Trinamic BB-100 User Manual

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BB-100

Manual

Base Board for the TMCM-100 + TMCM-035

Trinamic Motion Control GmbH & Co. KG

Sternstraße 67

D – 20357 Hamburg, Germany

Phone +49-40-51 48 06 – 0 FAX: +49-40-51 48 06 – 60

http://www.trinamic.com

INFO@TRINAMIC.COM

BB-100 Manual (v 1.00 / April 5th, 2006) 2

Contents

Features ............................................................................................................................................3

2 Life Support Policy ............................................................................................................................4

3 Electrical and Mechanical Interfacing................................................................................................5

3.1 Pinning .......................................................................................................................................5

3.1.1 RS232, RS485 or CAN .........................................................................................................5

3.2 Dimensions ................................................................................................................................7

4 Operational Ratings...........................................................................................................................8

4.1 Motors ........................................................................................................................................8

5 Getting Started ..................................................................................................................................8

5.1 Power Supply and Motor Connection ........................................................................................8

6 Functional Description.......................................................................................................................9

6.1 Stop Jumper...............................................................................................................................9

6.2 Driver Disable Jumpers..............................................................................................................9

6.3 Motor Current Selection ...........................................................................................................10

6.4 Full TMCM-100 Functionality ...................................................................................................10

7 References ......................................................................................................................................10

8 Revision History ..............................................................................................................................10

Figures

Figure 1.1: Functional Block Diagram of the BB-100 ..............................................................................3

Figure 3.1: Pinning of BB-100 ................................................................................................................. 5

Figure 3.2: Dimensions in mm................................................................................................................. 7

Figure 5.1: Power Supply and Motor Connection ...................................................................................9

Tables

Table 3.1 : RS232, RS485 or CAN.......................................................................................................... 5

Table 3.2: Power Supply Connector........................................................................................................ 6

Table 3.3: Motor Connector..................................................................................................................... 6

Table 3.4: Connector for STEP/DIR, Encoder and Reference signals ................................................... 6

Table 3.5: Jumpers RSB2, RSB1, RSA2, RSA1 (pls. refer to Figure 5.1 and [TMCM-035]).................. 6

Table 3.6: Jumper K22 (pls. refer to [TMCM-100] and [TMCM-035]) ..................................................... 6

Table 3.7: Jumpers K23/K25 (pls. refer to [TMCM-100]) ........................................................................ 7

Table 4.1: Operational Ratings (pls. refer [TMCM-035] and [TMCM-100] .............................................. 8

Table 6.1: Motor Current Selection ....................................................................................................... 10

BB-100 Manual (v 1.00 / April 5th, 2006) 3

1 Features

The BB-100 is designed for the TMCM-100 sophisticated stepper controller to control a TMCM-035 (SG) driver. All important signal and power lines are accessible via screw terminals. The integrated switch-mode regulator provides the required 5V supply voltage for the modules. The integrated level shifter enables direct connection to a PC via RS-232 cable (RS-485 or CAN optionally).

BB-100

TMCM-100 TMCM-035

Encoder

Step

Motor

Step/Dir

RS-232

RS-485

CAN

5V Power Supply

15.. 50V DC

ABN

REF-Switches

SPI

Figure 1.1: Functional Block Diagram of the BB-100

Applications

• fast prototyping of motion control applications with high current stepper motors (e.g. lab use)

• ad-hoc evaluation of TMCM-100 + TMCM-035 module w/o the need of developing an own PCB

• motion control system formed by BB-100 + TMCM-100 + TMCM-035 suitable for series production

Highlights

• 8 bit micro step motor driver resolution

• integrated 5V power supply

• protection: Overvoltage suppressor and inverse polarity

• 15V to 50V DC supply voltage Interface

• 2 x limit switch, 4 general purpose digital/analog in, 4 general purpose digital out

Others

• screw terminal connectors for I/O signals

• size: 100 x 65 mm², 60 mm height

Order code Description

BB-100 (-option) Baseboard for TMCM-100 & TMCM-035

Option

232 RS232 Interface (standard) 485 RS485 Interface (on request) CAN CAN Interface (on request)

BB-100 Manual (v 1.00 / April 5th, 2006) 4

2 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.

Information given in this data sheet 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 form its use.

Specifications subject to change without notice.

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3 Electrical and Mechanical Interfacing

3.1 Pinning

Figure 3.1: Pinning of BB-100

3.1.1 RS232, RS485 or CAN

The integrated level shifter allows direct connection of the module to a PC via RS 232 cable (non-nullmodem cable). RS485 or CAN are ordering options.

Pin RS232 RS485 CAN

RxD RS485 - CAN_L 3 TxD GND GND 4 5 GND GND 6 GND (optional) 7 RS485 + CAN_H 8 9

Table 3.1 : RS232, RS485 or CAN

BB-100 Manual (v 1.00 / April 5th, 2006) 6

Pin Number Function

V0 1 ground

V+ 2 positive power supply 15..50V

3 positive power supply (reverse polarity protected by a diode)

Table 3.2: Power Supply Connector

Pin Number

TMCM-035

Function

A 1 56 motor coil phase A (A1) A 2 52 motor coil phase A (A2) B 3 44 motor coil phase B (B1) B 4 40 motor coil phase B (B2)

Table 3.3: Motor Connector

Pin Number

TMCM-100

Function

STEP IN 1 23 Step input

DIR IN 2 24 Direction input Encoder A 3 26 Encoder input A Encoder B 4 28 Encoder input B Encoder N 5 30 Encoder input N

