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TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 22

7.1.2 EEPROM

To store TMCL™ programs for stand-alone operation the TMCM-1180 module is equipped with a 16kByte

EEPROM attached to the microcontroller. The EEPROM can store TMCL™ programs consisting of up to 2048

TMCL™ commands. The EEPROM is also used to store configuration data.

7.1.3 TMC428 motion controller

The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper-

motors. Motion parameters like speed or acceleration are sent to the TMC428 via SPI by the microcontroller.

Calculation of ramps and speed profiles are done internally by hardware based on the target motion

parameters.

7.1.4 Stepper motor driver

The TMC262A-PC is an energy efficient high current high precision microstepping driver IC

for bipolar stepper motors. This driver on the TMCM-1180 module is a special version of

the TMC262 power driver for PANdrives™ with QSH8618 motors.

Its unique high resolution sensorless load detection stallGuard2™ is used for a special

integrated load dependent current control feature called coolStep™. The ability to read

out the load and detect an overload makes the TMC262 an optimum choice for drives

where a high reliability is desired. The TMC262 can be driven with step/direction signals as well as by serial

SPI™.

stallGuard2

reading

0=maximum load

motor current increment area

motor current reduction area

stall possible

SEMIN

SEMAX+SEMIN+1

Zeit

motor current

current setting CS

(upper limit)

½ or ¼ CS

(lower limit)

mechanical load

current increment due to

increased load

slow current reduction due

to reduced motor load

load angle optimized load angle optimized

load

angle

optimized

Figure 7.2: Motor current control via coolStep™ adapts motor current to motor load

The coolStep™ current regulator allows to control the reaction of the driver to increasing or decreasing

load. The internal regulator uses two thresholds to determine the minimum and the maximum load angle

for optimum motor operation. The current increment speed and the current decrement speed can be

adapted to the application. Additionally, the lower current limit can be set in relation to the upper current

limit set by the current scale parameter CS.

Please refer to the TMC262 Datasheet (www.trinamic.com) for more information.