User manual

TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 14
www.trinamic.com
4 Functional Description
The TMCM-1110 stepRocker is a highly integrated 1-axes controller/driver module. The TMCM-1110 can be
controlled via RS485 or USB serial interfaces (CAN retro-fit option).
The TMCM-1110 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion
Control Language (TMCL™). Using predefined TMCL™ high level commands like move to position a rapid and
fast development of motion control applications is guaranteed. Whereas the boot loader is installed during
production and testing at TRINAMIC and remains normally untouched throughout the whole lifetime, the
firmware can be updated by the user.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are performed on
board. Full remote control of device with feedback is possible. The firmware of the module can be updated via
any of the serial interfaces.
In case, you prefer developing your own TMCL™ commands for the stepRocker refer to www.steprocker.com.
The TMCL™ boot loader on the board can be used for downloading new TMCL™ programs including such
personal extensions, too.
The TMCM-1110 module contains the following main components:
˗ ARM Cortex-MO processor Core S3FN41F microcontroller with built-in up to 256 Kbytes program flash
memory and up to 32 Kbytes SRAM. Processor is equipped with crystal (more precision for USB
communication).
˗ TMC429 highly integrated 3 axes stepper motor controller. Step-/direction outputs for motor 0 connected
to TMC262.
˗ TMC262 advanced stepper motor driver IC with stallGuard2™ and coolStep™ with integrated MOSFET
driver transistors (4x power MOSFETs for 2-phase bipolar stepper option) for motor 0.
˗ RS485 and USB transceivers.
˗ On-board switching and linear voltage regulators for supply of on-board digital circuits
10… 30V DC
µC
S3FN41F
EEPROM
CAN
assembly
option
USB
4
Inputs
1x analogue
3x with pull-ups
progammable
Motion
Controller
TMC429
3x 2 reference
switches
+5V
6
GPIOs
RS485
+5V
SPI
SPI
SPI
Step/Dir
OUT 1 (Master)
Step/Dir
OUT 2 (Master)
Power
Driver
TMC262
Step/Dir
Step/Dir
MOSFET
Driver Stage
4 x Mosfet
Step/Dir
IN 0 (Slave)
1A RMS/
2.8A RMS
Motor 0
Step/Dir
Figure 4.1: TMCM-1110 stepRocker block diagram