MODULE
Module for Stepper
TMCM-1070 Hardware Manual
Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
TMCM-1070 is an easy to use stepper motor driver module. The module is controlled via a step and
direction interface. One configuration pin selects the current control mode between StealthChop™
for absolute silent motor control and SpreadCycle™ for high speed. A TTL UART interface allows
for more advanced configuration and permanent parameter storage via TMCL™-IDE.
Features
•
•
•
•
•
•
•
•
Supply Voltage +9 to +24V DC
Step and direction interface
MicroPlyer™ to 256 µ-steps
StealthChop™ silent PWM mode
SpreadCycle™ smart mixed decay
StallGuard2™ load detection
CoolStep™ autom. current scaling
UART configuration interface
Applications
• Lab-Automation
• Manufacturing
• Robotics
• Factory Automation
• CNC
• Laboratory Automation
Simplified Block Diagram
9...24V
UART
TMCL
Memory
SPI
µC
SPI
cDriver
with
stealthChop
STEP/DIR
EN
CHOP
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com
Read entire documentation.
Step
Motor
2 / 23
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
Contents
1 Features
1.1 General Features . . . . . . .
1.2 TRINAMIC’s Unique Features
1.2.1
stealthChop™ . . . .
1.2.2
spreadCycle™ . . . .
1.3 stallGuard2 . . . . . . . . . . .
1.4 coolStep . . . . . . . . . . . .
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3
3
4
4
4
5
5
2 Order Codes
6
3 Mechanical and Electrical Interfacing
3.1 TMCM-1070 Dimensions and Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Mounting Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1
Top Hat Rail Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
7
8
8
4 Connectors and LEDs
4.1 Motor Connector . . .
4.2 I/O Connector . . . . .
4.3 TTL UART Connection
4.4 Status LEDs . . . . . .
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9
. 9
. 10
. 11
. 11
5 Functional Description
5.1 Typical Application Wiring . . . . . . . . . . . . . . . . .
5.2 Optically Isolated Inputs with Common Anode Input .
5.3 Optically Isolated Inputs with Common Cathode Input
5.4 Thermal Behavior . . . . . . . . . . . . . . . . . . . . . .
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12
12
13
14
15
6 Operational Ratings and Characteristics
6.1 Absolute Maximum Ratings . . . . . . . . . . . . . . . .
6.2 Electrical Characteristics (Ambient Temperature 25° C)
6.3 I/O Ratings (Ambient Temperature 25° C) . . . . . . . .
6.4 Functional Characteristics . . . . . . . . . . . . . . . . .
6.5 Other Requirements . . . . . . . . . . . . . . . . . . . .
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16
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7 Abbreviations used in this Manual
18
8 Figures Index
19
9 Tables Index
20
10 Supplemental Directives
10.1 Producer Information . . . . . . . . . .
10.2 Copyright . . . . . . . . . . . . . . . . . .
10.3 Trademark Designations and Symbols .
10.4 Target User . . . . . . . . . . . . . . . .
10.5 Disclaimer: Life Support Systems . . . .
10.6 Disclaimer: Intended Use . . . . . . . .
10.7 Collateral Documents & Tools . . . . . .
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21
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11 Revision History
23
11.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
11.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
1
3 / 23
Features
TMCM-1070 is an easy to use stepper driver unit with state of the art feature set. It is highly integrated
and offers a convenient handling. TMCM-1070 can be used with a simple step and direction interface and
can be configured using a TTL UART interface. stallGuard2 and coolStep can be configured via TTL UART
interface and are disabled by default.
