Trinamic TMCM-102-IF, TMCM-142-IF User guide

TMCM-IF

Hardware Manual

Version: 1.02

February 16, 2009

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D - 20 357 Hamburg, Germany

http://www.trinamic.com

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 2

Table of Contents

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

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

3 Order Codes ................................................................................................................................................................... 5

4 Electrical and Mechanical Interfacing ..................................................................................................................... 6

4.1 Dimensions ........................................................................................................................................................... 6

4.2 Connectors ............................................................................................................................................................ 6

4.2.1 Connecting the Modules ........................................................................................................................ 7

4.2.2 Add-on-board Connector 1 (Terminal) ................................................................................................ 7

4.2.3 Add-on-board Connector 2 / Base Connector 2 (CAN & SPI) ...................................................... 8

4.2.4 Add-on-board Connector 3 / Base Connector 3............................................................................... 8

4.2.5 Add-on-board Connector 4 (D-SUB) ..................................................................................................... 9

4.3 DIP switches......................................................................................................................................................... 9

4.3.1 Switch 100 - Mode and interface addresses setting .................................................................... 10

4.3.2 Switch 101 – Interface selection 1 .................................................................................................... 10

4.3.3 Switch 102 – Interface selection 2 .................................................................................................... 10

5 Functional Description .............................................................................................................................................. 11

5.1 System Architecture ......................................................................................................................................... 11

5.2 Interface Selection through DIP switches ................................................................................................. 11

5.2.1 RS422 Configuration .............................................................................................................................. 11

5.2.2 RS232 Configuration .............................................................................................................................. 12

5.2.3 CAN Configuration .................................................................................................................................. 12

5.2.4 RS485 Configuration .............................................................................................................................. 12

5.2.5 USB Configuration .................................................................................................................................. 12

5.3 Address setting (depending on firmware version) ................................................................................. 12

5.4 IN7 or party/single mode setting by DIP switch .................................................................................... 13

5.5 Home input ......................................................................................................................................................... 13

5.6 Encoder connection .......................................................................................................................................... 13

5.7 Reference switches ........................................................................................................................................... 13

5.8 LEDs ...................................................................................................................................................................... 13

6 Operational Ratings ................................................................................................................................................... 14

7 Revision History .......................................................................................................................................................... 15

7.1 Document Revision .......................................................................................................................................... 15

7.2 Hardware Revision ............................................................................................................................................ 15

8 References .................................................................................................................................................................... 16

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 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 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-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 4

2 Features

The TMCM-IF standard add-on board adds a number of communication interfaces to the TMCM-102 [TMCM-102] and the TMCM-142 [TMCM-142] base boards and makes several I/O signals (including encoder interface / reference switch / input / output signals) available through easy to use spring clips (which are otherwise just available through the on-board 2-row female connector).

Applications

 add-on board for the TMCM-102 and TMCM-142 controller / driver  interfaces and module addresses selectable through DIP switches

Electrical data

 power supply through TMCM-102 base board  +5V output (50mA) on spring connector

Interface

 either RS422, RS232, CAN, RS485 or USB  selection of interface by onboard DIP switches  additional DIP switches for address setting (RS485 and CAN)  3 optically isolated inputs (Limit A and Limit B and IN9) for reference switches  encoder interface (A/B/N), single ended + encoder power supply (+5V, 50mA max.)  2 general purpose digital outputs

Other

 RoHS compliant

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 5

Order code

Description

Dimensions [mm3]

TMCM-102-IF

Single axis stepper motor controller/driver, 3.5A RMS, 48V, with encoder feedback and the standard adapter/interface board TMCM-IF

76x70x33

TMCM-142-IF

Single axis stepper motor controller/driver, 5A RMS, 75V, with encoder feedback and the standard adapter/interface board TMCM-IF

76x70x33

3 Order Codes

The TMCM-IF is currently available together with two different baseboards as part of the following modules:

Table 3.1: Order codes

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 6

24,00

13,00

11,00

14,50

1,50

67,30

9,50 7,00

7,0010,80

59,00

14,60 14,70

23,19

31,28

4 Electrical and Mechanical Interfacing

4.1 Dimensions

In combination with a base board the overall height is increased to at least 33mm. Be aware that the D-SUB connector of the add-on board is placed upright.

Figure 4.1: Dimensions

4.2 Connectors

The connectors onboard the TMCM-IF adapter/interface add-on-board are

Connector 1: 14 pole terminal (PHOENIX_FFKDSH-254-14) Connector 2: D-SUB, female Connector 3: STILEI-2x17_jumper, (2.54mm pitch pin connector) Connector 4: STILEI-2x4_jumper, (2.54mm pitch pin connector) USB-type-B_4_H, USB type B socket, horizontal

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 7

Base

Terminal1

Pin 1

Connector 1

Connector 3

Connector 2

Pin 1

Connector 3

Connector 2

Pin 1

Connector 4

1

6 9

5

USB

Connector 1

Terminal1

USB

Connector 3

Connector 2

Connector 4

D-SUB

Connector 1

Adapter

Top View Side View

Terminal

Name

Function

1

Opto+5V

Input: +5V power supply for onboard optocouplers to enable IN8, IN9, Limit A and Limit B

2

GND

Ground

3

Stop Right

Optically isolated (on base board), active low limit switch input “Right”

4

Stop Left

Optically isolated (on base board), active low limit switch input “Left”

5

Home input

Optically isolated (on base board), active low input (refer to 5.5)

6

OUT_0

User controlled output #0. No internal resistors. Powers blue LED.

7

OUT_1

User controlled output #1. No internal resistors. Powers blue LED.

8

ADIN0

User controlled input #0. No internal resistors.

9

ADIN1

User controlled input #1. No internal resistors.

In early board versions: Active low input to stop indexing using acceleration ramp.

10

+5V

Output: +5V power supply, 50mA max.

11

ENC_A+

Encoder input A+ for single ended encoders, TTL levels

12

ENC_B+

Encoder input B+ for single ended encoders, TTL levels

13

ENC_N+

Encoder input N+ for single ended encoders, TTL levels

14

GND

Ground

4.2.1 Connecting the Modules

The TMCM-102-IF / TMCM-142-IF module consists of two PCBs: the base board and the TMCM-IF adapter board.

Attention: Never connect or disconnect the modules while they are powered on.

Figure 4.2: The TMCM-IF module and its connectors

4.2.2 Add-on-board Connector 1 (Terminal)

Table 4.1: Add-on-board Connector 1 (Terminal)

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 8

Name

Function

Name

Function

1

CANH

CAN input High

2

MISO

SPI serial input (master in slave out)

3

CANL

CAN input Low

4

MOSI

SPI serial output (master out slave in)

5

GND

Ground

6

SPI_CLK

SPI serial clock

7

+5V

+5V supply

8

CS_EXT

SPI low active device select

Name

Function

Name

Function

1

TX-

RS422 Transmit – (data out from indexer)

2

TX+

RS422 Transmit + (data out from indexer)

3

RX-

RS422 Receive – (data into indexer)

4

RX+

RS422 Receive + (data out from indexer)

5

Internally pulled down via 2k7 resistor. Not supported by TMCL.

6

IN0_A/D

Analog user controlled input #0. No internal resistors.

7

REF R

Optically isolated, active low limit switch input “Right”

8

STEP_ OUT/RXD

Step clock output from indexer RS232 option: RS232 receive

9

OUT_1

User controlled output #1. No internal resistors.

10

DIR_OUT/T XD

Direction output from indexer. RS232 option: RS232 transmit

11

IN7

Digital user controlled input #7. Optically isolated, active low (needs power supply on pin 15)

12

ENC_A-

Differential encoder: Channel Ainput (optional)

13

IN2_A/D

Analog user controlled input #2. No internal resistors.

14

ENC_B-

Differential encoder: Channel Binput (optional)

15

+5V

DC bias for input opto couplers

16

+5VDC

Logic supply out for encoder

17

OUT_0

User controlled output #0. No internal resistors.

18

ENC_N-

Differential encoder: Channel Ninput (optional)

19

REF L

Optically isolated, active low limit switch input “Left”

20

GND

Logic supply ground connection

21

IN3

Digital user controlled input #3. No internal resistors. (TTL)

22

OUT_2

User controlled output #2. No internal resistors.

23

IN8

Digital user controlled input #8. Optically isolated, active low (needs power supply on pin 15)

24 Not supported by TMCL.

25

IN5

Digital user controlled input #5. No internal resistors. (TTL)

26

IN1_A/D

Analog user controlled input #1. No internal resistors.

27

ALARM

High voltage open collector output indicating driver fault condition.

28 Not supported by TMCL.

29

ENC_N+

Encoder option: Single ended: Channel N input Differential: Channel N+ input

30

IN6

Digital user controlled input #6. No internal resistors. (TTL)

31

FS

Active for one clock pulse at each on-pole fullstep position.

32

IN4

Digital user controlled input #4. No internal resistors. (TTL)

33

ENC_B+

Encoder option: Single ended: Channel B input Differential: Channel B+ input

34

ENC_A+

Encoder option: Single ended: Channel A input Differential: Channel A+ input

4.2.3 Add-on-board Connector 2 / Base Connector 2 (CAN & SPI)

Table 4.2: Add-on-board Connector 2 / Base Connector 2 (CAN & SPI)

4.2.4 Add-on-board Connector 3 / Base Connector 3

Table 4.3: Add-on-board Connector 3 / Base Connector 3

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 9

Terminal

CAN

RS232

RS485

RS422

1 2 CANL

RXD

RS485-

TX-

3

GND

TXD 4

RX-

5

GND

GND 6

7

CANH

RS485+

TX+ 8

RX+

9

ON

Switch 101

Switch 102

1

8

Switch 100

1 8

4.2.5 Add-on-board Connector 4 (D-SUB)

The DIP switch setting (refer to 5.2) controls the signals/interface off the D-SUB connector.

Table 4.4: Add-on-board Connector 4 (D-SUB)

4.3 DIP switches

DIP switch 100 adjusts the address of the CAN and RS-422 interfaces. Only one of these interfaces can be used at a time. Switch 101 and 102 select the different interfaces (RS422 or RS232, CAN, RS485 and USB).

Figure 4.3: DIP switches

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 10

Switch

Name

Function

1

IN7

ON: optocoupler active (if +5V at pin 15)

TMCL: GIO 7 gives 0 IMS: party mode

OFF

TMCL: GIO 7 gives 1 IMS: single mode

2

address setting (depending on firmware version), Refer to chapter 5.3

3 4

5 6

7 8

Switch

Name

Function

1

CAN L

CAN Low

2

CAN H

CAN High

3

GND

CAN ground

4

232-RXD

RS232 RxD (input)

5

232-TXD

RS232 TxD (output)

6

TX+

RS232 and USB conjunction

7

RX+

USB conjunction

8

RX+

RS232 conjunction

Switch

Name

Function

1

Term

Termination of CAN, RS485 and RS422 (TX+, TX-)

2

TX+

RS485 (+) / RS422 (output)

3

TX-

RS485 (+) / RS422 (output)

4

RX-

RS485 (-)

5

RX+

RS485 (-)

6

RX+

RS422 (input)

7

RX-

RS422 (input)

8

Term

Termination of RS422 RX+ and RX- only

4.3.1 Switch 100 - Mode and interface addresses setting

Table 4.5: Switch 100 – Mode and interface address setting

4.3.2 Switch 101 – Interface selection 1

For further information how to activate different interfaces refer to 5.2.

Table 4.6: Switch 101 – Interface selection 1

4.3.3 Switch 102 – Interface selection 2

For further information how to activate different interfaces refer to 5.2.

Table 4.7: Switch 102 – Interface selection 2

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 11

ON

Switch 102

1

8

ON

Switch 101

1

8

programmable

Motion

Controller

with TMC428

high power

Driver

TMC249

5V Power Supply

18..55V DC

3

TMCL

Memory

ABN

Encoder

Interface

Step

Motor

MOSFET

Driver Stage

I/Os

TMCM-102

RS-485

RS-422

(RS-232)

TMCM-102 Standard add-on board

CAN

Encoder

USB

REF-Switches

Soft Stop

Adress

switch

5 Functional Description

In Figure 5.1 the main parts of the TMCM-IF add on module are shown in combination with the TMCM-102 base board. The module mainly consists of the interfaces and connectors to get access to the base boards functions.

Figure 5.1: Main parts of the TMCM-IF adapter/interface add-on-board

5.1 System Architecture

With the adapter board the large amount of possibilities provided by the base board can be customized and easily accessed. The standard adapter board provides five interface variants, RS422, RS485, CAN, RS232 and USB, witch can be adjusted via onboard dip switches. Also it has 14 easy accessible I/Os such as limit switches, encoder interface, etc.

5.2 Interface Selection through DIP switches

Switch 101 and 102 select the different interfaces (RS422 or RS232, CAN, RS485 and USB).

5.2.1 RS422 Configuration

To select the RS422 interface, configure the DIP switches 101 and 102 as follows:

Additionally the termination can be activated by changing switch 1 and 8 of Switch 102 to ON.

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 12

ON

Switch 102

1

8

ON

Switch 101

1

8

ON

Switch 102

1

8

ON

Switch 101

1

8

ON

Switch 102

1

8

ON

Switch 101

1

8

ON

Switch 102

1 8

ON

Switch 101

1

8

ON

Switch 100

1 8

2

5.2.2 RS232 Configuration

To select the RS232 interface, configure the DIP switches 101 and 102 as follows:

5.2.3 CAN Configuration

To select the CAN interface, configure the DIP switches 101 and 102 as follows:

Additionally the termination can be activated by changing switch 1 of Switch 102 to ON.

5.2.4 RS485 Configuration

To select the RS485 interface, configure the DIP switches 101 and 102 as follows:

Additionally the termination can be activated by changing switch 1 of Switch 102 to ON.

5.2.5 USB Configuration

To select the USB interface, configure the DIP switches 101 and 102 as follows:

5.3 Address setting (depending on firmware version)

Address setting is possible via TMCL. DIP switch 100, switches 2 to 8 adjust the address of the CAN and RS-422 interfaces. Only one of these interfaces can be used at a time. The address setting depends on the firmware version.

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 13

ON

Switch 100

1 8

LED

Labeled

Function

ERROR

D100

Lights at driver fault condition

OUT2

D101

User controlled output #2 indicator, lights when “1” (not accessible

by connector)

OUT0

D102

User controlled output #0 indicator, lights when “1”

OUT1

D103

User controlled output #1 indicator, lights when “1”

5.4 IN7 or party/single mode setting by DIP switch

With TMCL firmware: The input IN7 on pin 11 of connector 3 can be set by switch 1 of Switch 100. Additionally the +5V optocoupler supply on the terminal connector pin 14 has to be connected. The +5V output on pin 5 can be used. Switching to ON pulls IN7 to ground. The IN7 input of the TMCM102/TMCM-142 base board is low active. The status can be read with GIO 7, 0. Same applies for the IMS firmware. Switch OFF enables single mode and ON party mode.

5.5 Home input

The home input is equivalent to the input IN8 using TMCL firmware. The status can be read with GIO 8, 0. With IMS firmware use “]1” or the “F” command.

5.6 Encoder connection

The TMCM-IF add-on-board provides a single ended encoder interface. Use the encoder entrances ENC_A+ for A (Terminal pole 4), ENC_B+ for B (pole 3) and ENC_N+ for N (pole 2). The +5V DC supply voltage (pole 5) can be used for the encoder. For greater orders differential encoders can be supported on request, also.

5.7 Reference switches

Two digital reference / stop switch inputs are provided (LIMIT B = stop left and LIMIT A = stop right). They are used as an absolute position reference for homing and to set a hardware limit for the motion range. The inputs are optically isolated, active low and use TTL levels.

5.8 LEDs

Table 5.1: LEDs

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 14

Symbol

Parameter

Min

Typ

Max

Unit

U

+5V

+5V output (max. 150mA load)

4.8

5.0

5.2

V

ISO

Isolation voltage of optocoupler

± 42

±100

V

OPTON

Signal active voltage at enable, step and direction input (optocoupler on)

4 5 5.2

V

I

OPTON

Signal current for optocoupler (internally limited)

2.5

15

30

mA

V

OPTOFF

Signal inactive voltage at enable, step and direction input (optocoupler off)

-1 0 1.5

V

ANA

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

0 ... 5

0 … 10

V

STOPLO

StopL, StopR low level input

0

0.9

V

STOPHI

StopL, StopR high level input (integrated 10k pullup to +5V)

1.9 5

V

T

ENV

Environment temperature at rated current (no cooling)

-40 +60

°C

Environment temperature at 80 % of rated current or 50% duty cycle (no cooling)

-40 +80

°C

6 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.

Table 6.1: Operational Ratings

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 15

Version

Date

Author

Description

0.90

11-Oct-2006

HC

Initial Version

0.91

9-Feb-2007

HC

Update to hardware version 1.1

0.92

2-Apr-2007

GE

Several corrections / updates

1.00

13-June-2007

HC

Pinning of connector 1 corrected

1.01

12-Sep-2007

HC

Several corrections, IN/OUT start at 0

1.02

2009-02-16

GE

Changed name to TMCM-IF

Version

Date

Description

1.00

2006-10-04

First prototypes

1.01

2007-02-12

1.02

2007-09-13

7 Revision History

7.1 Document Revision

Table 7.1: Document Revisions

7.2 Hardware Revision

Table 7.2: Hardware Revisions

TMCM-IF Standard Interface/Adapter Manual (V1.02 / 16 February 2009) 16

8 References

[TMCL] TMCL manual (see http://www.trinamic.com) [TMCM-102] TMCM-102 manual (see http://www.trinamic.com) [TMCM-142] TMCM-142 manual (see http://www.trinamic.com)

Trinamic TMCM-102-IF, TMCM-142-IF User guide

Specifications and Main Features

Frequently Asked Questions

User Manual