PANdrive PD-110-42 and TMCM-110-42 42mm / NEMA-17 Stepper Motor Mechatronic Module TMCM-110-42 Electronics Manual Version: 1.16 24 October 2007 Sternstraße 67 D - 20357 Hamburg, Germany http://www.trinamic.
TMCM-110-42 Manual Contents 1 2 3 4 5 6 7 8 9 10 Features........................................................................................................................................................................... 4 Life support policy ....................................................................................................................................................... 5 Electrical and Mechanical Interfacing ................................................................
TMCM-110-42 Manual List of Figures Figure Figure Figure Figure Figure 3.1: 3.2: 3.3: 3.4: 5.1: Mounting holes (all dimensions in millimeters) .................................................................................... 6 The TMCM-110-42 module.............................................................................................................................. 7 Wiring scheme for GPO and GPI....................................................................................................
TMCM-110-42 Manual 4 1 Features The PD-110-42 is an intelligent stepper motor controller and driver module mounted directly on a 42mm flange motor. The TMCM-110 module converts the motor into a compact mechatronic device with bus oriented or stand-alone control. The motor, switches, power and the multi purpose I/Os can be connected via small pluggable connectors. The TMCM-110 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL).
TMCM-110-42 Manual 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. © TRINAMIC Motion Control GmbH & Co.
TMCM-110-42 Manual 6 3 Electrical and Mechanical Interfacing 3.1 Dimensions The overall height of the module is 17mm.The components on back of the module have a height of 5mm and on front 10mm. Beware that connectors on the front are upright. 41,8 5,4 5,4 41,8 M3 M3 5,4 5,4 Figure 3.1: Mounting holes (all dimensions in millimeters) 3.
TMCM-110-42 Manual 7 Connector 2 Pin 1 Connector 3 Pin 1 Pin 1 Connector 1 Figure 3.2: The TMCM-110-42 module 3.3.1 Connector 1: Power supply and host interface Use this connector to connect the power and the host interface (RS232, RS485, IIC or CAN). The pin assignments are different for the four available versions of the module. Pin 1 2 3 4 5 Function RS232 GND +7..34V DC GND RxD TxD RS485 GND +7..34V DC GND RS485+ RS485 - 1) IIC GND +7..34V DC GND SCL SDA CAN 2) GND +7..
TMCM-110-42 Manual 8 3.3.3 Connector 3: Additional I/O All other inputs and outputs of the module can be connected here. These are the limit switches, a general purpose input and a general purpose output. The limit switch inputs are equipped with internal pull-up resistors, so they have to be connected to GND via normally closed switches. The general purpose input can either be used as a digital TTL input or as an analogue input (0..5V).
TMCM-110-42 Manual 3.4 9 Activity LED The TMCM-110-42 module is equipped with an LED. Some TMCM-110-42 modules are equipped with a yellow LED and some other TMCM-110-42 modules are equipped with a red LED. During normal operation this LED flashes. After resetting the configuration EEPROM it maybe takes some seconds before the LED starts flashing. When the operating system is being downloaded to the module the LED lights steadily.
TMCM-110-42 Manual 10 5 Functional Description In Figure 5.1 the main parts oft the TMCM-110 module are shown. The module mainly consists of the µC, a TMC428 motion controller, a TMC246 stepper motor driver, the TMCL program memory (EEPROM) and the host interfaces (RS232, RS485, IIC and CAN). TMCL EEPROM Host RS-232 or RS-485 or IIC or CAN I/O 7..30V DC µC PD-110-42 TMC428 Step Driver TMC246 2 Motor +5V REFSwitches 5V Power Supply Figure 5.1: Application Environment 5.
TMCM-110-42 Manual 11 5.1.3 TMC428 Motion Controller The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-steppermotors (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. 5.1.
TMCM-110-42 Manual 12 5.3.1 RS232 To connect the RS232 interface of a PC to the module you can use a extension cable or null modem cable (twisted, with female plugs at both ends). The difference is shown in Table 5.1. Female (Host) 1 2 3 4 5 6 7 8 9 Null modem Female 4 3 2 1 5 6 8 7 9 Modem Male 1 2 3 4 5 6 7 8 9 Signal RxD TxD GND Table 5.1: Rs-232 connection to PC 5.3.2 RS485 For RS485 communication we recommend to use our USB-2-485 converter for fast communication.
TMCM-110-42 Manual 5.5 13 StallGuard™ - Sensorless Motor Stall Detection The integrated StallGuard™ feature gives a simple means to detect mechanical blocking of the motor. This can be used for precise absolute referencing, when no reference switch is available. 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 too high.
TMCM-110-42 Manual 5.8 14 Optimum motor settings Following settings apply best for highest motor velocities with smooth motor behavior at low velocities. Mixed decay should be switched on constantly. Microstep resolution is 4 (TMCL), this is 16 times microstepping. The pulse devisor is set to 3.
TMCM-110-42 Manual 15 6 Putting the TMCM-110 into Operation On the basis of a small example it is shown step by step how the TMCM-110-42 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-110-42 module using the TMCL-IDE Software development environment. A formula how “speed” is converted into a physical unit like rotations per seconds can be found in chapter 7.1.
TMCM-110-42 Manual 16 7 TMCM-110 Operational Description 7.1 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: Parameter fCLK velocity a_max pulse_div Description Range 16 MHz 0..2047 Maximum acceleration 0..
TMCM-110-42 Manual 17 Example: f_CLK = 16 MHz on the TMCM-110 module velocity = 1000 a_max = 1000 pulse_div = 1 ramp_div = 1 usrs = 6 msf = 16 MHz ⋅1000 =122070.3125 Hz 21 ⋅ 2048 ⋅ 32 fsf [ Hz ] = a= 122070.3125 = 1907.35Hz 26 (16 Mhz ) 2 ⋅1000 MHz =119.208 1+1+ 29 s 2 af = MHz s = 1,863 MHz 6 s 2 119.208 If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is: 1907.35 fsf = = 26.49 72 fullsteps per rotation 1907.35 ⋅ 60 fsf ⋅ 60 RPM = = = 1589.
TMCM-110-42 Manual 18 9 Revision History 9.1 Version 1.00 1.03 1.10 1.11 1.12 1.13 1.14 Documentation Revision Comment Initial Release 16-Jul-04 27-Jul-04 1-Oct-04 4-Oct-04 23-Dec-05 21-Feb-2007 Author OK OK OK OK TG BD, HC HC 1.15 20-June-2007 HC 1.
