MODULE FOR BLDC MOTORS
MODULE
Hardware Version V 1.1
HARDWARE MANUAL
+
+
TMCM-1630
1-Axis BLDC
Controller / Driver
plug-in module
10A / 48V DC
RS232 / CAN or
RS485 / USB
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
Table of contents
1
2
3
4
Life support policy ....................................................................................................................................................... 3
Features ........................................................................................................................................................................... 4
Order codes .................................................................................................................................................................... 5
Mechanical and electrical interfacing ..................................................................................................................... 6
4.1
Dimensions of the module ............................................................................................................................... 6
5
Connectors ...................................................................................................................................................................... 7
5.1
Motor and power connector ............................................................................................................................ 9
5.1.1 Power supply requirements ....................................................................................................................... 9
5.2
Communication, GPIO, and encoder connector........................................................................................ 10
5.2.1 Reset the module to factory defaults .................................................................................................... 10
5.2.2 Inputs .............................................................................................................................................................. 11
5.2.3 Open drain outputs ..................................................................................................................................... 12
5.2.4 Encoder ........................................................................................................................................................... 13
6
LEDs ................................................................................................................................................................................ 14
7
Operational ratings .................................................................................................................................................... 15
8
Functional description .............................................................................................................................................. 16
8.1
System architecture ........................................................................................................................................... 16
8.1.1 Microcontroller ............................................................................................................................................. 16
8.1.2 TMC603A pre-driver ..................................................................................................................................... 16
9
Revision history .......................................................................................................................................................... 17
9.1
Document revision ............................................................................................................................................ 17
9.2
Hardware revision ............................................................................................................................................. 17
10 References..................................................................................................................................................................... 17
www.trinamic.com
2
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
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 - 2018
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
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
4
2 Features
The TMCM-1630 is a highly integrated single axis BLDC servo controller module with several interface-options.
The highly integrated module (size: 50mm x 92.5 mm) has been designed in order to be plugged onto a
baseboard. It integrates velocity and position control and offers hall sensor and incremental encoder (a/b/n)
inputs. The module can be used in stand alone operation or remote controlled.
Applications
Demanding single and multi-axis BLDC motor solutions
Electrical data
Supply voltage: +24V DC or +48V DC nominal (+15… +55V DC max.)
Motor current: up to 10A RMS (programmable) peak
Integrated motion controller
High performance ARM Cortex™-M3 microcontroller for system control and communication protocol
handling
Integrated motor driver
High performance integrated pre-driver (TMC603A)
High-efficient operation, low power dissipation (MOSFETs with low RDS(ON))
Dynamic current control
Integrated protection
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Interfaces
Two standard assembly options:
RS232 and CAN (2.0B up to 1Mbit/s)
RS485 and USB (High-speed 12Mbit/s)
2 analogue and 2 digital inputs
3 open drain outputs
Motor type
Block commutated 3 phase BLDC motors with optional hall sensors / optional encoder
Motor power from a few Watts to nearly 500W
Motor velocity up to 100,000 RPM (electrical field)
Common supply voltages of 12V DC, 24V DC, 36V DC and 48V DC supported
Coil current up to 10A peak
Software
TMCL™ stand-alone operation or remote controlled operation
TMCL™ program memory (non volatile) for up to 2048 TMCL™ commands
TMCL™ PC-based application development software TMCL-IDE and TMCL-BLDC available for free
CANopen: for CANopen support please consider using the TMCM-1633
Other
Two double-row 2.54mm connectors
ROHS compliant
Size: 50x92.5mm²
Please see separate TMCL™ Firmware Manual for additional information
www.trinamic.com
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
5
3 Order codes
Order code
TMCM-1630-4U-TMCL
TMCM-1630-2C-TMCL
Description
Single axis BLDC plug-in servo controller
with RS485 interface, USB interface and
firmware
Single axis BLDC plug-in servo controller
with RS232 interface, CAN interface, and
firmware
* Module height (14mm) including connectors
Table 3.1: Order codes
www.trinamic.com
Dimensions [mm]
module 50 x 92.5 x 14*
TMCL™
module 50 x 92.5 x 14*
TMCL™
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
6
4 Mechanical and electrical interfacing
4.1 Dimensions of the module
The module has a size of 92.5mm x 50mm. It offers four mounting holes (diameter: 3.2mm). Maximum overall
height of the module including connectors: approx. 14mm.
92.5
88.5
4
4
50
46
4 x 3.2
Figure 4.1: Size of module
www.trinamic.com
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
7
5 Connectors
The module offers two double row 2.54mm pitch standard connectors, one at each end of the board.
