Trinamic PD86-1180, TMCM-1180 HARDWARE MANUAL

MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrives

V 1.03

HARDWARE MANUAL

+ +

TMCM-1180

PD86-1180

1-axis stepper

controller / driver

5.5A RMS/ 24 or 48V DC USB, RS232, RS485, and CAN

+ +

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany

www.trinamic.com

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 2

Table of contents

1 Life support policy ....................................................................................................................................................... 3

2 Features ........................................................................................................................................................................... 4

3 Order codes .................................................................................................................................................................... 5

4 Mechanical and electrical interfacing ..................................................................................................................... 6

4.1 TMCM-1180 dimensions and mounting holes ............................................................................................. 6

4.2 PD86-1180 dimensions and motor specifications ...................................................................................... 7

4.2.1 Dimensions of PD86-3-1180 ........................................................................................................................ 7

4.2.2 Motor specifications of QSH8618-96-55-700 ........................................................................................... 8

4.2.3 Torque figure of QSH8618-96-55-700 ........................................................................................................ 9

4.3 Connectors of TMCM-1180 ............................................................................................................................... 10

4.3.1 Power connector .......................................................................................................................................... 11

4.3.2 Serial communication connector ............................................................................................................ 12

4.3.3 USB connector .............................................................................................................................................. 12

4.3.4 Output connector ......................................................................................................................................... 13

4.3.5 Input connector ........................................................................................................................................... 14

4.3.6 Step/Direction connector ........................................................................................................................... 16

4.3.7 Encoder connector....................................................................................................................................... 17

4.3.8 Motor connector and specifications ....................................................................................................... 18

5 Jumpers ......................................................................................................................................................................... 18

5.1 RS485 bus termination ..................................................................................................................................... 18

5.2 CAN bus termination ........................................................................................................................................ 18

6 Operational ratings .................................................................................................................................................... 19

7 Functional description .............................................................................................................................................. 19

7.1 System architecture ........................................................................................................................................... 20

7.1.1 Microcontroller ............................................................................................................................................. 20

7.1.2 EEPROM ........................................................................................................................................................... 20

7.1.3 TMC428 motion controller ......................................................................................................................... 20

7.1.4 Stepper motor driver .................................................................................................................................. 20

7.1.5 sensOstep™ encoder .................................................................................................................................. 21

8 TMCM-1180 operational description ...................................................................................................................... 21

8.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency .................................. 21

9 TMCL™ ........................................................................................................................................................................... 23

10 CANopen ....................................................................................................................................................................... 23

11 Revision history .......................................................................................................................................................... 24

11.1 Document revision ............................................................................................................................................ 24

11.2 Hardware revision ............................................................................................................................................. 24

12 References..................................................................................................................................................................... 24

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 3

1 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 neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use.

Specifications are subject to change without notice.

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 4

2 Features

The PD86-1180 is a full mechatronic device consisting of a NEMA 34 (flange size 86mm) stepper motor, controller/driver electronics and integrated encoder.

Applications

 Powerful single-axis stepper motor solutions  Encoder feedback for high reliability operation

Electrical data

 Supply voltage: +24V DC or +48V DC nominal  Motor current: up to 5.5A RMS (programmable)

PANdrive motor

 Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current  Holding torque: 7Nm

Integrated encoder

 Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) e.g. for step-loss

detection under all operating conditions and positioning

Integrated motion controller

 Motion profile calculation in real-time (TMC428 motion controller)  On the fly alteration of motor parameters (e.g. position, velocity, acceleration)  High performance ARM7 microcontroller for overall system control and serial communication

protocol handling

Integrated bipolar stepper motor driver

 Up to 256 microsteps per full step  High-efficient operation, low power dissipation (MOSFETs with low R  Dynamic current control  Integrated protection  Automatic load dependent motor current adaptation for reduced power consumption and heat

dissipation (coolStep™)

Interfaces

 inputs for stop switches (left and right) and home switch  general purpose inputs and 2 general purpose outputs  USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces

Safety features

 Shutdown input. The driver will be disabled in hardware as long as this pin is left open or shorted

to ground

 Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched

off externally while supply for digital logic and therefore digital logic remains active

Software

 TMCL™: stand-alone operation or remote controlled operation  TMCL™: program memory (non volatile) for up to 2048 TMCL™ commands  TMCL™: PC-based application development software TMCL-IDE available for free  CANopen (under development): CiA 301 + CiA 402 (homing mode, profile position mode and velocity

mode) supported

Please see separate TMCL™ and CANopen Firmware Manuals for additional information

