User Manual

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TMCM-110-42 Manual 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..................................................................................................................................... 6

3.3.1 Connector 1: Power supply and host interface............................................................................... 7

3.3.2 Connector 2: Motor connector.............................................................................................................. 7

3.3.3 Connector 3: Additional I/O................................................................................................................... 8

3.3.4 ISP Connector............................................................................................................................................ 8

3.4 Activity LED ........................................................................................................................................................... 9

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

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

5.1 System Architecture..........................................................................................................................................10

5.1.1 Microcontroller.........................................................................................................................................10

5.1.2 EEPROM......................................................................................................................................................10

5.1.3 TMC428 Motion Controller....................................................................................................................11

5.1.4 TMC246 Motor Driver .............................................................................................................................11

5.2 Power Supply.....................................................................................................................................................11

5.3 Communication Interface ...............................................................................................................................11

5.3.1 RS232..........................................................................................................................................................12

5.3.2 RS485..........................................................................................................................................................12

5.3.3 CAN .............................................................................................................................................................12

5.3.4 IIC ...............................................................................................................................................................12

5.4 Reference Switches...........................................................................................................................................12

5.5 StallGuard™ - Sensorless Motor Stall Detection......................................................................................13

5.6 Motor current setting.......................................................................................................................................13

5.7 Microstep Resolution........................................................................................................................................13

5.8 Optimum motor settings ................................................................................................................................14

6 Putting the TMCM-110 into Operation..................................................................................................................15

7 TMCM-110 Operational Description .......................................................................................................................16

7.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency ..............................16

8 Software........................................................................................................................................................................17

9 Revision History..........................................................................................................................................................18

9.1 Documentation Revision.................................................................................................................................18

9.2 Firmware Revision ............................................................................................................................................18

10 References ....................................................................................................................................................................18