TMCM-102 High Performance Stepper Motor Module with Encoder Interface Version: 1.01 November 7, 2007 Trinamic Motion Control GmbH & Co KG Sternstraße 67 D - 20 357 Hamburg, Germany http://www.trinamic.
TMCM-102 Manual (V1.01 / 7 November 2007) 2 Contents 1 2 3 4 5 6 7 8 9 10 Features........................................................................................................................................................................... 4 Life support policy....................................................................................................................................................... 5 Electrical and Mechanical Interfacing........................................
TMCM-102 Manual (V1.01 / 7 November 2007) 3 List of Figures Figure Figure Figure Figure Figure Figure Figure Figure 3.1: 3.2: 5.1: 5.2: 5.3: 5.4: 5.5: 5.6: Dimensions........................................................................................................................................................ 6 The TMCM-102 module and its connectors .............................................................................................. 7 Main parts of the TMCM-102.........................
TMCM-102 Manual (V1.01 / 7 November 2007) 4 1 Features The TMCM-102 is a single axis 2-phase stepper motor controller and driver module with an aluminium pro. le for quick and robust mounting. The built in encoder feedback makes it an optimum solution for high-reliability drives. This drive is optimally suited for industrial high-reliability applications. The power stage has very low dissipation when compared to competitors’ products.
TMCM-102 Manual (V1.01 / 7 November 2007) 2 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-102 Manual (V1.01 / 7 November 2007) 6 3 Electrical and Mechanical Interfacing 3.1 Dimensions In combination with an adapter board the overall height is increased to at least 33mm. Be aware that some connectors of the adapter may be upright. To screw the module onto your application use M4 screws with a head diameter of maximum 7mm. Front view Side view Capacitor Adapter connector 30,00 7,00 3,00 25.00 11,50 max.
TMCM-102 Manual (V1.01 / 7 November 2007) 3.3 7 Connecting the Module The TMCM-102 module consists of two PCBs: the base board and an adapter board. There are different adapter boards available or can be customized for your demands. Never connect or disconnect the modules from each other while they are powered. 5 Pin 1 Pin 1 Standard Adapter Base USB 1 Terminal1 9 Connector 2 Pin 1 Pin 1 6 Connector 3 Terminal1 Connector 1 Figure 3.2: The TMCM-102 module and its connectors 3.3.
TMCM-102 Manual (V1.01 / 7 November 2007) 8 3.3.3 Base Connector 3: I/Os to adapter Pin Name 1 TX- 3 RX- 5 7 REF R 9 OUT_2 11 IN8 13 IN3_A/D 15 +5V 17 OUT_1 19 REF L 21 IN4 23 IN9 25 IN6 27 ALARM 29 ENC_N+ 31 FS 33 ENC_B+ Function PIN Name RS422 Transmit – (data out from indexer) RS422 Receive – (data into indexer) Internally pulled down via 2k7 resistor. Not supported by TMCL. Optically isolated, active low limit switch input “Right” User controlled output #2.
TMCM-102 Manual (V1.01 / 7 November 2007) 9 4 Operational Ratings The operational ratings show the intended / the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded. Symbol Parameter Min Typ Max Unit VDD Power supply voltage for operation 18 24 ... 48 55 V ICOIL Motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 2.1 … 5.0 5.0 A IMC Motor coil current for sine wave RMS 0 1.5 … 3.
TMCM-102 Manual (V1.01 / 7 November 2007) 10 5 Functional Description In Figure 5.1 the main parts oft the TMCM-102 module are shown. The module mainly consists of the µC, a TMC428 motion controller, a TMC249 stepper motor driver, the TMCL program memory (EEPROM) and the host interface (RS422 or RS232). Soft Stop Adress switch RS-485 USB TMCM-102 Standard add-on board REF-Switches ABN CAN RS-422 (RS-232) 3 Motion Controller I/Os with TMC428 high power Driver TMCM-102 18..
TMCM-102 Manual (V1.01 / 7 November 2007) 11 5.2.3 TMC428 Motion Controller The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phasestepper-motors (on this module, only one motor can be used). 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. 5.2.
TMCM-102 Manual (V1.01 / 7 November 2007) 5.5 12 Encoder interface The TMCM-102 provides an interface for single ended incremental encoders with TTL (5V) outputs. Use the encoder entrances A+ for A, B+ for B and (optional) N+ for N. Leave the others unconnected. The encoder counter can be read by software and can be used to control the exact positioning of the motor. This also makes closed loop operation possible. The +5V DC supply voltage can be used for the encoder.
TMCM-102 Manual (V1.01 / 7 November 2007) • 5.6 13 Automatic motor stop on deviation error is also usable. This can be set using axis parameter 212 (maximum deviation). This function is turned off when the maximum deviation is set to 0. Additional In- and Outputs The In- and Outputs are not protected, only IN8 and IN9 are optically isolated.
TMCM-102 Manual (V1.01 / 7 November 2007) 14 stop switch and the right stop switch. The left stop switch and the reference switch are wired together. The center switch (travel switch) allows for a monitoring of the axis in order to detect a step loss. REF_L_x REF_R_x motor reference switch left stop switch right stop switch traveler Figure 5.3: Limit switch and reference switch 5.7.3 One Limit Switch for circular systems If a circular system is used (Figure 5.
TMCM-102 Manual (V1.01 / 7 November 2007) 5.8 15 StallGuard™ - Sensorless Motor Stall Detection The integrated StallGuard™ feature makes it possible to detect if the mechanical load on a stepper motor is too high or if the traveler has been obstructed. The load value can be read using a TMCL command or the module can be programmed so that the motor will be stopped automatically when it has been obstructed or the load has been to high.
TMCM-102 Manual (V1.01 / 7 November 2007) 16 right after the StallGuard profiler has been selected in the “Setup” menu. After this has been successfully checked the StallGuard profiler window will be shown. First, select the axis that is to be used. Then, enter the “Start velocity” and the “End velocity”. The start velocity is used at the beginning of the profile recording. The recording ends when the end velocity has been reached. Start velocity and end velocity must not be equal.
TMCM-102 Manual (V1.01 / 7 November 2007) 17 6 Putting the TMCM-102 into Operation with TMCL On the basis of a small example it is shown step by step how the TMCM-102 is set into operation. Users who are already familiar with TMCL and other Trinamic modules may skip this chapter. Example: The following application is to be implemented on the TMCM-102 module using the TMCLIDE Software development environment.
TMCM-102 Manual (V1.01 / 7 November 2007) 18 7 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep-Frequency The values of the parameters, sent to the TMC428 do not have typical motor values, like rotations per second as velocity. But these values can be calculated from the TMC428-parameters, as shown in this document. The parameters for the TMC428 are: Signal fCLK velocity a_max pulse_div ramp_div Usrs Description clock-frequency maximum acceleration divider for the velocity.
TMCM-102 Manual (V1.01 / 7 November 2007) 19 Example: f_CLK = 16 MHz velocity = 1000 a_max = 1000 pulse_div = 1 ramp_div = 1 usrs = 6 msf = 16 MHz ⋅ 1000 21 ⋅ 2048 ⋅ 32 fsf [Hz] = a= 122070.31 26 (16Mhz ) 2 ⋅ 1000 2 1+1+ 29 = 122070 .31Hz = 1907.34Hz = 119 .21 MHz s MHz s = 1.863 MHz 6 s 2 119.21 af = If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is: RPS = fsf 1907.34 = = 26.49 fullsteps per rotation 72 RPM = fsf ⋅ 60 1907.34 ⋅ 60 = = 1589.
TMCM-102 Manual (V1.01 / 7 November 2007) 9 Revision History 9.1 Version 0.93 1.00 1.01 Documentation Revision Comment 15-Feb-2007 15-Mar-07 07-Nov-07 Author HC BD HC Description Preliminary Version Electrical Values updated Chapter 5.5: Encoder interface info updated Table 9.1: Documentation Revisions 9.2 Version 3.24 Firmware Revision Comment Initial Release Description Please refer to TMCL documentation Table 9.
