Trinamic TMCM-1140 Manual de usuario

MODULE FOR STEPPER MOTORS MODULE

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Hardware Version V1.3

HARDWARE MANUAL

++TMCM-1140

+ +

UNIQUE FEATURES:

1-Axis Stepper

Controller / Driver

2A / 24 V

sensOstep™ Encoder

USB, RS485, and CAN

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 2

www.trinamic.com

Table of Contents

1Features........................................................................................................................................................................... 3

2Order Codes ................................................................................................................................................................... 5

3Mechanical and Electrical Interfacing..................................................................................................................... 6

3.1 Dimensions and Mounting Holes ................................................................................................................... 6

3.2 Board mounting considerations ..................................................................................................................... 6

3.3 Connectors of TMCM-1140................................................................................................................................. 7

3.3.1 Power and Communication Connector................................................................................................... 8

3.3.1.1 Power Supply .......................................................................................................................................... 8

3.3.1.2 RS485 ......................................................................................................................................................... 9

3.3.1.3 CAN........................................................................................................................................................... 10

3.3.2 Multipurpose I/O Connector..................................................................................................................... 11

3.3.2.1 Digital Inputs IN_1, IN_2, IN_3 ........................................................................................................ 12

3.3.2.2 Analog Input IN_0 ............................................................................................................................... 13

3.3.2.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 13

3.3.3 Motor Connector.......................................................................................................................................... 14

3.3.4 Mini-USB Connector .................................................................................................................................... 15

4Motor driver current .................................................................................................................................................. 16

5Reset to Factory Defaults......................................................................................................................................... 17

6On-Board LEDs............................................................................................................................................................. 18

7Operational Ratings ................................................................................................................................................... 19

8Functional Description.............................................................................................................................................. 21

9TMCM-1140 Operational Description ..................................................................................................................... 22

9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 22

10 Life Support Policy..................................................................................................................................................... 24

11 Revision History.......................................................................................................................................................... 25

11.1 Document Revision ........................................................................................................................................... 25

11.2 Hardware Revision ............................................................................................................................................ 25

12 References .................................................................................................................................................................... 26

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 3

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1Features

The TMCM-1140 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of

the art feature set. It is highly integrated, offers a convenient handling and can be used in many

decentralized applications. The module can be mounted on the back of NEMA 17 (42mm flange size)

stepper motors and has been designed for coil currents up to 2 A RMS and 24 V DC supply voltage. With

its high energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down.

The TMCL™ firmware allows for both, standalone operation and direct mode.

MAIN CHARACTERISTICS

Motion controller

-Motion profile calculation in real-time

-On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

-High performance microcontroller for overall system control and serial communication protocol

handling

Bipolar stepper motor driver

-Up to 256 microsteps per full step

-High-efficient operation, low power dissipation

-Dynamic current control

-Integrated protection

-stallGuard2 feature for stall detection

-coolStep feature for reduced power consumption and heat dissipation

Encoder

-sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all

operating conditions and positioning supervision

Interfaces

-RS485 2-wire communication interface

-CAN 2.0B communication interface

-USB full speed (12Mbit/s) device interface

-4 multipurpose inputs:

-3x general-purpose digital inputs

(Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input)

-1x dedicated analog input

-2 general purpose outputs

-1x open-drain 1A max.

-1x +5V supply output (can be switched on/off in software)

Software

-TMCL: standalone operation or remote controlled operation,

program memory (non volatile) for up to 2048 TMCL commands, and

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

Electrical and mechanical data

-Supply voltage: +24 V DC nominal (9… 28 V DC)

-Motor current: up to 2 A RMS / 2.8 A peak (programmable)

Refer to separate TMCL Firmware Manual, too.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 4

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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.

Load

[Nm]

stallGuard2

Initial stallGuard2

(SG) value: 100%

Max. load

stallGuard2 (SG) value: 0

Maximum load reached.

Motor close to stall.

Motor stalls

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.

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

Figure 1.2 Energy efficiency example with coolStep

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 5

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2Order Codes

Order code

Description

Size (mm3)

TMCM-1140-option

Single axis bipolar stepper motor controller / driver

electronics with integrated sensOstep encoder and

coolStep feature

37 x 37 x 11.5

Table 2.1 Order codes

The following options are available:

Firmware option

Description

Order code example:

-TMCL

Module pre-programmed with TMCL firmware

TMCM-1140-TMCL

-CANopen

Module pre-prgrammed with CANopen firmware

TMCM-1140-CANopen

Table 2.2 Firmware options

A cable loom set is available for this module:

Order code

Description

TMCM-1140-CABLE

Cable loom for TMCM-1140:

-1x cable for power and communication connector (length 200mm)

-1x cable for multipurpose In/Out connector (length 200mm)

-1x cable for motor connector (length 200mm)

-1x USB type A connector to mini-USB type B connector cable (length 1.5m)

Table 2.3 Cable loom order codes

Please note that the TMCM-1140 is available with NEMA17 stepper motors, too. Refer to the PD-1140

documents for more information about these products.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 6

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3Mechanical 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.

2xM3

Figure 3.1 Dimensions of TMCM-1140 and position of mounting holes

3.2 Board mounting considerations

The TMCM-1140 offers two metal plated mounting holes. Both mounting holes are connected to system

and signal ground (same as power supply ground).

In order to minimize distortion of signals and radiation of HF signals (improve EMC compatibility)

especially in sensitive / noisy environments it is important to ensure a solid ground connection within

the system. In order to support this, it is recommended to connect both mounting holes of the board in

addition to the supply ground connection to system power supply ground.

Nevertheless, this might not always be an option e.g. in case the metal system chassis / TMCM-1140

mounting plate is already connected to earth and a direct connection between supply ground (secondary

side) and mains supply earth (primary side) is not desired / not an option. In this case plastic (e.g. made

of nylon) spacers / distance bolts and screws should be used.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 7

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3.3 Connectors of TMCM-1140

The controller/driver board of the TMCM-1140 offers four connectors including the motor connector which

is used for attaching the motor coils to the electronics. The power and communication connector is used

for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four

multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface.

USB

Motor

Multi-purpose

I/O

Power and

Communication

Figure 3.2 Overview connectors

Label

Connector type

Mating connector type

Power and

Communication

Connector

CI0106P1VK0-LF

CVIlux CI01 series, 6 pins, 2mm pitch

Connector housing CVIlux: CI01065000-A

Contacts CVIlux: CI01T011PE0-A

Connector housing JST: PHR-6

Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Multipurpose

I/O Connector

CI0108P1VK0-LF

CVIlux CI01 series, 8 pins, 2mm pitch

Connector housing CVIlux: CI01085000-A

Contacts CVIlux: CI01T011PE0-A

Connector housing JST: PHR-8

Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Motor

Connector

CI0104P1VK0-LF

CVIlux CI01 series, 4 pins, 2mm pitch

Connector housing CVIlux: CI01045000-A

Contacts CVIlux: CI01T011PE0-A

Connector housing JST: PHR-4

Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Mini-USB

Connector

Molex 500075-1517

Mini USB Type B vertical receptacle

Any standard mini-USB plug

Table 3.1 Connectors and mating connectors, contacts and applicable wire

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 8

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3.3.1 Power and Communication Connector

A 6pin CVIlux CI0106P1VK0-LF 2mm pitch single row connector is used for power supply, RS485 and CAN

serial communication. Please note the additional power supply information in chapter 3.3.1.1.

Note: CAN interface will be de-activated in case USB is connected due to internal sharing of hardware

resources.

Label

Direction

Description

GND

Power (GND)

System and signal ground

VDD

Power (Supply)

VDD (+9V…+28V)

RS485+

Bidirectional

RS485 interface, diff. signal (non-inverting)

RS485-

Bidirectional

RS485 interface, diff. signal (inverting)

CAN_H

Bidirectional

CAN interface, diff. signal (non-inverting)

CAN_L

Bidirectional

CAN interface, diff. signal (inverting)

Table 3.2 Connector for power supply and interfaces

3.3.1.1 Power Supply

For proper operation care has to be taken with regard to power supply concept and design. Due to space

restrictions the TMCM-1140 includes about 40µF/35V of supply filter capacitors. These are ceramic

capacitors which have been selected for high reliability and long life time. The module includes a 28V

suppressor diode for over-voltage protection.

CAUTION!

Add external power supply capacitors!

It is recommended to connect an electrolytic capacitor of significant size (e.g. at least

470µF/35V) to the power supply lines next to the TMCM-1140!

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 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.

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 28V!

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 7, operating values.

There is no reverse polarity protection!

The module will short any reversed supply voltage due to internal diodes of the driver

transistors.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 9

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3.3.1.2 RS485

For remote control and communication with a host system the TMCM-1140 provides a two wire RS485

bus interface. For proper operation the following items should be taken into account when setting up an

RS485 network:

1. BUS STRUCTURE:

The network topology should follow a bus structure as closely as possible. That is, the

connection between each node and the bus itself should be as short as possible. Basically, it

should be short compared to the length of the bus.

c:> node

node

n- 1

node

Host Slave Slave Slave

RS485

termination

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as

short as possible

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-1140

does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both

ends of the bus have to be added externally.

3. NUMBER OF NODES:

The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a

single bus. The bus transceivers used on the TMCM-1140 units (hardware V1.2: SN65HVD3082ED,

since hardware V1.3: SN65HVD1781D) have a significantly reduced bus load and allow a

maximum of 255 units to be connected to a single RS485 bus using TMCL firmware. Please note:

usually it cannot be expected to get reliable communication with the maximum number of nodes

connected to one bus and maximum supported communication speed at the same time. Instead,

a compromise has to be found between bus cable length, communication speed and number of

nodes.

4. COMMUNICATION SPEED:

The maximum RS485 communication speed supported by the TMCM-1140 hardware V1.2 is 115200

bit/s and 1Mbit/s since hardware V1.3. Factory default is 9600 bit/s. Please see separate TMCM-

1140 TMCL firmware manual for information regarding other possible communication speeds

below the upper limit in hardware.

5. 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.

There are actually two options which can be recommended:

Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both

ends):

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 10

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node

n- 1

node

Slave Slave

termination

resistor

(120R)

+5V

GND

pull-up (680R)

pull-down (680R)

RS485- / RS485B

termination

resistor

(220R)

RS485+ / RS485A

Figure 3.4: Bus lines with resistor (Bias) network on one side, only

Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination):

node

n- 1

node

Slave Slave

termination

resistor

(220R)

+5V

GND

pull-up (390R)

pull-down (390R)

RS485- / RS485B

RS485+ / RS485A

termination

resistor

(220R)

+5V

GND

pull-up (390R)

pull-down (390R)

Figure 3.5: Bus lines with resistor (Bias) network at both ends

Certain RS485 interface converters available for PCs already include these additional resistors (e.g.

USB-2-485 with bias network at one end of the bus).

3.3.1.3 CAN

For remote control and communication with a host system the TMCM-1140 provides a CAN bus interface.

Please note that the CAN interface is not available in case USB is connected. For proper operation the

following items should be taken into account when setting up a CAN network:

1. BUS STRUCTURE:

The network topology should follow a bus structure as closely as possible. That is, the

connection between each node and the bus itself should be as short as possible. Basically, it

should be short compared to the length of the bus.

c:> node

node

n- 1

node

Host Slave Slave Slave

CAN

termination

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as

short as possible

Figure 3.6 CAN bus structure

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