TMCM-1240-TMCL

MODULE Module for Stepper TMCM-1240 Hardware Manual Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with up-to 2A RMS motor current. It supports 6-point ramps in addition to linear ramps. Features • Single axis controller/driver for 2-phase bipolar stepper motor • Linear and sixPoint™ ramps • +10. . . 30V DC supply voltage • Up to 2A RMS motor current • RS485, CAN & USB interface • integrated sensOstep encoder and support for external encoder • S/D interface • multi-purpose inputs and outputs Applications • Laboratory Automation • Manufacturing • Semiconductor Handling • Robotics • Factory Automation • Test & Measurement Simplified Block Diagram ©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. • Life Science • Biotechnology • Liquid Handling 2 / 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 Contents 1 Features 3 2 Order Codes 5 3 Mechanical and Electrical Interfacing 3.1 Size of board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Board mounting considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 6 6 4 Connectors 4.1 Power Supply Input Connector 4.2 Motor Connector . . . . . . . . 4.3 RS485 + CAN Connector . . . . 4.4 USB Connector . . . . . . . . . 4.5 I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 . 8 . 8 . 9 . 9 . 10 5 On-Board LEDs 11 6 Reset to Factory Defaults 11 7 I/Os 7.1 Analog input IN0 . . . . . . . . . . . . 7.2 Digital inputs IN1 and IN2 . . . . . . . 7.3 HOME/STOP_L/STOP_R switch inputs 7.4 External incremental encoder input . 7.5 Step/Direction inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 13 13 14 14 15 8 Communication 16 8.1 RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 8.2 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 9 Motor driver current 18 10 Functional Description 20 11 Operational Ratings and Characteristics 21 12 Abbreviations used in this Manual 23 13 Figures Index 24 14 Tables Index 25 15 Supplemental Directives 15.1 Producer Information . . . . . . . . . . 15.2 Copyright . . . . . . . . . . . . . . . . . . 15.3 Trademark Designations and Symbols . 15.4 Target User . . . . . . . . . . . . . . . . 15.5 Disclaimer: Life Support Systems . . . . 15.6 Disclaimer: Intended Use . . . . . . . . 15.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 26 26 26 26 26 26 27 16 Revision History 28 16.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 16.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 1 3 / 28 Features The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with upto 2A RMS (2.8A peak) motor coil current. It supports linear ramps and unique sixPoint™ramps. It offers on-board sensOstep encoder and in addition, support for connection of external (incremental A/B) encoder. For driver-only applications, the TMCM-1240 offers optically isolated Step/Direction inputs. When using the on-board motion controller the optically isolated inputs are used for connection of end-switches. The standard version of the TMCM-1240 offers one analog input (0..10V range), two digital inputs and one open-drain output (100mA load max.) For communication in addition to USB (Micro-USB connector), RS485 and CAN serial interfaces are available. USB is intended mainly for firmware updates and parameter settings - supporting USB-powered operation (just the digital part) for easy data tranfer between PC and TMCM-1240 module. With CANopen firmware CANopen protocol is supported via the CAN interface. Motion Controller • Motion profile calculation in real-time • On the fly alteration of motor parameters (e.g. position, velocity, acceleration) • Linear and unique sixPoint™ramp in hardware • Encoder interface and Reference / Stop switch inputs Driver • Motor current: up to 2A RMS (2.2A RMS max. / 3.1A peak, programmable in software) • Supply voltage: +24V DC (+10. . . +30V DC) • 256 microsteps per fullstep • spreadCycle™highly dynamic current control chopper • stealthChop™for quiet operation and smooth motion • programmable Step/Dir interface for driver-only applications with microstep interpolation Encoder • integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation) for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5 encoder steps) • support for external A/B incremental encoder in addition / as an alternative for the integrated encoder • programmable encoder scaling and support for motor stop on encoder deviation Interfaces • RS485 interface (up-to 1Mbit/s) • CAN interface (up-to 1Mbit/s) • USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector) • Step/Dir input (optically isolated) • Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs) • 2 general purpose digital 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 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 4 / 28 • Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs) • 1 analog input (0..10V nom. input range) • HOME switch input (shared with analog input) Mechanical data • Board size: 37mm x 37mm, height 11mm max. without mating connectors • 2 mounting holes for M3 screws Software • TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands), fully supported by TMCL-IDE (PC based integrated development environment). Please see TMCM1240 TMCL firmware manual for more details • CANopen firmware with CANopen standard protocol stack for the CAN interface. Please see TMCM1240 CANopen firmware manual for more details. ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 2 5 / 28 Order Codes The standard version of the TMCM-1240 is pre-programmed with either TRINAMIC TMCL™ firmware or CANopen firmware. On request a version with 3 analog inputs (0..10V) is available instead of one analog and two digital inputs on the I/O connector of the TMCM-1240. As this is an assembly version with different components concerning these inputs, only all mechanical data and all other electrical data are the same. Order Code Description Size (LxWxH) TMCM-1240-TMCL 1-axis bipolar stepper motor controller/driver, upto 2A RMS motor current, 24V nom. supply, integrated sensOstep encoder, S/D input, ext. Encoder input, 1 analog input, 4 digital inputs, 1 OD output, CAN, RS485 and USB interfaces 37mm x 37mm x 11mm TMCM-1240-CANopen 1-axis bipolar stepper motor controller/driver, upto 2A RMS motor current, 24V nom. supply, integrated sensOstep encoder, S/D input, ext. Encoder input, 1 analog input, 4 digital inputs, 1 OD output, CAN, RS485 and USB interfaces 37mm x 37mm x 11mm TMCM-1240-3A-TMCL 1-axis bipolar stepper motor controller/driver, upto 2A RMS motor current, 24V nom. supply, integrated sensOstep encoder, S/D input, 3 analog inputs, 2 digital inputs, 1 OD output, CAN, RS485 and USB interfaces 37mm x 37mm x 11mm Table 1: TMCM-1240 Order Code A cable loom set is available for this module: Order Code Description TMCM-1240-CABLE Cable loom for TMCM-1240: • 1x cable loom for power supply connector (cable length 200mm, 4pin JST PH connector at one end, open wires at the other end) • 1x cable loom for RS485 + CAN connector (cable length 200mm, 5pin JST PH connector at one end, open wires at the other end) • 1x cable loom for motor connector (cable length 200mm, 4pin JST PH connector at one end, open wires at the other end) • 1x cable loom for I/O connector (cable length 200mm, 8pin JST PH connector at one end, open wires at the other end) • 1x Micro-USB cable Table 2: TMCM-1240 Cable Loom The TMCM-1240 is also available as motor mounted version together with NEMA17 / 42mm flange size stepper motor. Please refer to PD42-x-1240 PANdrive hardware manual for further details. ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 3 3.1 6 / 28 Mechanical and Electrical Interfacing Size of board The board with the controller/driver electronics has an overall size of 37mm x 37mm x 11mm without mating connectors. Maximum component height (height above PCB level) without mating connectors is around 7mm above PCB level and 2.5 mm below PCB level. There are two mounting holes (3.2mm diameter) for M3 screws for mounting to a NEMA17 stepper motor. (8.5/35.25) (3/34) 3.2 1 (37/37) 5 1 (35.25/22) 4 (1.75/12) 1 8 4 (0/0) 1 (21.5/1.75) (34/3) 3.2 Figure 1: Board dimensions, position of mounting holes and position (pin 1) of connectors (all values in mm) 3.2 Board mounting considerations The TMCM-1240 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-1240 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. ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 4 7 / 28 Connectors The TMCM-1240 offers five connectors altogehter. There is one motor and one power supply connector both with four pins - and two interface connectors - one with five pins for RS485 and CAN and a dedicated micro-USB connector. All other inputs and outputs are concentrated on one 8 pin connector. NOTICE Start with power supply OFF and 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 / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. RS485 + CAN USB 5 1 1 4 Power I/O 1 8 4 1 Motor Figure 2: TMCM-1240 connectors Connector Types and Mating Connectors Connector Connector type on-board Mating connector type Power JST B4B-PH-K-S (JST PH series, 4pins, 2mm pitch) Connector housing: JST PHR-4 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 Motor JST