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Module for Stepper Motors

MODULE

TMCM-1270 Hardware Manual

Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27

TMCM-1270 is an easy to use smart stepper motor driver module. The module is controlled via a

CAN bus interface and comes with two ﬁrmware options – TMCL and CANopen. TMCM-1270 fea-

tures stealthChop™ for absolute silent motor control, spreadCycle™ for high speed stepper motor

commutation, a fully integrated hardware motion controller with sixPoint™ motion ramps, as well

as stallGuard2™ and coolStep™.

Features

• Supply Voltag +6 to +24V DC

• CAN bus interface

• TMCL or CANopen protocol

•

Integrated

sixPoint™

ramp motion

controller

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

Applications

• Lab-Automation

• Manufacturing

• Robotics

• Factory Automation

• CNC

• Laboratory Automation

Simpliﬁed Block Diagram

+6V..+28V DC

ARM

Cortex-M0+

microcontroller

TMCL™

Memory

Step

Motor

CAN

Energy Efficient

Driver

TMC262

Stepper

motor

controller +

driver

TMCM-1270

I2C

SPI

Input

REFL/REFR

PD42-x-1270

ENC_A/ENC_B

/ENABLE

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (21 pages)

PAGE 1
MODULE Module for Stepper Motors TMCM-1270 Hardware Manual Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 TMCM-1270 is an easy to use smart stepper motor driver module. The module is controlled via a CAN bus interface and comes with two ﬁrmware options – TMCL and CANopen.
PAGE 2
/ 21 TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 Contents 1 Features 1.1 General Features . . . . . . . . . . 1.2 TRINAMIC’s Unique Features . . . 1.2.1 stealthChop™ . . . . . . . . 1.2.2 spreadCycle™ . . . . . . . . 1.2.3 stallGuard2 . . . . . . . . . 1.2.4 coolStep . . . . . . . . . . . 1.2.5 sixPoint Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 1 3 / 21 Features The TMCM-1270 is a complete stepper driver and controller solution with state of the art feature set. It is highly integrated and offers convenient handling via CAN interface. The TMCM-1270 includes driver electronics and a fully featured hardware motion controller. It can be used in many decentralized applications and has been designed for up to 1A RMS (1.
PAGE 4
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 1.2 1.2.1 4 / 21 TRINAMIC’s Unique Features stealthChop™ stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities.
PAGE 5
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 5 / 21 stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value reaches zero or is near zero. This is the most energy-eﬃcient point of operation for the motor. stallGuard2 Load [Nm] Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall.
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TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 6 / 21 the acceleration ramps to the torque curves of a stepper motor and uses two different acceleration settings each for the acceleration phase and for the deceleration phase Figure 5: Typical motion proﬁle with TRINAMIC’s sixPoint motion controller ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 7
/ 21 TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.
PAGE 8
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 3 3.1 8 / 21 Mechanical and Electrical Interfacing TMCM-1270 Dimensions The dimensions of the TMCM-1270 are approx. 42mm x 42mm x 12mm. There are two mounting holes for M3 screws for mounting the TMCM-1270 on the back bell of a NEMA17 / 42mm ﬂange size stepper motor (screw/thread length depends on motor size). Figure 6: TMCM-1270 top view mechanical dimensions 3.
PAGE 9
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 Figure 7: TMCM-1270 mechanical dimensions with a NEMA17 stepper motor ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 10
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 4 10 / 21 Connectors and LEDs The TMCM-1270 offers two connectors - one 10-pin connector for power supply, communication (CAN) and four Inputs and one four pin connector for connecting the motor.
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TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 Pin no. Pin name Description 4 CAN_L Differential CAN bus signal (inverting) 5 GND Signal ground connection 6 +5V 5V output, 100mA maximum load, e.g. for end / home switch circuit or external encoder supply 7 HOME (GPI0) General purpose input 0, can be used as HOME switch input, also.
PAGE 12
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 12 / 21 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. Basically, it should be short compared to the length of the bus.
PAGE 13
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 NOTICE 4.4 13 / 21 Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is connected / disconnected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off or disconnect power supply before connecting or disconnecting the motor.
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/ 21 TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 5 Functional Description 5.1 Typical Application Wiring The TMCM-1270 driver/controller’s wiring is straightforward as shown in the following ﬁgure. • Power supply must be connected to V+ and GND.
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/ 21 TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 6 Operational Ratings and Characteristics 6.1 Absolute Maximum Ratings Parameter Min Max Unit Supply voltage +6 +28 V Working temperature -30 +40 °C Motor coil current / sine wave peak 1.7 A Continuous motor current (RMS) 1.2 A NOTICE 6.2 Stresses above those listed under "‘Absolute Maximum Ratings"’ may cause permanent damage to the device.
PAGE 16
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 6.4 16 / 21 Functional Characteristics Parameter Description / Value Control CAN bus interface and four digital inputs for referencing, incremental encoder, and NOT_ENABLE Communication CAN bus interface for control and conﬁguration, 20. . .
PAGE 17
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 8 17 / 21 Figures Index 1 2 3 4 5 Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . 4 spreadCycle principle . . . . . . . . . . 4 stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . 5 Energy Eﬃciency Example with coolStep 5 Typical motion proﬁle with TRINAMIC’s sixPoint motion controller . . . . . . .
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TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 9 18 / 21 Tables Index 1 2 3 4 5 6 7 Order codes . . . . . . . . . . . . . . . Order codes cable loom . . . . . . . . Length and weight . . . . . . . . . . . Connector and mating connectors . . TMCM-1270 Power supply and I/O connector pin assignment . . . . . . . . . Motor connector pinning . . . . . . . LED functionality description . . . . . 7 7 8 10 11 12 13 ©2017 TRINAMIC Motion Control GmbH & Co.
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TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 10 19 / 21 Supplemental Directives 10.1 Producer Information 10.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2017 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
PAGE 20
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 20 / 21 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.
PAGE 21
TMCM-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.20 • 2017-SEP-27 11 11.1 Revision History Hardware Revision Version Date Author Description 1.00 2016-09-27 TMC Series version. Table 14: Hardware Revision 11.2 Document Revision Version Date Author Description 1.00 2016-06-26 BS Initial release. 1.10 2017-03-05 SK Update for series version V1.0 1.20 2017-09-27 GE Product picture and max.