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| module for stepper motors module trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com hardware version v 1. 3 hardware manual + + tmcm - 1140 + + u nique f eatures : 1 - axis s tepper controller / d river 2 a / 24 v sensostep? e ncoder usb, rs485, and can
tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 2 www.trinamic.com table of c ontents 1 features ................................ ................................ ................................ ................................ ................................ ........... 3 2 order codes ................................ ................................ ................................ ................................ ................................ ... 5 3 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 tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 3 www.trinamic.com 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 (42 mm flange size) stepper motors and has been designed for coil currents up to 2 a rms and 24 v dc supply voltage . with its h igh energy efficiency from trinamics coolstep ? technology cost for power consumption is kept down . the tmcl? firmware allows for both, standalone operation and direct mode. m ain c haracteristics m otion 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 b ipolar stepper motor driver - up to 256 microsteps per full step - high - efficient o peration, 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 multi purpose 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 comman ds, 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 m anual , too . tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 4 www.trinamic.com trinamic s u nique f eatures C e asy to u se 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. 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 b y 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 applica tion 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. figure 1 . 2 energy efficiency example with coolstep l o a d [ n m ] s t a l l g u a r d 2 i n i t i a l s t a l l g u a r d 2 ( s g ) v a l u e : 1 0 0 % m a x . l o a d s t a l l g u a r d 2 ( s g ) v a l u e : 0 m a x i m u m l o a d r e a c h e d . m o t o r c l o s e t o s t a l l . m o t o r s t a l l s 0 0 , 1 0 , 2 0 , 3 0 , 4 0 , 5 0 , 6 0 , 7 0 , 8 0 , 9 0 5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 0 e f f i c i e n c y v e l o c i t y [ r p m ] e f f i c i e n c y w i t h c o o l s t e p e f f i c i e n c y w i t h 5 0 % t o r q u e r e s e r v e tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 5 www.trinamic.com 2 order c odes order code description s ize (mm 3 ) tmcm - 1140 - option single axis bipolar stepper motor controller / driver electronics with integrated sensostep encoder and coolstep feature 37 x 37 x 11.5 table 2 . 1 order codes the following options are available: firmware option description order code example: - tmcl module pre - programmed with tmcl firmware tmcm - 11 40 - tmcl - canopen module pre - prgrammed with canopen firmware tmcm - 1140 - canopen table 2 . 2 f irmware options a cable loom set is available for this module: order code description tmcm - 1140 - cable cable loom for tmcm - 1140 : - 1x c able 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 code s please note that the tmcm - 1140 is available with nema17 stepper motors, too. r efer to the pd - 1140 documents for more information about these products. tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 6 www.trinamic.com 3 mechanical and electrical i nterfacing 3.1 d imensions and mounting holes the dimensions of the contro ller/driver board are approx. 37 mm x 37 mm x 11.5 mm i n order to fit on the back of a 42 mm stepper motor. maximum component height (height above pcb level) without mating c onnectors is around 8 mm above pcb level and 2 mm below pcb level. there are two mounting holes for m3 screws for mounting to a nema17 stepper motor. f igure 3 . 1 d imensions 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 o f 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 - 114 0 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. 3 4 2 x m 3 3 7 3 4 3 7 3 3 tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 7 www.trinamic.com 3.3 connector s of tmcm - 11 40 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 multi purpose i/o connector offers four multipurpose inputs and two general purpose outputs . further, there is a connector for the usb interface . figure 3 . 2 overview connectors label connector type mating connector type power and communication connector ci01 0 6p1vk0 - lf cvilux ci01 series, 6 pins, 2mm pitch connector housing cvilux: ci01065000 - a contacts cvilux: ci01t011pe0 - a or connector housing jst : phr - 6 contacts jst : sph - 002t - p0.5s wire: 0.22mm 2 multi purpose i/o connector ci01 08 p1vk0 - lf cvilux ci01 series , 8 pins, 2mm pitch connector housing cvilux: ci01085000 - a contacts cvilux: ci01t011pe0 - a or connector housing jst : phr - 8 contacts jst : sph - 002t - p0.5s wire: 0.22mm 2 motor connector ci01 04 p1vk0 - lf cvilux ci01 series, 4 pins, 2mm pitch connector housing cvilux: ci01045000 - a contacts cvilux: ci01t011pe0 - a or connector housing jst : phr - 4 contacts jst : sph - 002t - p0.5s wire: 0.22mm 2 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 u s b m o t o r 1 4 m u l t i - p u r p o s e i / o 1 8 p o w e r a n d c o m m u n i c a t i o n 1 6 tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 8 www.trinamic.com 3.3.1 power and communication connector a 6pin cvilux ci01 0 6p1vk0 - 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. pin label direction description 1 gnd power (gnd) system and signal ground 2 vdd power (supply) vdd (+9v+28v) table 3 . 2 connector for power supply and interfaces 3.3.1.1 power s upply 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 40f/35v of supply filter capacitors. these are ceramic capacitors which have been selected for high reliabilit y and long life time. the module includes a 28v suppressor diode for over - voltage protection. c aution ! add external power supply capacitors! it is recommended to connect an electrolytic capacitor of significant size (e.g. at least 470f/35v) to the power supply lines next to the tmcm - 1 140 ! 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 f rom a combination of high inductance power supply wires and the ceramic capacitors. in addition it will limit slew - rate of power supply voltage at the module. the low esr of ceramic - only filter capacitors may cause stability problems with some switching po wer 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. 6 1 tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 9 www.trinamic.com 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 sho uld 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. 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 termi nation 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 transceiver s 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 b e 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 nod es. 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 tmcm - 1140 tmcl firmware manual for information regarding other possible commu nication 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): c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e r s 4 8 5 t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 10 www.trinamic.com figure 3.4 : bus lines with resistor (bias) network on one side, only or a dd resistor (bias) network at both ends of the bus (like profibus? termination): 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 closel y 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. figure 3 . 6 can b us structure n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 1 2 0 r ) + 5 v g n d p u l l - u p ( 6 8 0 r ) p u l l - d o w n ( 6 8 0 r ) r s 4 8 5 - / r s 4 8 5 b t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) r s 4 8 5 + / r s 4 8 5 a n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) + 5 v g n d p u l l - u p ( 3 9 0 r ) p u l l - d o w n ( 3 9 0 r ) r s 4 8 5 - / r s 4 8 5 b r s 4 8 5 + / r s 4 8 5 a t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) + 5 v g n d p u l l - u p ( 3 9 0 r ) p u l l - d o w n ( 3 9 0 r ) c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e c a n t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 11 www.trinamic.com 2. bus t ermination : especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly te rminated at both ends . the tmcm - 1140 does not integrate any termination resistor. therefore, 120 ohm termination resistor s 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 bu s highly depend on bus length (longer bus - > less nodes) and communication speed (higher speed - > less nodes). 3.3.2 multip urpose i/o connector an 8pin cvilux ci01 0 8p1vk0 - lf 2mm pitch single row conne ctor is available for all multi purpose inputs and outputs. pin label direction description 1 gnd power (gnd) system and signal ground 2 vdd power (supply) vdd, connected to vdd pin of the power and communication connector 3 out_ 0 output open - drain output (max. 1a) integrated freewheeling diode to vdd 4 out_ 1 output +5v supply output (max. 100ma) can be switched on/off in software 5 in_0 input dedicated analog input, input voltage range: 0..+10v resolution: 12bit (0..4095) 6 in_ 1 , stop_l, enc_a input general purpose digital input (+24v compatible) alternate function 1: left stop switch input alternate function 2: external incremental encoder channel a input 7 in_ 2 , stop_r, enc_b input general purpose digital input (+24v compatible) alternate function 1: right stop switch input alternate function 2: external incremental encoder channel b input 8 in_ 3 , home, enc_n 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 multi purpose 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 ext ernal 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 open - collector outp uts (pull - ups are not necessary for encoder with push - pull outputs). 8 1 tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 12 www.trinamic.com 3.3.2.1 digital inputs in_ 1 , in_ 2 , in_ 3 the eight pin connector of the tmcm - 1140 provides three multi purpose 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 t mcl 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) . 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) default function alternate function 1 alternate function 2 in_ 1 (6 ) general purpose d igital input tmcl: gio 1, 0 // get digital value of input in_1 stop_l - left stop switch input , connected to processor and tmc429 ref input (supporting left stop functionality in hardware) tmcl: gap 11, 0 // get digital value of stop_l input enc_a - external incremental encoder input channel a, connected to processor encoder counter input in_ 2 (7 ) general purpose d igital input tmcl: gio 2, 0 // get digital value of input in_2 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 enc_b - external incremental encoder input channel b, connected to processor encoder counter input in_ 3 (8 ) general purpose digital input tmcl: gio 3 , 0 // get digital value of input in_3 home - home switch input, connected to processor tmcl: gap 9, 0 // get digital value of home input enc_n - external incremental encoder input index / zero channel, connected to processor interrupt input table 3 . 4 multi purpose inputs / alternate functions + 3 . 3 v i n _ 1 , i n _ 2 , i n _ 3 m i c r o c o n t r o l l e r ( a l l ) a n d t m c 4 2 9 ( s t o p _ l , s t o p _ r ) 1 5 k 2 2 k 3 3 p f g n d g n d g n d c o m m o n s w i t c h f o r a l l t h r e e d i g i t a l i n p u t s ( p r o g r a m m a b l e i n s o f t w a r e ) 2 k 2 + 5 v tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 13 www.trinamic.com - all three digital inputs are connected to the on - board processor and can be used as general purpose digital inputs (default) . - in order to us e 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. readi ng 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 t his second encoder can be read out via tmcl command gap 216 , 0 (see separate tmcl firmware manual for mor e 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). 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 c ommand 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 o utput 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 . + 3 . 3 v i n _ 0 a d c i n p u t ( m i c r o c o n t r o l l e r ) 2 2 k 1 0 k 1 0 0 n f g n d g n d g n d tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 14 www.trinamic.com 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 integr ated p - channel mosfet allows switch ing on / off this +5v supply in software (see figure belo w). 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. 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 ci01 0 4p1vk0 - 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. pin label direction description 1 ob2 output pin 2 of motor coil b 2 ob1 output pin 1 of motor coil b 3 oa2 output pin 2 of motor coil a 4 oa1 output pin 1 of motor coil a table 3 .5 motor connector example for connecting the qsh4218 nema 17 / 42mm stepper motors: tmcm - 1140 qs4218 motor v d d m i c r o c o n t r o l l e r g n d + 5 v m i c r o c o n t r o l l e r g n d o u t _ 0 g n d 1 0 0 p f 1 0 k 4 1 tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 15 www.trinamic.com motor connector pin cable color coil description 1 red b motor coil b pin 1 2 blue b - motor coil b pin 2 3 green a - motor coil a pin 2 4 black a motor coil a pin 1 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 label direction description 1 vbus power (supply input) +5v supply from host 2 d - bidirectional usb data C 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 b us p owered o peration m ode the tmcm - 1140 support s 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 d igital core logic includes the microcontroller itself and also the eeprom. the usb bus powered operation mode has been implemented to enable configuration , parameter setting s, read - out s , firmware updates , etc. by just connecting a n 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 se lf 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 . m a b l a c k g r e e n b b l u e r e d 1 5 tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 16 www.trinamic.com 4 motor driver current the on - board s tepper 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 , tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 17 www.trinamic.com 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 s ide of the board have t o be shortened . please perform the following steps: 1. power supply off and usb cable disconnected 2. short two pads as marked in figure 5 . 1 3. power up board (power via usb is sufficient for this purpose) 4. wait until the on - board red and green leds start flashing fast (this might take a while) 5. power - off board (disconnect usb cable) 6. r emove short between pads 7. after switching on power - supply / connecting usb cable all permanent settings have been restored to factory defaults figure 5 . 1 reset to factory default settings s h o r t t h e s e t w o p a d s tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 18 www.trinamic.com 6 on - b oar d 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. b ehavior of led s with s tandard tmcl f irmware status label description heartbeat run this green led flashes slowly during operation. error error this red led lights up if an error occurs. figure 6 . 1 o n - board leds g r e e n l e d r e d l e d tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 19 www.trinamic.com 7 operational r atings 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 power supply voltage for operation 9 12 24 coil _peak motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 2.8 a i coil_rms continuous motor current ( rms ) 0 2.0 a i dd power supply current << i coil 1.4 * i coil a t env environment temperature at rated current (no forced cooling required) - 30 + 50 c t env_1a e nvironment temperature at 1a rms motor current / half max. current (no forced cooling required) - 30 +70 c table 7 . 1 gen eral operational ratings of module o perational ratings o f multipurpose i/o s symbol parameter min typ max unit v out_ 0 voltage at open drain output out_ 0 0 +vdd v i out_ 0 output sink current of open drain output out_ 0 1 a v out_ 1 voltage at output out_1 (when switched on) +5 v i out_ 1 output source current for out_ 1 100 ma v in _ 1/2/3 input voltage for in_ 1 , in_ 2 , in_ 3 (digital inputs) 0 +vdd v v in_l 1/2/3 low level voltage for in_ 1 , in_ 2 and in_ 3 0 1. 1 v v in _h 1/2/3 high level voltage for in_ 1 , in_ 2 and in_ 3 3.4 +vdd v v in_ 0 measurement range for analog input in_ 0 0 + 10 *) v table 7 . 2 o p erational 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). o perational ratings o f rs485 interface symbol parameter min typ max unit n rs485 number of nodes connected to single rs485 network 256 f rs485 maximum bit rate supported on rs485 connection 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 tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 20 www.trinamic.com o perational ratings o f can interface symbol parameter min typ max unit n can number of nodes connected to single rs485 network > 110 f can maximum bit rate supported on can connection 1000 1000 kbit/s table 7 .4 operational ratings of the can interface tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 21 www.trinamic.com 8 functional d escription the tmcm - 1140 is a highly integrated controller/ driver module which can be controlled via several serial interfaces. communication traffic is kept low sin ce all time critical operations ( e.g. ramp calculati ons) are performed on board. the n ominal 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 microprocessor, which runs the tmcl operating system (connected to tmcl memory), - the motion controller , which calculates ramps and speed profiles internally by hardware , - the power driver with stallguard2 and its energy efficient coolstep feature, - the mosfet driver stage , and - the sensostep encoder with resolutions of 10bit (1024 steps) per revolution . 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 guarant eed. please refer to the tmcm - 1140 firmware manual for more information about tmcl commands. 