DS(ON)

)

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 5

Order code

Description

Dimensions [mm³]

TMCM-1180 (-option)

TMCM-1180 with coolStep™, sensOstep™

85.9 x 85.9 x 21.5

PD86-3-1180 (-option)

PD86-3-1180 with coolStep™, sensOstep™, 7.0 Nm

85.9 x 85.9 x 118.5

Option

Firmware

-TMCL

TMCL firmware

-CANopen

CANopen firmware

Component part

Description

TMCM-1180-CABLE

Cable loom for module and PANdrive™

3 Order codes

Cables are not included. Add the appropriate cable loom to your order if required.

Table 3.1: PANdrive or module order codes

Table 3.2: Options for order codes

Table 3.3: Order codes for component parts

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 6

85.9

67.45

72

13.9

2

8

2

8

67.45

4.55

18.45

4.55

R5.9

81.35

TMCM-1180

M4

4 Mechanical and electrical interfacing

4.1 TMCM-1180 dimensions and mounting holes

The dimensions of the controller/driver board (TMCM-1180) are approx. 86mm x 86mm in order to fit to the back side of the 86mm stepper motor. The TMCM-1180 is 21.5mm high without matching connectors. There are four mounting holes for M4 screws.

Figure 4.1: Dimensions of TMCM-1180 and mounting holes

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 7

96

8.38

73.02±0.05

1.52

22.5 max

1.4

85.85

4.1 17

31.75±1

25

1.1

11.6

12.7

85.9

69.5±0.2

400 min.

4 x ø 5.5

73.02±0.05

12.7

11.6

4.2 PD86-1180 dimensions and motor specifications

The PD86-1180 includes the TMCM-1180 stepper motor controller/driver electronic module, a magnetic encoder based on sensOstep™ technology and an 86mm flange size bipolar hybrid stepper motor.

4.2.1 Dimensions of PD86-3-1180

Figure 4.2: PD86-3-1180 dimensions

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 8

Specifications

Units

QSH8618-96-55-700

Wiring

Rated Voltage

V

2.56

Rated Phase Current (nominal)

A

5.5

Phase Resistance at 20°C

Ω

0.45

Phase Inductance (typ.)

mH

4.5

Holding Torque (typ.)

Nm

7.0

Detent Torque

Nm

Rotor Inertia

gcm2

2700

Weight (Mass)

Kg

2.8

Insulation Class

B

Insulation Resistance

Ω

100M

Dialectic Strength (for one minute)

VAC

500

Connection Wires

N°

4

Max applicable Voltage

V

140

Step Angle ° 1.8

Step angle Accuracy

%

5

Flange Size (max.)

mm

85.85

Motor Length (max.)

mm

96

Axis Diameter

mm

12.7

Axis Length (visible part, typ.)

mm

31.75

Axis D-cut (1.1mm depth)

mm

25.0

Shaft Radial Play (450g load)

mm

0.02

Shaft Axial Play (450g load)

mm

0.08

Maximum Radial Force (20 mm from front flange)

N

220

Maximum Axial Force

N

60

Ambient Temperature

°C

-20… +50

Temp Rise (rated current, 2 phase on)

°C

max. 80

4.2.2 Motor specifications of QSH8618-96-55-700

Table 4.1: Motor specifications of QSH8618-96-55-700

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 9

0

1

2

3

4

5

6

100 1000 10000

Torque [Nm]

Speed [Pps]

Testing conditions: 48V; 5,5A

Full step

4.2.3 Torque figure of QSH8618-96-55-700

The torque figure details the motor torque characteristics for full step operation in order to allow simple comparison. For full step operation there are always a number of resonance points (with less torque) which are not depicted. These will be minimized by microstep operation.

Figure 4.3: QSH8618-96-55-700 speed vs. torque characteristics

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 10

Motor

USB

Power

Serial communication

Input OutputStep/DirEncoder

1

1111

4.3 Connectors of TMCM-1180

The controller/driver board for the PD86-1180 offers eight connectors including the motor connector which is used internally for attaching the motor coils to the electronics. In addition to the power connector there are two connectors for serial communication (one for mini-USB and one for RS232/RS485/CAN) and two connectors for additional input and output signals. Further there is one connector for Step/Direction and another for the encoder.

Figure 4.4: Overview connectors

The output connector offers two general purpose outputs, one power supply voltage output, and one hardware shutdown-input. Leaving the shutdown input open or tying it to ground will disable the motor driver stage in hardware. For operation, this input should be tied to the supply voltage.

The input connector offers two inputs for stop switches (left and right), one home switch input, two general purpose inputs and one connection to the system or signal ground.

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 11

1

4

Label

Description

1

+U

Driver

Module + driver stage power supply input (nom. +48V DC)

2

+U

Logic

(Optional) separate digital logic power supply input (nom. +48V DC)

3

GND

Module ground (power supply and signal ground)

4

GND

Module ground (power supply and signal ground)

4.3.1 Power connector

This module offers separate power supply inputs for digital logic (connector pin 2) and driver/power stage (connector pin 1). Both supply inputs use common ground connections (connector pin 3 and 4). This way, power supply for the driver stage may be switched off while still maintaining position and status information when keeping digital logic supply active. In case power supply is provided to the power section only, an internal diode will distribute power to the logic section also. So, when separate power supplies are not required it is possible to just use pin 1 and 4 for powering the module.

A 4-pin JST B04P-VL connector is used for power supply.

Mating connector housing: JST VHR-4N Mating connector crimp contacts: JST SVF-61T-P2.0

Table 4.2: Connector for power supply

Please note, that there is no protection against reverse polarity or voltages above the upper maximum limit. The power supply typically should be within a range of 24 to 48V.

When using supply voltages near the upper limit, a regulated power supply is mandatory. Please ensure, that enough power filtering capacitors are available 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 in order to limit the maximum voltage when the motor is 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 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.

Guidelines for power supply:

 keep power supply cables as short as possible  use large diameters for power supply cables  add 2200µF or larger filter capacitors near the motor driver unit especially if the distance to the

power supply is large (i.e. more than 2-3m)

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 12

1

8

Label

Description

1

RS232_TxD

RS232 transmit data

2

RS232_RxD

RS232 receive data

3

GND

Module ground (system and signal ground)

4

CAN_H

CAN_H bus line (dominant high)

5

CAN_L

CAN_L bus line (dominant low)

6

GND

Module ground (system and signal ground)

7

RS485+

RS485 non-inverted bus signal

8

RS485-

RS485 inverted bus signal

1

5

Label

Description

1

VBUS

+5V power

2

D-

Data –

3

D+

Data +

4

ID

Not connected

5

GND

ground

4.3.2 Serial communication connector

A 2mm pitch 8 pin JST B8B-PH-K connector is used for serial communication. With this connector the module supports RS232, RS485 and CAN communication.

Mating connector housing: PHR-8 Mating connector contacts: SPH-002T-P0.5S.

Table 3.3: Connector for serial communication

4.3.3 USB connector

A 5-pin mini-USB connector is available on board (might depend on assembly option).

Table 3.4: Mini USB connector

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 13

4

1

Label

Description

1

+U

Logic

Module digital logic power supply – connected to pin 2 of power supply connector

2

/Shutdown

/Shutdown input – has to be connected to power supply (e.g. pin 1 of this connector) in order to enable driver. Connecting this input to ground or leaving it unconnected will disable driver stage

3

OUT_0

Open collector output with integrated freewheeling diode, +24V compatible

4

OUT_1

Open collector output with integrated freewheeling diode, +24V compatible

GPO

freewheeling

diode

integrated

on-board

GPO

galvanic isolation

opto-coupler

supply voltage

e.g. +24V

supply voltage

e.g. +24V

supply voltage

e.g. +24V

GND

1k00

GND

OUT_0

1k00

OUT_1

+U

Logic

+U

Logic

OUT_0

OUT_1

4.3.4 Output connector

A 2mm pitch 4 pin JST B4B-PH-K connector is used for connecting the two general purpose outputs and the driver stage hardware shutdown input pin to the unit.

Attention: In order to enable the motor driver stage connect /Shutdown (pin 2) to +U

Mating connector housing: PHR-4 Mating connector contacts: SPH-002T-P0.5S

(pin 1)!

