Trinamic PD013-42, TMCM-013, TMCM-013-LA User guide

PANdrive PD013-42

and

TMCM-013 and TMCM-013-LA

Manual

STEPPER motor controller/driver module

1A RMS (1.5A peak) / 30V

with RS485 and step-/ direction interface

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

TMCM-013 Manual (V1.14 / January 17th, 2006) 2

Table of Contents

1

Features ........................................................................................................................................... 4

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

3 Outer Description ............................................................................................................................. 6

3.1 Pinning ...................................................................................................................................... 6

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

3.3 Connectors................................................................................................................................ 7

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

4.1 Step, Direction and Disable Inputs............................................................................................ 9

5 Getting Started ............................................................................................................................... 10

5.1 Assembly of Parts ................................................................................................................... 10

5.2 Motor ....................................................................................................................................... 10

5.2.1 Motor Choice...................................................................................................................... 10

5.2.1.1 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM)............................................. 11

5.2.1.2 Chopper Mode 2 (PHASE) ....................................................................................... 11

5.2.2 Motor Contact..................................................................................................................... 13

5.3 Connections for Step-Direction-Mode..................................................................................... 13

5.4 Connections for RS485-Mode................................................................................................. 14

6 Functional Description.................................................................................................................... 15

6.1 Disable .................................................................................................................................... 15

6.2 RS485 Control Interface .........................................................................................................15

6.2.1 RS485 Commands............................................................................................................. 16

6.2.1.1 Example for test move:............................................................................................. 17

6.2.1.2 Motor Current (C) ..................................................................................................... 17

6.2.1.3 StallGuard (G) .......................................................................................................... 17

6.2.1.4 Limit Switch (L) ......................................................................................................... 18

6.2.1.5 I/Os Readout (Q) ...................................................................................................... 18

6.2.1.6 Baud Rate (U)........................................................................................................... 18

6.2.1.7 Store Parameters to EEPROM (W).......................................................................... 19

6.2.1.8 Microstep Resolution (Z) .......................................................................................... 19

6.2.2 Chopper Modes ................................................................................................................. 19

6.2.2.1 Chopper Mode 0 (SPI) / Default Mode ..................................................................... 19

6.2.2.2 Chopper Mode 1 (PWM)........................................................................................... 20

6.2.2.3 Chopper Mode 2 (PHASE) ....................................................................................... 20

6.3 Step-Direction ......................................................................................................................... 21

6.3.1 Direction ............................................................................................................................. 21

6.3.2 Step.................................................................................................................................... 22

6.4 Reset to factory default ........................................................................................................... 22

6.5 Option: Pseudo DC-Motor mode............................................................................................. 23

6.5.1 Changes required for DC motor mode operation............................................................... 23

6.5.2 Parameterizing with RS485 ............................................................................................... 24

6.5.3 Motion Control.................................................................................................................... 24

7 Revision History ............................................................................................................................. 25

7.1 Documentation Revision ......................................................................................................... 25

7.2 Firmware Revision .................................................................................................................. 25

8 References ..................................................................................................................................... 26

TMCM-013 Manual (V1.14 / January 17th, 2006) 3

List of Figures

Figure 3.1: Pinning of TMCM-013 and TMCM-013-LA ........................................................................... 6

Figure 3.2: Dimensions for TMCM-013 ................................................................................................... 7

Figure 3.3: Dimensions for TMCM-013LA............................................................................................... 7

Figure 4.1: Step, Direction and Disable Inputs........................................................................................ 9

Figure 5.1: Assembly of parts................................................................................................................ 10

Figure 5.2: Maximum Supply Voltage regarding Motor Current and Inductivity.................................... 12

Figure 5.3: Motor contacts..................................................................................................................... 13

Figure 5.4: Contacts for Step-Direction ................................................................................................. 13

Figure 5.5: Contacts for RS485............................................................................................................. 14

Figure 6.1: Step-Direction signals and motor reactions ........................................................................ 21

Figure 6.2: Step and Direction Signal.................................................................................................... 22

Figure 6.3: Reset to factory default ....................................................................................................... 22

Figure 6.3: Layout Changes for act like DC-Motor option ..................................................................... 23

List of Tables

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

Table 3.1: Pinning of TMCM-013 and TMCM-013-LA............................................................................. 6

Table 4.1: Operational Ratings................................................................................................................ 8

Table 5.1: Maximum Supply Voltage regarding Motor Current and Inductivity..................................... 11

Table 6.1: RS485 Commands ............................................................................................................... 16

Table 6.2: Motor Current Examples ...................................................................................................... 17

Table 6.3: StallGuard............................................................................................................................. 17

Table 6.4: Limit switch ........................................................................................................................... 18

Table 6.5: I/Os Readout ........................................................................................................................ 18

Table 6.6: Baud rate .............................................................................................................................. 18

Table 6.7: Adjusting of Microstep Resolution ........................................................................................ 19

Table 6.8: External signals and motor reactions ................................................................................... 21

Table 7.1: Documentation Revisions..................................................................................................... 25

Table 7.2: Firmware Revisions.............................................................................................................. 25

TMCM-013 Manual (V1.14 / January 17th, 2006) 4

1 Features

The PD-013-42 is a mechatronic stepper motor module with step-/direction interface plus remote configuration access. It is based on the TMCM-013-42 one axis stepper motor controller and driver for integration directly on a NEMA-17 motor. The TMCM-013-LA supports NEMA-17 linear actuators. With up to 1.5 A coil current it operates from a single 7 to 30V power supply. It provides step/direction, RS485 and an optional pseudo DC interface for remote control. Up to 256 micro steps are available for either high accuracy or high speed. It integrates velocity and torque control as well as positioning mode. An update of the firmware is possible via the serial interface. The system features sensorless stall detection (StallGuard

Applications

• Mechatronic step-/ direction stepper driver for general decentralized applications

• Robotics

• Remote diagnostics / feedback allows for high-reliability drives

Motor type

• Coil current from 300mA to 1A RMS (1.5A peak)

• 7V to 30V nominal supply voltage

PANdrive Motor data

• all PANdrive motors optimized for 1A RMS coil current

• please refer to motor data sheet for detailed motor information

Highlights

• Remote controlled diagnostics and parameterization (RS485)

• Reference move and turn CW / CCW via RS485

• Stand-alone operation, adjusted via RS485

• Fully protected drive

• Digital selection of motor current and standby current

• Local reference move using sensorless StallGuard feature or reference switch

• All setup parameters are stored in internal EEPROM, no bus system required in end application

• Micro step resolution can be changed to get high accuracy or high speed with the possibility to

combine both

• Different chopper modes allow best adaptation to application / motor

• Many adjustment possibilities make this module the solution for a great field of demands

Other

• pluggable JST connectors

• RoHS compliant latest from 1 July 2006

Order code Description Dimensions [mm³]

PD1-013-42 PANdrive 0.27Nm 53 x 42 x 42 PD2-013-42 PANdrive 0.35Nm 59 x 42 x 42 PD3-013-42 PANdrive 0.49Nm 69 x 42 x 42 TMCM-013 Electronics module 14 x 42 x 42 TMCM-013-LA Electronics module 14 x 42 x 50

TM

).

Table 1.1: Order codes

TMCM-013 Manual (V1.14 / January 17th, 2006) 5

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.

