User Manual

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TMCM-102 Manual (V1.01 / 7 November 2007) 2

Contents

1 Features........................................................................................................................................................................... 4

2 Life support policy....................................................................................................................................................... 5

3 Electrical and Mechanical Interfacing..................................................................................................................... 6

3.1 Dimensions........................................................................................................................................................... 6

3.2 Connectors............................................................................................................................................................ 6

3.3 Connecting the Module..................................................................................................................................... 7

3.3.1 Base Connector 1: Power supply and motor connection............................................................. 7

3.3.2 Base Connector 2: CAN and SPI........................................................................................................... 7

3.3.3 Base Connector 3: I/Os to adapter...................................................................................................... 8

4 Operational Ratings..................................................................................................................................................... 9

5 Functional Description.............................................................................................................................................. 10

5.1 Adapter Board.................................................................................................................................................... 10

5.2 System Architecture (Base)............................................................................................................................. 10

5.2.1 Microcontroller (µC) ............................................................................................................................... 10

5.2.2 TMCL EEPROM........................................................................................................................................... 10

5.2.3 TMC428 Motion Controller ................................................................................................................... 11

5.2.4 TMC249 Motor Driver............................................................................................................................. 11

5.3 Power Supply Requirements ......................................................................................................................... 11

5.4 Communication Interface............................................................................................................................... 11

5.5 Encoder interface .............................................................................................................................................. 12

5.6 Additional In- and Outputs............................................................................................................................ 13

5.7 Reference Switches .......................................................................................................................................... 13

5.7.1 Left and right limit switches .............................................................................................................. 13

5.7.2 Triple Switch Configuration ................................................................................................................ 13

5.7.3 One Limit Switch for circular systems ............................................................................................. 14

5.8 StallGuard™ - Sensorless Motor Stall Detection ..................................................................................... 15

5.8.1 StallGuard adjusting tool..................................................................................................................... 15

5.8.2 StallGuard profiler.................................................................................................................................. 15

5.9 Environment Temperature Considerations................................................................................................ 16

6 Putting the TMCM-102 into Operation with TMCL ............................................................................................ 17

7 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep-Frequency........................................ 18

8 TMCL............................................................................................................................................................................... 19

9 Revision History.......................................................................................................................................................... 20

9.1 Documentation Revision................................................................................................................................. 20

9.2 Firmware Revision............................................................................................................................................ 20

10 References .................................................................................................................................................................... 20