User Manual
TMCM-1160 V1.01 Hardware Manual (Rev. 1.01 / 2012-JUL-27) 2
www.trinamic.com
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 Dimensions and Mounting Holes ................................................................................................................... 6
3.2 Connectors of TMCM-1160 ................................................................................................................................. 7
3.2.1 Power Connector ........................................................................................................................................... 8
3.2.1.1 Power Supply .......................................................................................................................................... 8
3.2.2 Serial Communication Connector ............................................................................................................. 9
3.2.2.1 RS485 ......................................................................................................................................................... 9
3.2.2.2 CAN ........................................................................................................................................................... 10
3.2.3 Multipurpose I/O Connector ..................................................................................................................... 11
3.2.3.1 Digital Inputs STOP_L, STOP_R, and HOME ................................................................................... 11
3.2.3.2 General Purpose Inputs IN_0 and IN_1 ......................................................................................... 12
3.2.3.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 12
3.2.4 Step/Direction Connector .......................................................................................................................... 12
3.2.4.1 Step / Direction / Enable Inputs ...................................................................................................... 13
3.2.5 Encoder Connector ...................................................................................................................................... 14
3.2.5.1 Encoder Inputs ...................................................................................................................................... 14
3.2.6 Motor Connector .......................................................................................................................................... 15
3.2.7 Mini-USB Connector .................................................................................................................................... 16
4 Jumpers ......................................................................................................................................................................... 17
4.1 RS485 Bus Termination .................................................................................................................................... 17
4.2 CAN Bus Termination ....................................................................................................................................... 17
5 Reset to Factory Defaults ......................................................................................................................................... 18
6 On-Board LED .............................................................................................................................................................. 19
7 Operational Ratings ................................................................................................................................................... 20
8 Functional Description .............................................................................................................................................. 22
9 TMCM-1160 Operational Description ..................................................................................................................... 23
9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23
10 Life Support Policy ..................................................................................................................................................... 25
11 Revision History .......................................................................................................................................................... 26
11.1 Document Revision ........................................................................................................................................... 26
11.2 Hardware Revision ............................................................................................................................................ 26
12 References .................................................................................................................................................................... 26