MODULE Module for Stepper TMCM-1240 Hardware Manual Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with up-to 2A RMS motor current. It supports 6-point ramps in addition to linear ramps. Features • Single axis controller/driver for 2phase bipolar stepper motor • Linear and sixPoint™ ramps • +10. . .
/ 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 Contents 1 Features 3 2 Order Codes 5 3 Mechanical and Electrical Interfacing 3.1 Size of board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Board mounting considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 6 6 4 Connectors 4.1 Power Supply Input Connector 4.2 Motor Connector . . . . . . . . 4.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 3 / 28 16.2Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 1 4 / 28 Features The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with up-to 2A RMS (2.8A peak) motor coil current. It supports linear ramps and unique sixPoint™ramps. It offers on-board sensOstep encoder and in addition, support for connection of external (incremental A/B) encoder.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 5 / 28 • Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs) • 1 analog input (0..10V nom. input range) • HOME switch input (shared with analog input) Mechanical data • Board size: 37mm x 37mm, height 11mm max.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 2 6 / 28 Order Codes The standard version of the TMCM-1240 is pre-programmed with either TRINAMIC TMCL™ firmware or CANopen firmware. On request a version with 3 analog inputs (0..10V) is available instead of one analog and two digital inputs on the I/O connector of the TMCM-1240.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 3 3.1 7 / 28 Mechanical and Electrical Interfacing Size of board The board with the controller/driver electronics has an overall size of 37mm x 37mm x 11mm without mating connectors. Maximum component height (height above PCB level) without mating connectors is around 7mm above PCB level and 2.5 mm below PCB level. There are two mounting holes (3.2mm diameter) for M3 screws for mounting to a NEMA17 stepper motor.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 4 8 / 28 Connectors The TMCM-1240 offers five connectors altogehter. There is one motor and one power supply connector both with four pins - and two interface connectors - one with five pins for RS485 and CAN and a dedicated micro-USB connector. All other inputs and outputs are concentrated on one 8 pin connector.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 4.1 9 / 28 Power Supply Input Connector The TMCM-1240 offers one 4pin JST PH series power supply input connector. In addition to main power supply input and related ground connection this connector offers a separate logic supply input with the option to keep the on-board logic alive while the driver stage is switched off.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 Pin Label Direction 3 A1 out Pin 1 of motor coil A 4 A2 out Pin 2 of motor coil A 10 / 28 Description Table 5: Motor Connector Pin Assignment 4.3 NOTICE Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 11 / 28 using a standard USB cable, only. Of course, for any motor movement main supply via supply input connector is required. NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are not available at the same time. As soon as USB is physically attached to a host or hub the CAN interface will be switched off.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 Pin Label Direction 8 OUT0 Output (OD) 12 / 28 Description Open-Drain output. Output will be pulled low when activated. Voltages up-to logic supply input level (or main supply input in case separate logic supply is not used) are supported here. Max. continuous pull-down current: 100mA Table 8: I/O Connector Pin Assignment All pins marked light green offer functional isolation towards main supply input.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 13 / 28 5. Switch power supply OFF again (and disconnect USB cable if applicable) 6. Remove short between pads 7. After switching power supply ON again (and / or connecting USB cable) all permanent settings have been restored to factroy defaults Short these two pads Figure 4: Reset to factory default settings ©2019 TRINAMIC Motion Control GmbH & Co.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 14 / 28 7 I/Os The I/O connector (8pin JST PH series) offers one analog input, two non-isolated digital inputs with integrated pull-ups (programmable) and two optically isolated inputs. All inputs can be used for different purposes explained in more detail in the following subsections. 7.1 Analog input IN0 The TMCM-1240 offers one analog input. The analog input voltage range is approx. 0..+10V.
/ 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 +5V microcontroller +5V...24V +3V3 +5V 2k2 or 10k IN1 IN2 or 22k microcontroller 33pF TMCM-1240 pull-up disabled pull-up enabled Figure 6: Digital inputs IN1 and IN2 7.3 HOME/STOP_L/STOP_R switch inputs The TMCM-1240 offers two optically isolated inputs which can be used as left (STOP_L) and right (STOP_R) stop switch inputs.
/ 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 +5V microcontroller +3V3 +5V 2k2 ENC_A, ENC_B or 10k 22k microcontroller 33pF TMCM-1240 pull-up enabled Figure 8: External encoder input 7.5 Step/Direction inputs The TMCM-1240 may be used as driver with an external motion controller. In this case the Step/Direction output signals of the external motion controller may be connected to the optically isolated Step/Dir inputs of the TMCM-1240.
/ 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 8 Communication 8.1 RS485 For remote control and communication with a host system the TMCM-1240 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.
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/ 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 Host c:> Slave Slave Slave node 1 node n-1 node n } termination resistor (120 Ohm) termination resistor (120 Ohm) keep distance as short as possible CAN Figure 13: CAN bus structure with termination resistors 2. BUS TERMINATION: Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 20 / 28 Motor current setting in software (TMCL) Current scaling step (CS) Motor current ICOIL [A] peak Motor current ICOIL [A] RMS 24. . . 31 3 0.406 0.287 32. . . 39 4 0.508 0.359 40. . . 47 5 0.609 0.431 48. . . 55 6 0.711 0.503 56. . . 63 7 0.813 0.575 64. . . 71 8 0.914 0.646 72. . . 79 9 1.016 0.718 80. . . 87 10 1.117 0.790 88. . . 95 11 1.219 0.862 96. . . 103 12 1.
/ 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 10 Functional Description The TMCM-1240 is a highly integrated single axis controller/driver module for stepper motors with up-to 2A RMS / 2.8A peak motor coil current. The TMCM-1240 can be controlled via RS485, CAN or USB serial interfaces. The TMCM-1240 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™).
/ 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 11 Operational Ratings and Characteristics NOTICE Never Exceed the absolute maximum ratings! Keep the power supply voltage below the upper limit of +30V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. General Operational Ratings Symbol Parameter Min Typ Max Unit 10 12.
/ 28 TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 Operational Ratings of the I/Os Symbol Parameter Min fSTEP/DIR Max. frequency for step/direction opto-isolated inputs Typ Max 20 Unit kHz Table 12: Operational ratings of I/Os Operational Ratings of the RS485 Interface Symbol Parameter Min NRS485 Number of nodes connected to single RS485 network fRS485 Max.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 12 Abbreviations used in this Manual Abbreviation Description IDE Integrated Development Environment LED Light Emmitting Diode RMS Root Mean Square value TMCL TRINAMIC Motion Control Language Table 15: Abbreviations used in this Manual ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 13 1 2 3 4 5 6 7 8 25 / 28 Figures Index Board dimensions, position of mounting holes and position (pin 1) of connectors (all values in mm) . . . . . . TMCM-1240 connectors . . . . . . . . . TMCM-1240 LEDs . . . . . . . . . . . . . Reset to factory default settings . . . . Analog input IN0 . . . . . . . . . . . . . Digital inputs IN1 and IN2 . . . . . . . . Stop switch inputs . . . . . . . . . . . .
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 14 26 / 28 Tables Index 1 2 3 TMCM-1240 Order Code . . . . . . . . . 5 TMCM-1240 Cable Loom . . . . . . . . . 5 Connector Types and Mating Connectors of the TMCM-1240 . . . . . 7 4 Power Supply Connector Pin Assignment 8 5 Motor Connector Pin Assignment . . . 9 6 RS485 + CAN Connector Pin Assignment 9 7 USB Connector Pin Assignment . . . . 10 8 I/O Connector Pin Assignment . . . . .
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 15 27 / 28 Supplemental Directives 15.1 Producer Information 15.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 28 / 28 or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24 16 16.1 Revision History Hardware Revision Version Date Author Description V1.0 2017-OCT-30 GE Initial version. V1.1 2017-NOV-28 GE Minor changes: S/D support added. V1.2 2018-DEC-05 GE Driver stage MOSFETs and magnetic encoder IC replaced Table 16: Hardware Revision 16.2 Document Revision Version Date Author Description 0.90 2017-NOV-29 GE Initial version. 1.