User Manual

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TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 2

Table of contents

1 Life support policy ....................................................................................................................................................... 3

2 Features ........................................................................................................................................................................... 4

3 Order codes .................................................................................................................................................................... 5

4 Mechanical and electrical interfacing ..................................................................................................................... 6

4.1 TMCM-1180 dimensions and mounting holes ............................................................................................. 6

4.2 PD86-1180 dimensions and motor specifications ...................................................................................... 7

4.2.1 Dimensions of PD86-3-1180 ........................................................................................................................ 7

4.2.2 Motor specifications of QSH8618-96-55-700 ........................................................................................... 8

4.2.3 Torque figure of QSH8618-96-55-700 ........................................................................................................ 9

4.3 Connectors of TMCM-1180 ............................................................................................................................... 10

4.3.1 Power connector .......................................................................................................................................... 11

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 ........................................................................................................................................................... 22

7.1.3 TMC428 motion controller ......................................................................................................................... 22

7.1.4 Stepper motor driver .................................................................................................................................. 22

7.1.5 sensOstep™ encoder .................................................................................................................................. 23

8 TMCM-1180 operational description ...................................................................................................................... 24

8.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency .................................. 24

9 TMCL™ ........................................................................................................................................................................... 26

10 CANopen ....................................................................................................................................................................... 27

11 Revision history .......................................................................................................................................................... 28

11.1 Document revision ............................................................................................................................................ 28

11.2 Hardware revision ............................................................................................................................................. 28

12 References..................................................................................................................................................................... 29