1-Axis Stepper
Controller / Driver
2 A / 24 V
sensOstep™ Encoder
USB, RS485, and CAN
MODULE FOR STEPPER MOTORS MODULE
Hardware Version V1.2
HARDWARE MANUAL
+
+ +
+
TMCM-1140
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 2
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 Dimensions and Mounting Holes ................................................................................................................... 6
3.2 Connectors of TMCM-1140 ................................................................................................................................. 7
3.2.1 Power and Communication Connector ................................................................................................... 8
3.2.1.1 Power Supply .......................................................................................................................................... 8
3.2.1.2 RS485 ......................................................................................................................................................... 9
3.2.1.3 CAN ........................................................................................................................................................... 10
3.2.2 Multipurpose I/O Connector ..................................................................................................................... 11
3.2.2.1 Digital Inputs IN_0, IN_1, IN_2 ........................................................................................................ 12
3.2.2.2 Analog Input AIN_O ............................................................................................................................ 13
3.2.2.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 13
3.2.3 Motor Connector .......................................................................................................................................... 15
3.2.4 Mini-USB Connector .................................................................................................................................... 16
4 Reset to Factory Defaults ......................................................................................................................................... 17
5 On-Board LEDs............................................................................................................................................................. 18
6 Operational Ratings ................................................................................................................................................... 19
7 Functional Description .............................................................................................................................................. 20
8 TMCM-1140 Operational Description ..................................................................................................................... 21
8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 21
9 Life Support Policy ..................................................................................................................................................... 23
10 Revision History .......................................................................................................................................................... 24
10.1 Document Revision ........................................................................................................................................... 24
10.2 Hardware Revision ............................................................................................................................................ 24
11 References .................................................................................................................................................................... 24
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 3
1 Features
The TMCM-1140 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of
the art feature set. It is highly integrated, offers a convenient handling and can be used in many
decentralized applications. The module can be mounted on the back of NEMA 17 (42mm flange size)
stepper motors and has been designed for coil currents up to 2 A RMS and 24 V DC supply voltage. With
its high energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down.
The TMCL™ firmware allows for both, standalone operation and direct mode.
MAIN CHARACTERISTICS
Motion controller
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2 feature for stall detection
- coolStep feature for reduced power consumption and heat dissipation
Encoder
- sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
- RS485 2-wire communication interface
- CAN 2.0B communication interface
- USB full speed (12Mbit/s) device interface
- 4 multipurpose inputs:
- 3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input)
- 1x dedicated analog input
- 2 general purpose outputs
- 1x open-drain 1A max.
- 1x +5V supply output (can be switched on/off in software)
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24 V DC nominal (9… 28 V DC)
- Motor current: up to 2 A RMS / 2.8 A peak (programmable)
Refer to separate TMCL Firmware Manual, too.
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 4
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL
stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range
of load, velocity, and current settings. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™ coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be
reduced by as much as 75%. coolStep allows substantial energy savings, especially for
motors which see varying loads or operate at a high duty cycle. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
Figure 1.2 Energy efficiency example with coolStep
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 5
Order code
Description
Size (mm3)
TMCM-1140-option
Single axis bipolar stepper motor controller / driver electronics with
integrated sensOstep encoder and coolStep feature
37 x 37 x 11.5
Firmware option
Description
Order code example:
-TMCL
Module pre-programmed with TMCL firmware
TMCM-1140-TMCL
Order code
Description
TMCM-1140-CABLE
Cable loom for TMCM-1140:
- 1x cable for power and communication connector (length 200mm)
- 1x cable for multipurpose In/Out connector (length 200mm)
- 1x cable for motor connector (length 200mm)
- 1x USB type A connector to mini-USB type B connector cable (length 1.5m)
2 Order Codes
Table 2.1 Order codes
The following options are available:
Table 2.2 Firmware options
A cable loom set is available for this module:
Table 2.2 Cable loom order codes
Please note that the TMCM-1140 is available with NEMA17 stepper motors, too. Refer to the PD-1140
documents for more information about these products.
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 6
34
2xM3
37
34
37
3
3
3 Mechanical and Electrical Interfacing
3.1 Dimensions and Mounting Holes
The dimensions of the controller/driver board are approx. 37 mm x 37 mm x 11.5 mm in order to fit on
the back of a 42 mm stepper motor. Maximum component height (height above PCB level) without
mating connectors is around 8mm above PCB level and 2 mm below PCB level. There are two mounting
holes for M3 screws for mounting to a NEMA17 stepper motor.
Figure 3.1 Dimensions of TMCM-1140 and position of mounting holes
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 7
USB
Motor
14
Multi-purpose
I/O
1
8
Power and
Communication
1
6
Label
Connector type
Mating connector type
Power and
Communication
Connector
JST B6B-PH-K-S
(JST PH series, 6pins, 2mm pitch)
Connector housing: JST PHR-6
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Multipurpose
I/O Connector
JST B8B-PH-K-S
(JST PH series, 8pins, 2mm pitch)
Connector housing: JST PHR-8
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Motor
Connector
JST B4B-PH-K-S
(JST PH series, 4pins, 2mm pitch)
Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Mini-USB
Connector
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
3.2 Connectors of TMCM-1140
The controller/driver board of the TMCM-1140 offers four connectors including the motor connector which
is used for attaching the motor coils to the electronics. The power and communication connector is used
for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four
multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface.
Figure 3.2 Overview connectors
Figure 3.3 Connectors and mating connectors, contacts and applicable wire
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 8
6
1
Pin
Label
Direction
Description
1
GND
Power (GND)
System and signal ground
2
VDD
Power (Supply)
VDD (+9V…+28V)
3
RS485+
Bidirectional
RS485 interface, diff. signal (non-inverting)
4
RS485-
Bidirectional
RS485 interface, diff. signal (inverting)
5
CAN_H
Bidirectional
CAN interface, diff. signal (non-inverting)
6
CAN_L
Bidirectional
CAN interface, diff. signal (inverting)
It is recommended to connect an electrolytic capacitor of significant size (e.g. 470µF/35V) to the power
supply lines next to the TMCM-1140!
3.2.1 Power and Communication Connector
A 6pin JST PH-series 2mm pitch single row connector is used for power supply, RS485 and CAN serial
communication. Please mention the additional power supply information in chapter 3.2.1.1.
Note: CAN interface will be de-activated in case USB is connected due to internal sharing of hardware
resources.
Table 3.1 Connector for power supply and interfaces
3.2.1.1 Power Supply
For proper operation care has to be taken with regard to power supply concept and design. Due to space
restrictions the TMCM-1140 includes about 40µF/35V of supply filter capacitors. These are ceramic
capacitors which have been selected for high reliability and long life time. The module includes a 28V
suppressor diode for over-voltage protection. There is no reverse polarity protection. The module will
short any reversed supply voltage due to the suppressor diode (uni-directional version) and the internal
diodes of the driver transistors.
It is important that the power supply voltage is kept below the upper limit of 28V (please see also
chapter 6, operating values). Otherwise the driver electronics might be seriously damaged! Especially,
when the selected operating voltage is near the upper limit a regulated power supply is highly
recommended.
In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any voltage
spikes which might otherwise occur from a combination of high inductance power supply wires and the
ceramic capacitors. In addition it will limit slew-rate of power supply voltage at the module. The low ESR
of ceramic-only filter capacitors may cause stability problems with some switching power supplies.
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 9
c:>
node
1
node
n
- 1
node
n
Host
Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
node
n - 1
node
n
Slave Slave
termination
resistor
(120 Ohm)
+5V
GND
pull-up (1k)
pull-down (1k)
RS485- / RS485B
RS485+ / RS485A
3.2.1.2 RS485
For remote control and communication with a host system the TMCM-1140 provides a two wire RS485
bus interface. For proper operation the following items should be taken into account when setting up an
RS485 network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the
connection between each node and the bus itself should be as short as possible. Basically, it
should be short compared to the length of the bus.
Figure 3.4 Bus structure
2. BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high
communication speeds, the bus should be properly terminated at both ends. The TMCM-1140
does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both
ends of the bus have to be added externally.
3. NUMBER OF NODES:
The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a
single bus. The bus transceiver used on the TMCM-1140 units (SN65HVD3082ED) has just 1/8th of
the standard bus load and allows a maximum of 256 units to be connected to a single RS485
bus.
4. NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is
transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to
communication errors. In order to ensure valid signals on the bus it is recommended to use a
resistor network connecting both bus lines to well defined logic levels. In contrast to the
termination resistors this network is normally required just once per bus. Certain RS485 interface
converters available for PCs already include these additional resistors (e.g. USB-2-485).
Figure 3.5 Bus lines with resistor network
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 10
c:>
node
1
node
n
- 1
node
n
Host
Slave Slave Slave
CAN
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
3.2.1.3 CAN
For remote control and communication with a host system the TMCM-1140 provides a CAN bus interface.
Please note that the CAN interface is not available in case USB is connected. For proper operation the
following items should be taken into account when setting up a CAN network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the
connection between each node and the bus itself should be as short as possible. Basically, it
should be short compared to the length of the bus.
Figure 3.6: CAN bus structure
2. BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high
communication speeds, the bus should be properly terminated at both ends. The TMCM-1140
does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both
ends of the bus have to be added externally.
3. NUMBER OF NODES:
The bus transceiver used on the TMCM-1140 units (TJA1050T) supports at least 110 nodes under
optimum conditions. Practically achievable number of nodes per CAN bus highly depends on bus
length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 11
8
1
Pin
Label
Direction
Description
1
GND
Power (GND)
System and signal ground
2
VDD
Power (Supply)
VDD, connected to VDD pin of the power and
communication connector
3
OUT_1
Output
Open-drain output (max. 1A)
Integrated freewheeling diode to VDD
4
OUT_0
Output
+5V supply output (max. 100mA)
Can be switched on/off in software
5
AIN_0
Input
Dedicated analog input,
Input voltage range: 0..+10V
Resolution: 12bit (0..4095)
6
IN_0,
STOP_L,
ENC_A
Input
General purpose digital input (+24V compatible)
Alternate function 1: left stop switch input
Alternate function 2: external incremental
encoder channel A input
7
IN_1,
STOP_R,
ENC_B
Input
General purpose digital input (+24V compatible)
Alternate function 1: right stop switch input
Alternate function 2: external incremental
encoder channel B input
8
IN_2,
HOME,
ENC_N
Input
General purpose digital input (+24V compatible)
Alternate function 1: home switch input
Alternate function 2: external incremental
encoder index / zero channel input
3.2.2 Multipurpose I/O Connector
An 8pin JST PH-series 2mm pitch single row connector is available for all multipurpose inputs and
outputs.
Table 3.4 Multipurpose I/O connector
Note:
- All inputs have resistor based voltage input dividers with protection diodes. These resistors
also ensure a valid GND level when left unconnected.
- For all digital inputs (IN_0, IN_1, IN_2) a 2k2 pull-up resistor to +5V can be activated. Then these
inputs have a default (unconnected) logic level of 1 and an external switch to GND can be
connected. This might be especially interesting in case these inputs are used as STOP_L /
STOP_R and HOME switch inputs (alternate function 1) or as encoder input for an external
incremental A/B/N encoder with open-collector outputs (pull-ups are not necessary for encoder
with push-pull outputs).
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 12
+3.3V
IN_0
IN_1
IN_2
microcontroller (all)
and TMC429 (IN_0, IN_1)
15k
22k
33pF
GND
GND GND
common switch for all
three digital inputs
2k2
+5V
Label
(pin)
Default function
Alternate function 1
Alternate function 2
IN_0 (6)
General purpose
digital input
STOP_L - left stop switch input,
connected to processor and
TMC429 REF input (supporting
left stop functionality in
hardware)
ENC_A - external incremental
encoder input channel A,
connected to processor encoder
counter input
IN_1 (7)
General purpose
digital input
STOP_R - right stop switch input,
connected to processor and
TMC429 REF input (supporting
right stop switch functionality in
hardware)
ENC_B - external incremental
encoder input channel B,
connected to processor encoder
counter input
IN_2 (8)
General purpose
digital input
HOME - home switch input,
connected to processor
ENC_N - external incremental
encoder input index / zero
channel, connected to processor
interrupt input
3.2.2.1 Digital Inputs IN_0, IN_1, IN_2
The eight pin connector of the TMCM-1140 provides three multipurpose digital inputs IN_0, IN_1 and
IN_2.
All three inputs accept up to +24V input signals. They are protected against these higher voltages using
voltage resistor dividers together with limiting diodes against voltages below 0V (GND) and above +3.3V
DC (see figure below).
Figure 3.7 General purpose inputs (simplified input circuit)
Refer to the TMCM-1140 TMCL Firmware Manual (SIO command) for further information about switching
the pull-up resistors for all digital inputs on / off.
The three digital inputs have alternate functionality depending on configuration in software. The
following functions are available:
Table 3.7 Multipurpose inputs / alternate functions
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 13
+3.3V
AIN_0
ADC input
(microcontroller)
22k
10k
100nF
GND
GND GND
VDD
microcontroller
GND
All three digital inputs are connected to the on-board processor and can be used as general purpose
digital inputs (default).
3.2.2.2 Analog Input AIN_0
The eight pin connector of the TMCM-1140 provides one dedicated analog input AIN_0.
This dedicated analog input offers a full scale input range of 0… +10 V with a resolution of the internal
analog-to-digital converter of the microcontroller of 12bit (0… 4095).
The input is protected against higher voltages up to +24 V using voltage resistor dividers together with
limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below).
Figure 3.8 General purpose inputs (simplified input circuit)
3.2.2.3 Outputs OUT_0, OUT_1
The eight pin connector of the TMCM-1140 offers two general purpose outputs OUT_0 and OUT_1. OUT_1
is an open-drain output capable of switching up to 1A. The output of the N-channel MOSFET transistors is
connected to a freewheeling diode for protection against voltage spikes especially from inductive loads
(relais etc.) above supply voltage (see figure below).
In case free-wheeling diodes are connected to VDD supply voltage:
None of the two outputs should be connected to any voltage above supply voltage of the module.
Figure 3.9 General purpose output OUT_1
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 14
+5V
microcontroller
GND
OUT_0
GND
100pF
10k
In contrast OUT_0 is able to supply +5V (100mA max.) to an external load. An integrated P-channel
MOSFET allows to switch on / off this +5V supply in software (see figure below). This output might be
used in order to supply +5V to an external encoder circuit.
Figure 3.10 General purpose output OUT_0
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 15
4
1
Pin
Label
Direction
Description
1
OB2
Output
Pin 2 of motor coil B
2
OB1
Output
Pin 1 of motor coil B
3
OA2
Output
Pin 2 of motor coil A
4
OA1
Output
Pin 1 of motor coil A
Example for connecting the QSH4218 NEMA 17 / 42mm stepper motors:
M
A
black
green
B
blue
red
TMCM-1140
QS4218 Motor
Motor connector pin
Cable color
Coil
Description
1
Red B Motor coil B pin 1
2
Blue
B-
Motor coil B pin 2
3
Green
A-
Motor coil A pin 2
4
Black
A
Motor coil A pin 1
3.2.3 Motor Connector
As motor connector a 4pin JST PH-series 2mm pitch single row connector is available. The motor
connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper
motor to the electronics.
Table 3.5 Motor connector
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 16
1
5
Pin
Label
Direction
Description
1
VBUS
Power
(supply input)
+5V supply from host
2
D-
Bidirectional
USB Data –
3
D+
Bidirectional
USB Data +
4
ID
Power (GND)
Connected to signal and system ground
5
GND
Power (GND)
Connected to signal and system ground
3.2.4 Mini-USB Connector
A 5pin mini-USB connector is available on-board for serial communication (as alternative to the CAN and
RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
CAN interface will be de-activated as soon as USB is connected due to internal sharing of hardware
resources.
Table 3.6 Connector for USB
For remote control and communication with a host system the TMCM-1140 provides a USB 2.0 full-speed
(12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept
commands via USB.
USB BUS POWERED OPERATION MODE
The TMCM-1140 supports both, USB self powered operation (when an external power is supplied via the
power supply connector) and USB bus powered operation, (no external power supply via power supply
connector).
On-board digital core logic will be powered via USB in case no other supply is connected (USB bus
powered operation). The digital core logic comprehends the microcontroller itself and also the EEPROM.
The USB bus powered operation mode has been implemented to enable configuration, parameter
settings, read-outs, firmware updates, etc. by just connecting an USB cable between module and host PC.
No additional cabling or external devices (e.g. power supply) are required.
Please note that the module might draw current from the USB +5V bus supply even in USB self powered
operation depending on the voltage level of this supply.
Motor movements are not possible in this operation mode. Therefore, connect the power connector and
change to USB self powered operation mode.
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 17
Short these two pads
4 Reset to Factory Defaults
It is possible to reset the TMCM-1140 to factory default settings without establishing a communication
link. This might be helpful in case communication parameters of the preferred interface have been set to
unknown values or got accidentally lost.
For this procedure two pads on the bottom side of the board have to be shortened.
Please perform the following steps:
1. Power supply off and USB cable disconnected
2. Short two pads as marked in Figure 4.1
3. Power up board (power via USB is sufficient for this purpose)
4. Wait until the on-board red and green LEDs start flashing fast (this might take a while)
5. Power-off board (disconnect USB cable)
6. Remove short between pads
7. After switching on power-supply / connecting USB cable all permanent settings have been
restored to factory defaults
Figure 4.1 Reset to factory default settings
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 18
Status
Label
Description
Heartbeat
Run
This green LED flashes slowly during operation.
Error
Error
This red LED lights up if an error occurs.
Red LED
Green LED
5 On-Board LEDs
The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on
the firmware version. With standard TMCL firmware the green LED should be flashing slowly during
operation and the red LED should be off.
When there is no valid firmware programmed into the board or during firmware update the red and
green LEDs are permanently on.
BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE
Figure 5.1 On-board LEDs
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 19
Symbol
Parameter
Min
Typ
Max
Unit
VDD
Power supply voltage for operation
9
12… 24
28
V
I
COIL_peak
Motor coil current for sine wave peak
(chopper regulated, adjustable via software)
0 2.8
A
I
COIL_RMS
Continuous motor current (RMS)
0 2.0 A IDD
Power supply current
<< I
COIL
1.4 * I
COIL
A
T
ENV
Environment temperature at rated current (no
forced cooling required)
Tbd 50
°C
Symbol
Parameter
Min
Typ
Max
Unit
V
OUT_1
Voltage at open drain output OUT_1
0 +VDD
V
I
OUT_1
Output sink current of open drain output
OUT_1
1
A
V
OUT_0
Voltage at output OUT_0 (when switched on)
+5 V
I
OUT_0
Output source current for OUT_0
100
mA
V
IN_0/1/2
Input voltage for IN_0, IN_1, IN_2 (digital
inputs)
0 +VDD
V
V
IN_L 0/1/2
Low level voltage for IN_0, IN_1 and IN_2
0 1.1 V V
IN_H 0/1/2
High level voltage for IN_0, IN_1 and IN_2
3.4 +VDD
V
V
AIN_1
Measurement range for analog input AIN_1
0 +10
V
6 Operational Ratings
The operational ratings show the intended or the characteristic ranges and should be used as design
values.
In no case shall the maximum values be exceeded!
Table 6.1 General operational ratings of module
OPERATIONAL RATINGS OF MULTIPURPOSE I/OS
Table 6.2 Operational ratings of multipurpose I/Os
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TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 20
9… 28V DC
µC
TMCL™
Memory
5
I/Os
Step
Motor
RS485
MOSFET
Driver
Stage
SPI
TMCM-1140
SPI
USB
SPI
S/D
CAN
DC/DC
OUT_0
+5V
sensOstep™
Encoder
SPI
TMC429
Motion
Controller
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
+5V
Stop
switches
S/D
7 Functional Description
The TMCM-1140 is a highly integrated controller/driver module which can be controlled via several serial
interfaces. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are
performed on board. The nominal supply voltage of the unit is 24V DC. The module is designed for both,
standalone operation and direct mode. Full remote control of device with feedback is possible. The
firmware of the module can be updated via any of the serial interfaces.
In Figure 7.1 the main parts of the TMCM-1140 are shown:
- the microprocessor, which runs the TMCL operating system (connected to TMCL memory),
- the motion controller, which calculates ramps and speed profiles internally by hardware,
- the power driver with stallGuard2 and its energy efficient coolStep feature,
- the MOSFET driver stage, and
- the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.
Figure 7.1 Main parts of the TMCM-1140
The TMCM-1140 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCM). Using predefined TMCL high level commands like move to position a
rapid and fast development of motion control applications is guaranteed.
Please refer to the TMCM-1140 Firmware Manual for more information about TMCL commands.
www.trinamic.com
TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 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… 8 (a value of 7 or 8 is internally
mapped to 6 by the TMC429)
3220482
][
][
_
divpulse
CLK
velocityHzf
Hzusf
usrs
Hzusf
Hzfsf
2
][
][
29__
max
2
2
divrampdivpulse
CLK
af
a
usrs
a
af
2
8 TMCM-1140 Operational Description
8.1 Calculation: Velocity and Acceleration vs. Microstep and
Fullstep Frequency
The values of the parameters sent to the TMC429 do not have typical motor values like rotations per
second as velocity. But these values can be calculated from the TMC429 parameters as shown in this
section.
PARAMETERS OF TMC429
Table 8.1 TMC429 velocity parameters
MICROSTEP FREQUENCY
The microstep frequency of the stepper motor is calculated with
with usf: microstep-frequency
FULLSTEP FREQUENCY
To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be
divided by the number of microsteps per fullstep.
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
www.trinamic.com
TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 22
Signal
value
f_
CLK
16 MHz
velocity
1000
a_max
1000
pulse_div
1
ramp_div
1
usrs
6
Hz
MHz
msf 31.122070
3220482
100016
1
HzHzfsf 34.1907
2
31.122070
][
6
s
MHz
Mhz
a 21.119
2
1000)16(
2911
2
s
MHz
s
MHz
af 863.1
2
21.119
6
49.26
72
34.1907
rotationperfullsteps
fsf
RPS
46.1589
72
6034.190760
rotationperfullsteps
fsf
RPM
EXAMPLE:
CALCULATION OF THE NUMBER OF ROTATIONS
A stepper motor has e.g. 72 fullsteps per rotation.
www.trinamic.com
TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 23
9 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.
© TRINAMIC Motion Control GmbH & Co. KG 2012
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.
www.trinamic.com
TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 24
Version
Date
Author
GE - Göran Eggers
SD - Sonja Dwersteg
Description
0.90
2011-DEC-22
GE
Initial version
0.91
2012-MAY-02
GE
Updated for TMCM-1140_V11 pcb version
1.00
2012-JUN-12
SD
First complete version including new chapters about:
- reset to factory defaults, and
- LEDs
1.01
2012-JUL-30
SD
Internal circuit of inputs corrected.
Version
Date
Description
TMCM-1040_V10
2011-MAR-08
Initial version
TMCM-1140_V11
2011-JUL-19
- Optimization of multipurpose I/O circuits
- Clock generation and distribution changed
(16MHz oscillator)
TMCM-1140_V12
2012-APR-12
- Further cost optimization incl. different sensor IC
with 10bit max. resolution
10 Revision History
10.1 Document Revision
Table 10.1 Document revision
10.2 Hardware Revision
Table 10.2 Hardware revision
11 References
[TMCM-1140 TMCL] TMCM-1140 TMCL Firmware Manual
[TMC262] TMC262 Datasheet
[TMC429] TMC429 Datasheet
[TMCL-IDE] TMCL-IDE User Manual
Please refer to www.trinamic.com.
www.trinamic.com
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