MODULE FOR STEPPER MOTORS MODULE Hardware Version V1.3 HARDWARE MANUAL + + TMCM-1140 1-Axis Stepper Controller / Driver 2 A / 24 V sensOstep™ Encoder USB, RS485, and CAN + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) Table of Contents 1 2 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing ...............................
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 3 1 Features 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.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 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-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 5 2 Order Codes Order code TMCM-1140-option Size (mm3) Description Single axis bipolar stepper motor controller / driver 37 x 37 x 11.5 electronics with integrated sensOstep encoder and coolStep feature Table 2.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 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-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 7 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.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 8 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.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 9 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.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 10 Slave Slave node n- 1 node n +5V pull-up (680R) RS485+ / RS485A termination resistor (220R) termination resistor (120R) RS485- / RS485B pull-down (680R) GND Figure 3.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 11 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.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 12 3.3.2.1 Digital Inputs IN_1, IN_2, IN_3 The eight pin connector of the TMCM-1140 provides three multipurpose digital inputs IN_1, IN_2 and IN_3. All three inputs accept up to +24V (nom.) input signals and offer the same input circuit with voltage resistor dividers, limiting diodes against over- and under-voltage and programmable 2k2 pull-up resistors. The pull-ups can be switched on or off for all three inputs at once in software.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) - - 13 All three digital inputs are connected to the on-board processor and can be used as general purpose digital inputs (default). In order to use IN_1 and IN_2 as STOP_L and STOP_R inputs, this function has to be enabled explicitly in software (factory default: switched off). With TMCL firmware the stop switch functionality can be enabled using SAP 12, 0, 0 (STOP_R / right limit switch) and SAP 13, 0, 0 (STOP_L / left limit switch).
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 14 VDD microcontroller GND Figure 3.9 General purpose output OUT_0 (simplified circuit) With TMCL firmware OUT_0 can be switched on (OUT_0 pulled low) using command SIO 0, 2, 1 and off again (OUT_0 floating) using command SIO 0, 2, 0 (this is also the factory default setting of this output). In case a floating output is not desired in the application an external resistor to e.g. supply voltage may be added.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) Coil B BAA Description Motor coil B Motor coil B Motor coil A Motor coil A green pin pin pin pin 1 2 2 1 M A black red blue B Motor connector pin Cable color 1 Red 2 Blue 3 Green 4 Black 15 3.3.4 Mini-USB Connector A 5pin mini-USB connector is available on-board for serial communication (as alternative to the CAN and RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 16 4 Motor driver current The on-board stepper motor driver operates current controlled. The driver current may be programmed in software for motor coil currents up-to 2A RMS with 32 effective scaling steps in hardware (CS in table below). Explanation of different columns in table below: Motor current setting in software (TMCL) These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current).
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 17 In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-1140 firmware manual). 5 Reset to Factory Defaults It is possible to reset the TMCM-1140 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.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 18 6 On-Board LEDs The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation and the red LED should be off. When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 19 7 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 20 OPERATIONAL RATINGS OF CAN INTERFACE Symbol Parameter NCAN Number of nodes connected to single RS485 network fCAN Maximum bit rate supported on CAN connection Table 7.4 Operational ratings of the CAN interface www.trinamic.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 21 8 Functional Description The TMCM-1140 is a highly integrated controller/driver module 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. The nominal supply voltage of the unit is 24V DC. The module is designed for both, standalone operation and direct mode. Full remote control of device with feedback is possible.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 22 9 TMCM-1140 Operational Description 9.1 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-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 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.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 10 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-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 25 11 Revision History 11.1 Document Revision Version 0.90 0.91 Date 2011-DEC-22 2012-MAY-02 Author GE GE 1.00 2012-JUN-12 SD 1.01 2012-JUL-30 SD 1.02 2013-MAR-26 SD 1.03 2013-JUL-23 SD 1.04 2015-JAN-05 GE Description Initial version Updated for TMCM-1140_V11 pcb version First complete version including new chapters about: reset to factory defaults, and LEDs Internal circuit of inputs corrected.
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) Version Date 26 Description both sides of the PCB. Provides improved protection against humidity and dust / swarf (e.g. in case of the motor mounted versions PD42-x-1140: tiny metal parts on the PCB attracted by the encoder magnet might lead to malfunction of the unprotected device). Table 11.2 Hardware revision *): V10, V11: prototypes only. **) V12: series product version.
