Trinamic TMC332 Manual de usuario

TMC332 Evaluation Board

Manual

Version: 2.10

January 8, 2010

TRINAMIC Motion Control GmbH & Co. KG

Sternstraße 67

D –20357 Hamburg, Germany

Phone +49-40-51 48 06 –0,

FAX: +49-40-51 48 06 –60

http://www.trinamic.com

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 2

Table of Contents

1INTRODUCTION.............................................................................................................................. 3

2ELECTRICAL CHARACTERISTICS ............................................................................................... 3

3CONNECTORS................................................................................................................................ 4

3.1 POWER CONNECTORS (J1, J7) ............................................................................................................ 4

3.2 MOTOR CONNECTORS (J2, J3) ............................................................................................................ 4

3.3 RS232 CONNECTOR (X1001)............................................................................................................. 5

3.4 ENCODER INPUT CONNECTORS (J4, J5) ................................................................................................. 5

3.5 ENCODER COMPARE OUTPUTS (J9) ....................................................................................................... 5

3.6 STEP/DIRECTION INPUT CONNECTOR (J8).............................................................................................. 6

3.7 REFERENCE SWITCH CONNECTOR (X1100)............................................................................................. 6

3.8 ANALOG INPUT/GENERAL PURPOSE OUTPUT CONNECTOR (J6)..................................................................... 6

4CONTROL ELEMENTS................................................................................................................... 7

4.1 POTENTIOMETER ............................................................................................................................. 7

4.2 LEDS AND CONTROL KEYS S1 &S2 &S3 ........................................................................................... 7

4.3 REFERENCE SWITCHES REFL&REFR(S4 &S5) .................................................................................... 7

5CONFIGURATION JUMPERS......................................................................................................... 8

5.1 ANALOG SOURCE SELECTION .............................................................................................................. 8

5.2 SCS_S ......................................................................................................................................... 8

5.3 STDBY ........................................................................................................................................ 8

5.4 STANDALONE CONFIGURATION ........................................................................................................... 8

5.4.1 Standalone Group 1............................................................................................................ 8

5.4.2 Standalone Group 2............................................................................................................ 8

5.4.3 Standalone Group 3............................................................................................................ 9

5.4.4 Standalone Group 4............................................................................................................ 9

5.4.5 Standalone Group 5............................................................................................................ 9

6RECOMMENDED MOTORS ......................................................................................................... 10

6.1 THREE PHASE STEPPER MOTOR......................................................................................................... 10

6.2 TWO PHASE STEPPER MOTOR .......................................................................................................... 10

6.3 CHANGING THE CONNECTED MOTOR .................................................................................................. 10

7TMC428 EVAL BOARD SOFTWARE V 1.45 FOR TMC332 EVAL BOARD................................ 11

8QUICK START............................................................................................................................... 12

8.1 CONNECTIONS .............................................................................................................................. 12

8.2 CONTROL VIA S1, S2, S3 AND THE POTENTIOMETER ............................................................................. 12

8.3 STARTING THE SOFTWARE ............................................................................................................... 12

8.4 CONNECTION OF SPECIAL MOTORS (LOW PHASE RESISTANCE).................................................................. 12

8.5 USING THE TMC457-EVAL AS STEP/DIRECTION SIGNAL GENERATOR ........................................................ 12

9VERSION HISTORY ...................................................................................................................... 13

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 3

1Introduction

The TRINAMIC TMC332 evaluation board is a stepper motor driver module that is capable of driving

either one two-phase bipolar stepping motor or one three-phase stepping motor with a maximum coil

current of 3A.

The board is compatible with a modified version of the TMC428 evaluation software to access the

TMC332 registers. Additionally, the board is equipped with three control keys and a potentiometer for

stand-alone motor control and inputs for a step-direction interface and an ABN-Encoder.

The TMC332 is controlled by a TMC428. For the TMC428, the TMC332 is simply another SPI driver.

The TMC332 includes an SPI interface for the TMC428 SPI driver chain, an SPI interface for

configuration, a high resolution micro step sequencer, three high resolution PWM units to control

either four half bridges for two-phase stepper motors or three half bridges for three phase stepper

motors.

The half bridges are driven by two TMC603.

The dimensions of the evaluation board are 153mm x 100mm. Four mounting holes with a diameter of

3.2mm are located at the corners of the board, with the centers located 3.5mm from the edges.

2Electrical Characteristics

-Nominal operating voltage: 24V

-Operating voltage range: 15V to 36V

-Maximum allowed current: 3A peak

-Maximum motor current with regulation: 2.4A peak

-Input voltage for step/direction and ABN decoder inputs: 0V (low) to 5V (high)

-Input voltage range for analog input: 0V to 5V

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 4

3Connectors

Figure 1: TMC332 Evaluation Board –connectors

Figure 1 shows the positions of the connectors. The red squares denote Pin 1 of the connectors.

3.1 Power connectors (J1, J7)

The TMC332 Evaluation Board has two connectors for Power supply. One RIACON connector with

5.08mm spacing (J1) and one connector (J7) that is compatible with notebook AC adapter (e.g.

ThinkPadTM AC adapter, GND on the outside, supply voltage on the inside).

The nominal supply voltage of the board is 24V.

3.2 Motor connectors (J2, J3)

To connect the motor, one can either use the header with 2.54mm spacing (J3) or the 4-pin RIACON

connector (J2).

The TMC332 evaluation board can control two and three phase stepper motors. Three phase stepper

motors have to be connected to X1_U (red), X2_V (blue) and Y1_W (yellow). Two phase stepper motors

have to be connected to X1_U, X2_V, Y1_W and Y2; phase X to X1_U and X2_V and phase Y to Y1_W

and Y2.

Two phase stepper

Three phase stepper

n.c.

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 5

3.3 RS232 connector (X1001)

To use the eval software to change parameters on the board, the board has to be connected to a PC

with a standard nullmodem cable, plugged into this connector.

Signal

RxD (data to the board)

TxD (data from the board)

GND

3.4 Encoder input connectors (J4, J5)

A default ABN incremental encoder with TTL or open collector output can be connected to this input. A

5-pin header (J4) or a 5-pin RIACON (J5) 5.08mm connector are available. These two connectors have

different pin assignments:

Header

RIACON

+5V

GND

3.5 Encoder compare outputs (J9)

The three encoder compare outputs of the TMC332 are available on this 5-pin header.

Header

n.c.

ENC_O_1

ENC_O_2

ENC_O_3

GND

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 6

3.6 Step/Direction input connector (J8)

With this input, Step/Direction signals (TTL level) can be applied to the TMC332. The connector is a 4

pin RIACON 3.5mm connector.

Signal

+5V

Step

Dir

GND

3.7 Reference switch connector (X1100)

This 10-pin header connector has inputs for two reference switches that can be used additionally to

those on the board (S4, S5).

Signal

GND

Ref L (S4)

+3.3V

Ref R (S5)

+3.3V

n.c.

+3.3V

GND

3.8 Analog input/General purpose output connector (J6)

On this connector one 0V to 5V analog input and one general purpose output as well as connections

to 5V and ground are available. The output is an open collector output with a 10k pull up resistor

(R1009) to +5V.

Signal

A_IN

Output

+5V

GND

n.c.

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 7

4Control Elements

4.1 Potentiometer

Depending on the selected mode, the potentiometer is used to define either a position or a speed.

The mode is selected with the control key S2 (4.2, p. 7).

4.2 LEDs and Control Keys S1 & S2 & S3

The two LEDs are used for showing the configured motor type (two or three phase) and the operating

mode.

The three switches (S1 to S3 from left to right) have the following functions:

S1: Switch between two phase and three phase motor mode (the red LED is on when the two phase

mode is active)

S2: Switch different functions depending on operating mode. When the motor is stopped, this button

toggles the enable signal for the two TMC603 (enabled on power on). When the board is in velocity

mode, this button toggles the direction of rotation of the motor by negating the velocity value. In

positioning mode this button toggles between two positioning velocities.

S3: Switch between the operating modes. The active operating mode is shown via the green LED.

Positioning mode (potentiometer controls the position, the green LED flashes with ~5Hz).

Velocity mode (potentiometer controls the velocity, the green LED flashes with ~1Hz)

Stop mode (power on default, the green LED flashes with ~0.5Hz)

4.3 Reference Switches RefL & RefR (S4 & S5)

The reference switches are processed by the TMC428 depending on its configuration. The default

configuration is that both switches are used as stop switches.

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 8

5Configuration Jumpers

5.1 Analog source selection

With this jumper, the source of the analog input on the microcontroller can be selected. If the jumper

connects the left (Pot.) and the middle pin, the potentiometer is used as input. If the jumper connects

the right (AIN) and the middle pin, the voltage on the A_IN pin of connector J6 is used. This input is

capable of an input voltage between 0V and 5V.

5.2 SCS_S

This jumper connects the Slave chip select line from the TMC428 to the TMC332 and should only be

removed when using the step/direction input of the board. When this jumper is open, the TMC428

does react to the evaluation software but no signals are passed on to the TMC332. The SPI access to

the TMC332 register bank is unaffected by this jumper.

5.3 STDBY

This jumper connects the STDBY pin of the TMC332 to 3.3V to enable power down mode externally. In

normal operation it should not been set.

5.4 Standalone configuration

The Jumpers for standalone configuration of the TMC332 are grouped as two row pin headers. The

exact function of each pin is shown in the TMC332 manual.

5.4.1 Standalone Group 1

Jumper

Function

PWM_AMPL_0

Selects

one PWM

amplitude

setting

PWM_AMPL_1

PWM_AMPL_2

PWM_AMPL_3

5.4.2 Standalone Group 2

Jumper

Function

P_REG_CUR_0

Selects one regulator

target current setting

P_REG_CUR_1

P_REG_P_0

Selects one regulator P-

parameter setting

P_REG_P_1

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 9

5.4.3 Standalone Group 3

Jumper

Function

PD_AMOUNT_1

Selects one power down

amount setting

PD_AMOUNT_0

PHI_1

Selects one microstep

table step width setting

PHI_0

5.4.4 Standalone Group 4

Jumper

Function

STANDALONE_EN

Enable standalone configuration

FS_THRS_2

Selects one full step

threshold setting

FS_THRS_1

FS_THRS_0

5.4.5 Standalone Group 5

Jumper

Function

SD_SEL_1

Selects one slow decay

amount setting

SD_SEL_0

FS_CUR_1

Selects one full step

current setting

FS_CUR_0

TMC332 Evaluation Board Manual (V. 2.10 / January 8, 2010) 10

6Recommended Motors

The recommendations are the default settings of the evaluation board. The recommended supply

voltage for these settings is 24V. For other voltages and other motors these settings might have to be

adjusted.

6.1 Three Phase Stepper Motor

JapanServo, Type KT42JM06-551

Recommended settings (PHI settings for full speed range (-2048..2047) without regulation):

PHI_INT = 1

PHI_FRAC = 0

PWM_AMPL = 31

Modulation = ON

For current regulated operation:

Tolerance = 1

P-parameter = 30

Target current = 85

PWM_AMPL = 255 (Limit)

If automatic fullstep switching is needed (with higher PHI setting):

FS Target Current = 10

FS Threshold = 40

6.2 Two Phase Stepper Motor

QMot, QSH-4218-41-10-035

Recommended settings (PHI settings for full speed range (-2048..2047) without regulation):

PHI_INT = 0

PHI_FRAC = 8388608 (2^23)

PWM_AMPL = 31

Modulation = ON

For current regulated operation:

Tolerance = 1

P-parameter = 30

Target current = 55

PWM_AMPL = 255 (Limit)

If automatic fullstep switching is needed (with higher PHI setting):

FS Target Current = 6

FS Threshold = 90

6.3 Changing the connected Motor

To change the motor, the board does not have to be switched off when following this procedure:

- Change into Stop Mode (Key S2)

- Disable the TMC603 drivers (Key S1)

- Change the motor

- Make sure, the settings (SPI registers or standalone configuration) fit the new motor

- If necessary, switch the motor type (Key S3)

- Enable the TMC603 (Key S1)

- Switch to the other operating modes (Key S2)

When changing the motor without disabling the TMC603, the bridge transistors might be destroyed.

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