MODULE FOR STEPPER MOTORS MODULE Hardware Version V1.2 HARDWARE MANUAL + + TMCM-1311 1-Axis Stepper Closed Loop Controller/Driver 3.0 A / 48 V Encoder Input 18 GPIOs USB, CAN, RS485 + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-1311 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 3 1 Features The TMCM-1311 is a single axis stepper motor controller and driver standalone board with USB, CAN and RS485 interface. It supports motor currents up to 3A RMS and supply voltages up to 48V nominal. The module offers inputs for an incremental a/b/n (TTL, open-collector, and differential inputs) encoder. In addition, there are dedicated stop switch inputs and 8 general purpose inputs and 8 general purpose outputs.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 4 TRINAMIC FEATURES – CLOSED LOOP MODE The TMCM-1311 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 5 2 Order Codes Order code TMCM-1311-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-1311-TMCL Table 2.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 6 3 Mechanical and Electrical Interfacing 3.1 Dimensions The TMCM-1311 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 26.5 11 6 14 6 11.5 9 20 13.5 32 75.5 Top 12 44 64 89.3 max 7 13 28.5 5 14 6 13.5 9.5 7.5 7.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 7 3.
TMCM-1311 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 9 3.2.3 Encoder Connector A dedicated encoder input connector is available. Connector type is JST PH series 8pin with 2mm pitch.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 10 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 11 3.2.6.2 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 12 3.2.8 CAN / RS485 Connector The TMCM-1311 offers one 9-pin male D-SUB connector for CAN and RS485 communication. An on-board bi-stable relay allows switching between CAN and RS485 connector pin-assignment in software. This bistable relay remembers its state even when un-powered. Hence, the configuration of the pin-assignment for either CAN or RS485 has to be done only once. 3.2.8.1 CAN Connector If selected, a CAN 2.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 13 3.3 Power Supply For proper operation care has to be taken with regard to power supply concept and design. The TMCM1311 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 14 3.4 Communication 3.4.1 RS485 For remote control and communication with a host system the TMCM-1311 provides a two wire RS485 bus interface. The pins are shared with the CAN interface. Therefore, make sure the RS485 interface has been activated in software. To select a modules’ address, the TMCM-1311 is equipped with dip switches with digits from 1 to 4. Anyhow, the switches use the binary digit system.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 3. 4. 15 NUMBER OF NODES: The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-1311 units (SN65HVD3082ED) has just 1/8th of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 16 3.4.2 CAN For remote control and communication with a host system the TMCM-1311 provides a CAN bus interface. To select a modules’ address, the TMCM-1311 is equipped with dip switches with digits from 1 to 4. Anyhow, the switches use the binary digit system. Thus, node addresses from 1 to 15 can be set.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 17 3.4.3 USB For remote control and communication with a host system the TMCM-1311 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-1311 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 18 3.5 Inputs and Outputs 3.5.1 Encoder Input The dedicated encoder connector offers support for the connection of an incremental encoder with a/b signals and optional n/index-channel. Encoders with +5V TTL, open-collector, or differential output signals can be connected directly. A +5V output - available at one connector pin - can be used for the encoder circuit supply.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 19 3.5.3 General Purpose Inputs The TMCM-1311 has two I/O connectors with 8 inputs altogether including two dedicated analog inputs. All inputs offer the same basic input protection circuit, but digital and analog inputs have different input voltages: the digital inputs have been designed for +5V and +24V signal levels. The analog inputs have different input voltage dividers to support a full scale input voltage range of 0… +10V.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 20 4 On-Board LEDs The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the firmware version. With standard TMCL firmware the green LED should be blinking during operation and the red LED should be off. When there is no valid firmware programmed into the board or during firmware update (with boot loader active) the red and green LEDs are permanently on. Error Run Figure 4.1 On-board LEDs www.
TMCM-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 21 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 22 6 Functional Description The TMCM-1311 is a highly integrated single axis closed loop controller / driver module which can be controlled via USB, RS485, or CAN. 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-1311 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-1311 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 8 Revision History 8.1 Document Revision Version 0.90 1.00 1.10 Date 2012-OCT-25 2012-DEC-05 2013-MAY-23 Author GE SD GE 1.11 2013-JUL-03 SD 1.12 2013-JUL-05 SD Description Preliminary version First complete version Adapted to latest hardware version V1.2 Information about dip switch added. New photo. Changes related to the design. New front picture Table 8.1 Document revision 8.