Logic

Table 4.3: Output / /Shutdown connector

Figure 4.5: Possible circuits for GPO

Figure 4.6: Internal circuit of the outputs

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 14

1

6

Label

Description

1

IN_0

General purpose input, +24V compatible

2

IN_1

General purpose input, +24V compatible

3

STOP_L

Left stop switch input, +24V compatible, programmable internal pull-up (1k to +5V)

4

STOP_R

Right stop switch input, +24V compatible, programmable internal pull-up (1k to +5V)

5

HOME

Home switch input, +24V compatible, programmable internal pull-up (1k to +5V)

6

GND

Module ground (system and signal ground)

+24V

GPI

IN_0/1

22kO10kO

GND

+3.3V

GND

IN_0/1

100nF

GND

4.3.5 Input connector

A 2mm pitch 6 pin JST B6B-PH-K connector is used for connecting general purpose inputs, home and stop switches to the unit.

Mating connector housing: PHR-6 Mating connector contacts: SPH-002T-P0.5S

Table 4.4: Input / Stop / Home switch connector

Figure 4.7: Possible circuit for GPI

Figure 4.8: Internal circuit of the inputs

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 15

left stop switch

right stop

switch

REF _ L _ x

REF _ R _x

motor

traveler

left stop

switch

motor

traveler

REF _ L _ x

right stop

switch

REF _ R _x

reference

switch

mo to r

re f sw itc h

RE F _L _ x

ec ce nt ric

4.3.5.1 Left and right limit switches

The TMCM-1180 can be configured so that a motor has a left and a right limit switch (Figure 4.9).

The motor stops when the traveler has reached one of the limit switches.

Figure 4.9: Left and right limit switches

4.3.5.2 Triple switch configuration

It is possible to program a tolerance range around the reference switch position. This is useful for a triple switch configuration, as outlined in Figure 4.10. In that configuration two switches are used as automatic stop switches, and one additional switch is used as the reference switch between the left stop switch and the right stop switch. The left stop switch and the reference switch are wired together. The center switch (travel switch) allows for a monitoring of the axis in order to detect a step loss.

Figure 4.10: Limit switch and reference switch

4.3.5.3 One limit switch for circular systems

If a circular system is used (Figure 4.11), only one reference switch is necessary, because there are no endpoints in such a system.

Figure 4.11: One reference switch

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 16

4

1

Label

Description

1

OC_COM

Common supply / opto-coupler (+5V .. +24V)

2

OC_EN

Enable signal

3

OC_STEP

Step signal

4

OC_DIR

Direction signal

C

E

A

K

EN

DIR

STEP

OC_COM

OC_EN

OC_DIR

OC_STEP

GND

+3.3V

4k754k75

4k75

GND

I

const

= 8mA

I

const

= 8mA

4.3.6 Step/Direction connector

A 2mm pitch 4 pin JST B4B-PH-K connector is used for connecting the Step/Dir interface.

Mating connector housing: PHR-4 Mating connector contacts: SPH-002T-P0.5S

Table 4.5: Step/Dir connector

Figure 4.12: Internal circuit of the Step/Dir interface

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 17

1 5

Label

Description

1

ENC_A

Encoder A-channel

2

ENC_B

Encoder B-channel

3

ENC_N

Encoder N-channel

4

GND

Power and signal ground

5

+5V_output

+5V output for encoder power supply (max. 100mA)

100pF

GND GND

2k2

0.1A

2k2

+5V

+5V +5V +5V

GND

GND GND

1

ENC_A

ENC_B

ENC_N

4.3.7 Encoder connector

A 2mm pitch 5 pin JST B5B-PH-K connector is used for connecting the Encoder.

Mating connector housing: PHR-5 Mating connector contacts: SPH-002T-P0.5S

Table 4.6: Encoder connector

Figure 4.13: Internal circuit of encoder interface

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 18

1

4

Label

Description

1

OA1

Motor coil A

2

OA2

Motor coil A

3

OB1

Motor coil B

4

OB2

Motor coil B

CAN bus

termination

RS485 bus

termination

4.3.8 Motor connector and specifications

A 3.96mm pitch 4 pin JST B4P-VH connector is used for motor connection. Both motor coil windings (bipolar stepper motor) are connected to this connector.

Mating connector housing: VHR-4N Mating connector contacts: BVH-21T-P1.1

Table 4.7: Connector for motor

5 Jumpers

Most settings of the board are done through the software. Nevertheless, a few jumpers are available for configuration.

Figure 5.1: RS485 and CAN bus termination

5.1 RS485 bus termination

The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface. When this jumper is closed, the resistor will be placed between the two differential bus lines RS485+ and RS485-.