TMCM-013 Manual (V1.14 / January 17th, 2006) 6

3 Outer Description

3.1 Pinning

TMCM-013LA

OA1

OA2

OB1

Motor connection

OB2

RS485B RS485A

GND

REF B

+5V

REF A

GND

GPI

GPO

Alert Step

Direction

common

VS = 7...28V

Disable

GND

U = 5...24V

Pin 16 Pin 15 Pin 14 Pin 13 Pin 12 Pin 11 Pin 10 Pin 09 Pin 08 Pin 07 Pin 06 Pin 05 Pin 04 Pin 03 Pin 02 Pin 01

Motor connection

Figure 3.1: Pinning of TMCM-013 and TMCM-013-LA

Pin Number Function

VS 1 Positive power supply voltage GND 2 GND, power V

3 Reference voltage for step-direction inputs. Positive optocoupler supply.

COM

Required for negative logic. Disable 4 Tie to GND to shut down motor power, leave open or at V Direction 5 Tie to GND to inverse motor direction, leave open or at V

COM

otherwise

COM

Step 6 Step signal, optically isolated (Cathode of optocoupler) Alert 7 Alert output GPO 8 General Purpose Output GPI 9 General Purpose Input GND 10 GND reference REF A 11 Reference Signal A +5V 12 Constant +5V output, reference REF B 13 Reference Signal B GND 14 GND for RS485 RS485A 15 RS485 remote control access A, TTL input RS485B 16 RS485 remote control access B, TTL input OA1, OA2 Connections for motor coil A OB1, OB2 Connections for motor coil B

TMCM-013

OA1

OA2

OB1

OB2

otherwise

Table 3.1: Pinning of TMCM-013 and TMCM-013-LA

TMCM-013 Manual (V1.14 / January 17th, 2006) 7

3.2 Dimensions

42mm*42mm*14mm (Height is measured by the highest part on PCB, be aware that the connectors are upright). The mounting holes and the center hole for TMCM-013 are 3.2mm. The center hole of the TMCM-013-42 is 6.0mm and of the TMCM-013LA 12.5mm.

36.5 mm

21.0 mm

42 mm

36.5 mm

TMCM-013

5.5 mm

36.5 mm

42 mm

Figure 3.2: Dimensions for TMCM-013

36.4 mm

20.9 mm

TMCM-013LA

41.8 mm

36.4 mm

12.5mm

44.6 mm

50.0 mm

Figure 3.3: Dimensions for TMCM-013LA

20.9 mm

5.4 mm

3.3 Connectors

Both connectors are crimp connectors series B4B-PH-SM3-TB, PH-connector. Motor: 4 pin connector Control: 16 pin connector

TMCM-013 Manual (V1.14 / January 17th, 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 7 12 .. 24 30 V

I

COIL

Motor coil current for sine wave

440..1500 mA peak (chopper regulated, adjustable via software)

IMC Continuous motor current (RMS) 300 .. 1000 1000 mA

f

Motor chopper frequency (actual

CHOP

20 / 36 kHz frequency depends on operation mode)

IS Power supply current << I

V

Isolation voltage of optocoupler ± 42 ±100 V

ISO

V

Supply voltage for step, direction

COM

5 .. 24 27 V

1.4 * I

COIL

A

COIL

and disable; (inputs have negative logic)

V

Voltage at disable, step and

OPTON

-3 0..22 25 V Direction input for optocoupler on (signal active)

V

Voltage at disable, step and

OPTOFF

4..24 27 V direction input for optocoupler off (signal inactive)

I

Optocoupler current (internally

OPT

25 50 mA

regulated)

f

Step frequency 350 kHz

STEP

t

DELAY

Direction hold time after step

0,7 µs

Impulse active (falling) edge

t

SETUP

V

GPI

T

ENV

set up time before step Impulse 2,0 µs

Analog input voltage on GPI -2 0 .. 28 28 V

Environment temperature for

-25 70 °C

operation

Table 4.1: Operational Ratings

TMCM-013 Manual (V1.14 / January 17th, 2006) 9

4.1 Step, Direction and Disable Inputs

The inputs disable, dir and step are electrically isolated from the module. Their functional voltages V

and V

OPTON

V

has to be less than 1.0V and to interconnect the difference between V

COM

exceed 3.5V. V

OPTOFF

and V

V

- V

V

COM

- V

OPTOFF

OPTON

are directly depending on V

OPTOFF

must not exceed V

OPTON

< 1.0V

>= 3.5V

COM

. To decouple the difference between V

COM

and V

OPTON

OPTOFF

has to

and

.

