MODULES FOR STEPPER MOTORS MODULES Hardware Version V 1.10 HARDWARE MANUAL + + TMCM-1210 1-Axis stepper controller/driver max. 0.6A RMS / 24V DC STOP / HOME switch input hall sensor RS485 + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) Table of contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features ........................................................................................................................................................................... 4 Order codes ...................................................................
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 1 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-1210 Hardware Manual (V0.91 / 2017-SEP-04) 4 2 Features The TMCM-1210 is a highly compact 20mm x 20mm single axis stepper motor controller and driver board with RS485 interface. It has been designed in order to be mounted on the rear side of a NEMA8 (20mm flange size) stepper motor and offers an integrated hall-sensor based encoder IC in addition to a reference switch input for easy homing / search of reference position. The module supports motor currents up to 0.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 5 3 Order codes The TMCM-1210 is available as: Order code TMCM-1210 Description 1-Axis stepper controller / driver, 0.6A RMS, 24V DC Size of unit 20mm x 20mm x 9mm A cable loom set is available for this module, also: Order code TMCM-1210-CABLE Description Cable loom for TMCM-1210. Contains (see chapter 4.3, also): 1x cable loom for Power, RS485 and HOME connector 1x cable loom for Motor connector Table 3.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 6 4 Mechanical and Electrical Interfacing 4.1 Dimensions and Mounting Holes The dimensions of the board are approx. 20mm x 20mm x 9 mm in order to fit on the back side of a 20mm (NEMA8) stepper motor. Maximum component height (height above PCB level) without mating connectors is around 6mm above PCB level and 2 mm below PCB level. There are two mounting holes for M2 screws for mounting to a NEMA8 stepper motor. 18mm 2x 2.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 7 4.3 Connectors The TMCM-1210 offers two connectors including the motor connector which is used for attaching the motor coils to the electronics. The Power, RS485 and HOME connector is used for power supply, RS485 serial wire communication and offers one digital input. 1 5 Power, RS485 + HOME connector 1 GND 2 VDD 3 RS4854 RS485+ 5 HOME STOP_L / STOP_R IN0 Motor connector 1 4 1 2 3 4 OB2 OB1 OA2 OA1 Figure 4.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 8 4.3.1 Power, RS485 + HOME connector The module offers one combined power, RS485 2-wire serial communication and digital input (HOME) connector (JST PH series). 5 Pin 1 2 3 Label GND VCC RS485- 4 RS485+ HOME 1 5 Direction Description Power (GND) Supply and signal ground Power (Supply in) Power supply input Bi-directional RS485 2-wire bus interface, diff. signal (inverting) Bi-directional RS485 2-wire bus interface, diff.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 9 4.3.2 Motor connector As motor connector a 4pin JST EH-series 2.5mm pitch single row connector is available. The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics. 4 1 Pin 1 2 3 4 Label OA1 OA2 OB1 OB2 Direction Output Output Output Output Pin Pin Pin Pin 1 2 1 2 of of of of motor motor motor motor Description coil A coil A coil B coil B Table 4.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 10 4.5 RS485 For remote control and communication with a host system the TMCM-1210 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 11 Slave Slave node n- 1 node n +5V pull-up (680R) RS485+ / RS485A termination resistor (120R) termination resistor (120R) RS485- / RS485B pull-down (680R) GND Figure 4.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 12 5 Motor driver current The on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 effective scaling steps in hardware. Explanation of different columns in table below: Motor current setting in software (TMCL) These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current).
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 13 6 On-Board LEDs The board offers one LED in order to indicate board status. The function of the LED is dependent on the firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation. BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE Status Heartbeat Label Run Description This green LED flashes slowly during operation. GREEN LED Figure 6.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 14 8 EMC considerations The TMCM-1210 contains ferrite beads on-board in line with the positive supply input and all 4 motor windings connections in addition to filter capacitors. Tests have shown that it is possible to meet Class B emission standards using the bare TMCM-1210 (motor and power connected) with the motor running slowly at maximum current (0.7A RMS) and +24V supply voltage without additional / external filters. Figure 8.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 15 9 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded! Symbol Parameter Min Typ Max Unit VDD ICOIL_peak Power supply voltage for operation Motor coil current for sine wave peak (chopper regulated, adjustable via software) Continuous motor current (RMS) 6 0 12…24 30 1 V A << ICOIL 0.7 1.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 16 10 Functional Description The TMCM-1210 is a highly integrated controller/driver module which can be controlled via several serial interfaces. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on board. The nominal supply voltage of the unit is 12V or 24V DC. The module is designed for both, standalone operation and direct mode. Full remote control of device with feedback is possible.
TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 11 Revision History 11.1 Document revision Version 0.90 0.91 Date 2016-APR-14 2017-SEP-04 Author GE GE Description Initial version Typos corrected Table 11.1: Document revision 11.2 Hardware revision Version TMCM-1210_V10 TMCM-1210_V11 Date 2014-DEC-17 2015-JUN-25 Description Initial version External digital input connected to REFL/REFR of TMC2130.
