MODULE FOR BLDC MOTORS MODULE
Hardware Version V 1.1
HARDWARE MANUAL
+ +
1-Axis BLDC
Controller / Driver
plug-in module
10A / 48V DC
RS232 / CAN or
RS485 / USB
+ +
TMCM-1630
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 2
Table of contents
1 Life support policy ....................................................................................................................................................... 3
2 Features ........................................................................................................................................................................... 4
3 Order codes .................................................................................................................................................................... 5
4 Mechanical and electrical interfacing ..................................................................................................................... 6
4.1 Dimensions of the module ............................................................................................................................... 6
5 Connectors ...................................................................................................................................................................... 7
5.1 Motor and power connector ............................................................................................................................ 9
5.1.1 Power supply requirements ....................................................................................................................... 9
5.2 Communication, GPIO, and encoder connector........................................................................................ 10
5.2.1 Reset the module to factory defaults .................................................................................................... 10
5.2.2 Inputs .............................................................................................................................................................. 11
5.2.3 Open drain outputs ..................................................................................................................................... 12
5.2.4 Encoder ........................................................................................................................................................... 13
6 LEDs ................................................................................................................................................................................ 14
7 Operational ratings .................................................................................................................................................... 15
8 Functional description .............................................................................................................................................. 16
8.1 System architecture ........................................................................................................................................... 16
8.1.1 Microcontroller ............................................................................................................................................. 16
8.1.2 TMC603A pre-driver ..................................................................................................................................... 16
9 Revision history .......................................................................................................................................................... 17
9.1 Document revision ............................................................................................................................................ 17
9.2 Hardware revision ............................................................................................................................................. 17
10 References..................................................................................................................................................................... 17
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 3
1 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 - 2018
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-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 4
2 Features
The TMCM-1630 is a highly integrated single axis BLDC servo controller module with several interface-options.
The highly integrated module (size: 50mm x 92.5 mm) has been designed in order to be plugged onto a
baseboard. It integrates velocity and position control and offers hall sensor and incremental encoder (a/b/n)
inputs. The module can be used in stand alone operation or remote controlled.
Applications
Demanding single and multi-axis BLDC motor solutions
Electrical data
Supply voltage: +24V DC or +48V DC nominal (+12… +55V DC max.)
Motor current: up to 10A RMS (programmable) peak
Integrated motion controller
High performance ARM Cortex™-M3 microcontroller for system control and communication protocol
handling
Integrated motor driver
High performance integrated pre-driver (TMC603A)
High-efficient operation, low power dissipation (MOSFETs with low R
Dynamic current control
Integrated protection
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Interfaces
Two standard assembly options:
- RS232 and CAN (2.0B up to 1Mbit/s)
- RS485 and USB (High-speed 12Mbit/s)
2 analogue and 2 digital inputs
3 open drain outputs
Motor type
Block commutated 3 phase BLDC motors with optional hall sensors / optional encoder
Motor power from a few Watts to nearly 500W
Motor velocity up to 100,000 RPM (electrical field)
Common supply voltages of 12V DC, 24V DC, 36V DC and 48V DC supported
Coil current up to 10A peak
Software
TMCL™ stand-alone operation or remote controlled operation
TMCL™ program memory (non volatile) for up to 2048 TMCL™ commands
TMCL™ PC-based application development software TMCL-IDE and TMCL-BLDC available for free
CANopen: for CANopen support please consider using the TMCM-1633
Other
Two double-row 2.54mm connectors
ROHS compliant
Size: 50x92.5mm²
Please see separate TMCL™ Firmware Manual for additional information
DS(ON)
)
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 5
Order code
Description
Dimensions [mm]
TMCM-1630-4U-TMCL
Single axis BLDC plug-in servo controller module
with RS485 interface, USB interface and TMCL™
firmware
50 x 92.5 x 14*
TMCM-1630-2C-TMCL
Single axis BLDC plug-in servo controller module
with RS232 interface, CAN interface, and TMCL™
firmware
50 x 92.5 x 14*
3 Order codes
* Module height (14mm) including connectors
Table 3.1: Order codes
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 6
92.5
50
88.5
4
46
4
4 x 3.2
4 Mechanical and electrical interfacing
4.1 Dimensions of the module
The module has a size of 92.5mm x 50mm. It offers four mounting holes (diameter: 3.2mm). Maximum overall
height of the module including connectors: approx. 14mm.
