EVALUATION FOR ICs EVALUATION BOARD Firmware Version V1.01 TMC5031-EVAL EVALUATION BOARD MANUAL TMC5031-EVAL + + Evaluation Board for TMC5031 Motor Controller / Driver for Two Phase Stepper Motors Up to 2x 0.7A RMS/ +5.5V… 16V DC USB, RS232, and SPI 2x Ref. Switch Input per Axis + + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 2 TABLE OF CONTENTS 1 2 3 4 5 6 7 8 9 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 4 Hardware ....................................
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 1 Features The TMC5031 evaluation board IC. The STM32F ARM Cortex-M3 the microcontroller contains a communication with the PC via is designed for evaluating all features of the TMC5031 controller/driver microcontroller is used to control the TMC5031. The FLASH memory of program which configures the controller/driver chip and controls the the USB interface and the RS232 interface.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 4 TRINAMICS UNIQUE FEATURES 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.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 3 5 Hardware 3.1 Mechanical and Electrical Interfacing 3.1.1 Size of TM5031-EVAL and Mounting Holes The board dimensions are 85mm x 55mm. Maximum component height (above PCB level) without mating connectors is 13.5mm. There are four mounting holes suitable for M3 screws. 85 55 4 4 Figure 3.1 TMC5031-EVAL dimensions www.trinamic.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 3.1.2 6 Overview of Connectors Power 2 Ref. Switches Power 1 1 1 1 Motor 1 USB 1 RS232 Motor 2 1 1 SPI retrofit option Figure 3.2 Connectors of TMC5031-EVAL CONNECTORS OF TMC5031-EVAL Label (Key) Connector type Power 1 Switchcraft Power Jack header RAPC722X (X15) Power 2 (X3) RIA 330-02, 2 pol., 5mm pitch, shrouded header Motor 1 (X2) Motot 2 (X1) RIA 182-04, 4 pol., 3.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 7 3.1.2.2 RIA Power Connector (2) Pin 1 2 Label GND +VCC Description Power supply and signal ground Operational voltage: +5.5… 18V DC Table 3.3 Power connector 2 3.1.2.3 Motor Connector Axis 1 Pin 1 2 3 4 Label O1A1 O1A2 O1B1 O1B2 Description Motor coil A Motor coil A Motor coil B Motor coil B Table 3.4 Connector for Step/Dir signals 3.1.2.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 8 3.1.2.8 SPI and Interrupts (Measurement Points and Retrofit Option) The SPI connector is not assembled, but can be retrofitted in case an external microcontroller should be used. Typically, these pins are used for measurements concerning SPI interface and interrupts (INT and PP). Figure 3.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 3.1.3 9 Push Buttons: Reference Switches of Motor 2 The TMC5031-EVAL offers two push buttons for the reference switches of motor 2. As long as a button is pushed the related reference switch of motor 2 is active. Note that the ramp generator features dialogue of the evaluation software includes a switch mode tab which shows the status of switches. The flags can be polled continuously. REF_L2 REF_R2 Figure 3.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 10 4 Operational Ratings The operational ratings shown below should be used as design values. The maximum power supply current depends on the used motors and the supply voltage.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 11 5 Getting Started – How to Connect the Board YOU NEED PRECAUTIONS - Evaluation board with stepper motor (e.g. QSH4218) - USB interface or RS232 interface - Nominal supply voltage +12V DC (+5.5… +16V DC) - TMC50xx-EVAL software and PC - Cables for interface, motor, and power - Do not mix up connections or short-circuit pins. - Avoid bounding I/O wires with motor wires.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 12 5.1 Installing the Virtual Com Port for USB Interface 1. 2. 3. 4. Download the Eval50xx.inf file. Start the TMC50xx-EVAL.exe application with a double click. Now, the software will guide you through the installation of the Eval50xx.inf file for configuring the virtual com port. First, you will be asked, which module you like to connect. Choose the TMC5031-EVAL. Then, a hint will appear on the screen.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 13 6 Evaluation Software The evaluation software TMC50xx-EVAL.exe is intended for customers who design own PCBs with the TMC5031. In order to understand the settings, the TMC5031 datasheet needs to be referenced. The software is designed for adjusting and testing all settings of the TMC5031 by allowing direct register access. Optimized settings can be stored and exported. 6.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 14 6.2 Main Dialogues The evaluation software offers two main dialogues: the jog dialogue and the ramp generator dialogue on the next tab. Both dialogues offer separate data input fields for motor 1 and motor 2. 6.2.1 The Jog Tab Use the rotary control switches with the left key or the small wheel of your computer mouse. Thus, velocity and acceleration for each motor can be set and/or changed.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 15 6.3 Basic Functions 6.3.1 Load / Save / Export Settings Module settings can be loaded, saved, and exported. Click File on top menu and choose the desired action. Note that it is not possible to store settings permanently on the board. Figure 6.7 Load / save / export settings. 6.3.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 16 6.4 Special Dialogues Click view on top menu or the specific fields on the left side of the main window to open up dialogues for special settings. Note that dcStep and encoder are not provided by the TMC5031. THE FOLLOWING SPECIAL DIALOGUES ARE PROVIDED: - Motor current settings Ramp generator features coolStep Chopper Motor driver Microstep waves Global configuration All registers Figure 6.9 View dialogues 6.4.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 6.4.2 17 Ramp Generator Features Dialogue This dialogue offers two tabs: the ramp status tab and the switch mode tab. These tabs correlate with each other. 6.4.2.1 Ramp Status Tab Ramp status flags can be polled continuously or on demand. This status tab is designed to read out the RAMP_STAT register of the TMC5031 Blue marked flags are set.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 0X35, 0X55: RAMP_STAT – RAMP AND REFERENCE SWITCH STATUS REGISTER OF TMC5031 R/W Bit 4 Name event_stop_l R+C 3 status_latch_r 2 status_latch_l 1 0 status_stop_r status_stop_l R Table 6.2 RAMP_STAT register www.trinamic.com Comment 1: Signals an active stop left condition due to stop switch. This bit is ORed to the interrupt output signal.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 19 6.4.2.2 Switch Mode Tab With this tab, the SW_MODE register of the TMC5031 can be adjusted. Just tick the desired function to set it. NOTE If stallGuard stop is active and the motor stalls, deactivate the stallGuard event before going on with your tests. Otherwise the motor will not rotate. For a further stallGuard test activate the stallGuard event again. Figure 6.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 20 0X34, 0X54: SW_MODE – REFERENCE SWITCH AND STALLGUARD2 EVENT CONFIGURATION REGISTER Bit 3 2 1 Name pol_stop_r pol_stop_l stop_r_enable Comment Sets the polarity of the right reference switch input (0=neg., 1=pos.) Sets the polarity of the left reference switch input (0=neg., 1=pos.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 6.4.3 21 coolStep Dialogue This dialogue is designed for adjusting coolStep. The coolStep current is shown in red and the stallGuard2 load in blue. The coolStep current value increases/decreases adequate to the measured load on the axis. Energy savings can be optimized. The input data area fields for the two motors are related to the COOLCONF register of the TMC5031. Figure 6.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 6.4.4 22 Chopper Configuration Dialogue This dialogue has two tabs, one for motor 1 and the other one for motor 2. First, it is necessary to specify the chopper mode: spreadCycle or Classic. Figure 6.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 6.4.5 24 Driver Status Information This dialogue shows all driver error flags of the two motor drivers. The flags are related to the DRV_STATUS register. Blue marked flags are set. Figure 6.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 6.4.6 25 Microstep Wave Dialogue The microstep wave dialogue has two tabs, one for motor 1 and the other one for motor 2. Each motor driver of the TMC5031 provides a programmable look-up table for storing the microstep current wave. Per default, the tables are pre-programmed with a sine wave, which is a good starting point for most stepper motors. Reprogramming the table to a motor specific wave allows improved microstepping.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) EXAMPLE 1: TRIANGULAR MICROSTEP CURVE For a triangular curve, enter the following formula into the expression evaluator: Figure 6.18 Triangular curve EXAMPLE 2: MICROSTEP WAVE WITH LINEAR SCALED SINE WAVE AMPLITUDE For a wave with linear scaled sine wave amplitude the following formula may fit: Figure 6.19 Example for microstep wave with linear scaled sine wave amplitude www.trinamic.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 27 MOTOR DRIVER REGISTER SET (MOTOR 1: 0X60…0X6F, MOTOR 2: 0X70…0X7F) R/W Addr n W 0x60 0x70 32 W W W 0x61 … 0x67 0x71 … 0x77 0x68 0x78 0x69 0x79 7 x 32 32 8 + 8 Register MSLUT1[0] MSLUT2[0] microstep table entries 0…31 MSLUT1[1...7] MSLUT2[1...
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 6.4.7 28 Global Configuration Dialogue This dialogue shows global status flags on the front tab and global settings on the rear tab. These flags and settings are related to the GENERAL CONFIGURATION REGISTERS of the TMC5031. Flags can be pulled continuously or on demand. Blue marked flags are set. Note that the direction of motor 2 is reversed per default. This way, both motors rotate in the same direction.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 29 GENERAL CONFIGURATION REGISTERS (0X00…0X1F) R/W Addr n Register W 0x05 32 X_COMPARE Description / bit names Position comparison register for motor 1 position strobe. Activate poscmp_enable to get position pulse on output PP. XACTUAL = X_COMPARE: - Output PP becomes high. It returns to a low state, if the positions mismatch. Table 6.8 Abridgement of general configuration registers 6.4.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 7 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.
TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 8 Revision History Firmware Revision 8.1 Version 1.0 Date 2013-JAN-23 Author OK, MJ Description Initial version Table 8.1: Firmware revision Document Revision 8.2 Version Date Author Description SD – Sonja Dwersteg 1.00 2013-FEB-22 SD Initial version Table 8.2 Document revision 9 References [TMC5031] TMC5031 Datasheet (please refer to http://www.trinamic.com) www.trinamic.
