Trinamic TMCM-110-42 User guide

Download

PANDrive PD-110-42

and

TMCM-110-42

42mm / NEMA-17 Stepper Motor Mechatronic

Module

TMCM-110-42 Electronics Manual

Version: 1.13

December 23

Sternstraße 67

D - 20357 Hamburg, Germany

Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60

http://www.trinamic.com

, 2005

TMCM-110-42 Manual 2

Contents

1 Features ........................................................................................................................................... 3

2 Life support policy............................................................................................................................. 4

3 Electrical and Mechanical Interfacing............................................................................................... 5

3.1 Dimensions................................................................................................................................ 5

3.2 Connectors ................................................................................................................................ 5

3.3 Connecting the module ............................................................................................................. 5

3.3.1 Connector 1: Power supply and host interface .................................................................... 6

3.3.2 Connector 2: Motor connector ............................................................................................. 6

3.3.3 Connector 3: Additional I/O.................................................................................................. 7

3.3.4 ISP Connector...................................................................................................................... 7

3.4 Activity LED ............................................................................................................................... 7

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

5 Functional Description...................................................................................................................... 9

5.1 System Architecture .................................................................................................................. 9

5.1.1 Microcontroller...................................................................................................................... 9

5.1.2 EEPROM.............................................................................................................................. 9

5.1.3 TMC428 Motion Controller................................................................................................... 9

5.1.4 TMC246 Motor Driver......................................................................................................... 10

5.2 Power Supply .......................................................................................................................... 10

5.3 Communication Interface ........................................................................................................ 10

5.4 Reference Switches ................................................................................................................ 10

5.5 StallGuard™ - Sensorless Motor Stall Detection .................................................................... 11

5.6 Motor current setting ............................................................................................................... 11

6 Putting the TMCM-110 into Operation............................................................................................ 12

7 TMCM-110 Operational Description............................................................................................... 13

7.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency ..................... 13

8 Software ......................................................................................................................................... 15

9 Revision History.............................................................................................................................. 16

9.1 Documentation Revision ......................................................................................................... 16

9.2 Firmware Revision .................................................................................................................. 16

10 References ..................................................................................................................................... 17

List of Figures

Figure 3.1: Mounting holes (all dimensions in millimeters)......................................................................5

Figure 3.2: The TMCM-110-42 module ................................................................................................... 6

Figure 5.1: Application Environment........................................................................................................ 9

List of Tables

Table 1.1: Order codes............................................................................................................................ 3

Table 3.1: Connector 1 ............................................................................................................................ 6

Table 3.2: Connector 2 ............................................................................................................................ 6

Table 3.3: Connector 3 ............................................................................................................................ 7

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

Table 5.1: Motor Current Examples....................................................................................................... 11

Table 7.1: TMC428 Velocity parameters ............................................................................................... 13

Table 9.1: Documentation Revisions..................................................................................................... 16

Table 9.2: Firmware Revisions .............................................................................................................. 16

TMCM-110-42 Manual 3

1 Features

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 it is possible 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

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

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

Table 1.1: Order codes

feature

TMCM-110-42 Manual 4

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-110-42 Manual 5

3 Electrical and Mechanical Interfacing

3.1 Dimensions

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

41,8

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: PHR-4

• Supply / host interface connector: PHR-5

• Additional I/O connector: 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.

TMCM-110-42 Manual 6

Connector 2

Pin 1

Connector 3

Pin 1

Connector 1

Figure 3.2: The TMCM-110-42 module

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.

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

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.

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:

Pin Function

1 Phase A1 2 Phase A2 3 Phase B1 4 Phase B2

Table 3.2: Connector 2

+ 11 hidden pages

Trinamic TMCM-110-42 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual