1-Axis Stepper
Controller / Driver
1.1 A / 24 V
USB, RS485, and S/D Interface
MODULES FOR STEPPER MOTORS MODULES
Hardware Version V1.2
HARDWARE MANUAL
+
+ +
+
TMCM-1141
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 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-1141 ................................................................................................................................. 7
3.2.1 Power and RS485 Connector ..................................................................................................................... 8
3.2.2 Multipurpose I/O Connector ..................................................................................................................... 10
3.2.3 Step/Direction Connector .......................................................................................................................... 13
3.2.4 Motor Connector .......................................................................................................................................... 14
3.2.5 Mini-USB Connector .................................................................................................................................... 15
4 Reset to Factory Defaults ......................................................................................................................................... 16
5 On-Board LED .............................................................................................................................................................. 16
6 Operational Ratings ................................................................................................................................................... 17
7 Functional Description .............................................................................................................................................. 18
8 TMCM-1141 Operational Description ..................................................................................................................... 19
8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 19
9 Life Support Policy ..................................................................................................................................................... 21
10 Revision History .......................................................................................................................................................... 22
10.1 Document Revision ........................................................................................................................................... 22
10.2 Hardware Revision ............................................................................................................................................ 22
11 References .................................................................................................................................................................... 22
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 3
1 Features
The TMCM-1141 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 1.1 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
Interfaces
- RS485 2-wire communication interface
- USB full speed (12Mbit/s) device interface
- Step/Direction/Enable interface (optically isolated) for external control of driver circuit
- 4 multipurpose inputs:
- 3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs)
- 1x dedicated analog input
- 2 general purpose outputs
- 2x open-drain 100 mA max.
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 1024 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 1.1 A RMS / 1.7 A peak (programmable)
Refer to separate TMCL Firmware Manual, too.
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 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.
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Figure 1.2 Energy efficiency example with coolStep
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 5
Order code
Description
Size (mm3)
TMCM-1141-option
Single axis bipolar stepper motor controller / driver electronics with
coolStep feature
37 x 37 x 11.5
Firmware option
Description
Order code example:
-TMCL
Module pre-programmed with TMCL firmware
TMCM-1141-TMCL
Order code
Description
TMCM-1141-CABLE
Cable loom for TMCM-1141:
- 1x cable loom for power and RS485 connector (length 200mm)
1x cable loom for multi-purpose I/O connector (length 200mm)
- 1x cable loom for S/D connector (length 200mm)
- 1x cable loom 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-1141 is available with NEMA17 stepper motors, too. Refer to the PD-1141
documents for more information about these products.
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 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-1141 and position of mounting holes
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 7
Motor
14
1
5
Power and
RS485
1
8
Multi-
purpose
I/O
Step /
Direction
USB
1
4
Label
Connector type
Mating connector type
Power and
RS485
Connector
JST B5B-PH-K-S
(JST PH series, 5pins, 2mm pitch)
Connector housing: JST PHR-5
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Multi-purpose
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
Step/Direction
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
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-1141
The TMCM-1141 controller/driver board offers five connectors including the motor connector which is
used for attaching the motor coils to the electronics. Further, there is a connector for power and for the
RS485 interface. The USB interface and the step/direction interface have their own connectors. The 8pin
multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs.
Figure 3.2 Overview connectors
Table 3.1 Connectors and mating connectors, contacts and applicable wire
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 8
5
1
Pin
Label
Direction
Description
1
GND
Power (GND)
System and signal ground
2
VDD
Power (Supply)
VDD (+9 V… +28 V)
3
GND
Power (GND)
System and signal ground
4
RS485+
Bidirectional
RS485 interface, diff. signal (non-inverting)
5
RS485-
Bidirectional
RS485 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-1141.
3.2.1 Power and RS485 Connector
A 5pin JST PH-series 2mm pitch single row connector is used for power supply and RS485 serial
communication.
Table 3.2 Connector for power supply and RS485
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-1141 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 (unidirectional 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). 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-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 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-1141 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 3.3 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-1141
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-1141 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 3.4 Bus lines with resistor network
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 10
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
RS485 connector
3
OUT_0
Output
Open-drain output (max. 100 mA)
Integrated freewheeling diode to VDD
4
OUT_1
Output
Open-drain output (max. 100 mA)
Integrated freewheeling diode to VDD
5
AIN_1
Input
Dedicated analog input,
Input voltage range: 0… +10V
Resolution: 12bit (0… 4095)
6
IN_0
Input
General purpose digital input (+24 V compatible)
Alternate function: left stop switch input
7
IN_1
Input
General purpose digital input (+24 V compatible)
Alternate function: right stop switch input
8
IN_2
Input
General purpose digital input (+24 V compatible)
Alternate function: home switch 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 1k 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 and home
switch inputs (alternate function).
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 11
+3.3V
IN_0
IN_1
IN_2
microcontroller (all)
and TMC429 (IN_0, IN_1)
10k
22k
1nf
GND
GND GND
common switch for all
three digital inputs
1k
+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)
IN_0 (6)
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)
IN_1 (7)
IN_2 (8)
General purpose
digital input
HOME - home switch input
(connected to processor)
IN_2 (8)
3.2.2.1 Digital Inputs IN_0, IN_1, IN_2
The eight pin connector of the TMCM-1141 provides three multi-purpose digital inputs IN_0, IN_1 and
IN_2.
All three inputs accept up-to +24 V input signals. They are protected against these higher voltages using
voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.3 V
DC (see figure below).
Figure 3.5 General purpose inputs (simplified input circuit)
Refer to the TMCM-1141 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
All three digital inputs are connected to the on-board processor and can be used as general purpose
digital inputs (default).
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 12
+3.3V
AIN_1
ADC input
(microcontroller)
22k
10k
10nF
GND
GND GND
VDD
OUT_0,
OUT_1
microcontroller
GND
3.2.2.2 Analog Input AIN_1
The eight pin connector of the TMCM-1141 provides one dedicated analog input AIN_1.
This dedicated analog input offers a full scale input range of 0… +10V with a resolution of the internal
analog-to-digital converter of the microcontroller of 12 bit (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 3.6 General purpose inputs (simplified input circuit)
3.2.2.3 Outputs OUT_0, OUT_1
The eight pin connector of the TMCM-1141 offers two general purpose outputs OUT_0 and OUT_1. These
two outputs are open-drain outputs and can sink up to 100 mA each. The outputs of the N-channel
MOSFET transistors are connected to freewheeling diodes each for protection against voltage spikes
especially from inductive loads (relais etc.) above supply voltage (see figure below).
Using free-wheeling diodes connected to VDD supply voltage:
None of the two outputs should be connected to any voltage above supply voltage of the module.
Figure 3.7 General purpose outputs
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 13
4
1
Pin
Label
Direction
Description
1
COMMON
Power
(Supply input)
Power supply input for the three Step / Direction
/ Enable signals. Accepts voltages between +5V
and +24V nom.
2
/ENABLE
Input
Enable input
(function depends on firmware)
3
STEP
Input
Step pulse input
(connected to step input of TMC262 driver IC)
4
DIRECTION
Input
Direction input
(connected to direction input of TMC262 driver IC)
8mA
8mA
8mA
+3.3V
GND
Enable
Direction
Step
Common
(5..24V)
microcontroller
TMC262
TMC262
3.2.3 Step/Direction Connector
A 4pin JST PH-series 2mm pitch single row connector is available for the Step/Dir interface. This interface
can be used for connecting an external motion controller to the on-board driver stage instead of the
integrated motion controller.
All three Step/Dir/Enable signals are optically isolated. Therefore, an additional supply input (COMMON) is
available which has to be connected to a supply voltage between +5 V and +24 V for proper operation.
Table 3.5: Step/Direction connector
3.2.3.1 Step / Direction / Enable inputs
The inputs Step / Direction / Enable are electrically (optically) isolated from the power supply and all
other signals of the TMCM-1141 module. These inputs have one common reference input COMMON (see
Figure 3.7). The COMMON input should be connected to a positive supply voltage between +5V and +24V.
Step / Direction / Enable signals might be driven either by open-collector / open-drain outputs or by
push-pull outputs. In case of push-pull outputs the COMMON supply voltage should be equal / similar to
the high signal voltage level of the push-pull drivers.
Figure 3.8 Step/Dir/Enable inputs
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 14
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
M
A
black
green
B
blue
red
TMCM-1141
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
3.2.4 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-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 15
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
3.2.5 Mini-USB Connector
A 5pin mini-USB connector is available on-board for serial communication (as alternative to the RS485
interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
Table 3.6 Connector for USB
For remote control and communication with a host system the TMCM-1141 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-1141 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-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 16
Short these two pads
Status
Label
Description
Heartbeat
Run
This green LED flashes slowly during operation.
Green LED
4 Reset to Factory Defaults
It is possible to reset the TMCM-1141 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.
Now, 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
5 On-Board LED
The board offers an LED in order to indicate board status. The function of the LED is dependent on the
firmware version. With standard TMCL firmware the green LED should be flashing slowly during
operation. When there is no valid firmware programmed into the board or during firmware update the
green LED is permanently on.
BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE
Figure 5.1 On-board LED
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 17
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 1.7
A
I
COIL_RMS
Continuous motor current (RMS)
0 1.1
A
IDD
Power supply current
<< I
COIL
1.4 * I
COIL
A
T
ENV
Environment temperature at rated current (no
forced cooling required)
Tbd 40
°C
Symbol
Parameter
Min
Typ
Max
Unit
V
OUT_0/1
Voltage at open drain output
0 +VDD
V
I
OUT_0/1
Output sink current of open drain output
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 1.2 V V
IN_H 0/1/2
High level voltage for IN_0, IN_1 and IN_2
4 +VDD
V
V
AIN_1
Measurement range for analog input AIN_1
0 +10
V
Symbol
Parameter
Min
Typ
Max
Unit
N
RS485
Number of nodes connected to single RS485
network
256
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!
GENERAL OPERATIONAL RATINGS
Table 6.1 General operational ratings of module
OPERATIONAL RATINGS OF MULTIPURPOSE I/OS
Table 6.2 Operational ratings of multipurpose I/Os
OPERATIONAL RATINGS OF RS485 INTERFACE
Table 6.3: Operational ratings of RS485 interface
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 18
9… 28V DC
RS485
USB
µC
TMCL™
Memory
6
I/Os
Step
Motor
MOSFET
Driver
Stage
SPI
TMCM-1141
SPI
SPI
S/D
TMC429
Motion
Controller
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
+5V
Stop
switches
S/D
S/D
7 Functional Description
The TMCM-1141 is a highly integrated mechatronic device 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. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both:
direct mode and standalone operation. 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-1141 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, and
- the MOSFET driver stage
Figure 7.1 Main parts of the TMCM-1141
Remark: stop switches are an alternate function of two out of three digital inputs.
The TMCM-1141 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-1141 Firmware Manual for more information about TMCL commands.
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 19
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-1141 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
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TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 20
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-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 21
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-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 22
Version
Date
Author
GE - Göran Eggers
SD - Sonja Dwersteg
Description
0.90
2011-DEC-19
GE
Initial version
0.91
2011-DEC-23
GE
Connector pin assignment corrected
1.00
2012-JUN-12
SD
First complete version including the following chapters:
- Reset to factory defaults,
- LEDs
1.01
2012-JUL-23
SD
Information about sensOstep deleted.
1.02
2012-JUL-27
SD
Figure 3.5 (general purpose inputs) corrected.
Version
Date
Description
TMCM-1041_V10
2011-MAR-03
Initial version
TMCM-1141_V10
2011-AUG-12
- Clock generation and distribution changed,
16Mhz crystal instead of 8MHz, TMC429 and
TMC262 running from 16Mhz clock signal from
processor
- Resistor dividers at inputs changed, more
compact and optimized input protection circuit
- Support of USB powered operation
TMCM-1141_V11
2011-NOV-23
- Optimization and cost reduction for board
assembly after feedback from assembly house
(version 1.1 is 100% firmware compatible with
V1.0)
TMCM-1141_V12
2011-DEC-12
- Mounting holes connected to GND
10 Revision History
10.1 Document Revision
Table 10.1 Document revision
10.2 Hardware Revision
Table 10.2 Hardware revision
11 References
[TMCM-1141 TMCL] TMCM-1141 TMCL Firmware Manual
[TMC262] TMC262 Datasheet
[TMC429] TMC429 Datasheet
[TMCL-IDE] TMCL-IDE User Manual
[QSH4218] QSH4218 Manual
Please refer to www.trinamic.com.
www.trinamic.com
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