MODULE FOR STEPPER MOTORS MODULE Hardware Version V1.3 HARDWARE MANUAL + + TMCM-1140 1-Axis Stepper Controller / Driver 2 A / 24 V sensOstep™ Encoder USB, RS485, and CAN + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com + TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) Table of Contents 1 2 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing ..................................................................................................................... 6 3.1 Dimensions and Mounting Holes ................................................................................................................... 6 3.2 Board mounting considerations ..................................................................................................................... 6 3.3 Connectors of TMCM-1140 ................................................................................................................................. 7 3.3.1 Power and Communication Connector ................................................................................................... 8 3.3.1.1 Power Supply .......................................................................................................................................... 8 3.3.1.2 RS485 ......................................................................................................................................................... 9 3.3.1.3 CAN ........................................................................................................................................................... 10 3.3.2 Multipurpose I/O Connector ..................................................................................................................... 11 3.3.2.1 Digital Inputs IN_1, IN_2, IN_3 ........................................................................................................ 12 3.3.2.2 Analog Input IN_0 ............................................................................................................................... 13 3.3.2.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 13 3.3.3 Motor Connector .......................................................................................................................................... 14 3.3.4 Mini-USB Connector .................................................................................................................................... 15 4 Motor driver current .................................................................................................................................................. 16 5 Reset to Factory Defaults ......................................................................................................................................... 17 6 On-Board LEDs............................................................................................................................................................. 18 7 Operational Ratings ................................................................................................................................................... 19 8 Functional Description .............................................................................................................................................. 21 9 TMCM-1140 Operational Description ..................................................................................................................... 22 9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 22 10 Life Support Policy ..................................................................................................................................................... 24 11 Revision History .......................................................................................................................................................... 25 11.1 Document Revision ........................................................................................................................................... 25 11.2 Hardware Revision ............................................................................................................................................ 25 12 References .................................................................................................................................................................... 26 www.trinamic.com 2 TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 3 1 Features The TMCM-1140 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of the art feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized applications. The module can be mounted on the back of NEMA 17 (42mm flange size) stepper motors and has been designed for coil currents up to 2 A RMS and 24 V DC supply voltage. With its high energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The TMCL™ firmware allows for both, standalone operation and direct mode. MAIN CHARACTERISTICS Motion controller Motion profile calculation in real-time On the fly alteration of motor parameters (e.g. position, velocity, acceleration) High performance microcontroller for overall system control and serial communication protocol handling Bipolar stepper motor driver Up to 256 microsteps per full step High-efficient operation, low power dissipation Dynamic current control Integrated protection stallGuard2 feature for stall detection coolStep feature for reduced power consumption and heat dissipation Encoder sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning supervision Interfaces RS485 2-wire communication interface CAN 2.0B communication interface USB full speed (12Mbit/s) device interface 4 multipurpose inputs: 3x general-purpose digital inputs (Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input) 1x dedicated analog input 2 general purpose outputs 1x open-drain 1A max. 1x +5V supply output (can be switched on/off in software) Software TMCL: standalone operation or remote controlled operation, program memory (non volatile) for up to 2048 TMCL commands, and PC-based application development software TMCL-IDE available for free. Electrical and mechanical data Supply voltage: +24 V DC nominal (9… 28 V DC) Motor current: up to 2 A RMS / 2.8 A peak (programmable) Refer to separate TMCL Firmware Manual, too. www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 4 TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value goes to zero or near to zero. This is the most energy-efficient point of operation for the motor. Load [Nm] stallGuard2 Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall. Motor stalls Figure 1.1 stallGuard2 load measurement SG as a function of load coolStep™ coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2 adapting the required current to the load. Energy consumption can be reduced by as much as 75%. coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant-load application allows significant energy savings because coolStep automatically enables torque reserve when required. Reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost. 0,9 Efficiency with coolStep 0,8 Efficiency with 50% torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 1.2 Energy efficiency example with coolStep www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 5 2 Order Codes Order code TMCM-1140-option Size (mm3) Description Single axis bipolar stepper motor controller / driver 37 x 37 x 11.5 electronics with integrated sensOstep encoder and coolStep feature Table 2.1 Order codes The following options are available: Firmware option -TMCL -CANopen Description Module pre-programmed with TMCL firmware Module pre-prgrammed with CANopen firmware Order code example: TMCM-1140-TMCL TMCM-1140-CANopen Table 2.2 Firmware options A cable loom set is available for this module: Order code TMCM-1140-CABLE Description Cable loom for TMCM-1140: 1x cable for power and communication connector (length 200mm) 1x cable for multipurpose In/Out connector (length 200mm) 1x cable for motor connector (length 200mm) 1x USB type A connector to mini-USB type B connector cable (length 1.5m) Table 2.3 Cable loom order codes Please note that the TMCM-1140 is available with NEMA17 stepper motors, too. Refer to the PD-1140 documents for more information about these products. www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 6 3 Mechanical and Electrical Interfacing 3.1 Dimensions and Mounting Holes The dimensions of the controller/driver board are approx. 37 mm x 37 mm x 11.5 mm in order to fit on the back of a 42 mm stepper motor. Maximum component height (height above PCB level) without mating connectors is around 8mm above PCB level and 2 mm below PCB level. There are two mounting holes for M3 screws for mounting to a NEMA17 stepper motor. 37 34 3 2xM3 37 3 34 Figure 3.1 Dimensions of TMCM-1140 and position of mounting holes 3.2 Board mounting considerations The TMCM-1140 offers two metal plated mounting holes. Both mounting holes are connected to system and signal ground (same as power supply ground). In order to minimize distortion of signals and radiation of HF signals (improve EMC compatibility) especially in sensitive / noisy environments it is important to ensure a solid ground connection within the system. In order to support this, it is recommended to connect both mounting holes of the board in addition to the supply ground connection to system power supply ground. Nevertheless, this might not always be an option e.g. in case the metal system chassis / TMCM-1140 mounting plate is already connected to earth and a direct connection between supply ground (secondary side) and mains supply earth (primary side) is not desired / not an option. In this case plastic (e.g. made of nylon) spacers / distance bolts and screws should be used. www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 7 3.3 Connectors of TMCM-1140 The controller/driver board of the TMCM-1140 offers four connectors including the motor connector which is used for attaching the motor coils to the electronics. The power and communication connector is used for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface. Multi-purpose I/O 1 8 6 Power and Communication USB 1 4 1 Motor Figure 3.2 Overview connectors Label Connector type Mating connector type Connector housing CVIlux: CI01065000-A Contacts CVIlux: CI01T011PE0-A Power and Communication Connector CI0106P1VK0-LF CVIlux CI01 series, 6 pins, 2mm pitch or Connector housing JST: PHR-6 Contacts JST: SPH-002T-P0.5S Wire: 0.22mm2 Connector housing CVIlux: CI01085000-A Contacts CVIlux: CI01T011PE0-A Multipurpose I/O Connector CI0108P1VK0-LF CVIlux CI01 series, 8 pins, 2mm pitch or Connector housing JST: PHR-8 Contacts JST: SPH-002T-P0.5S Wire: 0.22mm2 Connector housing CVIlux: CI01045000-A Contacts CVIlux: CI01T011PE0-A Motor Connector CI0104P1VK0-LF CVIlux CI01 series, 4 pins, 2mm pitch or Connector housing JST: PHR-4 Contacts JST: SPH-002T-P0.5S Wire: 0.22mm2 Mini-USB Connector Molex 500075-1517 Mini USB Type B vertical receptacle Any standard mini-USB plug Table 3.1 Connectors and mating connectors, contacts and applicable wire www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 8 3.3.1 Power and Communication Connector A 6pin CVIlux CI0106P1VK0-LF 2mm pitch single row connector is used for power supply, RS485 and CAN serial communication. Please note the additional power supply information in chapter 3.3.1.1. Note: CAN interface will be de-activated in case USB is connected due to internal sharing of hardware resources. 1 Pin 1 2 3 4 5 6 6 Label GND VDD RS485+ RS485CAN_H CAN_L Direction Power (GND) Power (Supply) Bidirectional Bidirectional Bidirectional Bidirectional Description System and signal ground VDD (+9V…+28V) RS485 interface, diff. signal (non-inverting) RS485 interface, diff. signal (inverting) CAN interface, diff. signal (non-inverting) CAN interface, diff. signal (inverting) Table 3.2 Connector for power supply and interfaces 3.3.1.1 Power Supply For proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the TMCM-1140 includes about 40µF/35V of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. The module includes a 28V suppressor diode for over-voltage protection. CAUTION! Add external power supply capacitors! It is recommended to connect an electrolytic capacitor of significant size (e.g. at least 470µF/35V) to the power supply lines next to the TMCM-1140! Rule of thumb for size of electrolytic capacitor: In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any voltage spikes which might otherwise occur from a combination of high inductance power supply wires and the ceramic capacitors. In addition it will limit slewrate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors may cause stability problems with some switching power supplies. Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always disconnect power supply before connecting / disconnecting the motor. Keep the power supply voltage below the upper limit of 28V! Otherwise the driver electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. Please see also chapter 7, operating values. There is no reverse polarity protection! The module will short any reversed supply voltage due to internal diodes of the driver transistors. www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 9 3.3.1.2 RS485 For remote control and communication with a host system the TMCM-1140 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. 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. Host c:> Slave Slave Slave node 1 node n-1 node n } termination resistor (120 Ohm) RS485 termination resistor (120 Ohm) keep distance as short as possible Figure 3.3: Bus structure 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. The TMCM-1140 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 3. NUMBER OF NODES: The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceivers used on the TMCM-1140 units (hardware V1.2: SN65HVD3082ED, since hardware V1.3: SN65HVD1781D) have a significantly reduced bus load and allow a maximum of 255 units to be connected to a single RS485 bus using TMCL firmware. Please note: usually it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum supported communication speed at the same time. Instead, a compromise has to be found between bus cable length, communication speed and number of nodes. 4. COMMUNICATION SPEED: The maximum RS485 communication speed supported by the TMCM-1140 hardware V1.2 is 115200 bit/s and 1Mbit/s since hardware V1.3. Factory default is 9600 bit/s. Please see separate TMCM1140 TMCL firmware manual for information regarding other possible communication speeds below the upper limit in hardware. 5. NO FLOATING BUS LINES: Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well defined logic levels. There are actually two options which can be recommended: Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both ends): www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 10 Slave Slave node n- 1 node n +5V pull-up (680R) RS485+ / RS485A termination resistor (220R) termination resistor (120R) RS485- / RS485B pull-down (680R) GND Figure 3.4: Bus lines with resistor (Bias) network on one side, only Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination): +5V pull-up (390R) Slave Slave node n- 1 node n +5V pull-up (390R) RS485+ / RS485A termination resistor (220R) termination resistor (220R) RS485- / RS485B pull-down (390R) pull-down (390R) GND GND Figure 3.5: Bus lines with resistor (Bias) network at both ends Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485 with bias network at one end of the bus). 3.3.1.3 CAN For remote control and communication with a host system the TMCM-1140 provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken into account when setting up a CAN network: 1. 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. Host c:> Slave Slave Slave node 1 node n-1 node n } termination resistor (120 Ohm) CAN Figure 3.6 CAN bus structure www.trinamic.com termination resistor (120 Ohm) keep distance as short as possible TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 11 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. The TMCM-1140 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 3. NUMBER OF NODES: The bus transceiver used on the TMCM-1140 units (TJA1050T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes). 3.3.2 Multipurpose I/O Connector An 8pin CVIlux CI0108P1VK0-LF 2mm pitch single row connector is available for all multipurpose inputs and outputs. Pin 1 1 8 Label GND Direction Power (GND) 2 VDD Power (Supply) 3 OUT_0 Output 4 OUT_1 Output 5 IN_0 Input 6 IN_1, STOP_L, ENC_A Input 7 IN_2, STOP_R, ENC_B Input 8 IN_3, HOME, ENC_N Input Description System and signal ground VDD, connected to VDD pin of the power and communication connector Open-drain output (max. 1A) Integrated freewheeling diode to VDD +5V supply output (max. 100mA) Can be switched on/off in software Dedicated analog input, Input voltage range: 0..+10V Resolution: 12bit (0..4095) General purpose digital input (+24V compatible) Alternate function 1: left stop switch input Alternate function 2: external incremental encoder channel A input General purpose digital input (+24V compatible) Alternate function 1: right stop switch input Alternate function 2: external incremental encoder channel B input General purpose digital input (+24V compatible) Alternate function 1: home switch input Alternate function 2: external incremental encoder index / zero channel input Table 3.3 Multipurpose I/O connector Note: - All inputs have resistor based voltage input dividers with protection diodes. These resistors also ensure a valid GND level when left unconnected. - For all digital inputs (IN_1, IN_2, IN_3) a 2k2 pull-up resistor to +5V can be activated (default setting with all more recent TMCL firmware versions). Then these inputs have a default (unconnected) logic level of 1 and an external switch to GND can be connected. This might be especially interesting in case these inputs are used as STOP_L / STOP_R and HOME switch inputs (alternate function 1) or as encoder input for an external incremental A/B/N encoder with opencollector outputs (pull-ups are not necessary for encoder with push-pull outputs). www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 12 3.3.2.1 Digital Inputs IN_1, IN_2, IN_3 The eight pin connector of the TMCM-1140 provides three multipurpose digital inputs IN_1, IN_2 and IN_3. All three inputs accept up to +24V (nom.) input signals and offer the same input circuit with voltage resistor dividers, limiting diodes against over- and under-voltage and programmable 2k2 pull-up resistors. The pull-ups can be switched on or off for all three inputs at once in software. With TMCL firmware command SIO 0, 0, 0 will switch-off the pull-ups and command SIO 0, 0, 1 will switch them on (see separate TMCL firmware manual, command SIO for more detailed information). common switch for all three digital inputs (programmable in software) +5V 2k2 IN_1, IN_2, IN_3 +3.3V 15k microcontroller (all) and TMC429 (STOP_L, STOP_R) 22k 33pF GND GND GND Figure 3.7 General purpose inputs (simplified input circuit) The three digital inputs have alternate functionality depending on configuration in software. The following functions are available: Label (pin) IN_1 (6) Default function Alternate function 1 Alternate function 2 General purpose digital input STOP_L - left stop switch input, connected to processor and TMC429 REF input (supporting left stop functionality in hardware) ENC_A external incremental encoder input channel A, connected to processor encoder counter input TMCL: GIO 1, 0 // get digital value of input IN_1 IN_2 (7) General purpose digital input TMCL: GIO 2, 0 // get digital value of input IN_2 IN_3 (8) General purpose digital input TMCL: GIO 3, 0 // get digital value of input IN_3 TMCL: GAP 11, 0 // get digital value of STOP_L input STOP_R - right stop switch input, connected to processor and TMC429 REF input (supporting right stop switch functionality in hardware) TMCL: GAP 10, 0 // get digital value of STOP_R input HOME - home switch input, connected to processor TMCL: GAP 9, 0 // get digital value of HOME input Table 3.4 Multipurpose inputs / alternate functions www.trinamic.com ENC_B external incremental encoder input channel B, connected to processor encoder counter input ENC_N external incremental encoder input index / zero channel, connected to processor interrupt input TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) - - 13 All three digital inputs are connected to the on-board processor and can be used as general purpose digital inputs (default). In order to use IN_1 and IN_2 as STOP_L and STOP_R inputs, this function has to be enabled explicitly in software (factory default: switched off). With TMCL firmware the stop switch functionality can be enabled using SAP 12, 0, 0 (STOP_R / right limit switch) and SAP 13, 0, 0 (STOP_L / left limit switch). As the names already indicate: the status of the left limit switch (STOP_L) will be significant during motor left turns and the status of the right limit switch during motor right turns (positive direction), only. Reading out input values using the GAP commands as listed in the table above is possible at any time. Please see separate TMCL firmware manual for additional information. External encoder: an external incremental A/B/N encoder can be connected to the TMCM-1140 and used in addition or as an alternative to the internal sensOstep™ encoder. Using TMCL the encoder counter value for this second encoder can be read out via TMCL command GAP 216, 0 (see separate TMCL firmware manual for more details). Factory default scaling of the encoder counter is 1:1 - that is, after one encoder rotation the encoder counter will be incremented / decremented by the number of encoder ticks (encoder lines x 4). When using an external encoder connect encoder channel A to IN_1, channel B to IN_2, the N or zero channel to IN_3 (optional), encoder ground to module supply ground (e.g. Pin 1 of the Multipurpose I/O connector) and the +5V supply input of the encoder to OUT_1 (all on the Multipurpose I/O connector). Please note that in order to supply the encoder with +5V the output OUT_1 has to be activated first using SIO 1, 2, 1 (see also chapter 3.3.2.3). 3.3.2.2 Analog Input IN_0 The eight pin connector of the TMCM-1140 provides one dedicated analog input IN_0. This dedicated analog input offers a full scale input range of approx. 0… +10 V (0..+10.56V nom.) with a resolution of the internal analog-to-digital converter of the microcontroller of 12bit (0… 4095). The input is protected against higher voltages up to +24 V using voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below). +3.3V IN_0 22k ADC input (microcontroller) 10k 100nF GND GND GND Figure 3.8 General purpose inputs (simplified input circuit) With TMCL firmware the analog value of this input may be read using command GIO 0, 1. The command will return the raw value of the 12bit analog-to-digital converter between 0 .. 4095. It is also possible to read the digital value of this input using TMCL command GIO 0, 0. The trip point (between 0 and 1) will be at approx. +5V input voltage (half the analog input range). 3.3.2.3 Outputs OUT_0, OUT_1 The eight pin connector of the TMCM-1140 offers two general purpose outputs OUT_0 and OUT_1. OUT_0 is an open-drain output capable of switching (sinking) up to 1A. The output of the N-channel MOSFET transistors is connected to a freewheeling diode for protection against voltage spikes especially from inductive loads (relais etc.) above supply voltage (see figure below). OUT_0 should not be connected to any voltage above supply voltage of the module due to the internal freewheeling diode. www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 14 VDD microcontroller GND Figure 3.9 General purpose output OUT_0 (simplified circuit) With TMCL firmware OUT_0 can be switched on (OUT_0 pulled low) using command SIO 0, 2, 1 and off again (OUT_0 floating) using command SIO 0, 2, 0 (this is also the factory default setting of this output). In case a floating output is not desired in the application an external resistor to e.g. supply voltage may be added. In contrast OUT_1 is able to supply +5V (sourcing 100mA max.) to an external load. An integrated Pchannel MOSFET allows switching on / off this +5V supply in software (see figure below). This output might be used in order to supply +5V to an external encoder circuit. Please note that the +5V supply has to be activated explicitly in software. +5V microcontroller OUT_0 10k 100pF GND GND Figure 3.10 General purpose output OUT_1 (simplified circuit) With TMCL firmware OUT_1 can be switched on (supply +5V to external circuit) using command SIO 1, 2, 1 and off (output pulled low via 10k pull-down resistor) using command SIO 1, 2, 0 (this is also the factory default setting of this output). 3.3.3 Motor Connector As motor connector a 4pin CVIlux CI0104P1VK0-LF 2mm pitch single row connector is available. The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics. 1 4 Pin 1 2 3 4 Label OB2 OB1 OA2 OA1 Direction Output Output Output Output Pin Pin Pin Pin 2 1 2 1 of of of of motor motor motor motor Description coil B coil B coil A coil A Table 3.5 Motor connector Example for connecting the QSH4218 NEMA 17 / 42mm stepper motors: TMCM-1140 www.trinamic.com QS4218 Motor TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) Coil B BAA Description Motor coil B Motor coil B Motor coil A Motor coil A green pin pin pin pin 1 2 2 1 M A black red blue B Motor connector pin Cable color 1 Red 2 Blue 3 Green 4 Black 15 3.3.4 Mini-USB Connector A 5pin mini-USB connector is available on-board for serial communication (as alternative to the CAN and RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections. CAN interface will be de-activated as soon as USB is connected due to internal sharing of hardware resources. Pin 1 5 1 2 3 4 5 Label VBUS DD+ ID GND Direction Power (supply input) Bidirectional Bidirectional Power (GND) Power (GND) Description +5V supply from host USB Data – USB Data + Connected to signal and system ground Connected to signal and system ground Table 3.6 Connector for USB For remote control and communication with a host system the TMCM-1140 provides a USB 2.0 full-speed (12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept commands via USB. USB BUS POWERED OPERATION MODE The TMCM-1140 supports both, USB self powered operation (when an external power is supplied via the power supply connector) and USB bus powered operation, (no external power supply via power supply connector). On-board digital core logic will be powered via USB in case no other supply is connected (USB bus powered operation). The digital core logic includes the microcontroller itself and also the EEPROM. The USB bus powered operation mode has been implemented to enable configuration, parameter settings, read-outs, firmware updates, etc. by just connecting an USB cable between module and host PC. No additional cabling or external devices (e.g. power supply) are required. Please note that the module might draw current from the USB +5V bus supply even in USB self powered operation depending on the voltage level of this supply. Motor movements are not possible in this mode. Therefore, always connect a power supply to the Power and Communication Connector for motor movements. www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 16 4 Motor driver current The on-board stepper motor driver operates current controlled. The driver current may be programmed in software for motor coil currents up-to 2A RMS with 32 effective scaling steps in hardware (CS in table below). Explanation of different columns in table below: Motor current setting in software (TMCL) These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current). They are used to set the run / standby current using the following TMCL commands: SAP 6, 0, <value> // set run current SAP 7, 0, <value> // set standby current (read-out value with GAP instead of SAP. Please see separate TMCM-1140 firmware manual for further information) Motor current IRMS [A] Motor current setting in software (TMCL) 0..7 8..15 16..23 24..31 32..39 40..47 48..55 56..63 64..71 72..79 80..87 88..95 96..103 104..111 112..119 120..127 128..135 136..143 144..151 152..159 160..167 168..175 176..183 184..191 192..199 200..207 208..215 216..223 224..231 232..239 240..247 248..255 www.trinamic.com Resulting motor current based on motor current setting Current scaling step (CS) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Motor current ICOIL_PEAK [A] 0.092 0.184 0.276 0.368 0.460 0.552 0.645 0.737 0.829 0.921 1.013 1.105 1.197 1.289 1.381 1.473 1.565 1.657 1.749 1.842 1.934 2.026 2.118 2.210 2.302 2.394 2.486 2.578 2.670 2.762 2.854 2.946 Motor current ICOIL_RMS [A] 0.065 0.130 0.195 0.260 0.326 0.391 0.456 0.521 0.586 0.651 0.716 0.781 0.846 0.912 0.977 1.042 1.107 1.172 1.237 1.302 1.367 1.432 1.497 1.563 1.628 1.693 1.758 1.823 1.888 1.953 2.018 2.083 TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 17 In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-1140 firmware manual). 5 Reset to Factory Defaults It is possible to reset the TMCM-1140 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost. For this procedure two pads on the bottom side of the board have to be shortened. Please perform the following steps: 1. 2. 3. 4. 5. 6. 7. Power supply off and USB cable disconnected Short two pads as marked in Figure 5.1 Power up board (power via USB is sufficient for this purpose) Wait until the on-board red and green LEDs start flashing fast (this might take a while) Power-off board (disconnect USB cable) Remove short between pads After switching on power-supply / connecting USB cable all permanent settings have been restored to factory defaults Short these two pads Figure 5.1 Reset to factory default settings www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 18 6 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 flashing slowly during operation and the red LED should be off. When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on. BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE Status Label Description Heartbeat Run This green LED flashes slowly during operation. Error Error This red LED lights up if an error occurs. Green LED Figure 6.1 On-board LEDs www.trinamic.com Red LED TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 19 7 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! Symbol Parameter Min Typ Max Unit VDD ICOIL_peak Power supply voltage for operation Motor coil current for sine wave peak (chopper regulated, adjustable via software) Continuous motor current (RMS) Power supply current Environment temperature at rated current (no forced cooling required) Environment temperature at 1A RMS motor current / half max. current (no forced cooling required) 9 0 12… 24 28 2.8 V A ICOIL_RMS IDD TENV TENV_1A 0 -30 2.0 A 1.4 * ICOIL A +50 °C -30 +70 °C Max Unit +VDD 1 V A 0 100 +VDD V mA V 0 3.4 0 1.1 +VDD +10*) V V V << ICOIL Table 7.1 General operational ratings of module OPERATIONAL RATINGS OF MULTIPURPOSE I/OS Symbol Parameter Min VOUT_0 IOUT_0 Voltage at open drain output OUT_0 Output sink current of open drain output OUT_0 Voltage at output OUT_1 (when switched on) Output source current for OUT_1 Input voltage for IN_1, IN_2, IN_3 (digital inputs) Low level voltage for IN_1, IN_2 and IN_3 High level voltage for IN_1, IN_2 and IN_3 Measurement range for analog input IN_0 0 VOUT_1 IOUT_1 VIN_1/2/3 VIN_L 1/2/3 VIN_H 1/2/3 VIN_0 Typ +5 Table 7.2 Operational ratings of multipurpose I/Os *) approx. 0…+10.56V at the analog input IN_0 is translated to 0..4095 (12bit ADC, raw values). Above approx. +10.56V the analog input will saturate but, not being damaged (up-to VDD). OPERATIONAL RATINGS OF RS485 INTERFACE Symbol NRS485 Parameter Number of nodes connected to single RS485 network fRS485 Maximum bit rate supported on RS485 connection Min Typ Max 256 Unit 9600 115200 1000000*) bit/s Table 7.3: Operational ratings of RS485 interface *) hardware revision V1.2: max. 115200 bit/s, hardware revision V1.3: max. 1Mbit/s www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 20 OPERATIONAL RATINGS OF CAN INTERFACE Symbol Parameter NCAN Number of nodes connected to single RS485 network fCAN Maximum bit rate supported on CAN connection Table 7.4 Operational ratings of the CAN interface www.trinamic.com Min Typ Max Unit > 110 1000 1000 kbit/s TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 21 8 Functional Description The TMCM-1140 is a highly integrated controller/driver module which can be controlled via several serial interfaces. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on board. The nominal supply voltage of the unit is 24V DC. The module is designed for both, standalone operation and direct mode. Full remote control of device with feedback is possible. The firmware of the module can be updated via any of the serial interfaces. In Figure 8.1 the main parts of the TMCM-1140 are shown: - the the the the the microprocessor, which runs the TMCL operating system (connected to TMCL memory), motion controller, which calculates ramps and speed profiles internally by hardware, power driver with stallGuard2 and its energy efficient coolStep feature, MOSFET driver stage, and sensOstep encoder with resolutions of 10bit (1024 steps) per revolution. TMCL™ Memory TMCM-1140 SPI SPI USB Power RS485 SPI µC CAN I/Os 5 OUT_0 S/D TMC429 Motion Controller Energy Efficient Driver Driver TMC262 TMC262 with coolStep™ Step MOSFET Driver Stage Motor S/D Stop switches +5V +5V 9… 28V DC SPI DC/DC sensOstep™ Encoder Figure 8.1 Main parts of the TMCM-1140 The TMCM-1140 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCM). Using predefined TMCL high level commands like move to position a rapid and fast development of motion control applications is guaranteed. Please refer to the TMCM-1140 Firmware Manual for more information about TMCL commands. www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 22 9 TMCM-1140 Operational Description 9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency The values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC429 parameters as shown in this section. PARAMETERS OF TMC429 Signal fCLK velocity a_max pulse_div ramp_div Usrs Description clock-frequency maximum acceleration divider for the velocity. The higher the value is, the less is the maximum velocity default value = 0 divider for the acceleration. The higher the value is, the less is the maximum acceleration default value = 0 microstep-resolution (microsteps per fullstep = 2usrs) Range 16 MHz 0… 2047 0… 2047 0… 13 0… 13 0… 8 Table 9.1 TMC429 velocity parameters MICROSTEP FREQUENCY The microstep frequency of the stepper motor is calculated with usf [ Hz ] f CLK [ Hz ] velocity 2 pulse_ div 2048 32 with usf: microstep-frequency FULLSTEP FREQUENCY To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided by the number of microsteps per fullstep. fsf [ Hz ] usf [ Hz ] 2usrs with fsf: fullstep-frequency The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a) is given by a f CLK 2 a max 2 pulse_ div ramp _ div 29 This results in acceleration in fullsteps of: a af 2 usrs www.trinamic.com with af: acceleration in fullsteps TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) EXAMPLE Signal f_CLK velocity a_max pulse_div ramp_div usrs msf 16 MHz 1000 122070.31 Hz 21 2048 32 122070.31 fsf [ Hz ] a value 16 MHz 1000 1000 1 1 6 26 (16Mhz ) 2 1000 11 29 2 1907.34 Hz 119.21 MHz s MHz s 1.863 MHz 6 s 2 119.21 af CALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e.g. 72 fullsteps per rotation. RPS RPM fsf 1907.34 26.49 fullsteps per rotation 72 fsf 60 1907.34 60 1589.46 fullsteps per rotation 72 www.trinamic.com 23 TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 10 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. © TRINAMIC Motion Control GmbH & Co. KG 2013 – 2015 Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use. Specifications are subject to change without notice. All trademarks used are property of their respective owners. www.trinamic.com 24 TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 25 11 Revision History 11.1 Document Revision Version 0.90 0.91 Date 2011-DEC-22 2012-MAY-02 Author GE GE 1.00 2012-JUN-12 SD 1.01 2012-JUL-30 SD 1.02 2013-MAR-26 SD 1.03 2013-JUL-23 SD 1.04 2015-JAN-05 GE Description Initial version Updated for TMCM-1140_V11 pcb version First complete version including new chapters about: reset to factory defaults, and LEDs Internal circuit of inputs corrected. Names of inputs changed: AIN_0 IN_0 IN_0 IN_1 IN_1 IN_2 IN_2 IN_3 Names of outputs changed: OUT_1 = OUT_0 OUT_0 = OUT_1 Connector types updated. Chapter 3.3.1.1 updated. New hardware version V13 added Motor driver current settings added (chapter 4) Several additions Table 11.1 Document revision 11.2 Hardware Revision Version TMCM-1040_V10*) TMCM-1140_V11*) Date 2011-MAR-08 2011-JUL-19 TMCM-1140_V12**) 2012-APR-12 TMCM-1140_V13**) 2013-AUG-22 www.trinamic.com Description Initial version Optimization of multipurpose I/O circuits Clock generation and distribution changed (16MHz oscillator) Further cost optimization incl. different sensor IC with 10bit max. resolution Stepper motor driver MOSFETs: The MOSFETs of the driver stage have been replaced. The new MOSFETs offer less heat dissipation than the previous / currently used ones. Apart from that the performance and settings including driver output current and output waveform are essentially the same. General purpose outputs OUT_0 / OUT_1: The MOSFETs used for switching these outputs on / off have been replaced. The new MOSFETs offer less heat dissipation than the previous / currently used ones. Apart from that the functionality and ratings are essentially the same. RS485 transceiver: the RS485 transceiver has been replaced with the SN65HVD1781 transceiver offering better fault protection (up-to 70V fault protection) and supporting higher communication speeds (upto 1Mbit/s). In progress (coming soon): Conformal coating of TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) Version Date 26 Description both sides of the PCB. Provides improved protection against humidity and dust / swarf (e.g. in case of the motor mounted versions PD42-x-1140: tiny metal parts on the PCB attracted by the encoder magnet might lead to malfunction of the unprotected device). Table 11.2 Hardware revision *): V10, V11: prototypes only. **) V12: series product version. Is replaced with V13 series product version due to EOL (end-of-life) of MOSFETs. Please see “PCN_1014_08_29_TMCM-1140.pdf” on our Web-site, also 12 References [TMCM-1140 TMCL] [TMC262] [TMC429] [TMCL-IDE] TMCM-1140 TMCL Firmware Manual TMC262 Datasheet TMC429 Datasheet TMCL-IDE User Manual Please refer to www.trinamic.com. www.trinamic.com