Hall1
1
+5V
2
Velocity
26
Hall2
25
3
Torque
4
GND
24
Hall3
23
+5V
5
Dir_IN
6
Tacho
22
GND
21
GND
7
Stop_IN
8
LED_Temp
20
GND
19
GND
17
GND
LED_Curlim
10
+5V
18
GND
11
GND
12
GND
16
+VM
15
+VM
13
Enc_A+
14
14
+VM
13
+VM
15
Enc_B+
16
Enc_B-
12
U
11
U
17
Enc_N+
18
Enc_N-
10
U
9
U
19
CANL/USBD-
20
RXD/485-
8
V
7
V
21
CANH/USBD+
22
TXD/485+
6
V
5
V
23
USB_+VB
24
n.c.
4
W
3
W
25
GND
26
GND
2
W
1
W
9
Enc_A-
Figure 5.1: Connectors
Domain
I/Os, interfaces,
encoder
Connector type
Mating connector type
TSM-113-03-L-DV-K-A, 2x13 poles, double
SSW, SSQ, SSM, BSW, ESW, ESQ, BCS, SLW,
row, 2.54mm pitch, SMD vertical, Samtec CES, HLE , IDSS and IDSD series, Samtec
TSM-113-03-L-DV-K-A, 2x13 poles, double
SSW, SSQ, SSM, BSW, ESW, ESQ, BCS, SLW,
Power, motor
row, 2.54mm pitch, SMD vertical, Samtec CES, HLE , IDSS and IDSD series, Samtec
Table 5.1: Connector type and mating connector of the TMCM-1630
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
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
8
Especially for higher motor currents the module offers an assembly option for a detachable screw connector
which will be assembled on the top side of the board. The 5 pin connector offers power supply (+VM and
GND) and motor coil (U, V, W) connections:
W
V
U
+VM
GND
Figure 5.2: Additional detachable screw connector as assembly option
The signals are connected 1:1 to the signals with the same label on the two-row motor and power connector
header on the bottom side of the board.
Connector type assembled on board
RIA AKL 330-05 5pin, 5.0mm pitch connector
Mating connector type
1x RIA AKL 349-05 5pin, 5.0mm pitch screw connector
or
1x RIA AKL 349-02 2pin, 5.0mm pitch screw connector
for power supply (+VM and GND) and
1x RIA AKL 349-03 3pin 5.0mm pitch screw connector
for motor coil connection (U, V, W)
Table 5.2: Connector type and mating connector of the detachable screw connector
www.trinamic.com
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
9
5.1 Motor and power connector
A double row 26 pin header 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
HALL1
25
Description
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)
Pin
Label
2
4
6
8
10
12
14
16
W
W
V
V
U
U
VM
VM
18
GND
20
GND
22
GND
+5V output (100mA max.) for
encoder and/or hall sensor
supply
24
HALL3
Hall sensor 1 signal input, +5V
compatible. Accepts either +5V
TTL or open-drain signals
(internal 10k pull-up resistor to
+5V)
26
HALL2
Description
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)
Hall sensor 3 signal input, +5V
compatible. Accepts either +5V
TTL or open-drain signals
(internal 10k pull-up resistor to
+5V)
Hall sensor 2 signal input, +5V
compatible. Accepts either +5V
TTL or open-drain signals
(internal 10k pull-up resistor to
+5V)
Table 5.3: Connector for motor related signals and power supply
5.1.1 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.
www.trinamic.com
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
10
5.2 Communication, GPIO, and encoder connector
A double row 26 pin header with 2.54mm pitch is used for connecting all communication and GPIO signals.
Pin
1
3
5
7
9
11
13
15
17
19
21
23
25
Table
Label
Description
5V analog reference as used by
the internal DAC.
Max. load 0.5mA
+5V
Used for max. motor current /
torque control in stand alone
Torque
operation by supplying external
0-10V signal
5V TTL input. Tie to GND to
Dir_IN
inverse motor direction, leave
open or tie to 5V otherwise.
Emergency stop. Tie this pin to
GND to stop the motor (same as
the Motor Off switch on PCB).
Stop_IN
The motor can be restarted via
the interface, or by cycling the
power supply
High, when module goes into
LED-Curlim
current limiting mode
GND
GND reference
Encoder A+ channel
Enc_A+
Encoder B+ channel
Enc_B+
Enc_N+
Encoder N+ channel
CAN low /
CANL/USBDUSB D- bus line
CAN high /
CANH/USBD+
USB D+ bus line
Use to detect availability of
USB_+VB
attached host system (e.g. PC)
GND
GND reference
5.4: Connector for communication and GPIOs
Pin
Label
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
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
5.2.1 Reset the module to factory defaults
Interface
RS232
USB
Description
Short RxD and TxD for resetting the module.
Use your USB interface for resetting the module
with the functions of TMCL-IDE. Please refer to the
TMCL™ Firmware Manual.
Table 5.5: Reset the module to factory defaults
www.trinamic.com
Description
Used for velocity control in
stand alone operation by
supplying external 0 – 10V
signal
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
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
11
5.2.2 Inputs
The TMCM-1630 offers two analogue and two digital inputs.
