Trinamic PD-110, TMCM-110 User guide

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Start into stepper motor motion systems

Italic and green lines can be neglected for the PD-110.

ou will need Precautions

• Your TMCM-110 stepper motor controller and driver module

• A stepper motor with 1A RMS coil current

• Interface (RS232, RS485, CAN or IIC)

suitable to your TMCM-110 version, with cables and maybe converter supplied.

• Power supply for 12V to 30V

• TMCL IDE program and PC

• Equipment to connect motor and TMCM-

110, maybe soldering tools.

Starting up:

• Do not connect or disconnect the motors while powered

• Do not mix up connections or short-circuit pins

• Avoid bundling IO wires with motor power wires, as this

may cause noise pickup from the motor.

• Do not exceed the maximum power supply of 30V.

• If attaching the TMCM-110 directly to a motor leave at

least a 5mm gap for air cooling.

Start with power supply OFF.

1. Connect RS232 pin 2 (PC-TxD) to pin 4 (110-RxD) and pin 3 (PC-RxD) to pin 5. Use other interfaces equivalent.

2. Connect RS232 cable to PC.

3. Connect power supply to TMCM-110

• Power supply (+) to pin 2

• Ground (GND) to pin 1

4. Connect stepper motor to 4 pin connector

5. Turn power ON. The LED of the module flashes and the motor is powered (standby current flows) but in standstill. If this does

not occur switch power OFF and check your connections and power supply.

6. Start the TMCL IDE program (see other side of the sheet how to configure the connection and use the IDE).

7. Type following into the open window:

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

SAP 4, 0, 100 //Set the maximum speed Loop: MVP ABS, 0, 15000 //Move to position 15000 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

Power-

supply

12..30V

Pin 1

use null modem cable, otherwise

switch pins 2 and 3

TxD

RxD

GNDVSGND

RS232

23 5

GND

Pin 1

8. Click the “Assemble” icon, then click the “Download” icon to download the code to the TMCM-110. Click the “Run” icon. The downloaded program will now be executed

9. Click stop button and start “TMCL Direct Mode” to issue following commands:

• ROR rotate right, Motor 0, value 500 → Click Execute

The motor is rotating now.

• MST motor stop, Motor 0 → Click Execute

First steps are made. For other commands of the TMCM-110

refer to next page and the TMCM-110 Manual.

Wiring note: The TMCM-110 comes with a 4pin, a 5pin and an 8 pin JST PHR-connector with about 20cm cables for each pin. If you have a PANdrive the TMCM-110 is mounted to a motor and no extra motor connection is needed.

TMCM-110

A1A2B1

Pin 1

Motor

TMCL IDE:

1. Make sure the COM port you intend to use is

not blocked by an other program.

2. Open TMCL IDE (available at TechLibCD and www.trinamic.com) by

clicking TMCL.exe.

5. Write a program code into

the white field and save it with File/Save.

Download

Stop

3. Choose Setup and Options…

and then the connection tab.

"Direct Mode"

7. Stop all running programs

by clicking “Stop button” and start “Direct Mode”.

Commands: Troubleshooting:

are motion (ROR, ROL, MST, MVP) and SAP (Set Axis Parameter) commands to set motion and control parameters. GAP delivers their actual value.

Instr. Type Value Description

(don´t care) 0..2047 Rotate right ROR

ROR <motor no.>, <Value>

(don´t care) 0..2047 Rotate left ROL

ROL <motor no.>, <Value>

(don´t care) Motor stop MST

MST <motor no.>, <Value>

ABS|REL|COORD 23 bit Move to pos. MVP

MVP <type>, <motor no.>, <Value>

SAP

SAP <type no.>,<motor no.>,<Value>

Sets motion and control parameters

GAP

Gives actual values of SAP parameters

For full instruction set and further description refer to TMCL-Reference an Programming Manual at TechLibCD or www.trinamic.com.

2 23 bit Actual pos. 4 0..2047 Max speed 5 0..2047 Max accell. 6 0..1500 Max current 7 0..1500 Standby curr.

140 0..6 Microstep res.

GAP <type no.>, <motor no.>

Following commands can be included into a program or used in “Direct Mode”. There

4. Choose COM port and type

in parameters shown above (baudrate 9600). Click OK.

8. If communication is established the TMCM-110 is automatically

detected. Issue a command by choosing Instruction, Type, Motor, Value and press Execute to send it to the TMCM-110.

If communication is not established:

• Check if the LED of the TMCM-110 is flashing. If not check your power supply.

• Try to start “Direct Mode” and see if the TMCM110 is detected automatically. If not close window.

• Check if you are using the right COM port and it is not used by another program.

• Check your connection settings, default: 9600 baud and address 1.

• Check your interface connection to TMCM-110.

• Refer to TMCM-110 manual.

If motor does not respond:

• Usually it is a problem with the communication described above.

• If you are using a TMCL program try a movement command in “Direct Mode” to see if there is a problem with your program.

• Check the motor connection. And power LED of the module.

• Restore factory settings to cancel all settings modified by user by issuing instruction 137.

Assemble

Run

6. Click “Assemble” first, then

“Download” and “Run” button to start the program.

Trinamic PD-110, TMCM-110 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual