MODULE FOR STEPPER MOTORS MODULE V 1.0 HARDWARE MANUAL + + TMCM-1630 1-Axis BLDC Controller / Driver plug-in module 10A / 48V DC RS232 / CAN or RS485 / USB + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) Table of contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features ........................................................................................................................................................................... 4 Order codes ...............................................................
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 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-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 4 2 Features The TMCM-1630 is a highly integrated single axis BLDC servo controller module with several interfaceoptions. The highly integrated module (size: 50mm x 92.5 mm) has been designed in order to be plugged onto a baseboard. It integrates velocity and position control and offers hall sensor and incremental encoder (a/b/n) inputs. The module can be used in stand alone operation or remote controlled.
TMCM-1630 Hardware Manual (Rev. 1.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 6 4 Mechanical and electrical interfacing 4.1 Dimensions of the module The module has a size of 92.5mm x 50mm. It offers four mounting holes (diameter: 3.2mm). Maximum overall height of the module including connectors: approx. 14mm. 92.5 88.5 4 4 50 46 4 x 3.2 Figure 4.1: Size of module www.trinamic.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 7 5 Connectors The module offers two double row 2.54mm pitch standard connectors, one at each end of the board.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 8 5.1 Motor and power connector A double row 26 pin header with 2.54mm pitch is used for connecting all motor related signals and module power supply.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 9 5.2 Communication, GPIO, and encoder connector A double row 26 pin header with 2.54mm pitch is used for connecting all communication and GPIO signals. Pin 1 Label Description 5V analog reference as used by the internal DAC. Max. load 0.5mA +5V Used for max. motor current / torque control in stand alone 3 Torque operation by supplying external 0-10V signal 5V TTL input.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 10 5.2.2 Inputs The TMCM-1630 offers two analogue and two digital inputs. Pin Label analogue/digital 2 Velocity analogue 3 Torque analogue 5 Dir_IN digital 7 Stop_IN digital Description Used for velocity control in stand alone operation by supplying external 0 - 10V signal Used for max. motor current / torque control in stand alone operation by supplying external 0 - 10V signal Direction input (+5V TTL compatible).
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 11 5.2.3 Open drain outputs The module offers three open drain outputs. Two of them (LED-Temp and LED-Curlim) power on-board LEDs, also. Please refer to paragraph 6 for more information about the LEDs. Pin Label 6 8 9 Description This pin outputs a tacho impulse, i.e.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 12 5.2.4 Encoder Pin 13 14 15 16 17 18 Description Encoder A+ channel Encoder A- channel Encoder B+ channel Encoder B- channel Encoder N+ channel Encoder N- channel Label Enc_A+ Enc_AEnc_B+ Enc_BEnc_N+ Enc_N- Table 5.6: Encoder channels of TMCM-1630 120R/5% 120R/5% 120R/5% 470R/5% A+ 470R/5% 470R/5% +5V ENC_A AB+ Differential Line Recever B- ENC_B N+ ENC_N 47k/5% 47k/5% 47k/5% 3k30/1% N- 2k2/1% GND Figure 5.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 13 6 LEDs The TMCM-1630 module has 4 on-board LEDs for power, error indication, current overload, and temperature warning. The LEDs are placed on the back of the module. You can plug the module on its baseboard and take a look at the LEDs on the backside of the module. Power Error Current overload Temperature warning Figure 6.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 14 7 Operational ratings The operational ratings show the intended/the characteristic range for the values and should be used as design values. An operation within the limiting values is possible, but shall not be used for extended periods, because the unit life time may be shortened. In no case shall the limiting values be exceeded.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 15 8 Functional description In figure 8.1 the main parts of the TMCM-1630 module are shown. The module mainly consists of the Cortex™-M3 CPU, TRINAMICs highly integrated TMC603 BLDC motor pre-driver, the MOSFET driver stage, different interfaces (depends up-on which option you have chosen), the inputs, and the outputs (open drain).
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 16 8.1.3 hallFX™ - hall sensor feedback hallFX™ provides emulated hall sensor signals. The emulated hall sensor signals are available without a phase shift and there is no error-prone PLL necessary, like with many other systems, nor is the knowledge of special motor parameters required. Since it is based on the motors’ back-EMF, a minimum motor velocity is required to get a valid signal.
TMCM-1630 Hardware Manual (Rev. 1.02 / 2012-JUN-11) 9 Revision history 9.1 Document revision Version 1.00 1.01 Date 2011-JUN-02 2011-NOV-07 1.02 2012-JUN-11 Author Description SD Initial version SD Minor changes Hall signal description (connector) SD corrected. Table 9.1: Document revision 9.2 Hardware revision Version V1.0 Date Description 2011-JAN-19 First version Table 9.