1.1
General Features
Main Characteristics
• Supply Voltage +9V to +24V DC
• 1.2A RMS phase current (ca. 1.7A peak phase current)
• Highest micro step resolution, up to 256 micro steps per full step
• MicroPlyer™ microstep interpolator for obtaining increased smoothness of microstepping over a
low frequency STEP/DIR interface
• With housing and motor mounted
• Permanent onboard parameter storage
• Simple step & direction mode
• Noiseless StealthChop™ chopper mode for slow to medium velocities
• High performance SpreadCycle™ chopper mode
• High-precision sensorless load measurement with StallGuard2™
• Automatic current scaling algorithm CoolStep™ to save energy and keep your drive cool
Optically Isolated Inputs
• Step & direction interface with up to 45kHz input frequency
• Enable input to power-on/-off driver H-bridges
• Mode select input to switch between the two chopper modes
TTL UART Interface
• TTL-level UART interface for parameter configuration
• Interface speed 9600-115200 bps (default 9600 bps)
• TMCL-based protocol for online configuration and permanent parameter settings
• Bootloader for firmware updates
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
1.2
1.2.1
4 / 23
TRINAMIC’s Unique Features
stealthChop™
stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates
absolutely free of vibration at low velocities. With stealthChop, the motor current is applied by driving
a certain effective voltage into the coil, using a voltage mode PWM. There are no more configurations
required except for the regulation of the PWM voltage to yield the motor target current.
Figure 1: Motor coil sine wave current using stealthChop (measured with current probe)
1.2.2
spreadCycle™
The spreadCycle chopper is a high-precision, hysteresis-based, and simple to use chopper mode, which
automatically determines the optimum length for the fast-decay phase. Several parameters are available
to optimize the chopper to the application. spreadCycle offers optimal zero crossing performance compared to other current controlled chopper algorithms and thereby allows for highest smoothness. The
true target current is powered into the motor coils.
Figure 2: spreadCycle principle
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
1.3
5 / 23
stallGuard2
stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor 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 reaches zero or is near zero. This is the most energy-efficient point of
operation for the motor.
stallGuard2
Load [Nm]
Initial stallGuard2 (SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 3: stallGuard2 Load Measurement as a Function of Load
1.4
coolStep
coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2.
coolStep adapts 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 for cost reduction.
0,9
Efficiency with coolStep
0,8
Efficiency with 50v 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 4: Energy Efficiency Example with coolStep
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
2
6 / 23
Order Codes
Order Code
Description
Size (LxWxH)
TMCM-1070
Controller/Driver Module without motor, +24V DC, TTL UART
interface (9600bps default), S/D interface, Enable, Mode Select
42mm x 42mm x 12mm
Table 1: Order codes modules
Order Code
Description
TMCM-1070-CABLE
Cable loom for TMCM-1070. Contains:
• 1x cable loom for motor connector with 4-pin JST PH female connector
• 1x cable loom for I/O connector with 9-in JST PH female connector
TMCM-KAMINO-CLIP
Self-Adhesive top hat rail mounting clip for TMCM-1070 base module (not available with PANdrive versions PD42-x-1070)
TMCM-KAMINO-AP23
Aluminum adapter plate kit for mounting of TMCM-1070 base module to
NEMA23 size motors (not available with PANdrive versions PD42-x-1070)
TMCM-KAMINO-AP24
Aluminum adapter plate kit for mounting of TMCM-1070 base module to
NEMA24 size motors (not available with PANdrive versions PD42-x-1070)
Table 2: Order codes cable loom
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
3
3.1
7 / 23
Mechanical and Electrical Interfacing
TMCM-1070 Dimensions and Weight
The dimensions of the TMCM-1070 are approximately 42mm x 42mm x 12mm. There are two mounting
holes for M3 screws for mounting the TMCM-1070 to a NEMA17 stepper motor (screw/thread length
depends on motor size).
42mm
42mm
Figure 5: TMCM-1070 top view mechanical dimensions
Order Code
L in mm
Weight in g
TMCM-1070
12 ±0,2
≈ 32
Table 3: TMCM-1070 length and weight
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
3.2
8 / 23
Mounting Considerations
TMCM-1070 is designed to be mountable on the back of a NEMA17 motor. Alternatively it can be mounted
standalone.
NOTICE
3.2.1
Thermal Considerations
If not mounted to a motor take care for a proper cooling. The electronics have an
overtemperature shutdown, nevertheless damage to electronics or system can
be caused by excessive temperature.
Top Hat Rail Mounting
To mount the drive on a top hat rail, TRINAMIC offers a fitting top hat rail clip. The order code is provided
in table 2.
Figure 6: TMCM-1070 top hat rail mounting clip example with module
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
4
9 / 23
Connectors and LEDs
Figure 7: TMCM-1070 connectors (pin 1 highlighted in red)
4.1
Motor Connector
Pin no.
Pin name
Description
1
A1
Motor phase A pin 1
2
A2
Motor phase A pin 2
3
B1
Motor phase B pin 1
4
B2
Motor phase B pin 2
Table 4: Motor connector pinning
NOTICE
Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off or
disconnect power supply before (dis)connecting the motor.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
4.2
10 / 23
I/O Connector
Pin no.
Pin name
Description
1
GND
Supply ground connection, also used for USB serial converter ground connection
2
V+
Supply voltage (V DD) +9V to +28V DC
3
DIR
Optically isolated direction input of S/D interface
4
STEP
Optically isolated step input of S/D interface
5
EN
Optically isolated enable input of motor driver H-bridges
6
CHOP
Optically isolated chopper mode selection input
7
COMM
Opto-coupler common anode or cathode, connect to ground or VCCIO (3.3V to
6V - higher voltages possible with additional external resistors)
8
RXD
TTL-level UART receive line, use with USB serial converter TXD line to connect to
PC
9
TXD
TTL-level UART transmit line, use with USB serial converter RXD line to connect
to PC
Table 5: I/O connector pinning
NOTICE
Supply Voltage Buffering / Add External Power Supply Capacitors
A sufficiently buffered power supply or an external electrolyte capacitor connected between V+ and GND is recommended for stable operation.
It is recommended to connect an electrolytic capacitor of significant size to the
power supply lines next to the TMCM-1070.
Rule of thumb for size of electrolytic capacitor: C = 1000 µF
A ∗ ISU P P LY
The PD42-1070 comes with approximately 40µF of onboard ceramic capacitors.
NOTICE
There is no reverse polarity protection on the supply input!
The module will short any reversed supply voltage and board electronics will get
damaged.
NOTICE
Power Up Sequence
The TMCM-1070 must be powered up with disabled driver stage only. Depending
on your configuration the EN input should be logically OFF (EN input either open
or at the same voltage level as the COMM input).
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
4.3
11 / 23
TTL UART Connection
To connect via the TTL UART interface to a host PC, we suggest using a USB serial converter from TTL-UART
(5V) to USB interface.
Communication with the host PC, for example when using TRINAMIC’s TMCL-IDE, is done via the Virtual
COM port installed by the converter driver.
More information on the TMCL-IDE and the latest release can be found here: www.trinamic.com
The converter cable must be connected to pins 1, 8, and 9 (GND, RXD, TXD) of the I/O connector.
Default Baud Rates
The default baud rate is 9600 bps.
In bootloader mode, the baud rate is 115200 bps.
Note
USB to UART converter
For example, the TTL-232R-5V from FTDI is working with the module and has
been tested. More information on this converter is available on the FTDI website:
www.ftdichip.com
Info
5V TTL UART Level
The TTL UART interface works with 5V level. Take special care when selecting a
converter cable for USB connection.
NOTICE
4.4
Status LEDs
The TMCM-1070 has one green status LED. See figure 7 for its location.
State
Description
Blinking
MCU active, normal operation
Permanent on
Bootloader mode
Off
Power Off
Table 6: LED state description
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
12 / 23
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
5
Functional Description
5.1
Typical Application Wiring
Wire the TMCM-1070 as shown in the following figures.
• Connect the the power supply to V+ and GND.
• Connect the Step and Direction signals to your motion controller.
• At power up time, the EN input must be logically off (= driver stage disabled)!