Examples:

U

COM

5..24V

Disable

Dir

Step

+5V

A

C

A

C

A

C

E

C

E

C

µC

A: Anode C: Cathode C: Collector

C

E

E: Emitter

GND

Figure 4.1: Step, Direction and Disable Inputs

V

= 5V

COM

V

OPTOFF

V

OPTOFF

20V19.0V16.5V

V

STEP

V

OPTON

= 0V 1.5V 4.0V 5V

STEP

= 20V

COM

V

OPTON

undefined

= 0V

TMCM-013 Manual (V1.14 / January 17th, 2006) 10

5 Getting Started

5.1 Assembly of Parts

cable contact

MOTOR

screw off

TMCM-013

+

screw off

TMCM-013

MOTOR

TMCM-013

MOTOR

=>

screw

We recommend a minimum distance between the TMCM-013 and motor of 5mm. The module can be directly attached to the motor backbell with an electrical insulation spacer. Appropriate cooling might be necessary if the motor itself gets very hot.

distance bolt

Figure 5.1: Assembly of parts

5.2 Motor

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

5.2.1 Motor Choice

Care has to be taken concerning the selection of motor and supply voltage. In the different chopper modes different criteria apply. Modes 0 and 1 are quite insensitive to the motor choice, while Mode 2 is very sensitive, because it uses a different motor current regulation scheme. This chapter gives some mathematical information on the motor choice, but you can skip it if you want to experiment with a given motor. Normally, best results will be achieved when operating the given motor in a range of 50 to 100% of nominal motor current (see motor data sheet). Mode 2 and mode 1 are mainly intended for slow, smooth and very exact movements, due to the high microstepping resolution. For dynamic operation choose mode 0.

screw

distance bolt

TMCM-013 Manual (V1.14 / January 17th, 2006) 11

5.2.1.1 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM)

In these two modes the maximum supply voltage (VS) of the motor must not exceed 22-25 times the nominal motor voltage (V

), regarding the multiplication of I

N

COIL, MAX

and R

. A higher value would

MOTOR

lead to an excess of motor rating. The minimum supply voltage has to be above two times the nominal motor voltage.

V25...22VV2

⋅≤≤⋅

NSN

RIV

⋅=

MOTORMAX,COILN

5.2.1.2 Chopper Mode 2 (PHASE)

In Table 5.1 and Figure 5.2 examples of maximum supply voltages V inductivity L of your motor are specified. For further information, including a formula and description how to calculate the maximum voltage for your setup, refer to 6.2.2.3

I

(RMS) L (min.) VS (max.)

COIL

800 mH 24 V

1000 mA

600 mH 18 V 400 mH 12 V 233 mH 7 V

1150 mH 24 V

700 mA

860 mH 18 V 570 mH 12 V 333 mH 7 V

1600 mH 24 V

500 mA

1200 mH 18 V

800 mH 12 V 466 mH 7 V

2300 mH 24 V

350 mA

1720 mH 18 V 1150 mH 12 V

666 mH 7 V

regarding the current I

S

COIL

and

Table 5.1: Maximum Supply Voltage regarding Motor Current and Inductivity

TMCM-013 Manual (V1.14 / January 17th, 2006) 12

2000

1500

L /mH

1000

500

0

350 450 550 650 750 850 950

ICOIL /mA

VS = 24V VS = 18V VS = 12V VS = 7V

Figure 5.2: Maximum Supply Voltage regarding Motor Current and Inductivity

Any combination of motor coil current and inductivity witch is above the curve for maximum supply voltage (V

) is possible to drive the motor in this mode. Check your motor statistics, please.

S

TMCM-013 Manual (V1.14 / January 17th, 2006) 13

5.2.2 Motor Contact

TMCM-013

OB2 OB1 OA2 OA1

Figure 5.3: Motor contacts

5.3 Connections for Step-Direction-Mode

The step-direction-mode is enabled if the acceleration command is set to 0 (default) using the RS485.