Figure 4.1: Size of module
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 7
+5V
Torque
Dir_IN
Stop_IN
LED_Curlim
GND
Enc_A+
Enc_B+
1
3
5
7
Enc_N+
CANL/USBD-
CANH/USBD+
USB_+VB
GND
19
21
23
25
9
11
13
15
17
Velocity
GND
Tacho
LED_Temp
+5V
GND
Enc_A-
Enc_B-
2
4
6
8
Enc_N-
RXD/485-
TXD/485+
n.c.
GND
20
22
24
26
10
12
14
16
18
Hall1
+5V
GND
GND
GND
+VM
+VM
U
25
23
21
19
U
V
V
W
W
7
5
3
1
17
15
13
11
9
Hall2
Hall3
GND
GND
GND
+VM
+VM
U
26
24
22
20
U
V
V
W
W
8
6
4
2
18
16
14
12
10
Domain
Connector type
Mating connector type
I/Os, interfaces,
encoder
TSM-113-03-L-DV-K-A, 2x13 poles, double
row, 2.54mm pitch, SMD vertical, Samtec
SSW, SSQ, SSM, BSW, ESW, ESQ, BCS, SLW,
CES, HLE , IDSS and IDSD series, Samtec
Power, motor
TSM-113-03-L-DV-K-A, 2x13 poles, double
row, 2.54mm pitch, SMD vertical, Samtec
SSW, SSQ, SSM, BSW, ESW, ESQ, BCS, SLW,
CES, HLE , IDSS and IDSD series, Samtec
Since the two connectors of the TMCM-1630 are similar be careful not to plug-in the module the other
way round. Also, be sure to place the connectors exactly to their mating opponents. Not following
these guidelines might cause permanent damage to the module when turning power supply on.
5 Connectors
The module offers two double row 2.54mm pitch standard connectors, one at each end of the board.
Figure 5.1: Connectors
Table 5.1: Connector type and mating connector of the TMCM-1630
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 8
GND
+VM
U
V
W
Connector type assembled on board
Mating connector type
RIA AKL 330-05 5pin, 5.0mm pitch connector
1x RIA AKL 349-05 5pin, 5.0mm pitch screw connector
or
1x RIA AKL 349-02 2pin, 5.0mm pitch screw connector
for power supply (+VM and GND) and
1x RIA AKL 349-03 3pin 5.0mm pitch screw connector
for motor coil connection (U, V, W)
Especially for higher motor currents the module offers an assembly option for a detachable screw connector
which will be assembled on the top side of the board. The 5 pin connector offers power supply (+VM and
GND) and motor coil (U, V, W) connections:
Figure 5.2: Additional detachable screw connector as assembly option
The signals are connected 1:1 to the signals with the same label on the two-row motor and power connector
header on the bottom side of the board.
Table 5.2: Connector type and mating connector of the detachable screw connector
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 9
Pin
Label
Description
Pin
Label
Description
1 W Motor coil W
2 W Motor coil W
3 W Motor coil W
4 W Motor coil W
5 V Motor coil V
6 V Motor coil V
7 V Motor coil V
8 V Motor coil V
9 U Motor coil U
10 U Motor coil U
11 U Motor coil U
12 U Motor coil U
13
VM
Module driver supply voltage
14
VM
Module driver supply voltage
15
VM
Module driver supply voltage
16
VM
Module driver supply voltage
17
GND
Module ground (power supply
and signal ground)
18
GND
Module ground (power supply
and signal ground)
19
GND
Module ground (power supply
and signal ground)
20
GND
Module ground (power supply
and signal ground)
21
GND
Module ground (power supply
and signal ground)
22
GND
Module ground (power supply
and signal ground)
23
+5V
+5V output (100mA max.) for
encoder and/or hall sensor
supply
24
HALL3
Hall sensor 3 signal input
25
HALL1
Hall sensor 1 signal input
26
HALL2
Hall sensor 2 signal input
5.1 Motor and power connector
A double row 26 pin header with 2.54mm pitch is used for connecting all motor related signals and module
power supply.
Table 5.3: Connector for motor related signals and power supply
5.1.1 Power supply requirements
The power supply should be designed in a way, that it supplies the nominal motor voltage at the desired
maximum motor current. In no case shall the supply voltage exceed the upper or lower voltage limits. To be
able to cope with high voltage spikes which might be caused by energy fed back from the motor during
deceleration, a sufficient power supply capacitor should be added on the baseboard closed to the module.
Depending on the motor and expected motor current please use a 4700µF or larger capacitor with suitable
voltage rating. Additionally, a suitable suppressor (zener-) diode might be useful.
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 10
Pin
Label
Description
Pin
Label
Description
1
+5V
5V analog reference as used by
the internal DAC.
Max. load 0.5mA
2
Velocity
Used for velocity control in
stand alone operation by
supplying external 0 – 10V
signal
3
Torque
Used for max. motor current /
torque control in stand alone
operation by supplying external
0-10V signal
4
GND
Module ground (power supply
and signal ground)
5
Dir_IN
5V TTL input. Tie to GND to
inverse motor direction, leave
open or tie to 5V otherwise.
6
Tacho
This pin outputs a tacho
impulse, i.e. toggles on each
hall sensor change
7
Stop_IN
Emergency stop. Tie this pin to
GND to stop the motor (same as
the Motor Off switch on PCB).
The motor can be restarted via
the interface, or by cycling the
power supply
8
LED-Temp
5V TTL output: Toggling with
3Hz when temperature prewarning threshold is exceeded,
high when module shut down
due to overtemperature
9
LED-Curlim
High, when module goes into
current limiting mode
10
+5V
5V output as reference for
external purpose
11
GND
GND reference
12
GND
GND reference
13
Enc_A+
Encoder A+ channel
14
Enc_A-
Encoder A- channel
15
Enc_B+
Encoder B+ channel
16
Enc_B-
Encoder B- channel
17
Enc_N+
Encoder N+ channel
18
Enc_N-
Encoder N- channel
19
CANL/USBD-
CAN low /
USB D- bus line
20
RXD/
485-
RXD signal for RS232 /
inverting signal for RS485
21
CANH/USBD+
CAN high /
USB D+ bus line
22
TXD/
485+
TXD signal for RS232 /
non inverting signal for RS485
23
USB_+VB
Use to detect availability of
attached host system (e.g. PC)
24
n.c.
25
GND
GND reference
26
GND
GND reference
Interface
Description
RS232
Short RxD and TxD for resetting the module.
USB
Use your USB interface for resetting the module
with the functions of TMCL-IDE. Please refer to the
TMCL™ Firmware Manual.
5.2 Communication, GPIO, and encoder connector
A double row 26 pin header with 2.54mm pitch is used for connecting all communication and GPIO signals.
Table 5.4: Connector for communication and GPIOs
5.2.1 Reset the module to factory defaults
Table 5.5: Reset the module to factory defaults
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 11
Pin
Label
analogue/digital
Description
2
Velocity
analogue
Used for velocity control in stand alone operation by
supplying external 0 – 10V signal
3
Torque
analogue
Used for max. motor current / torque control in stand alone
operation by supplying external 0 – 10V signal
5
Dir_IN
digital
Direction input (+5V TTL compatible). Tie to GND to inverse motor
direction, leave open or tie to +5V otherwise.
7
Stop_IN
digital
Emergency stop. Tie this pin to GND to stop the motor. The motor
can be restarted via the interface, or by cycling the power supply
GND
+3.3V
GND
+3.3V
GND
+3.3V
GND
+3.3V
GND
19k1/1%
GND
19k1/1%
10k/1%
39k
39k
100pF/50V
GND
100pF/50V
GND
100pF/50V
GND
100pF/50V
GND
Header
10k/1%
Velocity
Torque
DIR_IN
STOP_IN
5.2.2 Inputs
The TMCM-1630 offers two analogue and two digital inputs.
Figure 5.3: Internal circuit of analogue and digital inputs
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 12
Pin
Label
Description
6
Tacho
This pin outputs a tacho impulse, i.e. toggles on each hall sensor
change
8
LED-Temp
+5V TTL output: Toggling with 3Hz when temperature pre-warning
threshold is exceeded, low when module shut down due to
overtemperature
9
LED-Curlim
Low when module goes into current limiting mode
220R
GND
GND
10k/1%
Header
Tacho
LED-Temp
LED-Curlim
1kOO/1%
+VM
+5V
5.2.3 Open drain outputs
The module offers three open drain outputs. Two of them (LED-Temp and LED-Curlim) power on-board LEDs,
also. Please refer to paragraph 6 for more information about the LEDs.
Table 5.6: Outputs of the TMCM-1630
Figure 5.4: Internal circuit of the outputs
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 13
Pin
Label
Description
13
Enc_A+
Encoder A+ channel
14
Enc_A-
Encoder A- channel
15
Enc_B+
Encoder B+ channel
16
Enc_B-
Encoder B- channel
17
Enc_N+
Encoder N+ channel
18
Enc_N-
Encoder N- channel
GND
A-
A+
B+
B-
N+
N-
2k2/1%
3k30/1%
47k/5%
47k/5%
47k/5%
470R/5%
470R/5%
470R/5%
+5V
120R/5%
120R/5%
120R/5%
Differential
Line
Recever
ENC_A
ENC_B
ENC_N
5.2.4 Encoder
Table 5.7: Encoder channels of TMCM-1630
Figure 5.5: Internal circuit of the encoder channels
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 14
Power
Error
Current overload
Temperature warning
LED
Color
Description
Power
green
LED is ON, if the on-board +5V are available
Error
red
ON in case of error
Current overload
red
Blink
The current limit LED blinks upon under voltage
switch off
ON/Flicker
Motor PWM is reduced due to exceeding the set
motor current limit
Temperature warning
red
Blink
The power stage on the module has exceeded
a critical temperature of 100°C (Pre-warning)
ON
The power stage on the module has exceeded
the critical temperature of 125°C. The motor
becomes switched off, until temperature falls
below 115°C. The measurement is correct to
about +/-10°C
6 LEDs
The TMCM-1630 module has 4 on-board LEDs for power, error indication, current overload, and temperature
warning. The LEDs are placed on the back of the module. You can plug the module on its baseboard and take
a look at the LEDs on the backside of the module.
Figure 6.1: On-board LEDs
Table 6.1: LEDs signals and their meaning
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 15
Symbol
Parameter
Min
Typ
Max
Unit
VS
Power supply voltage for operation
12
24, 48
55
V
IS
Power supply current
0.04 I
MOT
A PID
Module idle power consumption
1.2 W
V5
5 Volt (+-8%) output external load (hall sensors plus other
load)
100
mA
IMC
Continuous Motor current at VMF
0 – 8
10 A IMP
Short time Motor current in acceleration periods
0 – 10
A
VI
Logic input voltage on digital / hall sensor inputs
-0.3 VCC+
0.3
V
IO
Sink current on digital outputs (open-drain outputs)
1 A VIA
Analog input voltage
-24
0 – 10
24
V
f
CHOP
Chopper frequency
20
kHz
Ex
Exactness of voltage and current measurement
-8 +8
%
T
SL
Motor output slope (U, V, W)
100
ns
TO
Environment temperature operating
-25 +70
°C
TOF
Environment temperature for operation at full specified
current (air flow required, depending upon motor /
voltage)
-25 +60
°C
T
board
Temperature of the module, as measured by the
integrated sensor.
