Trinamic TMCM-1180, PD86-1180 Hardware Manual

MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive

Hardware Version V1.1

HARDWARE MANUAL

+ +

TMCM-1180

PD86-1180

1-Axis Stepper

Controller / Driver

5.5A RMS/ 24 or 48V DC
USB, RS232, RS485, and CAN

+ +

TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 2

Table of Contents

2 Features ........................................................................................................................................................................... 3

3 Order Codes ................................................................................................................................................................... 4

4 Mechanical and Electrical Interfacing ..................................................................................................................... 5

4.1 TMCM-1180 Dimensions and Mounting Holes ............................................................................................. 5

4.2 PD86-1180 Dimensions and Motor Specifications ...................................................................................... 6

4.2.1 Dimensions of PD86-3-1180 ........................................................................................................................ 6

4.2.2 Motor Specifications of QSH8618-96-55-700 ........................................................................................... 7

4.2.3 Torque Figure of QSH8618-96-55-700 ....................................................................................................... 8

4.3 Connectors of TMCM-1180 ................................................................................................................................. 9

4.3.1 Power Connector ......................................................................................................................................... 10

4.3.2 Serial Communication Connector ........................................................................................................... 12

4.3.3 USB Connector .............................................................................................................................................. 12

4.3.4 Output Connector ........................................................................................................................................ 13

4.3.5 Input Connector ........................................................................................................................................... 14

4.3.6 Step/Direction Connector .......................................................................................................................... 16

4.3.7 Encoder Connector ...................................................................................................................................... 17

4.3.8 Motor Connector and Specifications ...................................................................................................... 18

5 Jumpers ......................................................................................................................................................................... 19

5.1 RS485 Bus Termination .................................................................................................................................... 19

5.2 CAN Bus Termination........................................................................................................................................ 19

6 Operational Ratings ................................................................................................................................................... 20

7 Functional Description .............................................................................................................................................. 21

7.1 System Architecture .......................................................................................................................................... 21

7.1.1 Microcontroller ............................................................................................................................................. 21

7.1.2 EEPROM ........................................................................................................................................................... 21

7.1.3 Motion Controller ........................................................................................................................................ 21

7.1.4 Stepper Motor Driver .................................................................................................................................. 22

7.1.5 sensOstep Encoder ...................................................................................................................................... 22

8 TMCM-1180 Operational Description ..................................................................................................................... 23

8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23

9 TMCL ............................................................................................................................................................................... 25

10 CANopen ....................................................................................................................................................................... 25

11 Life Support Policy ..................................................................................................................................................... 26

12 Revision History .......................................................................................................................................................... 27

12.1 Document Revision ........................................................................................................................................... 27

12.2 Hardware Revision ............................................................................................................................................ 27

13 References..................................................................................................................................................................... 27

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 3

2 Features

The PD86-1180 is a full mechatronic solution with state of the arte feature set. It is highly integrated and
offers a convenient handling. The PD86-1180 consists of a NEMA 34 (flange size 86mm) stepper motor,
controller/driver electronics and integrated encoder.
The TMCM-1180 is an intelligent stepper motor controller/driver module featuring the new outstanding

coolStep™ technology for sensorless load dependent current control. This allows energy efficient motor
operation. With the advanced stallGuard2™ feature the load of the motor can be detected with high

resolution. The module is designed to be mounted directly on an 86mm flange QMot stepper motor.

MAIN CHARACTERISTICS

Electrical data

- Supply voltage: +24V DC or +48V DC nominal

- Motor current: up to 5.5A RMS (programmable)

PANdrive motor

- Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current

- Holding torque: 7Nm

Encoder

- Integrated sensOstep magnetic encoder (max. 256 increments per rotation) e.g. for step-loss detection

under all operating conditions and positioning

Integrated motion controller

- Motion profile calculation in real-time (TMC428/429 motion controller)

- 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

- inputs for stop switches (left and right) and home switch

- general purpose inputs and 2 general purpose outputs

- USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces

Safety features

- Shutdown input. The driver will be disabled in hardware as long as this pin is left open or shorted to

ground

- Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched off

externally while supply for digital logic and therefore digital logic remains active

Software

- Available with TMCL™ or CANopen

- Standalone TMCL operation or remote controlled operation

- Program memory (non volatile) for up to 2048 TMCL commands

- PC-based application development software TMCL-IDE available for free

- CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported

Please see separate TMCL and CANopen Firmware Manuals for additional information

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 4

Order code

Description

Dimensions [mm³]

TMCM-1180 (-option)

TMCM-1180 with coolStep, sensOstep

85.9 x 85.9 x 21.5

PD86-3-1180 (-option)

PD86-3-1180 with coolStep, sensOstep, 7.0 Nm

85.9 x 85.9 x 118.5

Option

Firmware

-TMCL

TMCL firmware

-CANopen

CANopen firmware

Component part

Description

TMCM-1180-CABLE

Cable loom for module and PANdrive

3 Order Codes

Cables are not included. Add the appropriate cable loom to your order if required.

Table 3.1 PANdrive or module order codes

Table 3.2 Options for order codes

Table 3.3 Order codes for component parts

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 5

85.9

85.9

67.45

72

72

13.9

13.9

2

8

2

8

67.45

4.55

18.45

18.45

4.55

R5.9

81.35

81.35

TMCM-1180

M4

4 Mechanical and Electrical Interfacing

4.1 TMCM-1180 Dimensions and Mounting Holes

The dimensions of the controller/driver board (TMCM-1180) are approx. 86mm x 86mm in order to fit to the
back side of the 86mm stepper motor. The TMCM-1180 is 21.5mm high without matching connectors. There
are four mounting holes for M4 screws.

Figure 4.1 Dimensions of TMCM-1180 and mounting holes

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 6

96

8.38

73.02±0.05

1.52

22.5 max

1.4

85.85

4.1
17

31.75±1

25

1.1

11.6

12.7

85.9

85.9

69.5±0.2

69.5±0.2

400 min.

4 x ø 5.5

73.02±0.05

12.7

11.6

4.2 PD86-1180 Dimensions and Motor Specifications

The PD86-1180 includes the TMCM-1180 stepper motor controller/driver electronic module, a magnetic
encoder based on sensOstep technology and an 86mm flange size bipolar hybrid stepper motor.

4.2.1 Dimensions of PD86-3-1180

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Figure 4.2 PD86-3-1180 dimensions

TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 7

Specifications

Units

QSH8618-96-55-700

Wiring

Rated Voltage

V

2.56

Rated Phase Current (nominal)

A

5.5

Phase Resistance at 20°C

Ω

0.45

Phase Inductance (typ.)

mH

4.5

Holding Torque (typ.)

Nm

7.0

Detent Torque

Nm

Rotor Inertia

gcm2

2700

Weight (Mass)

Kg

2.8

Insulation Class

B

Insulation Resistance

Ω

100M

Dialectic Strength (for one
minute)

VAC

500

Connection Wires

N°

4

Max applicable Voltage

V

140

Step Angle ° 1.8

Step angle Accuracy

%

5

Flange Size (max.)

mm

85.85

Motor Length (max.)

mm

96

Axis Diameter

mm

12.7

Axis Length (visible part, typ.)

mm

31.75

Axis D-cut (1.1mm depth)

mm

25.0

Shaft Radial Play (450g load)

mm

0.02

Shaft Axial Play (450g load)

mm

0.08

Maximum Radial Force
(20 mm from front flange)

N

220

Maximum Axial Force

N

60

Ambient Temperature

°C

-20… +50

Temp Rise
(rated current, 2 phase on)

°C

max. 80

4.2.2 Motor Specifications of QSH8618-96-55-700

Table 4.1 Motor specifications of QSH8618-96-55-700

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 8

0

1

2

3

4

5

6

100 1000 10000

Torque [Nm]

Speed [Pps]

Testing conditions: 48V; 5,5A

Full step

4.2.3 Torque Figure of QSH8618-96-55-700

The torque figure details the motor torque characteristics for full step operation in order to allow simple
comparison. For full step operation there are always a number of resonance points (with less torque) which
are not depicted. These will be minimized by microstep operation.

Figure 4.3 QSH8618-96-55-700 speed vs. torque characteristics

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 9

Motor

USB

Power

Serial
communication

Input OutputStep/DirEncoder

1

1

1

1111

Label

Connector type

Mating connector type

Power

JST B4P-VH
JST VH series, 4 pins, 3.96mm pitch

Connector housing JST: VHR-4N

Contacts JST: BVH-21T-P1.1

Motor

JST B4P-VH
JST VH series, 4 pins, 3.96mm pitch

Connector housing JST: VHR-4N

Contacts JST: BVH-21T-P1.1

Mini-USB

Molex 500075-1517
Mini USB Type B vertical receptacle

Any standard mini-USB plug

Serial
communication

CI0108P1VK0-LF
CVIlux CI01 series, 8 pins, 2mm pitch

Connector housing CVIlux: CI01085000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-8
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

4.3 Connectors of TMCM-1180

The controller/driver board of the PD86-1180 offers eight connectors including the motor connector which is
used internally for attaching the motor coils to the electronics. In addition to the power connector there are
two connectors for serial communication (one for mini-USB and one for RS232/RS485/CAN) and two
connectors for additional input and output signals. Further there is one connector for Step/Direction and
another for the encoder.
The output connector offers two general purpose outputs, one power supply voltage output, and one
hardware shutdown input. Leaving the shutdown input open or tying it to ground will disable the motor
driver stage in hardware. For operation, this input should be tied to the supply voltage.
The input connector offers two inputs for stop switches (left and right), one home switch input, two general
purpose inputs and one connection to the system or signal ground.

Figure 4.4 Overview connectors

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 10

Label

Connector type

Mating connector type

Inputs

CI0106P1VK0-LF
CVIlux CI01 series, 6 pins, 2mm pitch

Connector housing CVIlux: CI01065000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-6
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Outputs

CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch

Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Encoder

CI0105P1VK0-LF
CVIlux CI01 series, 5 pins, 2mm pitch

Connector housing CVIlux: CI01055000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-5
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Step/Dir

CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch

Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

1

4

Pin

Label

Description

1

+U

Driver

Module + driver stage power supply input
(nom. +48V DC)

2

+U

Logic

(Optional) separate digital logic power supply input
(nom. +48V DC)

3

GND

Module ground (power supply and signal ground)

4

GND

Module ground (power supply and signal ground)

Table 4.2 Connectors and mating connectors, contacts and applicable wire

4.3.1 Power Connector

This module offers separate power supply inputs for digital logic (pin 2) and driver/power stage (pin 1). Both
supply inputs use common ground connections (pin 3 and 4). This way, power supply for the driver stage
may be switched off while still maintaining position and status information when keeping digital logic
supply active.

+U

In case power supply is provided to the power section only, an internal diode will distribute power to the
logic section also. So, when separate power supplies are not required it is possible to just use pin 1 and 4
for powering the module.

Table 4.3 Connector for power supply

SUPPLY ONLY

DRIVER

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.

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 11

Add external power supply capacitors!

It is recommended to connect an electrolytic capacitor of significant size (e.g. 4700 µF / 63
V) to the power supply lines next to the PD-1180 especially if the distance to the power
supply is large (i.e. more than 2-3m)! In larger systems a zener diode circuitry might be
required in order to limit the maximum voltage when the motor is operated at high
velocities.

Rule of thumb for size of electrolytic capacitor:   





 



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 slew­rate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors
may cause stability problems with some switching power supplies.

Do not connect or disconnect motor during operation!

Motor cable and motor inductivity might lead to voltage spikes when the motor is
disconnected / connected while energized. These voltage spikes might exceed voltage
limits of the driver MOSFETs and might permanently damage them. Therefore, always
disconnect power supply before connecting / disconnecting the motor.

Keep the power supply voltage below the upper limit of 55V!

Otherwise the driver electronics will seriously be damaged! Especially, when the selected
operating voltage is near the upper limit a regulated power supply is highly
recommended. Please see also chapter 6 (operating values).

There is no reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver

transistors.

HINTS FOR POWER SUPPLY

- keep power supply cables as short as possible

- use large diameters for power supply cables

CAUTION!

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 12

1

8

Pin

Label

Description

1

RS232_TxD

RS232 transmit data

2

RS232_RxD

RS232 receive data

3

GND

Module ground (system and signal ground)

4

CAN_H

CAN_H bus line (dominant high)

5

CAN_L

CAN_L bus line (dominant low)

6

GND

Module ground (system and signal ground)

7

RS485+

RS485 non-inverted bus signal

8

RS485-

RS485 inverted bus signal

1

5

Pin

Label

Description

1

VBUS

+5V power

2

D-

Data –

3

D+

Data +

4

ID

Not connected

5

GND

ground

4.3.2 Serial Communication Connector

A 2mm pitch 8 pin connector is used for serial communication. With this connector the module supports
RS232, RS485 and CAN communication.

Table 3.3 Connector for serial communication

4.3.3 USB Connector

A 5-pin mini-USB connector is available on board (might depend on assembly option).

Table 3.4 Mini USB connector

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 13

4

1

Pin

Label

Description

1

+U

Logic

Module digital logic power supply – connected to
pin 2 of power supply connector

2

/Shutdown

/Shutdown input – has to be connected to power
supply (e.g. pin 1 of this connector) in order to
enable driver. Connecting this input to ground or
leaving it unconnected will disable driver stage

3

OUT_0

Open collector output with integrated freewheeling
diode, +24V compatible

4

OUT_1

Open collector output with integrated freewheeling
diode, +24V compatible

GPO

freewheeling

diode

integrated

on-board

GPO

GPO

galvanic isolation

opto-coupler

supply voltage

e.g. +24V

supply voltage

e.g. +24V

supply voltage

e.g. +24V

GND

1k00

GND

OUT_0

1k00

OUT_1

+U

Logic

+U

Logic

OUT_0

OUT_1

4.3.4 Output Connector

A 2mm pitch 4 pin connector is used for connecting the two general purpose outputs and the driver stage
hardware shutdown input pin to the unit.

In order to enable the motor driver stage connect /Shutdown (pin 2) to +U

Table 4.4 Output / /Shutdown connector

(pin 1)!

Logic

Figure 4.5 Possible circuits for GPO

Figure 4.6 Internal circuit of the outputs

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 14

1

6

Pin

Label

Description

1

IN_0

General purpose input, +24V compatible

2

IN_1

General purpose input, +24V compatible

3

STOP_L

Left stop switch input, +24V compatible,
programmable internal pull-up (1k to +5V)

4

STOP_R

Right stop switch input, +24V compatible,
programmable internal pull-up (1k to +5V)

5

HOME

Home switch input, +24V compatible,
programmable internal pull-up (1k to +5V)

6

GND

Module ground (system and signal ground)

+24V

GPI

IN_0/1

22kO10kO

GND

+3.3V

GND

IN_0/1

100nF

GND

4.3.5 Input Connector

A 2mm pitch 6 pin connector is used for connecting general purpose inputs, home and stop switches to the
unit.

Mating connector housing: PHR-6
Mating connector contacts: SPH-002T-P0.5S

Table 4.5 Input / Stop / Home switch connector

Figure 4.7 Possible circuit for GPI

Figure 4.8 Internal circuit of the inputs

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 15

left stop
switch

right stop

switch

REF _ L _ x

REF _ R _x

motor

traveler

left stop

switch

motor

traveler

REF _ L _ x

right stop

switch

REF _ R _x

reference

switch

mo to r

re f sw itc h

RE F _L _ x

ec ce nt ric

4.3.5.1 Left and Right Limit Switches

The TMCM-1180 can be configured so that a motor has a left and a right limit switch (Figure 4.9).

The motor stops when the traveler has reached one of the limit switches.

Figure 4.9 Left and right limit switches

4.3.5.2 Triple Switch Configuration

It is possible to program a tolerance range around the reference switch position. This is useful for a triple
switch configuration, as outlined in Figure 4.10. In that configuration two switches are used as automatic
stop switches, and one additional switch is used as the reference switch between the left stop switch and
the right stop switch. The left stop switch and the reference switch are wired together. The center switch
(travel switch) allows for a monitoring of the axis in order to detect a step loss.

Figure 4.10 Limit switch and reference switch

4.3.5.3 One Limit Switch for Circular Systems

If a circular system is used (Figure 4.11), only one reference switch is necessary, because there are no end­points in such a system.

Figure 4.11 One reference switch

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4

1

Pin

Label

Description

1

OC_COM

Common supply / opto-coupler (+5V .. +24V)

2

OC_EN

Enable signal

3

OC_STEP

Step signal

4

OC_DIR

Direction signal

C

E

A

K

EN

DIR

STEP

OC_COM

OC_EN

OC_DIR

OC_STEP

GND

+3.3V

4k754k75

4k75

GND

I

const

= 8mA

I

const

= 8mA

4.3.6 Step/Direction Connector

A 2mm pitch 4 pin connector is used for connecting the Step/Dir interface.

Table 4.6 Step/Dir connector

Figure 4.12 Internal circuit of the Step/Dir interface

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1 5

Pin

Label

Description

1

ENC_A

Encoder A-channel

2

ENC_B

Encoder B-channel

3

ENC_N

Encoder N-channel

4

GND

Power and signal ground

5

+5V_output

+5V output for encoder power supply (max. 100mA)

100pF

GND GND

2k2

2k2

2k2

0.1A

2k2

2k2

2k2

+5V

+5V +5V +5V

GND

GND GND

1

1

1

1

1

ENC_A

ENC_B

ENC_N

Keep the electronics free of (metal) particles! The encoder uses a magnet at the end of the
motor axis in order to monitor position. The magnet naturally attracts especially tiny
metal particles. These particles might be held on the top side of the PCB and even worse
– start moving in accordance with the rotating magnetic field as soon as the motor starts
moving. This might lead to shorts of electronic contacts / wires on the board and totally
erratic behavior of the module! Use compressed air for cleaning the module if necessary.

4.3.7 Encoder Connector

A 2mm pitch 5 pin connector is used for connecting the Encoder.

Mating connector housing: PHR-5
Mating connector contacts: SPH-002T-P0.5S

Table 4.7 Encoder connector

Figure 4.13 Internal circuit of encoder interface

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 18

1

4

Pin

Label

Description

1

OA1

Motor coil A

2

OA2

Motor coil A

3

OB1

Motor coil B

4

OB2

Motor coil B

4.3.8 Motor Connector and Specifications

A 3.96mm pitch 4 pin connector is used for motor connection. Both motor coil windings (bipolar stepper
motor) are connected to this connector.

Mating connector housing: VHR-4N
Mating connector contacts: BVH-21T-P1.1

Table 4.8 Connector for motor

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 19

CAN bus

termination

RS485 bus

termination

5 Jumpers

Most settings of the board are done through the software. Nevertheless, a few jumpers are available for
configuration.

Figure 5.1 RS485 and CAN bus termination

5.1 RS485 Bus Termination

The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface. When this jumper
is closed, the resistor will be placed between the two differential bus lines RS485+ and RS485-.

5.2 CAN Bus Termination

The board includes a 120 Ohm resistor for proper bus termination of the CAN interface. When this jumper is
closed, the resistor will be placed between the two differential bus lines CAN_H and CAN_L.

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 20

Symbol

Parameter

Min

Typ

Max

Unit

+U

Driver

/ +U

Logic

Power supply voltage for operation

18

24 or 48

55

V DC

I

COIL_peak

Motor coil current for sine wave peak
(chopper regulated, adjustable via
software)

0 7.8

A

I

COIL_RMS

Continuous motor current (RMS)

0 5.5

A

I

SUPPLY

Power supply current

<< I

COIL

1.4 * I

COIL

A

T

ENV

Environment temperature at rated
current (no forced cooling required)

-20 +50*)

°C

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

*) The controller driver electronics has been tested inside a climate chamber running at full current (5.5A
RMS) for 30min without air convection at 50°C environmental temperature.

The motor might heat up well above 50°C when running at full current without proper cooling. This might
substantially increase the environmental temperature for the electronics. When using the coolStep operation
mode, the actual current might be substantially less than programmed max. current producing and
temperature.

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 21

18… 55V DC

µC

TMCL™

Memory

Motion

Controller

CAN

RS232

4

add.
I/Os

Step

Motor

USB

Step/

Dir

RS485

MOSFET

Driver

Stage

Energy

Efficient

Driver

TMC262

Power

Driver

with

coolStep™

external

Encoder

sensOstep™

Encoder

ABN

Alternative:

Stop

Switches

+5V

ABN

PD86-1180

TMCM-1180

7 Functional Description

In figure 7.1 the main parts of the PD86-1180 are shown. The PANdrive mainly consists of the µC (connected
to the EEPROM TMCL memory), the TMC428/429 motion controller, the TMC262A-PC power driver with its
energy efficient coolStep feature, the external MOSFET driver stage, the QSH8618 stepper motor, and the
integrated sensOstep encoder. Alternatively it is possible to connect an external encoder. Nominal supply
voltages are 24VDC or 48VDC.

Figure 7.1 Main parts of the PD86-1180

7.1 System Architecture

The TMCM-1180 integrates a microcontroller with the TMCL (Trinamic Motion Control Language) operating
system. The motion control real-time tasks are realized by the TMC428/429.

7.1.1 Microcontroller

On this module, the Atmel AT91SAM7X256 is used to run the TMCL operating system and to control the
TMC428/429. The CPU has 256KB flash memory and a 64KB RAM. The microcontroller runs the TMCL (Trinamic
Motion Control Language) operating system which makes it possible to execute TMCL commands that are
sent to the module from the host via the RS232, RS485, USB, or CAN interface. The microcontroller interprets
the TMCL commands and controls the TMC428/429 which executes the motion commands. In addition it is
connected with the encoder interface and processes the inputs.
The flash ROM of the microcontroller holds the TMCL operating system. The TMCL operating system can be
updated via the RS232 interface or via the CAN interface. Use the TMCL-IDE to do this.

7.1.2 EEPROM

To store TMCL programs for stand-alone operation the TMCM-1180 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048
TMCL commands. The EEPROM is also used to store configuration data.

7.1.3 Motion Controller

The TMC428/429 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper­motors. Motion parameters like speed or acceleration are sent to the TMC428/429 via SPI by the
microcontroller. Calculation of ramps and speed profiles are done internally by hardware based on the
target motion parameters.

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 22

stallGuard2

reading

0=maximum load

motor current increment area

motor current reduction area

stall possible

SEMIN

SEMAX+SEMIN+1

Zeit

motor current

current setting CS
(upper limit)

½ or ¼ CS
(lower limit)

mechanical load

current increment due to

increased load

slow current reduction due

to reduced motor load

load angle optimized load angle optimized

load

angle

optimized

7.1.4 Stepper Motor Driver

The TMC262A-PC is an energy efficient high current high precision microstepping driver IC for bipolar stepper
motors. This driver on the TMCM-1180 module is a special version of the TMC262 power driver for PANdrives
with QSH8618 motors.

Its unique high resolution sensorless load detection stallGuard2 is used for a special integrated load
dependent current control feature called coolStep. The ability to read out the load and detect an overload
makes the TMC262 an optimum choice for drives where a high reliability is desired. The TMC262 can be
driven with step/direction signals as well as by serial SPI™.

Figure 7.2 Motor current control via coolStep adapts motor current to motor load

The coolStep current regulator allows to control the reaction of the driver to increasing
or decreasing load. The internal regulator uses two thresholds to determine the
minimum and the maximum load angle for optimum motor operation. The current
increment speed and the current decrement speed can be adapted to the application.
Additionally, the lower current limit can be set in relation to the upper current limit set
by the current scale parameter CS.

7.1.5 sensOstep Encoder

The sensOstep encoder used in this unit is based on a magnetic angular position encoder system with low
resolution. It consists of a small magnet positioned at the back end of a stepper motor axis and a Hall­sensor IC with integrated digital signal processing (e.g. for automatic gain control, temperature
compensation etc.) placed above the magnet on the back side of a motor mounted printed circuit board.
The encoder offers a resolutions of 8 bit (256 steps) per revolution which is completely sufficient for
detecting step losses with a standard 1.8° stepper motors.

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 23

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… 7

3220482

][

][

_







divpulse

CLK

velocityHzf

Hzusf

usrs

Hzusf

Hzfsf

2

][

][ 

29__

max

2

2







divrampdivpulse

CLK

af

a

usrs

2

a

af

8 TMCM-1180 Operational Description

8.1 Calculation: Velocity and Acceleration vs. Microstep and

Fullstep Frequency

The values of the parameters sent to the TMC428/429 do not have typical motor values like rotations per
second as velocity. But these values can be calculated from the TMC428/429-parameters as shown in this
section.

PARAMETERS FOR THE TMC428/429

Table 8.1 TMC428/429 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-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 24

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.

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 25

9 TMCL

TMCL, the TRINAMIC Motion Control Language, is described in separate documentations, which refer to the
specific products (e.g. TMCM-1180 TMCL Firmware Manual). The manuals are provided on www.trinamic.com.
Please refer to these source for updated data sheets and application notes.

10 CANopen

The TMCM-1180 module should also be used with the CANopen protocol in future versions. For this purpose,
a special CANopen firmware is under development. Please contact TRINAMIC if you are interested in this
option.

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 26

11 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 2013

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.

All trademarks used are property of their respective owners.

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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 27

Version

Date

Author

GE – Göran Eggers
SD – Sonja Dwersteg

Description

0.90

2009-AUG-04

GE

Initial version

0.91

2009-NOV-11

GE

New hardware included

1.00

2010-JUN-28

SD

New engineering detail drawings. Functional and operational
descriptions added.

1.01

2011-MAR-21

SD

New front page, minor changes

1.02

2011-JUN-08

SD

Minor changes

1.03

2011-DEC-02

SD

Order codes new, minor changes

1.04

2012-DEC-15

SD

Changes related to the design.

1.05

2013-JUL-26

SD

Connector description updated.
Chapter 4.3.1 updated.

Version

Date

Description

1.00

2010-OCT-29

Pre-series version

1.10

2011-MAR-03

Series version

12 Revision History

12.1 Document Revision

Table 12.1 Document revision

12.2 Hardware Revision

Table 12.2 Hardware revision

13 References

[TMCM-1180 / PD86-1180 TMCL] TMCM-1180 and PD86-1180 TMCL Firmware Manual
[TMCL-IDE] TMCL-IDE User Manual
[QSH8618] QSH8618 Manual

Please refer to www.trinamic.com.

www.trinamic.com