2 Life support policy.......................................................................................................................................................5
3 Electrical and Mechanical Interfacing..................................................................................................................... 6
3.3 Connecting the module..................................................................................................................................... 6
3.3.1 Connector 1: Power supply and host interface............................................................................... 7
3.3.2 Connector 2: Motor connector.............................................................................................................. 7
5.1 System Architecture.......................................................................................................................................... 10
5.1.4 TMC246 Motor Driver .............................................................................................................................11
5.2 Power Supply ..................................................................................................................................................... 11
5.3 Communication Interface...............................................................................................................................11
5.3.3 CAN .............................................................................................................................................................12
5.5 StallGuard™ - Sensorless Motor Stall Detection......................................................................................13
5.6 Motor current setting.......................................................................................................................................13
5.8 Optimum motor settings................................................................................................................................14
6 Putting the TMCM-110 into Operation.................................................................................................................. 15
Figure 3.1: Mounting holes (all dimensions in millimeters) .................................................................................... 6
Figure 3.2: The TMCM-110-42 module..............................................................................................................................7
Figure 3.3: Wiring scheme for GPO and GPI.................................................................................................................8
Table 1.1: Order codes......................................................................................................................................................... 4
Table 5.1: Rs-232 connection to PC................................................................................................................................ 12
Table 5.2: Motor Current Examples ................................................................................................................................ 13
Table 5.4: Optimum motor settings...............................................................................................................................14
The PD-110-42 is an intelligent stepper motor controller and driver module mounted directly on a 42mm
flange motor. The TMCM-110 module converts the motor into a compact mechatronic device with bus
oriented or stand-alone control. The motor, switches, power and the multi purpose I/Os can be connected
via small pluggable connectors. The TMCM-110 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. The TMCM-110 can be controlled via an RS-232, RS-485, I²C or CAN interface (ordering option).
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 integrated StallGuard
to detect motor overload or motor stall.
Electrical data
• up to 1.1A coil current RMS (1.5A peak)
• 7V to 34V motor supply voltage
• supports two phase bipolar motors with 0.3A to 1.1A coil current
PANdrive Motor data
• all PANdrive motors optimized for 1A RMS coil current
• please refer to motor data sheet for detailed motor information
TM
feature it is possible
Interface
• RS232, RS485, I²C or CAN 2.0b host interface
• 2 inputs for reference and stop switches
• 1 general purpose input and 1 output
Features
• up to 16 times microstepping
• memory for 2048 TMCL commands
• automatic ramp generation in hardware
• on the fly alteration of motor parameters (e.g. position, velocity, acceleration)
• StallGuard
• full step frequencies up to 20kHz
• dynamic current control
• TRINAMIC driver technology: No heat sink required
Software
• stand-alone operation using TMCL or remote controlled operation
• PC-based application development software TMCL-IDE included
Other
• pluggable JST connectors
• RoHS compliant latest from 1 July 2006
TM
for sensorless motor stall detection
Order code Description Dimensions [mm³]
PD1-110-42 (-option) PANdrive 0.27Nm 53 x 42 x 42
PD2-110-42 (-option) PANdrive 0.35Nm 59 x 42 x 42
PD3-110-42 (-option) PANdrive 0.49Nm 69 x 42 x 42
TMCM-110-42 (-option) Motion control module 15 x 42 x 42
Option Host interface
232 RS232 interface
485 RS485 interface
IIC IIC interface (I²C compatible serial 2 wire)
CAN CAN interface
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.
The overall height of the module is 17mm.The components on back of the module have a height of 5mm
and on front 10mm. Beware that connectors on the front are upright.
41,8
5,4
5,4
M3
41,8
M3
5,4
5,4
Figure 3.1: Mounting holes (all dimensions in millimeters)
3.2 Connectors
Connector type JST 2mm PH series, the following plugs fit for:
• Motor connector: JST PHR-4
• Supply / host interface connector: JST PHR-5
• Additional I/O connector: JST PHR-8
3.3 Connecting the module
Caveat: Never connect or disconnect a motor when the module is powered, as this
may damage the module. Also, the motor driver is not protected against short circuits
to ground.
3.3.1 Connector 1: Power supply and host interface
Use this connector to connect the power and the host interface (RS232, RS485, IIC or CAN). The pin
assignments are different for the four available versions of the module.
Pin
RS232 RS485 1) IIC CAN 2)
Function
1 GND GND GND GND
2 +7..34V DC +7..34V DC +7..34V DC +7..34V DC
3 GND GND GND GND
4 RxD RS485+ SCL CAN +
5 TxD RS485 - SDA CAN -
Table 3.1: Connector 1
1)
The RS485 version is also equipped with a jumper next to connector 1. Closing this jumper terminates the
RS485 bus with a resistor of 100 ohms.