• Optional: Connect UART to a TTL UART interface with 5V logic levels. To configure your TMCM-1070
connect start the TMCL-IDE and use the parameterization tools. For detailed instructions refer to
the TMCM-1070-firmware-manual.
Note
The TTL UART interface is not optically isolated. It has and requires 5V level
signals.
Nevertheless, it provides basic ESD and rail-to-rail signal line protection for the
TMCM-1070.
V+
TMCM-1070 /
PD-x-1070
9V-28V
GND
+5V
+5V
COMM
STEP
270 Ω
A1
A2
DIR
B1
270 Ω
B2
User
MCU
EN
270 Ω
CHOP
270 Ω
Driver &
Controller
GND
RXD
TXD
Figure 8: Typical application scenario with 5V inputs
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
M
13 / 23
TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
5.2
Optically Isolated Inputs with Common Anode Input
The control inputs of the TMCM-1070 are optically isolated (not the TTL UART interface). All optocouplers
share one common anode (COMM) input as shown in the figure above.
TMCM-1070 /
PD-x-1070
3.3V to +6V
+5V
COMM
STEP
270 Ω
A1
A2
DIR
B1
270 Ω
Driver &
Controller
User
MCU
EN
270 Ω
CHOP
270 Ω
B2
M
GND
Figure 9: Inputs with common anode input with 3.3V to 6V
The typical voltage at COMM input is 5V. Nevertheless, 3.3V or voltages higher than 5V can also be used as
long as the current is through the optocouplers’ emitter is between 5mA to 20mA. For 3.3V operation the
controller must be carefully selected with respect to its I/O ports, its actual output voltage, and the series
resistor of the I/O ports. The user must make sure that the current through the optocouplers’ emitter is
between 5mA to 20mA.
Note
Step pulse width
Width of the step pulses should be between 2µs and 4µs, for maximum step frequency.
With a larger step pulse width, for example 50% duty cycle coming from a frequency generator, the maximum input frequency will be lower at ca. 9kHz..
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TMCM-1070 /
PD-x-1070
+5V
>5V to +24V
COMM
Rexternal
270 Ω
A1
STEP
A2
GND
Rexternal
B1
270 Ω
Driver &
Controller
DIR
GND
Rexternal
270 Ω
GND
Rexternal
270 Ω
B2
M
EN
CHOP
GND
GND
Figure 10: Inputs with common anode input with >5V to 24V
The series resistors in the TMCM-1070 are 270mOhms. For operation with voltages higher than 5V an
additional external resistor Rexternal is required per input to limit the current. See Table 7 as reference
for additional external resistor values.
COMM Voltage (V)
Value of Rexternal (Ω)
3.3
-
5
-
9
300
12
500
15
700
24
1K5
Table 7: Additional resistor reference values
Note
5.3
Rexternal Selection
Take care when selecting an additional external resistor. The resistor type must
have a fitting power rating. This depends on the voltage used at COMM input.
Optically Isolated Inputs with Common Cathode Input
The optocouplers inside TMCM-1070 are bidirectional types (AC/DC). Thus, COMM can also be used as
common cathode connection with high-side (pnp style) switches instead of low side (npn style) as shown
in previous figures 10, 9 or 8.
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5.4
15 / 23
Thermal Behavior
The default configuration parameters of the TMCM-1070 are set to the specified maximum current of
1.2A rms / 1.7A peak, which is the maximum motor phase current specified for the stepper motor options
given in Table ??.
Typically, at this nominal current setting the stepper motor and the driver electronics will get hot. Continuous operation at maximum current is not guaranteed without cooling the motor since the stepper driver
will switch off due to its internal over-temperature protection until temperature falls below the threshold.
Note
Operation with Maximum Current Setting For table-top testing and application bring-up the current should be reduced or the coolStep feature should be
configured to keep heating on a reasonable level. Especially, when there is no
other cooling option for the motor.
For proper and continuous operation at maximum current, the motor flange
must be mounted to the applications mechanical interface with good contact.
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6
6.1
Operational Ratings and Characteristics
Absolute Maximum Ratings
Parameter
Min
Max
Unit
Supply voltage
+9
+28
V
Working temperature
-30
+40
°C
Motor coil current / sine wave peak
1.7
A
Continuous motor current (RMS)
1.0
A
NOTICE
Never Exceed the absolute maximum ratings! Stresses above those listed
under "‘Absolute Maximum Ratings"’ may cause permanent damage to the
device. This is a stress rating only and functional operation of the device at
those or any other conditions above those indicated in the operation listings
of this specification is not implied. Exposure to maximum rating conditions for
extended periods may affect device reliability.
Keep the power supply voltage below the upper limit of +28V! Otherwise
the board electronics will seriously be damaged! Especially, when the selected
operating voltage is near the upper limit a regulated power supply is highly
recommended.
6.2
Electrical Characteristics (Ambient Temperature 25° C)
Parameter
Symbol
Min
Typ
Max
Unit
Supply voltage
V DD
9
24
26
V
Motor coil current / sine wave peak (chopper regulated, adjustable via TTL UART interface)
ICOILpeak
0
1.7
A
Continuous motor current (RMS)
ICOILRM S
0
1.2
A
Power supply current
IDD
1.4∗ICOIL
A
ICOIL
Table 9: Electrical Characteristics
6.3
I/O Ratings (Ambient Temperature 25° C)
Parameter
Symbol
Min
Typ
Max
Unit
COMM input voltage
VCOM M
3.3
5
6
V
Input frequency of optically isolated I/Os
fin
45
kHz
TTL UART input voltage
VT T L_IN
5.5
V
TTL UART low level voltage
VT LLL
1.75
V
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5
0
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TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.11 • 2021-JUN-03
TTL UART high level voltage
VT T L H
TTL UART output voltage
VT T L_OU T
3.25
5
5
V
V
Table 10: Operational ratings of optically isolated inputs and TTL UART interface
6.4
Functional Characteristics
Parameter
Description / Value
Control
4-wire interface with Step, Direction, Enable, and Chopper Mode Switch
Step Pulse Width
The step pulse width should be between 2µs and 4µs for maximum frequency.
With a larger step pulse width, for example 50% duty cycle coming from a frequency generator, the maximum input frequency will be lower at ca. 9kHz.
Communication
2-wire TTL UART interface for configuration, 9600-115200 bps (default 9600 bps)
Driving Mode
spreadCycle and stealthChop chopper modes (selectable with CHOP input),
adaptive automatic current reduction using stallGuard2 and coolStep
Stepping Resolution
Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step, default is 1/16 with internal
interpolation to 1/256
Table 11: Functional Characteristics
6.5
Other Requirements
Specifications
Description or Value
Cooling
Free air
Working environment
Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting
Working temperature
-30° C to +40° C
Table 12: Other Requirements and Characteristics
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7
Abbreviations used in this Manual
Abbreviation
Description
COMM
Common Anode or common cathode
IDE
Integrated Development Environment
LED
Light Emmitting Diode
RMS
Root Mean Square value
TMCL
TRINAMIC Motion Control Language
TTL
Transistor Transistor Logic
UART
Universal Asynchronous Receiver Transmitter
USB
Universal Serial Bus
Table 13: Abbreviations used in this Manual
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8
19 / 23
Figures Index
1
Motor coil sine wave current using
stealthChop (measured with current
probe) . . . . . . . . . . . . . . . . . . .
6
4
2
spreadCycle principle . . . . . . . . . .
4
3
stallGuard2 Load Measurement as a
Function of Load . . . . . . . . . . . .
5
4
Energy Efficiency Example with coolStep 5
5
TMCM-1070 top view mechanical dimensions . . . . . . . . . . . . . . . . .
7
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7
8
9
10
TMCM-1070 top hat rail mounting clip
example with module . . . . . . . . .
