Trinamic PANDrive PD-109-57 Electronic Manual

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Page 1

PANDrive PD-109-57

57mm / NEMA-23 Stepper Motor Mechatronic

Module

TMCM-109-57 Electronics Manual

Version: 1.10

October 17

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D - 20 357 Hamburg, Germany

http://www.trinamic.com

, 2007

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PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 2

Contents

1 Features........................................................................................................................................................................... 4

2 Life support policy....................................................................................................................................................... 5

3 Electrical and Mechanical Interfacing..................................................................................................................... 6

3.1 Dimensions........................................................................................................................................................... 6

3.1.1 PCB Dimensions........................................................................................................................................ 6

3.1.2 PANDrive Dimensions ............................................................................................................................. 7

3.2 Connectors............................................................................................................................................................ 7

3.3 Connecting the Module..................................................................................................................................... 8

3.3.1 Connector 1: Power Supply, RS485, Step/Direction........................................................................ 8

3.3.2 Connector 2: RS232 and additional I/O ............................................................................................. 9

3.4 Connecting the Motor (Connector 3 and 4) ................................................................................................ 9

4 Operational Ratings................................................................................................................................................... 10

4.1 Step, Direction and Disable Inputs ............................................................................................................. 11

5 Functional Description.............................................................................................................................................. 12

5.1 System Architecture ......................................................................................................................................... 12

5.1.1 Microcontroller (µC) ............................................................................................................................... 12

5.1.2 TMCL EEPROM........................................................................................................................................... 12

5.1.3 TMC428 Motion Controller ................................................................................................................... 12

5.1.4 TMC249 Motor Driver............................................................................................................................. 12

5.2 Power Supply Requirements ......................................................................................................................... 13

5.3 Disable .................................................................................................................................................................13

5.4 Communication Interface – RS232 and RS485 .........................................................................................13

5.5 Motor Current setting ...................................................................................................................................... 14

5.6 Microstep Resolution ....................................................................................................................................... 14

5.7 Optimum motor settings................................................................................................................................ 15

5.8 Step / Direction Interface ...............................................................................................................................15

5.8.1 Direction Input........................................................................................................................................ 15

5.8.2 Step Input................................................................................................................................................. 15

5.9 Reference Switches .......................................................................................................................................... 16

5.10 StallGuard™ - Sensorless Motor Stall Detection ..................................................................................... 16

5.11 Environment Temperature Considerations................................................................................................ 16

5.12 LEDs 17

5.13 Firmware update............................................................................................................................................... 17

5.14 Resetting the module...................................................................................................................................... 17

6 Putting the TMCM-109 into Operation..................................................................................................................18

7 TMCM-109 Operational Description....................................................................................................................... 19

7.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency.............................. 19

8 Software........................................................................................................................................................................ 20

9 Revision History.......................................................................................................................................................... 21

9.1 Documentation Revision................................................................................................................................. 21

9.2 Firmware Revision............................................................................................................................................ 21

10 References .................................................................................................................................................................... 21

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PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 3

List of Figures

Figure 3.1: Dimensions of base PCB ............................................................................................................................... 6

Figure 3.2 Front view of PANDrive.................................................................................................................................. 7

Figure 3.3 Side and rear view of PANDrive (108mm refers to PD3 motor)......................................................... 7

Figure 3.4: The TMCM-109 module and its connectors.............................................................................................. 8

Figure 4.1: Step, Direction and Disable Inputs.......................................................................................................... 11

Figure 4.2: Example for Step, Direction and Disable inputs...................................................................................11

Figure 5.1: Main parts of the TMCM-109....................................................................................................................... 12

Figure 5.2: Step and Direction Signal........................................................................................................................... 16

List of Tables

Table 1.1: Order codes......................................................................................................................................................... 4

Table 3.1: Connector 1......................................................................................................................................................... 8

Table 3.2: Connector 2......................................................................................................................................................... 9

Table 4.1: Operational Ratings........................................................................................................................................ 10

Table 5.1: Motor Current Examples................................................................................................................................ 14

Table 5.2: Microstep resolution setting........................................................................................................................ 14

Table 5.3: Optimum motor settings .............................................................................................................................. 15

Table 5.4: LEDs..................................................................................................................................................................... 17

Table 7.1: TMC428 Velocity parameters ........................................................................................................................19

Table 9.1: Documentation Revisions ............................................................................................................................. 21

Table 9.2: Firmware Revisions.........................................................................................................................................21

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PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 4

1 Features

The PANdrive PD-109-57 is a full mechatronic solution including a 57mm flange motor. It is based on the TMCM-109-57 electronics and offers RS232, RS485 or step/direction interface. The power supply, interface and the multi purpose I/Os can be connected via two pluggable screw terminal connectors. The TMCM-109-57 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“ or „constant rotation“ a rapid and fast development of motion control applications is guaranteed. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed onboard. The TMCL program can be stored in the on-board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. With the StallGuard™ (pat. pend.) feature it is possible to detect motor overload or motor stall.

