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modules for stepper motors modules trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com hardware version v 3 . 0 hardware manual + + tmcm - 1181 + + u nique f eatures : 1 - axis stepper controller / driver up to 6.5 rms / 24v dc usb, rs485
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 2 www.trinamic.com table of c ontents 1 features ........................................................................................................................................................................... 3 2 order codes ................................................................................................................................................................... 5 3 mechanical and electrical interfacing ..................................................................................................................... 6 3.1 tmcm - 1181 dimensions and mounting holes ............................................................................................. 6 3.2 board mounting considerations ..................................................................................................................... 6 3.3 connectors of tmcm - 1181 ................................................................................................................................. 7 3.3.1 power connector ........................................................................................................................................... 8 3.3.2 motor connector ............................................................................................................................................ 8 3.3.3 interface connector ...................................................................................................................................... 9 3.3.4 in/out connector ......................................................................................................................................... 10 3.3.5 usb connector ............................................................................................................................................. 11 4 on- board leds ............................................................................................................................................................. 12 5 operational ratings ................................................................................................................................................... 13 6 functional description .............................................................................................................................................. 14 7 tmcm - 1181 operational description ..................................................................................................................... 15 7.1 calculation: velocity and acceleration vs. microstep and fullstep frequency ................................ 15 8 life support po licy ..................................................................................................................................................... 17 9 revision history .......................................................................................................................................................... 18 9.1 document revision ........................................................................................................................................... 18 9.2 hardware revision ............................................................................................................................................ 18 10 references .................................................................................................................................................................... 18
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 3 www.trinamic.com 1 features the tmcm - 118 1 is a single axis controller/driver module for 2 - phase bipolar stepper motors . it is highly integrated and can be used in many decentralized applications. the module can be mounted on the back of nema34 (86 mm flange size) stepper motors and has been designed for coil current s up to 6.5 a rms (programmable) and 24v dc supply voltage . with its h igh energy efficiency from trinamics coolstep ? technology cost for power consumption is kept down . the tmcl? firmware supports 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 - in tegrated protection - stallguard2 feature for stall detection - coolstep feature for reduced power consumption and heat dissipation encoder - sensostep magnetic encoder (max. 1024 increments per rotation) e.g. for step - loss detection under all operating conditi ons and positioning supervision interfaces - inputs for stop switches (left and right) and home switch - 2 analog input s - 2 general purpose outputs (open collector with freewheeling diodes) - usb, rs485 communication interfaces 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: +24v dc nominal - motor current : up to 6.5 a rms (programmable) please see separate tmcm - 1181 firmware manual for additional informati on regarding firmware functionality and tmcl programming.
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 4 www.trinamic.com trinamic s u nique f eatures C e asy to u se with tmcl stallguard2 ? stallguard2 is a h igh - 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 be low those which stall the motor. the stallguard2 measurement value changes linearly over a wide range of load, ve locity, 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 l oad - 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 0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 0 50 100 150 200 250 300 350 efficiency velocity [rpm] efficiency with coolstep efficiency with 50% torque reserve figure 1 . 2 energy efficiency example with coolstep
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 5 www.trinamic.com 2 order c odes order code description size (mm 3 ) tmcm - 118 1 1 - a xis bipolar stepper motor controller / driver , up - to 6.5a rms, 24v dc, with integrated sensostep encoder and coolstep feature 86 x 86 x 27 table 2 . 1 : tmcm - 118 1 order codes a cable loom set is available for this module: order code description tmcm - 118 1 - cable cable loom for tmcm - 118 1 - 1x c able loom for interface connector - 1x cable loom for in/out connector - 1x cable loom for motor connector - 1x cable loom for power connector - 1x usb type a connector to mini - usb type b connector cable table 2 . 2 cable loom order code
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 6 www.trinamic.com 3 mechanical and electrical i nterfacing 3.1 tmcm - 118 1 dimensions and mounting h oles the dimensions of the controlle r/driver board are approx. 86mm x 86mm x 27 mm i n order to fit on the back of a 86 mm stepper motor. maximum component height (height above pcb level) is around 22 mm above pcb level and 3 mm below pcb level. ther e are four mounting holes for m4 screws (4.2mm diameter) for mount ing the board to a nema34 / 86mm stepper motor. 85 . 9 85.9 67.45 72 72 13.9 13.9 2 8 2 8 67.45 4 .55 18.45 18.45 4.55 r5.9 81.35 81.35 tmcm-1181 m4 figure 3 . 1 : dimensions of tmcm - 118 1 and position of mounting holes 3.2 board mounting considerations the tmcm - 1181 offers one metal plated mounting hole close to the power supply connector (marked yellow in figure 3.1 above). this mounting hole is connected to board supply ground. please keep this in mind when mounting the board to the rear side of a motor. all other mounting holes are isolated.