B4B-PH-K-S (JST PH series, 4pins, 2mm pitch) Connector housing: JST PHR-4 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 RS485+CAN JST B5B-PH-K-S (JST PH series, 5pins, 2mm pitch) Connector housing: JST PHR-5 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 USB USB-micro B female connector USB-micro B male connector I/O JST B8B-PH-K-S (JST PH series, 8pins, 2mm pitch) Connector housing: JST PHR-8 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 Table 3: Connector Types and Mating Connectors of the TMCM-1240 ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 4.1 8 / 28 Power Supply Input Connector The TMCM-1240 offers one 4pin JST PH series power supply input connector. In addition to main power supply input and related ground connection this connector offers a separate logic supply input with the option to keep the on-board logic alive while the driver stage is switched off. It is not necesary to connect the logic supply input in case separate supplies are not required as the main power supply input will always supply power to the driver stage and the logic part. The power supply input connector offers a driver enable input. This input has to be connected to any voltage above 3.5V up-to max. supply voltage of 30V in order to enable the driver stage. Leaving this pin unconnected or connected to ground (voltage below 2.4V) will disable the driver stage regardless of any settings in software. This input may be connected to main power supply input permanently in case an enable input in hardware is not required. Power Supply Connector Pin Assigment Pin Label Direction Description 1 GND Power (GND) Common system supply and signal ground 2 VMAIN Power (input) Main power supply input for the driver and on-board logic 10. . . 30V 3 Enable Digital input Driver enable input. A voltage above 3.5V is required here in order to enable the on-board stepper motor driver. This input maybe connected to main power supply input in order to enable the driver stage (+24V tolerant input). 4 VLOGIC Power (input) Optional separate power supply input for the on-board logic 10. . . 30V Table 4: Power Supply Connector Pin Assignment 4.2 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 / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. NOTICE Take care of polarity, wrong polarity can destroy the board! NOTICE Connect Enable pin to voltage >3.5V in order to enable motor movements! Motor Connector A second 4pin JST PH series connector is available for connection of a 2-phase bipolar stepper motor. Motor Connector Pin Assignment Pin Label Direction Description 1 B1 out Pin 1 of motor coil B 2 B2 out Pin 2 of motor coil B ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 Pin Label Direction 3 A1 out Pin 1 of motor coil A 4 A2 out Pin 2 of motor coil A 9 / 28 Description Table 5: Motor Connector Pin Assignment 4.3 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 / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. NOTICE Do not mix-up power supply and motor connectors! RS485 + CAN Connector For serial communication the TMCM-1240 offers selection between RS485, CAN and USB interfaces. While the USB interface is available for configuration and service of the board, mainly (e.g. parameter settings, firmware updates) a 5-pin JST PH series connector offers 2-wire RS485 and CAN interfaces for in system communication. NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are not available at the same time. As soon as USB is physically attached to a host or hub the CAN interface will be switched off. RS485 + CAN Connector Pin Assignment Pin Label Direction Description 1 GND Power (GND) Common system supply and signal ground 2 RS485+ Bidirectional RS485 interface, diff. signal (non-inverting) 3 RS485- Bidirectional RS485 interface, diff. signal (inverting) 4 CAN_H Bidirectional CAN interface, diff. signal (non-inverting) 5 CAN_L Bidirectional CAN interface, diff. signal (inverting) Table 6: RS485 + CAN Connector Pin Assignment 4.4 USB Connector For serial communication the TMCM-1240 offers selection between RS485, CAN and USB interfaces. The USB interface via on-board micro-USB connector (type B) is available for configuration and service of the board, mainly (e.g. parameter settings, firmware updates). The USB device interface supports full speed (12Mbit/s) communication and supports bus powered and self-powered operation. During bus-powered operation the low voltage logic part of the board will be powered, only. This includes the microcontroller and the non-volatile memory and therefore allows parameter settings and firmware updates of the board ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 10 / 28 using a standard USB cable, only. Of course, for any motor movement main supply via supply input connector is required. Due to hardware ressource sharing USB and CAN communication interfaces are not available at the same time. As soon as USB is physically attached to a host or hub the CAN interface will be switched off. NOTICE USB Connector Pin Assignment Pin Label Direction Description 1 VBUS Power (+5V) USB +5V nom. power supply input 2 D- Bidirectional USB interface, diff. signal (inverting) 3 D+ Bidirectional USB interface, diff. signal (inverting) 4 ID Input connected to GND (via 100k resistor) 5 GND Power (GND) Common system supply and signal ground Table 7: USB Connector Pin Assignment 4.5 I/O Connector The TMCM-1240 offers several inputs (two of them optically isolated) and one digital (open-drain) output. The inputs include support for stop switches (left and right), home switch, step/direction, incremental A/B channel encoder and analog (0. . . +10V) input. All this functionality is available via one 8pin JST PH series I/O connector. I/O Connector Pin Assignment Pin Label Direction Description 1 GND Power (GND) 2 IN0/HOME Input Analog input (0. . . +10V) HOME switch input +24V tolerant, programmable (separate) pull-up to +5V 3 IN1/ENC_A Input General purpose digital input Incremental encoder input channel A +24V tolerant, programmable pull-up (for IN1/IN2 together) to +5V 4 IN2/ENC_B Input General purpose digital input Incremental encoder input channel B +24V tolerant, programmable pull-up (for IN1/IN2 together) to +5V 5 STOP_L/STEP Input STOP left switch input STEP pulse input input optically isolated, +24V compatible 6 STOP_R/DIR Input STOP right switch input DIR input input optically isolated, +24V compatible Common system supply and signal ground ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 11 / 28 Pin Label Direction Description 7 ISO_COM Power Common positive (+24V_ISO) or negative (GND_ISO) isolated supply input for optically isolated inputs 8 OUT0 Output (OD) Open-Drain output. Output will be pulled low when activated. Voltages up-to logic supply input level (or main supply input in case separate logic supply is not used) are supported here. Max. continuous pull-down current: 100mA Table 8: I/O Connector Pin Assignment All pins marked light green offer functional isolation towards main supply input. In case this is not required ISO_COM may be connected to main ground or supply input, of course. The opto-couppler used are AC types. This way, either high side switches or low side switches for both inputs are supported. 5 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 switched on. During reset to factory default values the green LED will be flashing fast. With CANopen firmware both LEDs are switched on/off/flashing according to standard defintion. Red LED Green LED Figure 3: TMCM-1240 LEDs 6 Reset to Factory Defaults It is possible to reset all settings in firmware for the TMCM-1240 to factory defaults without establishing a working communication connection. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got lost. For this procedure two pads on the bottom side of the module have to be shorted (electrically connected with each other) during power-on. Please perform the following steps: 1. Switch power supply OFF (and disconnect USB cable if applicable) 2. Short CLK and DIO pads of programming pads on bottom of pcb (see figure 4) ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 12 / 28 3. Switch power supply ON again (or connect USB again if applicable) 4. Wait until the on-board red and green LEDs start flashing fast (this might take a while) 5. Switch power supply OFF again (and disconnect USB cable if applicable) 6. Remove short between pads 7. After switching power supply ON again (and / or connecting USB cable) all permanent settings have been restored to factroy defaults Short these two pads Figure 4: Reset to factory default settings ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 7 13 / 28 I/Os The I/O connector (8pin JST PH series) offers one analog input, two non-isolated digital inputs with integrated pull-ups (programmable) and two optically isolated inputs. All inputs can be used for different purposes explained in more detail in the following subsections. 7.1 Analog input IN0 The TMCM-1240 offers one analog input. The analog input voltage range is approx. 0..+10V. For voltages above +10V saturation takes place but, up-to 30V higher voltages are tolerated without destroying the input. For analog to digital conversion the integrated ADC of the on-board microcontroller is used. Resolution of this converter is 12bit (0..4095). +5V microcontroller +3V3 2k2 IN0 0..10V V 22k 10k microcontroller 100nF TMCM-1240 pull-up disabled Figure 5: Analog input IN0 The analog input can be used as digital input, also. There is an integrated pull-up to +5V which can be switched on of off in software. When using this input as anlog input the pull-up should be usually switched off. 7.2 Digital inputs IN1 and IN2 The TMCM-1240 offers two digital inputs IN1 and IN2 which accept signals between 0 and 30V with voltages above approx. 2.9V recognized as logical ’1’ and below 1V as logical ’0’. Both inputs offer intergated pull-ups to +5V which can be switched on or off in software (always together). When using the inputs with low-side switches (connected to GND), pull-ups usually should be switched on (default). In case high-side switches are used the pull-ups must be switched off. For push-pull signals the pull-ups may be either switched on or off. ©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 14 / 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 +5V microcontroller +5V...24V +3V3 +5V 2k2 or 10k IN1 IN2 or 22k microcontroller 33pF TMCM-1240 pull-up disabled pull-up enabled Figure 6: Digital inputs IN1 and IN2 7.3 HOME/STOP_L/STOP_R switch inputs The TMCM-1240 offers two optically isolated inputs which can be used as left (STOP_L) and right (STOP_R) stop switch inputs. When enabled in software the STOP_L switch input will stop motor movement in negative direction (step counter decreasing) while activated. Likewise the STOP_R switch input will stop motor movement in positive direction (step counter increasing) while activated. +3V3 +24V_ISO 2k2 GND_ISO microcontroller ISO_COM 680 or STOP_L, STOP_R 6k8 TMCM-1240 +24V_ISO GND_ISO Figure 7: Stop switch inputs A separated / isolated supply may be used for the switches - as indicated in the drawing (+24V_ISO and related GND_ISO) - but, same supply as for the TMCM-1240 can be used, also, of course. 7.4 External incremental encoder input The TMCM-1240 offers an integrated hall-sensor based magnet encoder. In addition, an external incremental A/B encoder may be connected to the two digital inputs IN1 and IN2. Encoder with push-pull signals (e.g. +5V TTL) and open-drain output signals are supported (single-ended). For open-drain outputs the internal pull-ups should be activated in software (default mode). ©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 15 / 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 +5V microcontroller +3V3 +5V 2k2 ENC_A, ENC_B or 10k 22k microcontroller 33pF TMCM-1240 pull-up enabled Figure 8: External encoder input 7.5 Step/Direction inputs The TMCM-1240 may be used as driver with an external motion controller. In this case the Step/Direction output signals of the external motion controller may be connected to the optically isolated Step/Dir inputs of the TMCM-1240. Please note that these signals should be 24V signals. For lower voltage signals a simple small signal transistor maybe inserted as level converter. +3V3 +24V_ISO 2k2 microcontroller ISO_COM 680 STEP, DIR 6k8 TMCM-1240 GND_ISO Figure 9: Step/Direction input Due to limitations of the opto-isolators the maximum step frequency of these inputs is limited to around 20kHz. For higher motor speed the step interpolator of the driver stage should be activated or the microstep resolution reduced (default 256 microsteps per fullstep). ©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 16 / 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 8 Communication 8.1 RS485 For remote control and communication with a host system the TMCM-1240 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 10: RS485 bus structure with termination resistors 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-1240 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 stadard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-1240 units (SN65HVD1781D) offers a significantly reduced bus load compared to the standard and allows a maximum of 255 units to be connected to a single RS485 bus using standard 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-1240 hardware is 1Mbit/s. Factory default is 9600 bit/s. Please see separate TMCM-1240 TMCL firmware manual for information regarding other possible communication speeds below the upper hardware limit. 