TMCM-1070 connectors (pin 1 highlighted in red) . . . . . . . . . . . . . .
Typical application scenario with 5V
inputs . . . . . . . . . . . . . . . . . . .
Inputs with common anode input
with 3.3V to 6V . . . . . . . . . . . . . .
Inputs with common anode input
with >5V to 24V . . . . . . . . . . . . .
8
9
12
13
14
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9
20 / 23
Tables Index
1
2
3
4
5
6
7
9
Order codes modules . . . . . . . .
Order codes cable loom . . . . . . .
TMCM-1070 length and weight . . .
Motor connector pinning . . . . . .
I/O connector pinning . . . . . . . .
LED state description . . . . . . . . .
Additional resistor reference values
Electrical Characteristics . . . . . . .
.
.
.
.
.
.
.
.
6
6
7
9
10
11
14
16
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10
11
12
13
14
15
Operational ratings of optically isolated inputs and TTL UART interface .
Functional Characteristics . . . . . . .
Other Requirements and Characteristics . . . . . . . . . . . . . . . . . . . . .
Abbreviations used in this Manual . .
Hardware Revision . . . . . . . . . . .
Document Revision . . . . . . . . . . .
17
17
17
18
23
23
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10
21 / 23
Supplemental Directives
10.1
Producer Information
10.2
Copyright
TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos,
trademarks, and resources. © Copyright 2021 TRINAMIC. All rights reserved. Electronically published by
TRINAMIC, Germany.
Redistribution of sources or derived formats (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete data sheet, user manual, and documentation of this product including associated application notes; and a reference to other available
product-related documentation.
10.3
Trademark Designations and Symbols
Trademark designations and symbols used in this documentation indicate that a product or feature is
owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose
products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation.
This Hardware Manual is a non-commercial publication that seeks to provide concise scientific and technical user information to the target user. Thus, trademark designations and symbols are only entered in
the Short Spec of this document that introduces the product at a quick glance. The trademark designation
/symbol is also entered when the product or feature name occurs for the first time in the document. All
trademarks and brand names used are property of their respective owners.
10.4
Target User
The documentation provided here, is for programmers and engineers only, who are equipped with the
necessary skills and have been trained to work with this type of product.
The Target User knows how to responsibly make use of this product without causing harm to himself or
others, and without causing damage to systems or devices, in which the user incorporates the product.
10.5
Disclaimer: Life Support Systems
TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in
life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to support or sustain life, and whose failure to perform,
when properly used in accordance with instructions provided, can be reasonably expected to result in
personal injury or death.
Information given in this document is believed to be accurate and reliable. However, no responsibility
is assumed for the consequences of its use nor for any infringement of patents or other rights of third
parties which may result from its use. Specifications are subject to change without notice.
10.6
Disclaimer: Intended Use
The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose
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22 / 23
or of any other nature are made hereunder with respect to information/specification or the products to
which information refers and no guarantee with respect to compliance to the intended use is given.
In particular, this also applies to the stated possible applications or areas of applications of the product.
TRINAMIC products are not designed for and must not be used in connection with any applications where
the failure of such products would reasonably be expected to result in significant personal injury or death
(safety-Critical Applications) without TRINAMIC’s specific written consent.
TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC
conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing
or handling of the product and/or any other use of the product.
10.7
Collateral Documents & Tools
This product documentation is related and/or associated with additional tool kits, firmware and other
items, as provided on the product page at: www.trinamic.com.
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11
11.1
23 / 23
Revision History
Hardware Revision
Version
Date
Author
Description
1.00
09.06.2016
BS
First Version.
Table 14: Hardware Revision
11.2
Document Revision
Version
Date
Author
Description
1.00
26.06.2016
BS
Initial release.
1.10
27.10.2017
GE
Current rating, digital inputs rating and drawings updated / corrected. 9600bps default value for communication speed corrected.
1.11
2021-JUN-03
OK
Notice about EN input corrected.
Table 15: Document Revision
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