Applications

• decentralized mechatronic drive with integrated intelligence

• high-precision drives with high dynamics and torque

Electrical data

• 18V to 55V motor supply voltage for highest motor dynamics

• up to 3.5A RMS nominal motor current

Motor data

• all PANdrive Motors optimized for 3.0A RMS motor current

• please also refer to the motor datasheet

Interface

• RS232, RS485 and step / direction (please request for CAN version)

• 2 inputs for reference and stop switches

• 1 general purpose input and 1 output

Features

• up to 64 times microstepping

• memory for 2048 TMCL commands

• automatic ramp generation in hardware

• on the fly alteration of motion parameters (e.g. position, velocity, acceleration)

• StallGuard™ for sensorless motor stall detection

• optically isolated inputs for step, direction and disable

• dynamic current control

Software

• stand-alone operation using TMCL or remote controlled operation

• PC-based application development software TMCL-IDE included

Other

• Pluggable screw terminal connectors for all external signals

• RoHS compliant latest from 1 July 2006

Order code Description Dimensions [mm³]

PD1-109-57 (-option) PANdrive 0.47Nm 71 x 57 x 57 PD2-109-57 (-option) PANdrive 0.98Nm 85 x 57 x 57 PD3-109-57 (-option) PANdrive 1.63Nm 108 x 57 x 57

Option Host interface

RS RS232 and 485 interface plus step / direction CAN CAN interface (please ask for availability)

Table 1.1: Order codes

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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 Dimensions

3.1.1 PCB Dimensions

Height: 22mm (allow for a minimum additional 3mm distance to the motor, 4-5mm are recommended)

Four mounting holes in QMOT motor configuration (M3).

3.6 mm

TMCM-109-57

57.2 mm

50.0 mm

5.0 mm

86.0 mm

Figure 3.1: Dimensions of base PCB

Mouning

holes

30.0 mm28.0 mm 23.0 mm

4.1 mm

49.0 mm

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3.1.2 PANDrive Dimensions

Attention: Please refer to latest QSH5718 motor manual for actual and exact motor dimensions.

Figure 3.2 Front view of PANDrive

Figure 3.3 Side and rear view of PANDrive (108mm refers to PD3 motor)

3.2 Connectors

The connectors onboard of the module are 10 and a 12 pin female connector from RIACON: Type 183, RM 3.5mm Fitting male connectors with screw terminals are: RIACON Type 169, RM 3.5mm.

Please refer to www.riaconnect.com

for more detailed information.

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3.3 Connecting the Module

The TMCM-109 module consists of two PCBs: the CPU board and the base board. All the connectors can be found on the base board. They are shown in Figure 3.4.

Attention: Never plug in the board in reverse direction!

Connector 3

Terminal 1

Connector 1

Connector 2

Terminal 1

Connector 4

Figure 3.4: The TMCM-109 module and its connectors

3.3.1 Connector 1: Power Supply, RS485, Step/Direction

Use this connector to connect the module to the power supply. The connector also provides pins for RS485 and Step/Direction signals. To use the RS485 interface, it has to be enabled via the interface selection input (please see connector 2 pinning). The polarity of the shutdown input can be configured using TMCL (please see the TMCL Reference and Programming Manual for details). Please note that the shutdown input, the step input and the direction input are connected to photo couplers. The ground line of all three photo couplers is connected to terminal 5.