2)
The CAN version of this module is also equipped with a jumper next to connector 1. Closing this jumper
terminates the CAN bus with a resistor of 120 ohms.
3.3.2 Connector 2: Motor connector
Connect a two-phase bipolar stepper motor to this connector. The pin assignment of this connector is as
follows:
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. The general purpose input can
either be used as a digital TTL input or as an analogue input (0..5V). The general purpose output is an open
collector output for a maximum current of 100mA. A freewheeling diode is also included so that e.g. a relay
or a coil can be connected directly. Please note that the freewheeling diode is connected to the supply
voltage and not to +5V, so when using e.g. a relay that is connected to +5V a freewheeling diode must be
connected externally.
The pin assignment of this connector is as follows:
Pin Name Function
1 StopL Left limit switch input (integrated 10K pullup to 5V)
2 StopR Left limit switch input (integrated 10K pullup to 5V)
3 GND Signal Ground
GPO General purpose output 0
4
5 VDD VDD (same as connector 1, pin 2)
6 GND Signal Ground
7 GPI General purpose input (Analog / Digital)
8 +5V +5V DC output (max. 20mA)
(open collector, max. 100mA, max. 40V)
Table 3.3: Connector 3
GPO
VDD
BC846
GPI
GND+5V
µC
1k
10k
Figure 3.3: Wiring scheme for GPO and GPI
3.3.4 ISP Connector
The 6-way (2x3) header on the module is the connector for an Atmel ISP programmer which can be used to
program the CPU directly. This is to be done by Trinamic only. The ISP connector is not to be used by the
user. Always leave this connector open.
3.4 Activity LED
The TMCM-110-42 module is equipped with an LED. Some TMCM-110-42 modules are equipped with a yellow
LED and some other TMCM-110-42 modules are equipped with a red LED.
During normal operation this LED flashes. After resetting the configuration EEPROM it maybe takes some
seconds before the LED starts flashing.
When the operating system is being downloaded to the module the LED lights steadily.
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 ... 30 34*) V
I
Motor coil current for sine wave
COIL
0 0.4 … 1.5 1.5 A
peak (chopper regulated, adjustable
via software) (adjust via Software)
IMC
f
Motor chopper frequency 36.8 kHz
CHOP
IS Power supply current << I
U
+5V output (max. 20mA load) 4.8 5.0 5.2 V
+5V
V
Open collector output, max. 100mA,
GPO
Continuous motor current (RMS)
0 0.3... 1.1 1.1 A
1.4 * I
COIL
V
A
COIL
V
S
freewheeling diode included
V
Input voltage for StopL, StopR, GPI0
INPROT
-24 0 … 5 24 V
(internal protection, DC)
V
GPI0 analog measurement range 0 ... 5 V
ANA
V
StopL, StopR low level input 0 0.9 V
STOPLO
V
StopL, StopR high level input
STOPHI
1.9 5 V
(integrated 10k pullup to +5V)
T
ENV
Environment temperature at rated
-40 45 °C
current (no forced cooling required)
Environment temperature at 80% of
-40 60 °C
rated current or 50% duty cycle
(no forced cooling required)
Table 4.1: Operational Ratings
*) Please make sure that you have a TMC246A-PA driver chip on the module when using a supply voltage
above 28.5V. All modules produced in 2006 and later have this chip.
In Figure 5.1 the main parts oft the TMCM-110 module are shown. The module mainly consists of the µC, a
TMC428 motion controller, a TMC246 stepper motor driver, the TMCL program memory (EEPROM) and the
host interfaces (RS232, RS485, IIC and CAN).
Host
RS-232
or
RS-485
or
IIC
or
CAN
I/O
TMCL
EEPROM
µC
2
PD-110-42
TMC428
Driver
Step
TMC246
Motor
+5V
REF-
Switches
7..30V DC
5V Power Supply
Figure 5.1: Application Environment
5.1 System Architecture
The TMCM-110 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
On this module, the Atmel ATmega32 is used to run the TMCL operating system and to control the TMC428.
The CPU has 32Kbyte flash memory and a 1Kbyte EEPROM. The microcontroller runs the TMCL (Trinamic
Motion Control Language) operating system which makes it possible to execute TMCL commands that are
sent to the module from the host via the interface. The microcontroller interprets the TMCL commands and
controls the TMC428 which executes the motion commands.
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.
The TMCL operating system can be updated via the host interface. Please use the latest version of the TMCL
IDE to do this. As already mentioned above the Trinamic CANnes card or the Trinamic USB2X interface is
needed to connect the module with CAN or IIC interface to the PC to update the OS.
5.1.2 EEPROM
To store TMCL programs for stand alone operation the TMCM-110 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048
TMCL commands.
