MODULE FOR STEPPER MOTORS MODULE Hardware Version V1.2 HARDWARE MANUAL + + TMCM-1310 1-Axis Stepper Closed Loop Controller / Driver 3 A RMS / 48 V ABN and SSI Encoder Input 18 GPIOs USB, EtherCAT® + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) Table of Contents 1 2 3 4 5 6 7 8 9 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing .................
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 3 1 Features The TMCM-1310 is a single axis stepper motor controller/driver standalone board with closed loop support. For communication an USB interface and EtherCAT®* are provided. The module supports motor currents up to 3A RMS and supply voltages up to 48V nominal. The module offers inputs for one incremental a/b/n (TTL, open-collector and differential inputs) or absolute SSI encoders (selectable in software).
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 4 TRINAMICS UNIQUE FEATURES – CLOSED LOOP MODE The TMCM-1310 is mainly designed to run 2-phase stepper motors in closed loop mode. It offers an automatic motor load adaption in positioning mode, velocity mode, and torque mode, which is based on encoder feedback and closed loop control software for analysis, error detection and error correction.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 5 2 Order Codes Order code TMCM-1310-option Description Size of unit (mm3) 1-axis closed-loop bipolar stepper motor controller / 110 x 110 x 26.5 driver module Table 2.1 Order codes The following options are available: Firmware option -TMCL Description Module pre-programmed with TMCL firmware Order code example: TMCM-1310-TMCL Table 2.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 6 3 Mechanical and Electrical Interfacing 3.1 Dimensions The TMCM-1310 has an overall size of 110mm x 110mm and offers four mounting holes with 4mm diameter. Maximum height (without mating connectors and cable looms) is about 26.3mm. 98.5 5 74.5 11 46.5 19 23.5 21 6 6 9 18 13.5 75.5 51.5 Top 18.5 44 64 89.3 max 18 7 13 5 19.5 14 6 9.5 13.5 7.5 7.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 7 3.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 8 3.2.1 Power Connector The module has a single power connector with the option to have separate supplies for driver electronics and the digital controller part. A single supply voltage is sufficient. All further voltages required e.g. for the digital components are generated on-board.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 9 3.2.3 Encoder Connector An encoder input connector (JST PH series 8pin with 2mm pitch) is available. There are possibilities for different encoder types. In addition to encoders with incremental A/B/N signals, encoders with synchronous serial interface (SSI) delivering absolute position information are supported, too. 3.2.3.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 10 3.2.3.2 Encoders with Synchronous Serial Interface The TMCM-1310 supports encoders with synchronous serial interface (SSI) delivering absolute position information, too. In this case the encoder connector pin assignment can be switched to its alternate function as shown in Table 3.6.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 11 3.2.4 Reference Switch Connector A separate reference / limit switch input connector is available. Connector type is JST PH series 4pin with 2mm pitch. 1 Pin 1 2 4 3 4 Label GND +5V REF_L REF_R Direction Power (GND) Power (supply output) Input Input Description Signal and system ground +5V supply output for external encoder and reference switch circuit.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 12 3.2.5.2 I/O Connector 1 Pin 1 Label GND VCC Direction Power (GND) Power (supply output) AIN4 Input IN5 IN6 IN7 OUT4 Input Input Input Output OUT5 Output OUT6 Output OUT7 Output 2 3 1 4 5 6 10 7 8 9 10 Description GND Connected to VDIGITAL of Power connector. Please note: max.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 13 3.2.7 EtherCAT LINK IN / LINK OUT Connectors The TMCM-1310 offers two connectors (100BASE-TX RJ-45) with standard Ethernet 100Mbit/s pin assignment for EtherCAT LINK IN (towards Master) and LINK OUT (further slaves) connection.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 14 3.3 Power Supply For proper operation care has to be taken with regard to power supply concept and design. The TMCM1310 includes about 40µF of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. Further, the module includes a 48V suppressor diode and additional varistor for over-voltage protection.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 15 3.4 Communication 3.4.1 USB For remote control and communication with a host system the TMCM-1310 provides a USB 2.0 full-speed (12Mbit/s) interface. As soon as the USB-host is connected the module accepts commands via the USB interface. The TMCM-1310 supports USB self powered operation with external power supply via the power supply connector and USB bus powered operation without this external power supply.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 16 3.5.2 Reference Switch Inputs The reference switch connector provides two reference/limit switch inputs, REF_L and REF_R. Both inputs offer the same input circuit including voltage resistor dividers, limiting diodes against over- and undervoltage, and programmable 1k pull-ups to +5V. The programmable pull-ups can be switched on or off in software (both together). +5V 1k REF_L REF_R +3.3V 10k microcontroller 22k 1nF GND GND GND Figure 3.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 17 3.5.4 General Purpose Outputs The TMCM-1310 offers two I/O connectors with 8 outputs altogether. All outputs are open-drain outputs and a freewheeling diode (to VDIGTAL) is already integrated. Six outputs are designed for currents up to 100mA and two outputs offer more powerful MOSFET driver transistors supporting currents up to 1A.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 18 4 On-Board LEDs The TMCM-1310 offers four LEDs for indicating EtherCAT communication and board status. The three green LEDs are related to the EtherCAT interface and indicate EtherCAT LINK IN and LINK OUT activity plus the status of the EtherCAT state machine. The function of the red LED is depends on the firmware version. With standard TMCL firmware the red Error-LED should be flashing slowly during operation.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 19 5 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.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 20 6 Functional Description The TMCM-1310 is a highly integrated single axis closed loop controller / driver module which can be controlled via USB or EtherCAT. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on board. The preferred nominal supply voltage of the unit can be chosen out of 24V, 12V, and 48V DC. The module is designed for both, standalone operation and direct mode.
TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 7 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-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 8 Revision History 8.1 Document Revision Version 0.90 1.00 1.10 1.11 1.12 Date 2012-OCT-25 2012-DEC-06 2013-MAY-23 2013-JUL-03 2013-JUL-05 Author GE SD GE SD SD Description Preliminary version First complete version Adapted to latest hardware version V1.2 Changes related to the design New front picture Table 8.1 Document revision 8.