TMCM-013

Common

Disable

Dir

Step

0 V

Common

0 V

Common

0 V

rotating direction

Velocity Deceleration Acceleration

const.

Figure 5.4: Contacts for Step-Direction

The maximum step frequency is 350 kHz.

rotation off on

5 ... 28 V

GND

Common

Disable

Dir

Step

PWR 7...28 V

Pin 6 Pin 5 Pin 4 Pin 3 Pin 2 Pin 1

TMCM-013 Manual (V1.14 / January 17th, 2006) 14

5.4 Connections for RS485-Mode

The RS485-Mode is enabled if the acceleration command differs from 0.

Example:

Current: AC 50

Acceleration: AA 400

Terminal

Velocity: AV 50000

Other direction: AV -50000

Stop: AV 0

RS 485

Interface

GND optional

B A

PWR 7...28 V

Figure 5.5: Contacts for RS485

TMCM-013

Pin 16 Pin 15 Pin 14

Pin 2 Pin 1

TMCM-013 Manual (V1.14 / January 17th, 2006) 15

6 Functional Description

The TMCL-013 module has three different modes to control a stepper motor: step-direction, RS485 and pseudo DC-mode. With the RS485 it is possible to change parameters and save them to the EEPROM of the module to have all options in any mode. Therefore there are different settings like microstep resolution possible in step-direction mode also.

6.1 Disable

Description: The disable works as an emergency shutdown. Connected to ground all power to the

motor will shut down independent of the current settings. 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 abrupt otherwise.

Function Table:

V

motor disabled motor enabled

open wire V

OPTON

OPTOFF

6.2 RS485 Control Interface

The RS485 interface can control all functions of the TMCM-013. It is possible to change parameters, with this interface which are also valid in the other modes like max. velocity or acceleration. The parameters can be written to the EEPROM to obtain the changes after a restart. A Reset to factory default is possible. Default address byte is “A” and default baud rate is 9600 baud.

TMCM-013 Manual (V1.14 / January 17th, 2006) 16

6.2.1 RS485 Commands

For RS485 commands write the address byte (default is A) first, followed by an command from the following list. A small command letter provides the actual setting.

Command Function Description Range

A, a Acceleration Acceleration: v = 28.96 * a 0

C, c

G, g StallGuard

L Limit switch

M, m Select Mode

N Alarm

O Set Output

P Set Position Set position without moving the motor 32 bit 0

Q Read I/Os

R

S

T, t

U, u Set baud rate

V, v

W

X

Y, y

Z, z

Set Motor Current

Read Current Position Changes address byte RS485Timeout

Velocity for Rotation Store parameters to EEPROM Version number

Standby current

Microstep Resolution

Motor current in percentage of maximum current (0..100% * 1500mA). Refer to 6.2.1.2 In mode 0 (SPI) the StallGuard feature is functional. ‘g’ provides the actual StallGuard value, not the setting. Refer 6.2.1.3 Used to switch on and off reference run values. Refer Select chopper mode: 0:SPI, 1:PWM, 2:PHASE (default) if (n mod 256) > 0 -> ALARM = 0, else ALARM = 1 if G > 0 -> GPO = 0 (LED on), if G = 0 -> GPO = 1 (LED off)

Provides out of the I/O the values of the ports GPI, REF_A, REF_B, GPO and ALARM. Refer to 6.2.1.5

Provides the current position of the motor 32 bit -

Capital letter followed by the command ‘S’ makes this letter the new address byte

Sets the RS485-Timeout

Sets baud rate for RS485 communication. Refer to 6.2.1.6 Velocity for rotation / reference run v = n * 0.149157 usteps/s

Stores settings to EEPROM to restart with the same performance. Refer 6.2.1.7

Provides version number of implemented Software Sets 0..100% of maximum current after 1 second motor inactivity. For no standby current use the same value as for “Set motor current”. Divides the maximum microstep resolution (0: max; 4: min). Refer to 6.2.1.8, Table 6.7

