1-axis Stepper
Controller / Driver
up to 2.8 RMS / 24V DC
USB, RS485, and RS232
MODULES FOR STEPPER MOTORS MODULES
Hardware Version V1.0
HARDWARE MANUAL
+
+
TMCM-1161
+ +
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
2
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 TMCM-1161 Dimensions and Mounting Holes ............................................................................................. 6
3.2 Connectors of TMCM-1161 ................................................................................................................................. 7
3.2.1 Interface and Power Supply Connector ................................................................................................. 8
3.2.2 USB Connector ............................................................................................................................................... 9
3.2.3 In/Out Connector ......................................................................................................................................... 10
3.2.4 Motor Connector .......................................................................................................................................... 11
4 Reset to Factory Defaults ......................................................................................................................................... 12
5 On-board LEDs ............................................................................................................................................................. 13
6 Operational Ratings ................................................................................................................................................... 14
7 Functional Description .............................................................................................................................................. 15
8 TMCM-1161 Operational Description ..................................................................................................................... 16
8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 16
9 Life Support Policy ..................................................................................................................................................... 18
10 Revision History .......................................................................................................................................................... 19
10.1 Document Revision ........................................................................................................................................... 19
10.2 Hardware Revision ............................................................................................................................................ 19
11 References .................................................................................................................................................................... 19
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
3
1 Features
The TMCM-1161 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 NEMA23 (57mm flange size) and
NEMA24 (60mm flange size) stepper motors and has been designed for coil currents up to 2.8A RMS and
24V 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 (max. 1024 increments per rotation) e.g. for step-loss detection under
all operating conditions and positioning supervision
Interfaces
- inputs for stop switches (left and right) and home switch
- 1 analog input
- 2 general purpose outputs (open collector with freewheeling diodes)
- USB, RS232, and RS485 communication interfaces
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: +24V DC nominal (10… 30V DC)
- Motor current: up to 2.8A RMS (programmable)
Refer to separate TMCL Firmware Manual, too.
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
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
4
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-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
Order code
Description
Size (mm3)
TMCM-1161
Single axis bipolar stepper motor controller / driver electronics with
integrated sensOstep encoder and coolStep feature
60 x 60 x 12
Order code
Description
TMCM-1161-CABLE
Cable loom for TMCM-1161
- 1x cable loom for interface connector
- 1x cable loom for In/Out connector
- 1x cable loom for motor connector
- 1x USB type A connector to mini-USB type B connector cable
5
2 Order Codes
Table 2.1: TMCM-1161 order codes
A cable loom set is available for this module:
Table 2.2 Cable loom order code
Please note that the TMCM-1161 is available with NEMA23 and NEMA24 stepper motors, too. Please refer
to the PD-1161 documents for more information about these products.
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
60
60
56.75
46.25
49.5
10.5
4.59
45 .9 5
13.75
3.25
10.5
55.41
14.05
6
3 Mechanical and Electrical Interfacing
3.1 TMCM-1161 Dimensions and Mounting Holes
The dimensions of the controller/driver board are approx. 60mm x 60mm x 12mm in order to fit on the
back of a 60mm stepper motor. Maximum component height (height above PCB level) without mating
connectors is around 8mm above PCB level and 2.5mm below PCB level. There are four mounting holes
for M3 screws for mounting the board either to a NEMA23 (two mounting holes at opposite corners) or a
NEMA24 (other two mounting holes at opposite corners) stepper motor.
Figure 3.1: Dimensions of TMCM-1161 and position of mounting holes
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
In/Out
Interface
USB
Motor
1
1
1
1
Domain
Connector type
Mating connector type
Interface /
Power
JST B6B-EH-A, 2.5mm pitch connector
header, vertical
JST EHR-6, female crimp connector housing;
crimp contacts JST SEH-001T-P0.6
Motor
JST B4B-EH-A, 2.5mm pitch connector
header, vertical
JST EHR-4, female crimp connector housing;
crimp contacts JST SEH-001T-P0.6
In/Out
JST B8B-EH-A, 2.5mm pitch connector
header, vertical
JST EHR-8, female crimp connector housing;
crimp contacts JST SEH-001T-P0.6
USB
Mini-USB type B vertical female
Mini-USB type B, male
7
3.2 Connectors of TMCM-1161
The TMCM-1161 offers four connectors including the motor connector which is used for attaching the
motor coils to the electronics. There are two connectors for serial communication (one for USB and one
for RS232/RS485) and one connector for I/O signals and switches.
Figure 3.2 Overview connectors
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
Pin
Label
Description
1
GND
Module and signal ground
2
VCC
10… 30V DC power supply / nom. 24V DC
3
RS485A+
RS485 non-inverted bus signal
4
RS485B-
RS485 inverted bus signal
5
RS232_TxD
RS232 transmit data from module
6
RS232_RxD
RS232 receive data to module
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
8
3.2.1 Interface and Power Supply Connector
Table 3.1 Connector for power supply and interfaces
3.2.1.1 Power Supply
When using supply voltages near the upper limit, a regulated power supply is mandatory. Please ensure,
that enough power filtering capacitors are available in the system (2200µF or more recommended) in
order to absorb mechanical energy fed back by the motor in stalling conditions.
The power supply should be designed in a way, that it supplies the nominal motor voltage at the
desired maximum motor power.
To ensure reliable operation of the unit, the power supply has to have a sufficient output capacitor and
the supply cables should have a low resistance, so that the chopper operation does not lead to an
increased power supply ripple directly at the unit. Power supply ripple due to the chopper operation
should be kept at a maximum of a few 100mV.
Guidelines for power supply:
- keep power supply cables as short as possible
- use large diameters for power supply cables
- add 2200µF or larger filter capacitors near the motor driver unit especially if the distance to the
power supply is large (i.e. more than 2-3m)
Note: there is no protection against reverse polarity integrated on the board.
3.2.1.2 RS485
For remote control and communication with a host system the PD-1161 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 3.5: RS485 bus structure
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
node
n - 1
node
n
Slave Slave
termination
resistor
(120 Ohm)
+5V
GND
pull-up (1k)
pull-down (1k)
RS485- / RS485B
RS485+ / RS485A
Pin
Label
Description
1
VBUS
+5V power
2
D-
Data –
3
D+
Data +
4
ID
not connected
5
GND
ground
9
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 PD-1161 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 RS-485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a
single bus. The bus transceiver used on the PD-1161 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 as 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 3.6: RS485 bus lines with resistor network
3.2.2 USB Connector
Table 3.2 Mini USB connector
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
Pin
Label
Description
1
GND
Module ground (system and signal ground)
2
VCC
10… 30V DC power supply / nom. 24V DC
3
OUT_0
General purpose output, open collector
4
OUT_1
General purpose output, open collector
5
AIN_0
Analog input, 0… 10V (analog to digital converter range)
6
STOP_L/
STEP/
IN_1
Digital input, +24V compatible, programmable internal pull-up.*
Functionality can be selected in software:
a) Left stop switch input (connected to REF1 input of TMC429 motion
controller)
b) Step signal (connected to step input of TMC262 stepper driver)
c) General purpose input (connected to processor)
7
STOP_R/
DIR/
IN_2
Digital input +24V compatible, programmable internal pull-up.*
Functionality can be selected in software:
a) Right stop switch input (connected to REF3 input of TMC429 motion
controller)
b) Direction signal (connected to direction input of TMC262 stepper driver)
c) General purpose input (connected to processor)
8
HOME/
ENABLE/
IN_3
Digital input +24V compatible, programmable internal pull-up.*
Functionality can be chosen in software:
a) Home switch input (connected to processor)
b) Enable signal (connected to processor)
c) General purpose input (connected to processor)
GND
GND
OUT_0
OUT_1
+24V
OUT_0
OUT_1
10
3.2.3 In/Out Connector
Table 3.3 In/Out connector
* It is possible to enable / disables pull-ups (1k to 5+V) in software for all three digital inputs. Pull-ups
are always enabled / disabled for all three together / at the same time.
Figure 3.3 Internal circuit of OUT_0/1
www.trinamic.com
TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
AIN_0
47kO
GND GND
AIN_0
100nF
22kO
IN_1/2/3
GND
+3.3V
IN_1/2/3
1nF
GND
10kO22kO
GND
1kO
+5V / pull-up ON
0V / pull-up OFF
PU
Left stop
switch
Right stop
switch
STOP_L
Motor
Traveler
STOP_R
HOME
Pin
Label
Description
1
OA1
Motor coil A
2
OA2
Motor coil A
3
OB1
Motor coil B
4
OB2
Motor coil B
11
Figure 3.4 Internal circuit of AIN_0 Figure 3.5 Internal circuit of IN_1/2/3
3.2.3.1 Left and Right Limit Switches
The TMCM-1161 can be configured so that a motor has a left and a right limit switch. The motor stops
when the traveler has reached one of the limit switches. An additional home switch might be used for
initialization.
Figure 3.6 Limit switches and home switch
3.2.4 Motor Connector
Table 3.4 Motor connector
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
Short these two pads
12
4 Reset to Factory Defaults
It is possible to reset the TMCM-1161 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 (see figure 4.12).
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-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
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
USB
13
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 slowly flashing 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-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
Symbol
Parameter
Min
Typ
Max
Unit
VCC
Power supply voltage for operation
10
24
30
V DC
V
USB
Power supply via USB connector
5
V
I
USB
Current withdrawn from USB supply when USB bus
powered (no other supply connected)
40 mA
I
COIL_peak
Motor coil current for sine wave peak (chopper
regulated, adjustable via software)
0 4
A
I
COIL_RMS
Continuous motor current (RMS)
0 2.8
A
I
SUPPLY
Power supply current
<< I
COIL
1.4 *
I
COIL
A
T
ENV
Environment temperature at rated current (no
forced cooling required)
-35*)
+50
°C
Symbol
Parameter
Min
Typ
Max
Unit
V
STOP_L/R_HOME
Input voltage for stop / home switch inputs
STOP_L / STOP_R and HOME
(also valid when configured for alternate function)
0 28
V
V
STOP_L/R_HOME_L
Low level voltage for stop / home switch inputs
STOP_L / STOP_R and HOME
(also valid when configured for alternate function)
0 1.1 V V
STOP_L/R_HOME_H
High level voltage for stop / home switch inputs
STOP_L / STOP_R and HOME
(also valid when configured for alternate function)
2.9 28
V
V
OUT_0/1
Voltage at open collector output OUT_0 / OUT_1
0 VCC V I
OUT_0/1
Output sink current for OUT_0 / OUT_1
100
mA
V
AIN_0
Full scale input voltage range for analog input
AIN_0
0 10
V
Symbol
Parameter
Min
Typ
Max
Unit
N
RS485
Number of nodes connected to single RS485
network
256
14
6 Operational Ratings
The operational ratings shown below should be used as design values. In no case should the maximum
values been exceeded during operation.
Table 6.1 General operational ratings of the module
*)
limited by test equipment. Includes power-up / cold start at this temperature. It can be expected that
the module will work down to -40°C.
Table 6.2 Operational ratings of general purpose I/Os
Table 6.4 Operational ratings of the RS485 interface
www.trinamic.com
TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
10 … 30 V DC
µC
TMCL™
Memory
Motion
Controller
TMC429
RS232
3
I/Os
Step
Motor
USB
Step/
Dir*
)
MOSFET
Driver
Stage
Energy
Efficient
Driver
TMC262
Power
Driver
TMC 262
with
coolStep™
sensOstep™
Encoder
SPI
Stop
Switches*
)
+3.3V
TMCM-1161
*) The module offers three additional inputs. Functionality can be chosen by software::
a) STOP_ L / STOP_ R / HOME
b) STEP/ DIR interface
c
)
3 general purpose inputs
RS485
15
7 Functional Description
The TMCM-1161 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-1161 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 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-1161
The PC based software development environment TMCL-IDE for the Trinamic Motion Control Language
(TMCM) can be downloaded free of charge from the TRINAMIC website (www.trinamic.com). 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-1161 Firmware Manual for more information
about TMCL commands.
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
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
velocity]Hz[f
]Hz[usf
div_pulse
CLK
usrs
2
]Hz[usf
]Hz[fsf
29div_rampdiv_pulse
max
2
CLK
2
af
a
usrs
2
a
af
16
8 TMCM-1161 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
The microstep-frequency of the stepper motor is calculated with
with usf: microstep-frequency
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be
divided by the number of microsteps per fullstep.
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-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
Signal
value
f_
CLK
16 MHz
velocity
1000
a_max
1000
pulse_div
1
ramp_div
1
usrs
6
Hz31.122070
3220482
1000MHz16
msf
1
Hz34.1907
2
31.122070
]Hz[fsf
6
s
MHz
21.119
2
1000)Mhz16(
a
2911
2
s
MHz
863.1
2
s
MHz
21.119
af
6
49.26
72
34.1907
rotationperfullsteps
fsf
RPS
46.1589
72
6034.1907
rotationperfullsteps
60fsf
RPM
17
Example:
Calculation of the number of rotations:
A stepper motor has e.g. 72 fullsteps per rotation.
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
18
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.
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
Version
Date
Author
GE - Göran Eggers
SD - Sonja Dwersteg
Description
1.00
2011-JUN-30
SD
Initial version
1.10
2011-AUG-22
GE
Updates for hardware version TMCM-1161_V10
1.11
2012-MAR-09
SD
- Chapter 5 added
- Chapter 4 added
- Design updated
1.12
2012-JUL-30
SD
Description of analog and digital inputs corrected
Version
Date
Description
TMCM-1061_V10
2011-APR-20
First prototype version
TMCM-1161_V10
2011-JUL-22
Redesign:
- Corrected and modified clock concept
- Stop switches connected to REF1+3 of TMC429
- New encoder IC with 10bit resolution (max.)
19
10 Revision History
10.1 Document Revision
Table 10.1 Document revision
10.2 Hardware Revision
Table 10.2 Hardware revision
11 References
[TMCM-1161] TMCM-1161 TMCL Firmware Manual
[TMC262] TMC262 Datasheet
[TMC429] TMC429 Datasheet
[TMCL-IDE] TMCL-IDE User Manual
[QSH5718] QSH5718 Manual
[QSH6018] QSH6018 Manual
Please refer to www.trinamic.com.
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