MODULES FOR STEPPER MOTORS MODULES Hardware Version V1.2 HARDWARE MANUAL + + TMCM-1141 1-Axis Stepper Controller / Driver 1.1 A / 24 V USB, RS485, and S/D Interface + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) Table of Contents 1 2 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing ....................................
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 3 1 Features The TMCM-1141 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 1.1 A RMS and 24 V DC supply voltage.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 4 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.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 5 2 Order Codes Order code TMCM-1141-option Size (mm3) Description Single axis bipolar stepper motor controller / driver electronics with 37 x 37 x 11.5 coolStep feature Table 2.1 Order codes The following options are available: Firmware option -TMCL Description Module pre-programmed with TMCL firmware Order code example: TMCM-1141-TMCL Table 2.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 6 3 Mechanical 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.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 7 3.2 Connectors of TMCM-1141 The TMCM-1141 controller/driver board offers five connectors including the motor connector which is used for attaching the motor coils to the electronics. Further, there is a connector for power and for the RS485 interface. The USB interface and the step/direction interface have their own connectors. The 8pin multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 8 3.2.1 Power and RS485 Connector A 5pin JST PH-series 2mm pitch single row connector is used for power supply and RS485 serial communication. 1 5 Pin 1 2 3 4 5 Label GND VDD GND RS485+ RS485- Direction Power (GND) Power (Supply) Power (GND) Bidirectional Bidirectional Description System and signal ground VDD (+9 V… +28 V) System and signal ground RS485 interface, diff. signal (non-inverting) RS485 interface, diff. signal (inverting) Table 3.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 9 3.2.1.2 RS485 For remote control and communication with a host system the TMCM-1141 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.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 10 3.2.2 Multipurpose I/O Connector An 8pin JST PH-series 2mm pitch single row connector is available for all multipurpose inputs and outputs. Pin 1 1 8 Label GND Direction Power (GND) 2 VDD Power (Supply) 3 OUT_0 Output 4 OUT_1 Output 5 AIN_1 Input 6 IN_0 Input 7 IN_1 Input 8 IN_2 Input Description System and signal ground VDD, connected to VDD pin of the power and RS485 connector Open-drain output (max.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 11 3.2.2.1 Digital Inputs IN_0, IN_1, IN_2 The eight pin connector of the TMCM-1141 provides three multi-purpose digital inputs IN_0, IN_1 and IN_2. All three inputs accept up-to +24 V input signals. They are protected against these higher voltages using voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below). common switch for all three digital inputs +5V 1k +3.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 12 3.2.2.2 Analog Input AIN_1 The eight pin connector of the TMCM-1141 provides one dedicated analog input AIN_1. This dedicated analog input offers a full scale input range of 0… +10V with a resolution of the internal analog-to-digital converter of the microcontroller of 12 bit (0… 4095). The input is protected against higher voltages up-to +24 V using voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 13 3.2.3 Step/Direction Connector A 4pin JST PH-series 2mm pitch single row connector is available for the Step/Dir interface. This interface can be used for connecting an external motion controller to the on-board driver stage instead of the integrated motion controller. All three Step/Dir/Enable signals are optically isolated.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 14 3.2.4 Motor Connector As motor connector a 4pin JST PH-series 2mm pitch single row connector is available. The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics. 1 4 Pin 1 2 3 4 Label OB2 OB1 OA2 OA1 Direction Output Output Output Output Pin Pin Pin Pin 2 1 2 1 of of of of motor motor motor motor Description coil B coil B coil A coil A Table 3.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 15 3.2.5 Mini-USB Connector A 5pin mini-USB connector is available on-board for serial communication (as alternative to the RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 16 4 Reset to Factory Defaults It is possible to reset the TMCM-1141 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost. For this procedure two pads on the bottom side of the board have to be shortened. Now, perform the following steps: 1. 2. 3. 4. 5. 6. 7.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 17 6 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 18 7 Functional Description The TMCM-1141 is a highly integrated mechatronic device which can be controlled via several serial interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are performed on board. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both: direct mode and standalone operation. Full remote control of device with feedback is possible.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 19 8 TMCM-1141 Operational Description 8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency The values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC429 parameters as shown in this section.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) EXAMPLE: Signal f_CLK velocity a_max pulse_div ramp_div usrs msf 16 MHz 1000 122070.31 Hz 21 2048 32 122070.31 fsf [ Hz ] a value 16 MHz 1000 1000 1 1 6 26 (16Mhz ) 2 1000 11 29 2 1907.34 Hz 119.21 MHz s MHz s 1.863 MHz 6 s 2 119.21 af CALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e.g. 72 fullsteps per rotation. RPS RPM fsf 1907.34 26.49 fullsteps per rotation 72 fsf 60 1907.34 60 1589.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 9 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.
TMCM-1141 Hardware Manual (Rev. 1.02 / 2012-JUL-27) 22 10 Revision History 10.1 Document Revision Version Date Author Description GE - Göran Eggers SD - Sonja Dwersteg 0.90 0.91 2011-DEC-19 2011-DEC-23 GE GE 1.00 2012-JUN-12 SD 1.01 2012-JUL-23 SD 1.02 2012-JUL-27 SD Initial version Connector pin assignment corrected First complete version including the following chapters: Reset to factory defaults, LEDs Information about sensOstep deleted. Figure 3.5 (general purpose inputs) corrected.