<100
125
°C
7 Operational ratings
The operational ratings show the intended/the characteristic range for the values and should be used as
design values. An operation within the limiting values is possible, but shall not be used for extended periods,
because the unit life time may be shortened. In no case shall the limiting values be exceeded.
Table 7.1: Operational ratings
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 16
5V
3.3V
12… 55V DC
TMCM-1630
BLDC Motor
Analogue Inputs:
Velocity,
Torque
Digital Inputs:
Dir_IN,
Stop_IN
Open drain outputs:
Tacho,
LED_Temp,
LED_Curlim
MOSFET
driver
stage
Cortex_M3
CPU
TMC603
BLDC motor
driver
encoder
feedback
optional
Hall sensor
feedback
optional
3
2
2
USB or CAN
RS232 or RS485
ABN
EEPROM
hall
FX
8 Functional description
In figure 8.1 the main parts of the TMCM-1630 module are shown. The module mainly consists of the Cortex™M3 CPU, TRINAMICs highly integrated TMC603 BLDC motor pre-driver, the MOSFET driver stage, different
interfaces (depends up-on which option you have chosen), the inputs, and the outputs (open drain).
Figure 8.1: Main parts of the TMCM-1630
8.1 System architecture
The TMCM-1630 integrates a microcontroller with the TMCL™ Firmware or CANopen. The motion control realtime tasks are realized by the TMC603A.
8.1.1 Microcontroller
On this module, the ARM Cortex-M3™ CPU 32-bit processor is used to run the TMCL™ operating system and
to control the TMC603A. The flash memory of the microcontroller holds the TMCL™ operating system. The
EEPROM memory is used to permanently store configuration data. The microcontroller runs the TMCL™ or
CANopen operating system which makes it possible to execute commands that are sent to the module from
the host via the interface. The microcontroller interprets the commands and controls the TMC603A.
The TMCL™ operating system can be updated via the host interface. Please use the latest version of the TMCLIDE to do this.
8.1.2 TMC603A pre-driver
The TMC603A is a three phase motor driver for highly compact and energy efficient drive solutions. It contains
all power and analog circuitry required for a high performance BLDC motor system. The TMC603A is designed
to provide the frontend for a microcontroller doing motor commutation and control algorithms. Protection
and diagnostic features as well as a step down switching regulator reduce system cost and increase reliability.
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TMCM-1630 Hardware Manual (Rev. 1.05 / 2018-JUN-25) 17
Version
Date
Author
Description
1.00
2011-JUN-02
SD
Initial version
1.01
2011-NOV-07
SD
Minor changes
1.02
2012-JUN-11
SD
Hall signal description (connector) corrected.
1.03
2012-JUL-03
GE
Assembly option for 5pin detachable screw connector for power and
motor coil connection on top side of module added.
1.04
2018-JAN-15
GE
Minor changes:
Note on sensorless operation (hallFX™) removed
Note on CANopen support under development removed (see TMCM-
1633 for CANopen support)
Several Updates / corrections
1.05
2018-JUN-25
GE
Minor changes:
Type of document corrected: “Module for BLDC Motors”
Document property title changed to TMCM-1630 Hardware Manual
Version
Date
Description
V1.0
2011-JAN-19
First version
V1.1
2012-OCT-17
Hall sensor input buffer replaced in order to avoid start-up issues with on-board
switching regulator under certain conditions
Filter circuit for CAN + RS232 removed
Label “Current” and “Temp” corrected
Minor corrections
9 Revision history
9.1 Document revision
Table 9.1: Document revision
9.2 Hardware revision
Table 9.2: Hardware revision
10 References
[TMCM-1630] TMCM-1630 TMCL™ Firmware Manual
[BB-1630] BB-1630 Hardware Manual
[TMCL-IDE] TMCL-IDE User Manual
[TMCL-BLDC] TMCL-BLDC User Manual
Please refer to www.trinamic.com.
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