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): ©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 17 / 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 Slave Slave node n- 1 node n +5V pull-up (680R) RS485+ / RS485A termination resistor (120R) termination resistor (120R) RS485- / RS485B pull-down (680R) GND Figure 11: RS485 bus lines with resistor (bias) network on one side, only Or add resistor 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) GND pull-down (390R) GND Figure 12: RS485 bus lines with Profibus™recommended line termination 8.2 CAN For remote control and communication with a host system the TMCM-1240 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. ©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 18 / 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 Host c:> Slave Slave Slave node 1 node n-1 node n } termination resistor (120 Ohm) termination resistor (120 Ohm) keep distance as short as possible CAN Figure 13: CAN bus structure with termination resistors 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-1240 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 3. BUS TERMINATION: The bus transceiver used on the TMCM-1240 units (TJA1051T) 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). 9 Motor driver current The on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 effective scaling steps in hardware. 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-1240 firmware manual for further information) Motor current IRMS [A] Resulting motor current based on motor current setting Motor Current Setting Motor current setting in software (TMCL) Current scaling step (CS) Motor current ICOIL [A] peak Motor current ICOIL [A] RMS 0. . . 7 0 0.102 0.072 8. . . 15 1 0.203 0.144 16. . . 23 2 0.305 0.215 ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 19 / 28 Motor current setting in software (TMCL) Current scaling step (CS) Motor current ICOIL [A] peak Motor current ICOIL [A] RMS 24. . . 31 3 0.406 0.287 32. . . 39 4 0.508 0.359 40. . . 47 5 0.609 0.431 48. . . 55 6 0.711 0.503 56. . . 63 7 0.813 0.575 64. . . 71 8 0.914 0.646 72. . . 79 9 1.016 0.718 80. . . 87 10 1.117 0.790 88. . . 95 11 1.219 0.862 96. . . 103 12 1.320 0.934 104. . . 111 13 1.422 1.005 112. . . 119 14 1.523 1.077 120. . . 127 15 1.625 1.149 128. . . 135 16 1.727 1.221 136. . . 143 17 1.828 1.293 144. . . 151 18 1.930 1.364 152. . . 159 19 2.031 2.133 160. . . 167 20 2.133 1.508 168. . . 175 21 2.234 1.580 176. . . 183 22 2.336 1.652 184. . . 191 23 2.438 1.724 192. . . 199 24 2.539 1.795 200. . . 207 25 2.641 1.867 208. . . 215 26 2.742 1.939 216. . . 223 27 2.844 2.011 224. . . 231 28 2.945 2.083 232. . . 239 29 3.047 2.154 240. . . 247 30 3.148 2.226 248. . . 255 31 3.250 2.298 Table 10: Available motor current settings In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-1240 firmware manual). ©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-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 10 20 / 28 Functional Description The TMCM-1240 is a highly integrated single axis controller/driver module for stepper motors with up-to 2A RMS / 2.8A peak motor coil current. The TMCM-1240 can be controlled via RS485, CAN or USB serial interfaces. The TMCM-1240 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level commands like move to position a rapid and fast development of motion control applications is guaranteed. Whereas the boot loader is installed during production and testing at TRINAMIC and remains usually untouched throughout the whole lifetime, the firmware can be updated by the user via any serial interface. Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed on-board. Full remote control of the device with feedback is possible. The firmware of the module can be updated via any of the serial interfaces. The TMCM-1240 module contains the following main components: • Microcontroller (ARM Cortex-M3™), responsible for overall control and communication • Highly integrated advanced stepper motor controller supporting linear and unique 6-points ramps in hardware • Advanced stepper motor driver with stallGuard2™ and coolStep™ with MOSFET driver stage (8x power N-MOSFETs for bipolar stepper motor) • RS485, CAN and USB transceivers • On-board voltage regulators (+5V and +3V3) required for supply of all on-board digital circuits Figure 14: TMCM-1240 block diagram ©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 21 / 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-AUG-18 11 Operational Ratings and Characteristics Never Exceed the absolute maximum ratings! Keep the power supply voltage below the upper limit of +30V! 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. NOTICE General Operational Ratings Symbol Parameter Min Typ Max Unit 10 12. . . 24 30 V