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 7 www.trinamic.com 3.3 connector s of tmcm - 1181 the tmcm - 1181 offers five connectors including the motor connector which is used for attaching the motor coils to the electronics. t here is one power connector, two connectors for serial communication ( one for usb and one for rs485 ) and one connector for i/o signals and switches . motor connector 1 4 1 2 power connector in/out connector 1 8 1 4 interface connector usb connector figure 3 . 2 overview connectors domain connector type mating connector type power st b2 p - vh (st vh series, 2 pins, 3.96mm pitch) c rimp c onnector housing: st vhr - 2 n c rimp c ontacts: st svh - 21t - p1.1 wire: 0.83mm 2 , awg 18 motor st b4 p - vh (st vh series, 4 pins, 3.96mm pitch) c rimp c onnector housing: st vhr - 4 n crimp c ontacts: st svh - 21t - p1.1 wire: 0.83mm 2 , awg 18 interface st b4b - eh - a (st eh series, 4 pins, 2.5mm pitch ) crimp connector housing: st ehr - 4 crimp c ontacts: st seh - 001t - p0.6 wire: 0.3 3mm 2 , awg 22 in/out st b8b - eh - a (st eh series, 8 pins, 2.5mm pitch ) crimp connector housing: st ehr - 8 crimp c ontacts: st seh - 001t - p0.6 wire: 0.3 3mm 2 , awg 22 usb mini - usb type b vertical female mini - usb type b, male
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 8 www.trinamic.com 3.3.1 power c onnector a 2pin jst vh series 3.96mm pitch connector is used for power supply. 2 1 pin label direction description 1 gnd power (gnd) system and signal ground 2 vcc power (+24v) power supply input table 3 .1 connector for power supply caution always keep the power supply voltage below the upper limit of 28 v! otherwise the driver electronics will be seriously damaged. especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. 3.3.1.1 power supply when using supply voltages near the upper limit, a regulated power supply is mandatory . the board includes around 2000 f / 35v of filtering capacitors. nevertheless, especially at higher motor current settings it might be necessary to add additional filtering capacitors externally. power supply ripple due to chopper operation of the driver should be kept at a maximum of a few 100m v. it is important that the upper supply voltage limit is never exceeded during operation as this might seriously damage the driver stage. in this context special care has to be taken with regard to motor energy being fed back into supply voltage line whe n the motor works as generator . this might happen during de - acceleration or brake conditions especially when the motor is moving a larger mass (high inertia). additional capacitors which are able to absorb energy might help here. beyond that suppressor dio des or even brake resistors might be a solution. guidelines for power supply: - keep power supply cables as short as possible - use large diameters for power supply cables - add additional filter capacitors near the motor driver unit especially if the distance to the power supply is large (i.e. more than 2 - 3m) note: there is no protection against reverse polarity integrated on the board. 3.3.2 motor c onnector a 4pin jst vh series 3.96mm pitch connector is used for motor connection. 1 4 pin label direction description 1 a1 output pin 1 of motor coil a 2 a2 output pin 2 of motor coil a 3 b1 output pin 1 of motor coil b 4 b2 output pin 2 of motor coil b table 3 . 2 : motor connector
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 9 www.trinamic.com 3.3.3 in terface c onnector a 4pin jst eh series 2.5mm pitch connector is used as interface connector. 1 4 pin label direction description 1 gnd power (gnd) module ground (system and signal ground) 2 in4 input analog input 4 , 0 10v (analog to digital converter range) 3 rs485+ b i- directional differential rs 485 bus signal (non - inverting) 4 rs485 - bi - directional differentia l rs485 bus signal (inverting) table 3 . 3 : interface connector +3.3v microcontroller 47k 22k 100nf gnd gnd gnd in4 figure 3 . 3 internal circuit of analog input in4
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 10 www.trinamic.com 3.3.4 in/out c onnector an 8pin jst eh series 2.5mm pitch connector is used as in/out connector. 1 8 pin label direction description 1 gnd power (gnd) module ground (system and signal ground) 2 vcc_out power supply output power supply output c onnected to vcc (pin 2) of power supply connector via 0.2a polyfuse . this way up- to 200ma (polyfuse protected) may be used from this pin for supply of external circuits (e.g. limit / home switches, load connected to out0/1 etc.) 3 out 0 output general purpose output, open collector 4 out 1 output general purpose output, open collector 5 in 0 input analog input 0 , 0 10v (analog to digital converter range) 6 stop_l/ step/ i n 1 input digital input, +24v compatible, programmable internal pull - up.* functionality can be selected in software: a) left stop switch input (connected to ref1 input of tmc429 motion controller) b) step signal (connected to step input of tmc262 stepper driver) c) general purpose input 1 (connected to processor) 7 stop_r/ dir/ i n 2 input digital input +24v compatible, programmable internal pull - up.* functionality can be selected in software: a) right stop switch input (connected to ref3 input of tmc429 motion controller) b) direction signal (connected to direction input of tmc262 stepper driver) c) general purpose input 2 (connected to processor) 8 home/ enable/ i n 3 input digital input +24v compatible, programmable internal pull - up.* functionality can be chosen in software: a) home switch input (connected to processor) b) enable signal (connected to processor) c) general purpose input 3 (connected to processor) table 3 . 4 in/out connector * it is possible to enable / disables pull - ups (1k to +5 v) in software for all three digital inputs. pull - ups are always enabled / disabled for all three together / at the same time. vdd microcontroller gnd out0, out1 figure 3 . 4 internal circuit of out 0 and out 1
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 11 www.trinamic.com + 3 .3v microcontroller 47k 22k 100nf gnd gnd gnd in0 figure 3 . 5 internal circuit of analog input in0 +3.3v in1, in2, in3 microcontroller (all) and tmc429 (in_0, in_1) 10k 22k 100pf gnd gnd gnd 1k +5v common switch for all three digital inputs figure 3 . 6 internal circuit of digital inputs in1, in2 and in3 3.3.5 usb c onnector 1 5 pin label description 1 vbus +5v power 2 d - data C 3 d+ data + 4 id n ot connected 5 gnd ground table 3 . 5 mini usb connector
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 12 www.trinamic.com 4 on - board leds the board offers two leds in order to indicate board status. the function of both leds is dependent on the firmware version. with standard tmcl firmware the green led should be slowly flashing 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 status led (green) this green led flashes slowly during operation. error error led (red) this red led lights up if an error occurs. status led (green) error led (red) figure 4 . 1 on - board leds
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 13 www.trinamic.com 5 operational r atings the operational ratings shown below should be used as design values. in no case should the maximum values been exceeded during operation. symbol parameter min typ max unit vcc power supply voltage for operation 1 1 24 28 v dc v usb power supply via usb connector 5 v i usb current withdrawn from usb supply when usb bus powered (no other supply connected) 40 ma i coil_peak motor coil current for sine wave peak (chopper regulated, adustable via software) 0 9.2 a i coilrms continuous motor current ( rms ) 0 6.5 a i supply power supply current i coil 1.4 * i coil a t env environment temperature at rated current (no forced cooling required) - 30 *) 6 0 c table 5 . 1 general operational ratings of the module *) limited by test equipment. includes power - up / cold start at this temperature. it can be expected that the module will work down to - 40c. symbol parameter min typ max unit v stop_l/r_home input voltage for stop / home switch inputs stop_l / stop_r and home (also valid when configured for alternate function) 0 28 v v stop_l/r_home_l low level voltage for stop / home switch inputs stop_l / stop_r and home (also valid when configured for alternate function) 0 1.1 v v stop_l/r_home_h high level voltage for stop / home switch inputs stop_l / stop_r and home (also valid when configured for alternate function) 2.9 28 v v out_0/1 voltage at open collector output out_0 / out_1 0 vcc v i out_0/1 output sink current for out_0 / out_1 100 ma v in_0 full scale input voltage range for analog input in_0 0 10 v table 5 . 2 operational ratings of general purpose i/os table 5 .3 operational ratings of the rs485 interface symbol parameter min typ max unit n rs485 number of nodes connected to single rs485 network 256
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 14 www.trinamic.com 6 functional d escription the tmcm - 1181 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 on s ) 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 cont rol of device with feedback is possible. the firmware of the module can be updated via any of the serial interfaces. in figure 6 . 1 the main parts of the tmcm - 1181 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 its energy efficient coolstep feature, - the mosfet driver stage , and - the sensostep encoder with resolutions of 10bit (1024 steps) per revolution . 10 28 v dc c tmcl? memory motion controller tmc 429 rs 485 [ rs 232 ] 2 out step motor usb step / dir * ) mosfet driver stage energy efficient driver tmc 262 power driver tmc 262 with coolstep? sensostep? encoder abn stop switches * ) 3 . 3 v tmcm - 1181 *) the module offers two analog and three digital inputs . functionality of the three digital inputs can be selected in software : : a ) stop l / stop r / home b ) step / dir interface c ) 3 general purpose inputs in 1 / in 2 / in3 5 in * ) figure 6 . 1 main parts of the tmcm - 1181 t he pc based software development environment tmcl - ide for the trinami c motion control language (tmcm) can be downloaded free of charge from the trinamic website ( www.trinamic.com ) . 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 - 1181 firmware manual for more information about tmcl commands.
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 15 www.trinamic.com 7 tmcm - 1181 operational d escription 7.1 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 acceleration default value = 0 0 13 usrs microstep - resolution (microsteps per fullstep = 2 usrs ) 0 8 (a value of 7 or 8 is internally mapped to 6 by the tmc 429) table 7 . 1 tmc 429 velocity parameters the microstep - frequency of the stepper motor is calculated with 32 2048 2 velocity ] hz [ f ] hz [ usf div _ pulse clk ? ? ? = fullstep - frequency from the microstep - frequency, the microstep - frequency must be divided by the number of microsteps per fullstep. usrs 2 ] hz [ usf ] hz [ fsf = acc eleration a ) is given by 29 div _ ramp div _ pulse max 2 clk 2 a f a + + ? = usrs 2 a af =
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 16 www.trinamic.com example: signal value f_ clk 16 mhz velocity 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 hz 31 . 122070 32 2048 2 1000 mhz 16 msf 1 = ? ? ? = hz 34 . 1907 2 31 . 122070 ] hz [ fsf 6 = = s mhz 21 . 119 2 1000 ) mhz 16 ( a 29 1 1 2 = ? = + + s mhz 863 . 1 2 s mhz 21 . 119 af 6 = = 49 . 26 72 34 . 1907 rotation per fullsteps fsf rps = = = 46 . 1589 72 60 34 . 1907 rotation per fullsteps 60 fsf rpm = ? = ? =
tmcm - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 17 www.trinamic.com 8 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 inte nded 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 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 - 1181 v3.0 hard ware manual (rev. 0.90 / 2015 - jul - 10) 18 www.trinamic.com 9 revision h istory 9.1 document r evision version date author description 0.9 0 2015 - ul - 10 ge initial version table 9 . 1 document revision 9.2 hardware r evision version date description tmcm - 1181 _v 3 0 2013 - may - 13 first version table 9 . 2 hardware revision 10 references [tmcm - 1181 ] tm cm - 1181 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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