Pin
Label
analogue/digital
2
Velocity
analogue
3
Torque
analogue
5
Dir_IN
digital
7
Stop_IN
digital
Description
Used for velocity control in stand alone operation by
supplying external 0 – 10V signal
Used for max. motor current / torque control in stand alone
operation by supplying external 0 – 10V signal
Direction input (+5V TTL compatible). Tie to GND to inverse motor
direction, leave open or tie to +5V otherwise.
Emergency stop. Tie this pin to GND to stop the motor. The motor
can be restarted via the interface, or by cycling the power supply
Header
39k
Velocity
39k
Torque
10k/1%
DIR_IN
10k/1%
GND
GND
GND
GND
GND
Figure 5.3: Internal circuit of analogue and digital inputs
www.trinamic.com
GND
GND
GND
100pF/50V
GND
100pF/50V
+3.3V
100pF/50V
+3.3V
100pF/50V
+3.3V
19k1/1%
+3.3V
19k1/1%
STOP_IN
GND
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
12
5.2.3 Open drain outputs
The module offers three open drain outputs. Two of them (LED-Temp and LED-Curlim) power on-board LEDs,
also. Please refer to paragraph 6 for more information about the LEDs.
Pin Label
6
8
9
Description
This pin outputs a tacho impulse, i.e. toggles on each hall sensor
Tacho
change
+5V TTL output: Toggling with 3Hz when temperature pre-warning
LED-Temp threshold is exceeded, low when module shut down due to
overtemperature
LED-Curlim Low when module goes into current limiting mode
Table 5.6: Outputs of the TMCM-1630
+5V
+VM
1kOO/1%
Header
220R
10k/1%
Tacho
LED-Temp
LED-Curlim
GND
GND
Figure 5.4: Internal circuit of the outputs
www.trinamic.com
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
13
5.2.4 Encoder
Pin
13
14
15
16
17
18
Description
Encoder A+ channel
Encoder A- channel
Encoder B+ channel
Encoder B- channel
Encoder N+ channel
Encoder N- channel
Label
Enc_A+
Enc_AEnc_B+
Enc_BEnc_N+
Enc_N-
Table 5.7: Encoder channels of TMCM-1630
120R/5%
120R/5%
120R/5%
470R/5%
A+
470R/5%
470R/5%
+5V
ENC_A
AB+
Differential
Line
Recever
B-
ENC_B
N+
ENC_N
47k/5%
47k/5%
47k/5%
3k30/1%
N-
2k2/1%
GND
Figure 5.5: Internal circuit of the encoder channels
www.trinamic.com
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
14
6 LEDs
The TMCM-1630 module has 4 on-board LEDs for power, error indication, current overload, and temperature
warning. The LEDs are placed on the back of the module. You can plug the module on its baseboard and take
a look at the LEDs on the backside of the module.
Power
Error
Current overload
Temperature warning
Figure 6.1: On-board LEDs
LED
Power
Error
Current overload
Color
green
red
red
Description
LED is ON, if the on-board +5V are available
ON in case of error
The current limit LED blinks upon under voltage
Blink
switch off
ON/Flicker
Temperature warning
red
Blink
The power stage on the module has exceeded
a critical temperature of 100°C (Pre-warning)
ON
The power stage on the module has exceeded
the critical temperature of 125°C. The motor
becomes switched off, until temperature falls
below 115°C. The measurement is correct to
about +/-10°C
Table 6.1: LEDs signals and their meaning
www.trinamic.com
Motor PWM is reduced due to exceeding the set
motor current limit
TMCM-1630 Hardware Manual (Rev. 1.06 / 2019-APR-03)
15
7 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
Min
Typ
Max
Unit
15
24, 48
55
V
IMOT
A
VS
Power supply voltage for operation
IS
Power supply current
PID
Module idle power consumption
V5
5 Volt (+-8%) output external load (hall sensors plus other
load)
IMC
Continuous Motor current at VMF
0–8
IMP
Short time Motor current in acceleration periods
0 – 10
VI
Logic input voltage on digital / hall sensor inputs
IO
Sink current on digital outputs (open-drain outputs)
VIA
Analog input voltage
fCHOP
Chopper frequency
0.04
1.2
-0.3
-24
0 – 10
W
100
mA
10
A
A
VCC+
0.3
V
1
A
24
V
20
Ex
Exactness of voltage and current measurement
TSL
Motor output slope (U, V, W)
TO
Environment temperature operating
-25
+70
°C
TOF
Environment temperature for operation at full specified
current (air flow required, depending upon motor /
voltage)
-25
+60
°C
Tboard
Temperature of the module, as measured by the
integrated sensor.
125
°C
Table 7.1: Operational ratings
www.trinamic.com
-8
kHz
+8
100
工商网监
湘ICP备2023018690号