Ref. left 6 56 Reference switch on left side of the axis

Ref right 7 58 Stop switch on right side of the axis

+5V 8 +5V output

GND 9 GND

Table 3.4: Connector for STEP/DIR, Encoder and Reference signals

Jumper

TMCM-035

Function

RSB2 45 sense resistor B2 jumper RSB1 47 sense resistor B1 jumper RSA2 57 sense resistor A2 jumper RSA1 59 sense resistor A1 jumper

Table 3.5: Jumpers RSB2, RSB1, RSA2, RSA1 (pls. refer to Figure 5.1 and [TMCM-035])

Jumper Function

1 open jumper disconnects driver on TMCM-035 (TMCM-100 Pin 39 to TMCM-035 Pin 21) 2 open jumper disconnects driver on TMCM-035 (TMCM-100 Pin 41 to TMCM-035 Pin 23)

Table 3.6: Jumper K22 (pls. refer to [TMCM-100] and [TMCM-035])

BB-100 Manual (v 1.00 / April 5th, 2006) 7

TMCM-100

Function

K25-1 11 SPI Select 0 K23-1 12 SPI Clock K25-2 13 SPI Select 1 K23-2 14 SPI MISO K25-3 15 SPI Select 2 K23-3 16 SPI MOSI K25-4 17 Reset, active low K23-4 18 Alarm K25-5 19 External Step Output Direction K23-5 20 External Step Output Step K25-6 21 Synchronization Output for Command FIFO K23-6 22 Synchronization Input for Command FIFO

Table 3.7: Jumpers K23/K25 (pls. refer to [TMCM-100])

3.2 Dimensions

Figure 3.2: Dimensions in mm

The height including the modules TMCM-100 and TMCM-035 is about 60mm.

BB-100 Manual (v 1.00 / April 5th, 2006) 8

4 Operational Ratings

The operational ratings show the intended / the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded.

Symbol Parameter Min Typ Max Unit

VS Power supply voltage for operation 15 50 V

ENV2A5

Environment temperature at 2.5A RMS -25 60 °C

ENV3A5

Environment temperature at 3.5A RMS -25 40 °C

Table 4.1: Operational Ratings (pls. refer [TMCM-035] and [TMCM-100]

4.1 Motors

The TMCM-035 onboard the BB-100 operates a wide range of bipolar 2-phase stepper motors. Motors with nominal currents above 5 amperes (peak) can be used, too. Please refer [TMCM-035] for details. Low supply voltage limits can be disregarded because the drivers operate in current regulating mode. The minimum coil resistance is not limited, even a short circuit does not lead to damage. High coil resistance (e.g. above 10 ohms) might cause limited dynamical performance and/or reduced maximum motor speed. A coil inductance in the range of 1 mH results in good current regulation with low current ripple. Even inductance lower than 1 mH is allowed but the inductance of typical stepper motors is above 1 mH.

5 Getting Started

The power supply has to be disconnected when plugging in a TMCM-035 or TMCM-100 module into the BB-100. Do not connect or disconnect the motor while the unit is powered. Connecting or disconnecting the motor while the unit is powered might damage it.

5.1 Power Supply and Motor Connection

The stepper motor must not connected or disconnected when it is powered, because this can destroy the power stage of the TMCM-035 module due to high voltage generated by the inductance of the coils of the stepper motor.

An unregulated supply voltage (V+) is sufficient for the BB-100, but it must not exceed the range from 15 to 50 Volts. Generally, high supply voltage (e.g. 24V, 40V) that is compatible with the stepper motor should be preferred. A higher supply voltage results in a better dynamic behavior of a stepper motor. The alternative supply voltage input marked with the diode symbol features a reverse current protection for the power supply. Reverse currents might occur during fast deceleration at high currents. A low end power supply might be damaged by reverse currents. This diode also features a reverse polarity protection for the BB-100 with the TMCM-035 and TMCM-100. The integrated switchmode regulator provides the required 5V supply voltage for the modules

BB-100 Manual (v 1.00 / April 5th, 2006) 9

V+ (range VS)

stepper

Figure 5.1: Power Supply and Motor Connection

6 Functional Description

The BB-100 is a combination of the TMCM-100 and the TMCM-035. The TMCM-035 is a compact motor driver module for highly dynamic or high-torque axis and controlled by the driver-less stepper motor controller module TMCM-100, based on the high end TMC453 motion control chip. This provides a complete motion control system which supports incremental encoder feedback for positioning check or stabilization. The TMCM-100 provides a complete software development environment and by using the Trinamic Motion Control Language (TMCL) rapid and fast development of motion control applications is guaranteed.

6.1 Stop Jumper

If active (jumper open), all motors are electrically switched off immediately. Please note that the actual position data becomes invalid in this case, so a reference search will be required.

6.2 Driver Disable Jumpers

If jumpers K22 are open the drivers of the TMCM-035 are disconnected from the TMCM-100 coil current control and disabled.

BB-100 Manual (v 1.00 / April 5th, 2006) 10

6.3 Motor Current Selection

The maximum motor coil current is pre-selected by jumpers. For best micro stepping resolution, one should pre-select the lowest coil current sufficient for the application.

phase B phase A

max. coil current (peak)

RSB2 RSB1 RSA2 RSA1

1.5 A open closed open closed

3.4 A closed open closed open

5.0 A closed closed closed closed

Table 6.1: Motor Current Selection

6.4 Full TMCM-100 Functionality

For the full functionality of the TMCM-100 motor controller module refer to [TMCM-100].

7 References

[TMCM-100] TMCM-100 Manual, www.trinamic.com [TMCM-035] TMCM-035 Driver Manual, www.trinamic.com

8 Revision History

Version Date Comments

1.00 April 5, 2006 initial version

Trinamic BB-100 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual