensor 2 signal input Hall sensor 3 signal input Signal and module ground +5V output (100mA max.) for encoder and/or hall sensor supply BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 9 5.6 Encoder connector Pin 1, 2 3 4 5 6 7, 8 9 10 Label GND Encoder_N+ Encoder_NEncoder_A+ Encoder_A+5V_output Encoder_B+ Encoder_B- Description Module and signal ground Encoder channel N+ Encoder channel NEncoder channel A+ Encoder channel A+5V output Encoder channel B+ Encoder channel B- Table 5.7: Encoder connector 5.7 Interface connectors of BB-1630 5.7.1 USB interface Pin Label 1 USB_+VB 2 3 4 USBUSB+ GND Description Board is self-powered – just use to detect availability of attached host system (e.g. PC) Differential USB bus Differential USB bus System / module ground Table 5.8: USB connector Note: the USB interface can only be used if the RS485 termination jumper is not set. 5.7.2 CAN interface Pin 2 7 3 1, 4, 5, 6, 8, 9 Label CAN_L CAN_H GND n.c. Description CAN differential bus CAN differential bus System / board ground Pins not used / not connected Table 5.9: CAN connector 5.7.3 RS232 interface Pin 2 3 5 1, 4, 6, 7, 8, 9 Label RS232_TxD RS232_RxD GND n.c. Description RS232 transmit serial data RS232 receive serial data System / board ground Pins not used / not connected Table 5.10: RS232 connector 5.7.4 RS485 interface Pin 1 2 3 4 Label RS485RS485+ RS485RS485+ Table 5.11: RS485 connector www.trinamic.com Description RS485 differential RS485 differential RS485 differential RS485 differential bus bus bus bus (connected (connected (connected (connected to to to to pin pin pin pin 3) 4) 1) 2) BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 6 Jumpers There are six jumpers on the Baseboard BB-1630 for activating/deactivating special functions. Further, it is possible to access signals via the jumper strips. Note: Pin1 is always a square solder pad. SIGNALS Section CAN RS485 Stop Direction Torque Pin 1 CANH 485Stop Direction GND Pin 2 CANL 485+ GND GND Torque Pin 3 N/A N/A N/A N/A +5V to GND1 Table 6.1: Signals on jumper strips 1 ) Actual voltage depends on potentiometer position. FUNCTIONS WITH/WITHOUT JUMPERS Section Jumper set/unset Jumper set CAN Jumper unset Jumper set RS485 Jumper unset Jumper set Stop Jumper unset Jumper set Direction Jumper unset Jumper set pin1 - pin2 Torque Jumper set pin2 - pin3 Jumper not set Jumper set pin1 - pin2 Velocity Jumper set pin2 - Pin3 Jumper not set Description Termination resistor 120Ω applied Resistor not applied Termination resistor 120Ω applied Resistor not applied Permanent stop signal No stop signal Direction signal is GND Direction signal is set by potentiometer Torque signal is GND Torque signal is set by potentiometer No external signal applied Velocity signal is GND Velocity signal is set by potentiometer No external signal applied Table 6.2: Jumper setting It is necessary to remove the RS485 termination jumper before using the USB interface! www.trinamic.com 10 BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 11 7 LEDs The BB-1630 module has 4 on-board LEDs:     Power Current overload temperature warning GPIOs Please note: function of LEDs might depend on firmware version Power CurrLim TempLim GPIO Table 7.1: Status LEDs of BB-1630 8 Operational ratings The operational ratings show the intended/the characteristic range for the values and should be used as design values. An operation within the limiting values is possible, but shall not be used for extended periods, because the unit life time may be shortened. In no case shall the limiting values be exceeded. Symbol Parameter VS Power supply voltage for operation IS Power supply current Table 8.1: Operational ratings www.trinamic.com Min Typ Max Unit 12 24, 48 55 V 10 A BB-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 9 Revision history 9.1 Document revision Version 1.00 1.01 1.02 Date 2011-JUN-02 2011-NOV-03 2012-JUN-11 Author SD SD SD Description Initial version Minor changes Information for USB interface added Table 9.1: Document revision 9.2 Hardware revision Version 1.00 Date 2011-MAR-31 Description First version for TMCM-1630 and TMCM-160 Table 9.2: Hardware revision 10 References [TMCM-1630] [TMCM-1630] [TMCM-160] [TMCM-160] [TMCL-IDE] TMCM-1630 Hardware Manual TMCM-1630 TMCL™ Firmware Manual TMCM-160 Hardware Manual TMCM-160 Firmware Manual TMCL-IDE User Manual Please refer to www.trinamic.com. www.trinamic.com 12