9 2 8 v d c c t m c l ? m e m o r y 5 i / o s s t e p m o t o r r s 4 8 5 m o s f e t d r i v e r s t a g e s p i t m c m - 1 1 4 0 s p i u s b s p i s / d c a n d c / d c o u t _ 0 + 5 v s e n s o s t e p ? e n c o d e r s p i t m c 4 2 9 m o t i o n c o n t r o l l e r e n e r g y e f f i c i e n t d r i v e r t m c 2 6 2 p o w e r d r i v e r t m c 2 6 2 w i t h c o o l s t e p ? + 5 v s t o p s w i t c h e s s / d tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 22 www.trinamic.com 9 tmcm - 11 40 operational d escription 9.1 calculation: velocity and acceleration vs. microstep and fullstep f requency the values of t he parameters sent to the tmc429 do not have typical motor values like rotations per second as velocity. but these values c an be calculated from the tmc429 parameters as shown in this section . p arameters of tmc 429 signal description range f clk clock - frequency 16 mhz velocity - 0 2047 a_max maximum acceleration 0 2047 pulse_div divider for the velocity. the higher the value is, the less is the maximum velocity default value = 0 0 13 ramp_div divider for the acceleration. the higher the value is, the less is the maximum acceler ation default value = 0 0 13 usrs microstep - resolution (microsteps per fullstep = 2 usrs ) 0 8 table 9 . 1 tmc 429 velocity parameters m icrostep f requency the microstep frequency of the stepper motor is calculated with with usf: microstep - frequency f ullstep f requency to calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided by the number of microsteps per fullstep. with fsf : fullstep - frequency the change in the pulse rate per time unit (pulse frequency change per second C the acceleration a ) is given by this results in acceleration in fullsteps of: with af: acceleration in fullsteps 32 2048 2 ] [ ] [ _ ? ? ? ? div pulse clk velocity hz f hz usf usrs hz usf hz fsf 2 ] [ ] [ ? 29 _ _ max 2 2 ? ? ? ? div ramp div pulse clk a f a usrs a af 2 ? tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 23 www.trinamic.com e xample signal value f_ clk 16 mhz velocity 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 c alcula tion of the number o f rotations a stepper motor has e.g. 72 fullsteps per rotation. hz mhz msf 31 . 122070 32 2048 2 1000 16 1 ? ? ? ? ? hz hz fsf 34 . 1907 2 31 . 122070 ] [ 6 ? ? s mhz mhz a 21 . 119 2 1000 ) 16 ( 29 1 1 2 ? ? ? ? ? s mhz s mhz af 863 . 1 2 21 . 119 6 ? ? 49 . 26 72 34 . 1907 ? ? ? rotation per fullsteps fsf rps 46 . 1589 72 60 34 . 1907 60 ? ? ? ? ? rotation per fullsteps fsf rpm tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 24 www.trinamic.com 10 life support p olicy 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 fa ilure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. ? trinamic m otion control gmbh & co. kg 2013 C 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. s pecifications are subject to change without notice. all trademarks used are property of their respective owners. tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 25 www.trinamic.com 11 revision h istory 11.1 document r evision version date author description 0.90 2011 - dec - 22 ge initial version 0.91 2012 - may - 02 ge updated for tmcm - 1140_v11 pcb version 1. 00 2012 - jun - 12 sd first complete version including new chapters about: - reset to factory defaults, and - leds 1.01 2012 - jul - 30 sd internal circuit of inputs corrected. 1.02 2013 - mar - 26 sd 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 1.03 2013 - jul - 23 sd - connector types updated . - chapter 3.3.1.1 updated. 1.04 2015 - jan - 05 ge - new hardware version v13 added - motor driver current settings added (chapter 4) - several additions table 11 . 1 document revision 11.2 hardware r evision version date description tmcm - 1040_v1 0 *) 2011 - mar - 08 initial version tmcm - 1140_v11 *) 2011 - jul - 19 - optimization of multi purpose i/o circuits - clock generation and distribution changed (16mhz oscillator) tmcm - 1140_v12 **) 2012 - apr - 12 - further cost optimization incl. different sensor ic with 10bit max. resolution tmcm - 1140_v13 **) 2013 - aug - 22 - 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 (up - to 1mbit/s). - in progress (coming soon): conformal coating of tmcm - 1140 v1.3 hard ware manual (rev. 1.04 / 2015 - jan - 05 ) 26 www.trinamic.com version date 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 ] tmcm - 1140 tmcl firmware manual [tmc262] tmc262 datasheet [tmc429] tmc429 datasheet [ tmcl - ide] tmcl - ide user manual please refer to www.trinamic.com . |
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