5.2 CAN bus termination

The board includes a 120 Ohm resistor for proper bus termination of the CAN interface. When this jumper is closed, the resistor will be placed between the two differential bus lines CAN_H and CAN_L.

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 19

Symbol

Parameter

Min

Typ

Max

Unit

+U

Driver

/ +U

Logic

Power supply voltage for operation

18

24 or 48

55

V DC

I

COIL_peak

Motor coil current for sine wave peak (chopper regulated, adjustable via software)

0 7.8

A

I

COIL_RMS

Continuous motor current (RMS)

0 5.5

A

I

SUPPLY

Power supply current

<< I

COIL

1.4 * I

COIL

A

T

ENV

Environment temperature at rated current (no forced cooling required)

-20 +50*)

°C

18… 55V DC

µC

TMCL™

Memory

Motion

Controller

TMC428

CAN

RS232

4

add. I/Os

Step

Motor

USB

Step/

Dir

RS485

MOSFET

Driver

Stage

Energy

Efficient

Driver

TMC262

Power

Driver

TMC262A-PC*

with

coolStep™

external

Encoder

sensOstep™

Encoder

ABN

Alternative:

Stop

Switches

+5V

ABN

PD86-1180

TMCM-1180

* TMC262A-PC is a special driver version of TMC262 for PD86-3-1180 with slightly different characteristics

6 Operational ratings

The operational ratings shown below should be used as design values. In no case should the maximum values been exceeded during operation.

Table 4.6.1: General operational ratings of the module

*) The controller driver electronics has been tested inside a climate chamber running at full current (5.5A RMS) for 30min without air convection at 50°C environmental temperature.

Please note: The motor might heat up well above 50°C when running at full current without proper cooling. This might substantially increase the environmental temperature for the electronics. When using the coolStep™ operation mode, the actual current might be substantially less than programmed max. current producing and temperature.

7 Functional description

In figure 7.1 the main parts of the PD86-1180 are shown. The PANdrive™ mainly consists of the µC (connected to the EEPROM TMCL™ memory), the TMC428 motion controller, the TMC262A-PC power driver with its energy efficient coolStep™ feature, the external MOSFET driver stage, the QSH8618 stepper motor, and the integrated sensOstep™ encoder. Alternatively it is possible to connect an external encoder. Nominal supply voltages are 24VDC or 48VDC.

Figure 7.1: Main parts of the PD86-1180

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 20

stallGuard2

reading

0=maximum load

motor current increment area

motor current reduction area

stall possible

SEMIN

SEMAX+SEMIN+1

Zeit

motor current

current setting CS (upper limit)

½ or ¼ CS (lower limit)

mechanical load

current increment due to

increased load

slow current reduction due

to reduced motor load

load angle optimized load angle optimized

load

angle

optimized

7.1 System architecture

The TMCM-1180 integrates a microcontroller with the TMCL™ (Trinamic Motion Control Language) operating system. The motion control real-time tasks are realized by the TMC428.

7.1.1 Microcontroller

On this module, the Atmel AT91SAM7X256 is used to run the TMCL™ operating system and to control the TMC428. The CPU has 256KB flash memory and a 64KB RAM. 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 RS232, RS485, USB, or CAN interface. The microcontroller interprets

the TMCL™ commands and controls the TMC428 which executes the motion commands. In addition it is

connected with the encoder interface and processes the inputs.

The flash ROM of the microcontroller holds the TMCL™ operating system. The TMCL™ operating system can be updated via the RS232 interface or via the CAN interface. Use the TMCL-IDE to do this.

7.1.2 EEPROM

To store TMCL™ programs for stand-alone operation the TMCM-1180 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 EEPROM is also used to store configuration data.

7.1.3 TMC428 motion controller

The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-steppermotors. 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.

7.1.4 Stepper motor driver

The TMC262A-PC is an energy efficient high current high precision microstepping driver IC for bipolar stepper motors. This driver on the TMCM-1180 module is a special version of the TMC262 power driver for PANdrives™ with QSH8618 motors.

Its unique high resolution sensorless load detection stallGuard2™ is used for a special integrated load dependent current control feature called coolStep™. The ability to read out the load and detect an overload makes the TMC262 an optimum choice for drives where a high reliability is desired. The TMC262 can be driven with step/direction signals as well as by serial SPI™.

Figure 7.2: Motor current control via coolStep™ adapts motor current to motor load

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 21

Signal

Description

Range

f

CLK

clock-frequency

16 MHz

velocity

-

0… 2047

a_max

maximum acceleration

0… 2047

pulse_div

divider for the velocity. The higher the value is, the less is the maximum velocity default value = 0

0… 13

ramp_div

divider for the acceleration. The higher the value is, the less is the maximum acceleration default value = 0

0… 13

Usrs

microstep-resolution (microsteps per fullstep = 2

usrs

)

0… 7 (a value of 7 is internally mapped to 6 by the TMC428/TMC429)

3220482

velocity]Hz[f

]Hz[usf

div_pulse

CLK







The coolStep™ current regulator allows to control the reaction of the driver to increasing or decreasing

load. The internal regulator uses two thresholds to determine the minimum and the maximum load angle for optimum motor operation. The current increment speed and the current decrement speed can be adapted to the application. Additionally, the lower current limit can be set in relation to the upper current limit set by the current scale parameter CS.

Please refer to the TMC262 Datasheet (www.trinamic.com) for more information.

7.1.5 sensOstep™ encoder

The sensOstep™ encoder used in this unit is based on a magnetic angular position encoder system with low resolution. It consists of a small magnet positioned at the back end of a stepper motor axis and a Hallsensor IC with integrated digital signal processing (e.g. for automatic gain control, temperature compensation etc.) placed above the magnet on the back side of a motor mounted printed circuit board.

The encoder offers a resolutions of 8 bit (256 steps) per revolution which is completely sufficient for detecting step losses with a standard 1.8° stepper motors.

8 TMCM-1180 operational description

8.1 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 section.

The parameters for the TMC428 are:

Table 8.1: TMC428 velocity parameters

The microstep-frequency of the stepper motor is calculated with

with usf: microstep-frequency

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

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 22

usrs

2

]Hz[usf

]Hz[fsf 

29div_rampdiv_pulse

max

2

CLK

2

af

a







usrs

2

a

af

Signal

value

f_

CLK

16 MHz

velocity

1000

a_max

1000

pulse_div

1

ramp_div

1

usrs

6

Hz31.122070

3220482

1000MHz16

msf

1









Hz34.1907

2

31.122070

]Hz[fsf

6



s

MHz

21.119

2

1000)Mhz16(

a

2911

2









s

MHz

863.1

2

s

MHz

21.119

af

6



49.26

72

34.1907

rotationperfullsteps

fsf

RPS 

46.1589

72

6034.1907

rotationperfullsteps

60fsf

RPM 









with fsf: fullstep-frequency

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

This results in acceleration in fullsteps of:

with af: acceleration in fullsteps

Example:

Calculation of the number of rotations:

A stepper motor has e.g. 72 fullsteps per rotation.

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 23

9 TMCL™

TMCL™, the TRINAMIC Motion Control Language, is described in separate documentations, which refer to the

specific products (e.g. TMCM-1180 TMCL™ Firmware Manual). The manuals are provided on

www.trinamic.com. Please refer to these source for updated data sheets and application notes.

10 CANopen

The TMCM-1180 module should also be used with the CANopen protocol in future versions. For this purpose, a special CANopen firmware is under development. Please contact TRINAMIC if you are interested in this option.

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 24

Version

Date

Author

GE – Göran Eggers SD – Sonja Dwersteg

Description

0.90

2009-AUG-04

GE

Initial version

0.91

2009-NOV-11

GE

New hardware included

1.00

2010-JUN-28

SD

New engineering detail drawings. Functional and operational descriptions added.

1.01

2011-MAR-21

SD

New front page, minor changes

1.02

2011-JUN-08

SD

Minor changes

1.03

2011-DEC-02

SD

Order codes new, minor changes

Version

Date

Description

1.00

2009-JUL-6

First 5 prototypes

1.10

2009-SEP-16

Pre-series version

1.20

2009-DEC-17

Pre-series version

1.30

2010-JAN-07

Volume production version

11 Revision history

11.1 Document revision

Table 11.1: Document revision

11.2 Hardware revision

Table 11.2: Hardwarer revision

12 References

[TMCM-1180 / PD86-1180 TMCL™] TMCM-1180 and PD86-1180 TMCL™ Firmware Manual [TMC262] TMC262 Datasheet [TMCL-IDE] TMCL-IDE User Manual [QSH8618] QSH8618 Manual

Please refer to www.trinamic.com.

Trinamic PD86-1180, TMCM-1180 HARDWARE MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual