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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 2

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Table of Contents

2 Features ........................................................................................................................................................................... 3

3 Order Codes ................................................................................................................................................................... 4

4 Mechanical and Electrical Interfacing ..................................................................................................................... 5

4.1 TMCM-1180 Dimensions and Mounting Holes ............................................................................................. 5

4.2 PD86-1180 Dimensions and Motor Specifications ...................................................................................... 6

4.2.1 Dimensions of PD86-3-1180 ........................................................................................................................ 6

4.2.2 Motor Specifications of QSH8618-96-55-700 ........................................................................................... 7

4.2.3 Torque Figure of QSH8618-96-55-700 ....................................................................................................... 8

4.3 Connectors of TMCM-1180 ................................................................................................................................. 9

4.3.1 Power Connector ......................................................................................................................................... 10

4.3.2 Serial Communication Connector ........................................................................................................... 12

4.3.3 USB Connector .............................................................................................................................................. 12

4.3.4 Output Connector ........................................................................................................................................ 13

4.3.5 Input Connector ........................................................................................................................................... 14

4.3.6 Step/Direction Connector .......................................................................................................................... 16

4.3.7 Encoder Connector ...................................................................................................................................... 17

4.3.8 Motor Connector and Specifications ...................................................................................................... 18

5 Jumpers ......................................................................................................................................................................... 19

5.1 RS485 Bus Termination .................................................................................................................................... 19

5.2 CAN Bus Termination........................................................................................................................................ 19

6 Operational Ratings ................................................................................................................................................... 20

7 Functional Description .............................................................................................................................................. 21

7.1 System Architecture .......................................................................................................................................... 21

7.1.1 Microcontroller ............................................................................................................................................. 21

7.1.2 EEPROM ........................................................................................................................................................... 21

7.1.3 Motion Controller ........................................................................................................................................ 21

7.1.4 Stepper Motor Driver .................................................................................................................................. 22

7.1.5 sensOstep Encoder ...................................................................................................................................... 22

8 TMCM-1180 Operational Description ..................................................................................................................... 23

8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23

9 TMCL ............................................................................................................................................................................... 25

10 CANopen ....................................................................................................................................................................... 25

11 Life Support Policy ..................................................................................................................................................... 26

12 Revision History .......................................................................................................................................................... 27

12.1 Document Revision ........................................................................................................................................... 27

12.2 Hardware Revision ............................................................................................................................................ 27

13 References..................................................................................................................................................................... 27