Terminal Name Function

2 Shutdown Shutdown input (positive optocoupler input, polarity set via SW, SGP 80) 3 Step In / GPI1 Step input / General purpose input 1 (positive optocoupler input) 4 Dir In / GPI2 Direction input / General purpose input 2 (positive optocoupler input) 5 OC_GND Optocoupler ground 6 RS485- RS4857 RS485+ RS485+ 8 RS485- RS485- (same as terminal 6)

9 RS485+ RS485+ (same as terminal 7) 10 GND Ground 11 GND Ground 12 +VM +18..55V DC power supply

GPO0 General purpose output 0 (same as connector 2, terminal 5)

(open collector, max. 250mA, max. 40V, 1K pullup to 5V integrated)

Table 3.1: Connector 1

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3.3.2 Connector 2: RS232 and additional I/O

The RS232 interface and all other inputs and outputs of the module can be connected here. These are the limit switches, a general purpose input and a general purpose output. The limit switch inputs are equipped with internal pull-up resistors, so they have to be connected to GND via normally closed switches, if enabled via software. The general purpose input can either be used as a digital TTL input or as an analogue input with a voltage range of either 0..5V or 0..10V. This voltage range is selectable by software. The general purpose output is an open collector output for a maximum current of 250mA. Freewheeling diodes connected to the supply voltage are also included so that e.g. a 24V relay or a coil can be connected directly. The pin assignment of this connector is as follows:

Terminal Name Function

1 GND Ground

3 TXD RS232 TxD (output) 4 RXD RS232 RxD (input)

6 GPI0 General purpose input 0 (max. 5V) 7 StopR Right limit switch input (integrated 10K pullup to 5V) 8 StopL Left limit switch input (integrated 10K pullup to 5V)

10 GND Ground

IF select Interface selection:

Leave open to use RS232, connect to ground to use RS485.

GPO0 General purpose output 0 (same as connector 1, terminal 1)

(open collector, max. 250mA, max. 40V, 1K pullup to 5V integrated)

+5V +5V output (max. 150mA)

Can be used to supply 5V fan or optical switches.

Table 3.2: Connector 2

3.4 Connecting the Motor (Connector 3 and 4)

Normally, the TMCM-109 module comes mounted on a suitable stepper motor. Should you have a module without a motor you can connect a two phase bipolar stepper motor yourself. To connect the motor there are two screw terminals adjacent to a cable feed through hole on the board. Connect one coil of the motor to one of the connectors and the other coil to the other connector. Please always make sure that the module is disconnected from the power supply before connecting or disconnecting a motor. Connecting or disconnecting a motor while the module is powered can damage the module! Connect one motor coil to connector 3 and the other motor coil to connector 4. The direction of the motor shaft can be reversed by changing the polarity of one coil.

Do not connect or disconnect the motor while power on. Damage to the module may occur.

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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 18 24 ... 48 1) 55 I

Motor coil current for sine wave

COIL

0 2.1 … 5.0 5.0 A peak (chopper regulated, adjustable via software)

IMC

Continuous motor current (RMS)

0 1.5 ... 3.5 3.5 A recommended for supply voltages up to 36 V

Continuous motor current (RMS),

0 1.5 … 3.0 3.5 recommended for supply voltages exceeding 36 V

Motor chopper frequency 36.8 kHz

CHOP

IS Power supply current << I U

+5V output (max. 150mA load) 4.8 5.0 5.2 V

+5V

Isolation voltage of optocoupler ± 42 ±100 V

ISO

Signal active voltage at enable, step

OPTON

4 5 ... 24 27 V

1.4 * I

COIL

and direction input (optocoupler on)

Signal current for optocoupler

OPTON

11 15 18 mA

(internally limited) (meas. at 24V)

Signal inactive voltage at enable,

OPTOFF

-1 0 1.5 V step and direction input (optocoupler off)

Step frequency 350 kHz

Step

delay

Direction hold time after step

0.7 µs

impulse active (falling) edge

setup

INPROT

setup time before step impulse 2.0 µs Input voltage for StopL, StopR, GPI0

-24 24 V

(internal protection, DC)

ANA

GPI0 analog measurement range (20k voltage divider in high range)

StopL, StopR low level input 0 0.9 V

STOPLO

StopL, StopR high level input

STOPHI

0 ... 5

0 … 10

1.9 5 V

(integrated 10k pullup to +5V)

ENV

Environment temperature at rated

-40 +40 °C

current (no cooling) Environment temperature at 80 % of

-40 +60 °C rated current or 50% duty cycle (no cooling)

COIL

Table 4.1: Operational Ratings

1) Attention: First samples (until Oct. 05) are limited to a maximum of 38V supply voltage

2) Forced cooling might be required

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4.1 Step, Direction and Disable Inputs

In the standard firmware of the TMCM-109 these inputs are used as general purpose inputs. Movements are controlled by TMCL motion commands and no step direction operation is possible. To activate the step direction feature of the TMCM-109 install the extra firmware TMCM109_StepDir.hex (please refer to chapter 5.13). It is available on TechLibCD and www.trinamic.com The inputs disable, dir and step are electrically isolated from the module. Their functional voltages V

and V

OPTON

input voltage has to be less than 1.5V (V

are directly depending on the input voltages (V

OPTOFF

) and for on-state it has to exceed 4.0V (V

OPTOFF

STEP

, V

and V

DIR

+5V

). For off-state the

DISABLE

OPTON

OPTO_GND

Logic level:

5..24V

DISABLE

5..24V

STEP

DIR

A: Anode C: Cathode C: Collector

E: Emitter

GND

Figure 4.1: Step, Direction and Disable Inputs

µC

STEP

OPTOFF

OPTO_GND

undefined

OPTON

27V4.0V1.5V

Figure 4.2: Example for Step, Direction and Disable inputs

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5 Functional Description

In Figure 5.1 the main parts oft the TMCM-109 module are shown. The module mainly consists of the µC, a TMC428 motion controller, a TMC249 stepper motor driver, the TMCL program memory (EEPROM) and the host interfaces (RS232 and RS485).

Step/Dir/Disable

Host

18..55V DC

Opto isolation

RS-232

RS-485

I/Os

5V Power Supply

TMCM-109

µC

TMCL

EEPROM

TMC428

MOSFET

Driver

Stage

high power

Driver

TMC249

+5V

Step

Motor

REF-

Switches

Figure 5.1: Main parts of the TMCM-109

5.1 System Architecture

The TMCM-109 integrates a microcontroller with the TMCL (Trinamic Motion Control Language) operating system. The motion control real-time tasks are realized by the TMC428.

5.1.1 Microcontroller (µC)

The flash ROM of the microcontroller holds the TMCL operating system and the EEPROM memory of the microcontroller is used to permanently store configuration data, while an additional EEPROM memory holds the user TMCL programs. The TMCL operating system can be updated only via the host interfaces. Please use the latest version of the TMCL IDE to do this.

5.1.2 TMCL EEPROM

To store TMCL programs for stand alone operation the TMCM-109 module is equipped with a 16kByte EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2047 TMCL commands.

5.1.3 TMC428 Motion Controller

The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phasestepper-motors (on this module, only one motor can be used). Motion parameters like speed or acceleration are sent to the TMC428 via SPI by the microcontroller. Calculation of ramps and speed profiles are done internally by hardware based on the target motion parameters.

5.1.4 TMC249 Motor Driver

The stepper motor driver used on the TMCM-109 module is the TMC249 chip. This driver is very dependable, because it provides a variety of protection and diagnostic features, which even can be read out by the user software. Its 16x up to 32x microstepping gives a quiet and precise motor operation. A maximum coil current of 5.0A is supported by this driver IC together with the high performance MOSFETs the module is equipped with.

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5.2 Power Supply Requirements

The TMCM-109 is equipped with a switching voltage regulator that generates the 5V supply voltage for the digital components of the module from the motor power supply. So only one supply voltage is needed for the module. The power supply voltage can be 18..55V DC. Please note that there is no protection against reverse polarity or too high voltage. The power supply typically should be within a range of 24 to 48V to achieve highest motor performance. When using supply voltages near the upper limit, a regulated power supply becomes a must. Please ensure, that enough power filtering capacitors are provided in the system (2200µF or more recommended), in order to absorb mechanical energy fed back by the motor in stalling conditions. In larger systems a zener diode circuitry might be required, when motors are operated at high velocities.

The power supply should be designed in a way, that it supplies the nominal motor voltage at the desired maximum motor power. In no case shall the supply value exceed the upper / lower voltage limit. To ensure reliable operation of the unit, the power supply has to have a sufficient output capacitor and the supply cables should have a low resistance, so that the chopper operation does not lead to an increased power supply ripple directly at the unit. Power supply ripple due to the chopper operation should be kept at a maximum of a few 100mV.

Therefore we recommend to

a) keep power supply cables as short as possible b) use large diameter for power supply cables c) if the distance to the power supply is large (i.e. more than 2-3m), use a robust 2200µF or

larger additional filtering capacitor located near to the motor driver unit.