0..100 20

-7..0..+7 0

byte -

0, 1, 2 2

0..256 0

- -

A

0…7 0

0

- -

0..100 20

0..4 0

Factory

Default

Table 6.1: RS485 Commands

Examples:

1. S Select SPI Mode: AM 0

⇒ ENTER

2. Read out the actual mode

⇒ ENTER ⇒ CR (carriage return)

Am

3. Change Microstep resolution ¼ of max. resolution

⇒ ENTER

AZ 2

TMCM-013 Manual (V1.14 / January 17th, 2006) 17

6.2.1.1 Example for test move:

• Different accelerations and velocity

AA 500, AV 50000, AV –50000

⇒ try other AA 0…8000, AV 0…400000

• Max. current – test of torque

AA 500, AV 50000, AC 200

⇒ test torque ⇒ AC 20 ⇒ test torque

• Read and set position

AV 0, AR, “Send CR only”, AP 0, AR, “Send CR only”, AA 500, AV 50000, AR, “Send CR only”

6.2.1.2 Motor Current (C)

The Motor current can be set by the user. To do this use the RS485 command “AC” in addition with following values. For chopper mode 2, the maximum setting is about 80% to 90% - at higher settings, motor microstep behaviour may become harsh. The actual maximum depends upon the actual motor. This is due to some internal restrictions.

AC I

COIL,PP

I

COIL,RMS

100 1.50A 1.06A 100% *)

80 1.20A 0.85A 75% 66 1.00A 0.71A 66% 50 0.75A 0.53A 50% 33 0.50A 0.35A 33% 20 0.30A 0.21A 25%

0 0.00A 0.00A 0%

% to max.

I

COIL

Table 6.2: Motor Current Examples

*) Not possible for chopper mode 2.

6.2.1.3 StallGuard (G)

The StallGuard feature is available in the default mode 0 (SPI) only. It is a sensorless load measurement and stall-detection. Overload is indicated before steps are lost. The small command ‘g’ provides the actual StallGuard value of the motor so easy calibration is possible.

Value Description

-7..-1

1..7 Motor stops when StallGuard value is reached and position is not set zero.

Motor stops when StallGuard value is reached and position is set zero (useful for reference run).

0 StallGuard function is deactivated (default)

Table 6.3: StallGuard

TMCM-013 Manual (V1.14 / January 17th, 2006) 18

6.2.1.4 Limit Switch (L)

The parameter ‘L’ defines the different reference entrances of the module. The motor stops when the defined position is reached.

Bit Motor stops at

0 REF_B = 0 1 REF_A = 0 2 GPI = 0 3 REF_B = 1 4 REF_A = 1 5 GPI = 1 6 0: soft stop, 1: hard stop

0: sets position zero

7

1: sets position not to zero

Table 6.4: Limit switch

To activate a reference switch set the appropriate bit to 1. When motor stops the position counter is set to zero.

Example: AL 8

⇒ ENTER : Activates REF_B = 1. When destination reached motor stops and position counter is

set to zero.

6.2.1.5 I/Os Readout (Q)

Command:

⇒ ENTER ⇒ CR (carriage return)

AQ

Bit 7 6 5 4 3 2 1 0

Port 0 0 0 GPI REF_A REF_B GPO ALARM

Table 6.5: I/Os Readout

6.2.1.6 Baud Rate (U)

The parameter ‘U’ changes the baud rate of the module for RS485 communication.

Parameter U Baud rate

0 9600 baud 1 14400 baud 2 19200 baud 3 28800 baud 4 38400 baud 5 57600 baud 6 76800 baud 7 115200 baud

Table 6.6: Baud rate

TMCM-013 Manual (V1.14 / January 17th, 2006) 19

6.2.1.7 Store Parameters to EEPROM (W)

This command stores different parameters to the EEPROM to restart with the same performance after power down.

The stored parameters are:

• Current setting (C)

• Microstep resolution (Z)

• Selected Mode (M)

• RS485 parameters (U)

6.2.1.8 Microstep Resolution (Z)

The microstep resolution can be set by the user. It depends on the maximum resolution witch differs in the three chopper modes (see 6.2.2). The maximum resolution is divided by the parameter ‘Z’.

Parameter Z

SPI PWM Phase (default)

0 max resolution 64 64 256 1 1/2 max 32 32 128 2 1/4 max 16 16 64 3 1/8 max 8 8 32 4 1/16 max 4 4 16

Microstep resolution

Table 6.7: Adjusting of Microstep Resolution

Example:

AZ 2

⇒ ENTER : Sets the microstep resolution to a quarter of the maximum resolution.

6.2.2 Chopper Modes

6.2.2.1 Chopper Mode 0 (SPI) / Default Mode

In this mode, the motor coil current is regulated on a chopper-cycle-by chopper-cycle bias. This is the standard operation mode for most motor drivers. It brings a medium microstep resolution of 16 microsteps and typically works good with most motors and a high range of supply voltage and motor current settings.

The maximum supply voltage (V voltage (V

), regarding the multiplication of I

N

excess of motor rating. The minimum supply voltage has to be above two times the nominal motor voltage.

⋅≤≤⋅

RIV

⋅=

MOTORMAX,COILN

It uses a chopper frequency of about 36kHz.

) of the motor must not exceed 22-25 times the nominal motor

S

COIL, MAX

V25...22VV2

NSN

and R

. A higher value would lead to an

MOTOR

TMCM-013 Manual (V1.14 / January 17th, 2006) 20

6.2.2.2 Chopper Mode 1 (PWM)

This mode is identical to the SPI mode, but it increases the microstep resolution at low velocities / stand still.

⋅≤≤⋅

V25...22VV2

NSN

RIV

⋅=

MOTORMAX,COILN

6.2.2.3 Chopper Mode 2 (PHASE)

This mode uses a different chopper scheme, which provides a very high microstep resolution and smooth motor operation. Care has to be taken concerning the selection of motor and supply voltage: The motor is chopped with 20kHz, and the coil sees a 50% duty cycle at full supply voltage when the coil current is meant to be zero. This is only true for the average, but the motor still sees an alternating current and thus an alternating magnetic field. Now, care has to be taken in order to keep this current to a value which is significantly lower than the motor maximum coil current. If it is to high, the motor has significant magnetization losses and coil power dissipation, and would get much too hot, even with zero average current. The only possibility to limit this effect, is to operate with a comparatively low supply voltage.

Check list:

Please take the motor inductivity L [mH] and motor rated full step coil current I data sheet: Now choose a supply voltage for the module to fulfil the following comparison:

µ⋅

s25V

S

L

COIL

5.0I

⋅≤

Ù Lk20IV

COILS

⋅⋅≤

If your parameters do not fulfil the equation, i.e. you calculate a supply voltage which is below the modules’ operation specs or which does not fit your system requirements, try the following:

Calculate x:

V

x

I

COIL

S

⋅=

025.0

[]

mHL

If x is below 0.5, everything is OK. If x is in the range 0.5 to 1.0, try operating your motor and check if motor or driver gets too hot. If x is above 1.0, choose one of the other chopper modes.

See also chapter 5.2.1.2 for graphical demonstration.

[A] from the motor’s

COIL

TMCM-013 Manual (V1.14 / January 17th, 2006) 21

6.3 Step-Direction

Additional Parameters can be set by RS485 i.e. to set a maximum velocity or microsteps per round.

The Step-Direction controls are as follows:

Motor Velocity Acceleration Rotate right Rotate left

Control

Disable

Direction

Step

Increase or

Step frequency

decrease of Step

frequency

Table 6.8: External signals and motor reactions

V

com

0 V

V

com

rotating direction

0 V

V

com

0 V

Velocity Deceleration Acceleration

const.

Direction open

wired or connected

to V

COM

Direction

connected to

Ground

rotating on off

Speed

Motor

0

rotate right

rotate left

Figure 6.1: Step-Direction signals and motor reactions

6.3.1 Direction

Description: The Direction signal changes the motors rotation from clockwise (CW) to

counterclockwise (CCW) and

Function Table:

GND open wire V

motor CW motor CCW turn

vice versa.

= 5…24V

COM

TMCM-013 Manual (V1.14 / January 17th, 2006) 22

6.3.2 Step

Description: The Step signal adjusts the velocity and acceleration of the motor. The velocity is

depending on the frequency, the acceleration on the change of it.

Frequency: The maximum Step input frequency is 350 kHz, aligned to the Direction signal. The minimum logic ”0” time is 0.7 µs and the minimum logic “1” time is 2.0 µs.

Function Table:

direction

Extern GND open wire V

Intern

0.7µs min

step pulse

HIGH LOW

2.0µs min

same minimum times as above

Figure 6.2: Step and Direction Signal

0.7µs min

= 5…24V

COM

2.0µs min

6.4 Reset to factory default

If the module seems to function weird this could usually is caused by unintended settings. In this case a reset to factory default might be useful. To do this switch off the module and short-circuit pin 1 and pin 3 of the free contacts for a 6-pin connector on the backside of the module. See Figure 6.3. Turn on the module and switch it off again to remove the short-circuit. All settings are now at factory default.

pin 1

Figure 6.3: Reset to factory default

pin 3

TMCM-013 Manual (V1.14 / January 17th, 2006) 23

6.5 Option: Pseudo DC-Motor mode

The velocity of the motor in this mode is changed through a constant voltage at the General Purpose input. The operational voltage is 7...28V.

6.5.1 Changes required for DC motor mode operation

It is advised to connect an external voltage divider to the GPI pin, as depicted. However, there are two free places for 0805 SMD resistors to be equipped directly on the module TMCM-013. To enable this mode solder use resistors as follows:

Attention: Do not try to make changes on the board until you are absolutely sure.

+VS

insert R = 100k

GPI

insert R = 3,3k

Pin 28

ATMEGA168

GND

Figure 6.4: Layout Changes for act like DC-Motor option

R = 100k

R = 3.3k

TMCM-013LA

TMCM-013 TMCM-013-LA

Keep in mind: This Changes can be made externally also.

TMCM-013 Manual (V1.14 / January 17th, 2006) 24

6.5.2 Parameterizing with RS485

First set Parameters for minimum voltage, maximum voltage and a zero point in between. Other values can be changed also like max. acceleration, max. velocity, microsteps,… Before enabling this mode with the RS485 command … connect a voltage of 7…28V to General Purpose Input (GPI). The voltage has to exceed zero point voltage before the regulation works.

6.5.3 Motion Control

Change the voltage at GPI between 7…28V. The motor will accelerate and decelerate relative to the specified zero point. Additional parameters like resolutions of microsteps can be stored in the EEPROM.

TMCM-013 Manual (V1.14 / January 17th, 2006) 25

7 Revision History

7.1 Documentation Revision

Version Comment Description

1.10 First Release Full functionality for Firmware V1.05

1.11 PD-release Includes PANDrive order codes

1.12 Limit switch Added Limit switch documentation

1.13 Additions StallGuard added with RS485 command ‘G’, formerly used for output setting (LED) now command ‘O’. Switched default mode to SPI.

Table 7.1: Documentation Revisions

7.2 Firmware Revision

Version Comment Description

1.05 First Release Full functionality (except DC-Motor) with some possibilities to expand

Table 7.2: Firmware Revisions

TMCM-013 Manual (V1.14 / January 17th, 2006) 26

8 References

Trinamic PD013-42, TMCM-013, TMCM-013-LA User guide

Specifications and Main Features

Frequently Asked Questions

User Manual