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-steppermotors (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 TMC246 Motor Driver
The stepper motor driver used on the TMCM-110 module is the TMC246 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. As the power
dissipation of the TMC246 chips is very low no heat sink or cooling fan is needed. The temperature of the
chips does not get too high easily. The coils will be switched off automatically when the temperature or the
current exceeds the limits and automatically switched on again when the values are within the limits again.
5.2 Power Supply
The TMCM-110-42 is equipped with a linear 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 12..30 V DC. A higher voltage gives higher motor dynamics.
Please note that there is no protection against reverse polarity or too high voltage.
When using supply voltages near the upper limit of 34V, a regulated power supply becomes a must. Please
ensure, that enough power filtering capacitors are provided in the system (470µF or more recommended per
motor), in order to absorb mechanical energy fed back by the motor in stalling conditions.
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. This also is important in order to make the users application compatible to any
applicable EMC guidelines.
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 - 6m), use a robust 470µF or larger
additional filtering capacitor located near to the motor driver unit.
5.3 Communication Interface
The communication between the host and the module takes place via its host interface. This can be either
RS232, RS485, IIC or CAN. Please note that the TMCM-110-42 module can only be equipped with one of these
interfaces. Communication with the TMCM-110-42 module is done using TMCL commands. The interface the
module is equipped with is ready-to-use, so there are no external drivers or level shifters necessary.
Please see chapter 3.3.1 for the pin assignments of the interfaces.
To connect the RS232 interface of a PC to the module you can use a extension cable or null modem cable
(twisted, with female plugs at both ends). The difference is shown in Table 5.1.
Null modem
Female (Host)
1 4 1
2 3 2 RxD
3 2 3 TxD
4 1 4
5 5 5 GND
6 6 6
7 8 7
8 7 8
9 9 9
Table 5.1: Rs-232 connection to PC
Female
Modem
Male
Signal
5.3.2 RS485
For RS485 communication we recommend to use our USB-2-485 converter for fast communication. This
converter switches to receive mode right after the last bit has been sent, without any delay. The pause time
can be set to 0. Please refer to [TMCL]. It is also equipped with an RS485 termination network. Not using the
USB-2-485 a pause time between commands and a termination network may be necessary.
The telegram pause time value is milliseconds ±5%. This time depends on the converter used. Converters
controlled by the RTS line need about 15ms, sometimes 25ms
An RS485 termination network (1k from RS485+ to +5V, 1k form RS485- to GND, 100R between RS485+ and
RS485-) may be necessary for faster communication and longer distances and is recommended in any case.
5.3.3 CAN
To use the TMCL IDE with CAN interface either the Trinamic CANnes card or the Trinamic USB2X interface is
needed. Otherwise an additional CAN termination of 120 Ohms between CAN high and CAN low (at both
ends of the cable) may be necessary.
5.3.4 IIC
To use the IIC interface with the TMCL IDE the Trinamic USB2X interface is needed.
5.4 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.
5.5 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 traveller 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.
5.6 Motor current setting
The motor current can be set in a range of 0 to 1500, using the TMCL software. 1500 corresponds to the
module’s maximum I
setting.
COIL
Setting I
1500 1.5A 1.06A
1410 1.41A 1.0A
1100 1.1A 0.8A
800 0.8A 0.6A
600 0.6A 0.4A
400 0.4A 0.3A
0 0A 0A
COIL,PP
I
COIL,RMS
Table 5.2: Motor Current Examples
5.7 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 5.3.
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.
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 devisor is set to 3.
QSH4218
Optimum Motor Settings
Motor current (RMS)
Motor voltage V 24 24 24
Fullstep threshold
Maximum fullstep velocity
Table 5.4: Optimum motor settings
Unit
TMCL value 1414 1414 1414
A 1 1 1
TMCL value 330 270 220 Maximum microstep velocity =
On the basis of a small example it is shown step by step how the TMCM-110-42 is set into operation. Users
who are already familiar with TMCL and other Trinamic modules may skip this chapter.
Example
Software development environment.
A formula how “speed” is converted into a physical unit like rotations per seconds can be found in chapter
7.1.
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-110-42 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-110-42 module by clicking the “Download” icon.
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-110-42 module using the TMCL-IDE
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.
Click the “Run” icon. The downloaded program will now be executed.
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
f
Clock frequency 16 MHz
CLK
velocity 0..2047
a_max Maximum acceleration 0..2047
).
0..13
0..13
0..6
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
Table 7.1: TMC428 Velocity parameters
The microstep-frequency of the stepper motor is calculated with
velocityHzf
][
][
][=
CLK
=
Hzusf
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be divided
by the number of microsteps per fullstep.
Hzfsf
2
The change in the pulse rate per time unit (microstep frequency change per second – the acceleration a) is
given by
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
===
72
6035.190760
=
=
458.1589
72
8 Software
TMCL, the Trinamic Motion Control Language is used to send commands from the host to the TMCM-110
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.