5.3 Disable

The disable input works as an emergency shutdown. The polarity can be configured using TMCL (please see the TMCL Reference and Programming Manual for details). It is in the users responsibility to stop the step impulses or set the velocity to zero before enabling the motor again, because it would start abruptly or loose track otherwise.

open wire V

OPTON

polarity 1 polarity 2

OPTOFF

5.4 Communication Interface – RS232 and RS485

The communication between the host and the module takes place via its host interface. This can be either RS232 or RS485. The module is equipped with both interfaces, but only one interface can be used at a time. All interfaces integrated on the module are ready-to-use, so there are no external drivers or level shifters necessary. To select RS232, leave open the interface selection pin, for RS485 pull it to ground. Please see chapter 3.3 for the pin assignments of the interfaces.

Interface selection pin

(connector 2, terminal 2)

open wire RS232

pulled to ground RS485

Communication with the TMCM-109 module is done using TMCL commands. Refer to TMCL manual for detailed information (10 References). When using the RS485 interface, the devices can be daisychained. Bus termination resistors in the range of 100 Ohms are typically required at each of the two ends of the cables.

Selected communication

interface

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5.5 Motor Current setting

The motor current can be set in a range of 0 to 255, using the TMCL software (inst. 5: SAP, type 6: max. current). 255 corresponds to the module’s maximum I

setting.

COIL

Setting I

COIL,PP

COIL,RMS

255 5.0A 3.54A 216 4.2A 3.0A 180 3.5A 2.5A 144 2.8A 2.0A 108 2.1A 1.5A

72 1.4A 1.0A

0 0A 0A

Table 5.1: Motor Current Examples

5.6 Microstep Resolution

The microstep resolution can be set using TMCL software. The default setting is 64 microsteps which is the highest resolution. To set the microstep resolution with TMCL use instruction 5: SAP, type 140: microstep resolution. You can find the appropriate value in Table 5.2.

Value microsteps

1 Halfstep (not recommended) 2 4 3 8 4 16 5 32 6 64

Do not use: for fullstep please

see “fullstep threshold”

Table 5.2: Microstep resolution setting

Despite the possibility to set up to 64 microsteps, the motor physically will be positioned to a maximum of about 24 Microsteps, when operated in 32 or 64 microstep setting.

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5.7 Optimum motor settings

Following settings apply best for highest motor velocities with smooth motor behavior at low velocities. Mixed decay should be switched on constantly. Microstep resolution is 4 (TMCL), this is 16 times microstepping. The pulse divisor is set to 3.

Optimum Motor Settings

Motor current (RMS)

Fullstep threshold

Maximum fullstep velocity

Fullstep threshold

Maximum fullstep velocity

Motor

voltage

24 V

48 V

Unit

TMCL value 220 204 204

A 3 2.8 2.8

TMCL value 620 240 180 Maximum microstep velocity =

RPS 5.913 2.289 1.717

TMCL value 1450 580 400

RPS 13.828 5.531 3.815

TMCL value 800 410 280 Maximum microstep velocity =

RPS 7.629 3.910 2.670

TMCL value 2040 1000 810

RPS 19.455 9.537 7.725

-41-30-047 -55-30-098 -79-30-163 PD1 PD2 PD3

QSH5718

Table 5.3: Optimum motor settings

5.8 Step / Direction Interface

In the standard firmware of the TMCM-109 the step and direction input are used as general purpose inputs. Movements are controlled by TMCL motion commands and no step direction operation is possible. To activate the step direction feature of the TMCM-109 install the extra firmware TMCM109_StepDir.hex (please refer to chapter 5.13). It is available on TechLibCD and

www.trinamic.com

Parameters like SAP 6 – max. current, 7 – standby current and 140 – microstep resolution can still be set via the TMCL-IDE. Although most motion commands of TMCL like ROR or MVP are operational it is not recommended to use them with the step / direction firmware.

5.8.1 Direction Input

The direction signal changes the motors rotation from clockwise (CW) to counterclockwise (CCW) and

vice versa. A change in the direction signal has to be aligned to the step pulse in order to specify the direction of each step (please refer to setup -/ hold times).

motor CW motor CCW

GND open wire

OPTON

5.8.2 Step Input

The step signal directly influences the velocity and acceleration of the motor. The velocity depends on the frequency, the acceleration on the frequency’s change per time. Frequency: The maximum step input frequency is 350 kHz. The minimum logic ”0” time is 0.7 µs and the minimum logic “1” time is 2.0 µs.

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Extern V

Intern

0.7µs min

step pulse

direction

GND V

OPTON

HIGH LOW

0.7µs min

2.0µs min

same minimum times as above

Figure 5.2: Step and Direction Signal

OPTOFF

2.0µs min

5.9 Reference Switches

Two digital reference / stop switch inputs are provided (StopL= stop left and StopR = stop right). They are used as an absolute position reference for homing and to set a hardware limit for the motion range. The inputs have internal pullup resistors. Either opto-switches or mechanical switched with normally closed contact can be used. The 5V output can be used as an supply for opto-switches.

5.10 StallGuard™ - Sensorless Motor Stall Detection

The integrated StallGuard™ feature gives a simple means to detect mechanical blocking of the motor. This can be used for precise absolute referencing, when no reference switch is available. The load value can be read using a TMCL command or the module can be programmed so that the motor will be stopped automatically when it has been obstructed or the load has been too high. Just activate StallGuard and then let the traveler run against a mechanical obstacle that is placed at the end of the operation area. When the motor has stopped it is definitely at the end of its way, and this point can be used as the reference position. Please see the TMCL Reference and Programming Manual on how to activate the StallGuard feature. The TMCL IDE also has some tools which let you try out and adjust the StallGuard function in an easy way. This is also described in the TMCL Reference and Programming Manual.

Mixed decay should be switched off when StallGuard operational in order to get usable results.

5.11 Environment Temperature Considerations

As the power dissipation of the MOSFETs is very low, no heat sink or cooling fan is needed, unless environment temperature is raised and the module continuously is operated at a high current. When the output bridge temperature reaches a critical value, the output current is reduced by 20%. If the temperature still rises higher, the outputs become switched off. The coils are automatically switched on again when the temperature is within the limits again. An optional cooling fan can be mounted to cope with higher environment temperatures, when problems are perceived. The 5V power supply output can be used to operate a small fan.

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5.12 LEDs

The TMCM-109 module is equipped with four LEDs that show the actual state of the module:

LED Function

POWER Shows that the module is powered CPU_OK Flashes during normal operation. After resetting the configuration EEPROM it may

take some seconds before the LED starts flashing again. When the operating system is being downloaded to the module the LED lights steadily.

ERROR On when the temperature of the MOSFETs is getting too high. The LED is off durin

normal operation

OUT_0 Shows the state of the general purpose output

Table 5.4: LEDs

5.13 Firmware update

Use the “Install OS” function of the TMCL-IDE. It is located in the “Setup” menu.

5.14 Resetting the module

The reset to factory default values can be done using the TMCL IDE. Select “Setup”, “Configure module”, the “Other” tab and then “Restore Factory Default”. If problems with the communication occur the reset procedure of

the TMCM-109 (PanDrive) is as follows:

1. Turn off the power.

2. Link pins 1 and 3 of the programming connector (as shown in the picture on the right) by hardwire.

3. Turn the power on and wait until the LED on the module flashes fast (much faster than normally).

4. Turn the power off.

5. Remove the link between the pins.

6. Turn the power on and wait until the LED flashes normally (this can take some seconds). All settings are now restored to factory default, and the module can be used again normally.

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6 Putting the TMCM-109 into Operation

On the basis of a small example it is shown step by step how the TMCM-109 is set into operation. Users who are already familiar with TMCL and other Trinamic modules may skip this chapter.

Example IDE Software development environment.

The simple application is:

• Move the Motor to position 150000

• Wait 2 seconds

• Move the Motor back to position 0

• Wait 1 second

• Start again with the first step

To implement this simple application on theTMCM-109 it is necessary to do the following things:

Step 1:

Step 2:

Step 3:

Step 4:

Step 5:

Step 6: Then download the program to the TMCM-109 module by clicking the “Download”

Step 7:

A detailed documentation about the TMCL operations and the TMCL IDE can be found in the TMCL Reference and Programming Manual. The next chapter shows how the velocity and acceleration values are calculated.

: The following application is to be implemented on the TMCM-109 module using the TMCL-

Connect the host interface to the PC

Connect the motor to the motor connector

Connect the power supply voltage to the module

Switch on the power supply. The activity LED should start to flash. This indicates the

correct configuration of the microcontroller.

Start the TMCL-IDE Software development environment. Enter the program shown in

the following listing. A description of the TMCL commands can be found in the TMCL Reference and Programming Manual.

//A simple example for using TMCL and the TMCL-IDE

SAP 4, 0, 100 //Set the maximum speed Loop: MVP ABS, 0, 150000 //Move to position 150000

WAIT POS, 0, 0 WAIT TICKS, 0, 200 MVP ABS, 0, 0 //Move back to position 0 WAIT POS, 0, 0 WAIT TICKS, 0, 100

JA Loop //Infinite Loop

Click the “Assemble” icon to convert the TMCL program into byte code.

icon.

Click the “Run” icon. The downloaded program will now be executed.

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PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 19

7 TMCM-109 Operational Description

7.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency

The values of the parameters sent to the TMC428 do not have typical motor values, like rotations per second as velocity. But these values can be calculated from the TMC428 parameters, as shown in this document. The parameters for the TMC428 are:

Parameter Description Range

Clock frequency 16 MHz

CLK

velocity 0..2047 a_max Maximum acceleration 0..2047 pulse_div Velocity pre-divider. The higher the value is, the less

is the maximum velocity. Default value = 3 Can be changed in TMCL using SAP 154.

ramp_div Acceleration pre-divider. The higher the value is, the

less is the maximum acceleration default value = 7 Can be change in TMCL using SAP 153.

Usrs Microstep resolution (microsteps per fullstep = 2

Can be changed in TMCL using SAP 140.

usrs

0..13

0..6

Table 7.1: TMC428 Velocity parameters

The microstep-frequency of the stepper motor is calculated with

velocityHzf

][

][ =

CLK

⋅

usrs

Hzusf

To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be divided by the number of microsteps per fullstep.

Hzfsf

The change in the pulse rate per time unit (microstep frequency change per second – the acceleration a) is given by

This results in an acceleration in fullsteps of:

af2=

with af: acceleration in fullsteps

usrs

⋅

divpulse

Hzusf

][

with fsf: fullstep-frequency

max

29__

divrampdivpulse

with usf: microstep-frequency

3220482

⋅⋅

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PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 20

⋅

Example:

f_CLK = 16 MHz on the TMCM-109 module velocity = 1000 a_max = 1000 pulse_div = 1 ramp_div = 1 usrs = 6

100016

msf 3125.122070

a 208.119

af 863,1

MHz

][

1000)16(

Mhz

⋅

2911

MHz

208.119

3220482

⋅⋅

3125.122070

MHz

HzHzfsf 35.1907

If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is:

RPS

fsf

rotationperfullsteps

⋅

RPM

fsf

rotationperfullsteps

35.1907

49.26

===

6035.190760

458.1589

8 Software

TMCL, the Trinamic Motion Control Language is used to send commands from the host to the TMCM109 module and to write programs that can be stored in the EEPROM of the module so that the module can execute the TMCL commands in a stand-alone mode.

TMCL is described in a separate documentation, the TMCL Reference and Programming Manual. This document also describes the TMCL Integrated Development Environment (TMCL IDE), a program running on Windows which allows easy development of TMCL applications. All the manuals are provided on the TMC TechLib CD and on the web site of TRINAMIC Motion Control GmbH & Co. KG (http://www.trinamic.com). Also the latest versions of the firmware (TMCL operating system) and PC software (TMCL IDE) can be found there.

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9 Revision History

9.1 Documentation Revision

Version Comment Author Description

1.00 Initial Release OK

1.01 29-Jun-2005 BD Added technical specs

1.03 09-Dec-2005 BD, HC Added Pan-Drive documentation

1.04 23-Dec-05 BD Added ordering info

1.06 30-Mar-2006 BD Added mechanical dimensions for PANDrive

1.07 18-Jul-06 BD Corrected mechanical dimensions

1.08 18-Oct-2006 HC Added resetting information

1.09 20-June-2007 HC Chapter 5.6 “Microstep resolution”, 7 “Operational Description”

and 5.7 “Optimum motor settings” added

1.10 17-October-2007 HC Step / Direction firmware information (chapter 4.1 and 5.8)

Table 9.1: Documentation Revisions

9.2 Firmware Revision

Version Comment Description

3.24 Initial Release Please refer to TMCL documentation

Table 9.2: Firmware Revisions

10 References

[TMCL] TMCL manual (see http://www.trinamic.com)