Trinamic TMC603-EVAL Manual
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Trinamic TMC603-EVAL Manual

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EVALUATION FOR ICs
Firmware Version V1.47
EVAL BOARD MANUAL
+
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
EVALUATION BOARD
TMC603-EVAL
+
Evaluation board for TMC603
three phase motor driver
18.8A RMS / 12... 48V DC
RS232 / UART, USB (mini-USB)
back EMF commutation hallFX™
encoder interface
+

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Summary of Contents for Trinamic TMC603-EVAL

  • Page 1 Firmware Version V1.47 EVAL BOARD MANUAL TMC603-EVAL Evaluation board for TMC603 three phase motor driver 18.8A RMS / 12… 48V DC RS232 / UART, USB (mini-USB) back EMF commutation hallFX™ encoder interface TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com...

  • Page 2: Table Of Contents

    Table of contents Features ................................... 4 Order codes ..................................4 Hardware ..................................5 Mechanical and electrical interfacing ......................5 4.1.1 Size of TMC603-EVAL and mounting holes .................... 5 4.1.2 Connectors ............................... 6 4.1.3 Switches and potentiometer ........................8 4.1.4 Jumpers ................................8 4.1.5...

  • Page 3: Tmc603-Eval Manual (Rev. 1.06 / 2012-Aug

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 12.1 Firmware revision .............................. 61 12.2 Document revision ............................61 13 References..................................61 www.trinamic.com...

  • Page 4: Features

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 2 Features The TMC603 evaluation board makes it possible to evaluate the features of the TMC603 three phase BLDC motor driver with back EMF commutation hallFX™. On the evaluation board the STM32F ARM Cortex-M3 microcontroller is used to control the TMC603.

  • Page 5: Hardware

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 4 Hardware Mechanical and electrical interfacing Size of TMC603-EVAL and mounting holes 4.1.1 The board dimensions are 160mm x 100mm. Maximum component height (height above PCB level) without mating connectors is 13.5mm. There are six mounting holes (hole diameter: 3.2mm) suitable for M3 screws.

  • Page 6: Connectors

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Connectors 4.1.2 Power RS232 Hall Motor UART JTAG Encoder Figure 4.2: Connectors of TMC603-EVAL TMC603-EVAL ONNECTORS OF Label Connector type Mating connector type RIA 330-02, 2 pol., 5mm pitch, shrouded RIA 349-2, screw type terminal block, header pluggable, centerline 5 mm / 0.197...
  • Page 7 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 4.1.2.1 Power connector Label Direction Description Power (GND) Power supply and signal ground Power (Supply input) Supply voltage: +12… +48V DC Table 4.2: Power connector 4.1.2.2 Motor connector Label Direction Description Output Motor coil connection W...

  • Page 8: Switches And Potentiometer

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 4.1.2.7 UART connector Label Description Received data line Transmitted data line Signal and system ground Table 4.8: UART connector Switches and potentiometer 4.1.3 Reset Potentiometer Switch1 Switch2 Figure 4.3: Switches and potentiometer Label Description Reset The reset switch is connected to the NRST pin of the µC.
  • Page 9 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Jumper Label Description Enable/disable shunt ENRS Set this jumper together with the three jumpers Filter/Ext_Shunt. resistors for current There are two possibilities. measurement ENRS jumper together with three jumpers Filter/Ext_Shunt on pin position 2-3 (extern shunt). Now, the measurement of the motor current will be done with the shunt resistors on the board.

  • Page 10: Leds

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) LEDs 4.1.5 TMC603-EVAL S OF THE Status Label Description Error signal ERROR This red LED lights up upon an error is occurred by undervoltage of VLS or VCP as well as by short to ground of the power MOS half bridge.

  • Page 11: Tmcl™ Overview

    TRINAMIC website (http://www.trinamic.com). TMCL-BLDC evaluation tool The TMCL-BLDC is a special tool for adjusting and testing settings of the TMC603-EVAL in all modes of operation. Use this software tool for finding initial settings. For a better understanding of the PID regulation and its backgrounds we recommend the study of chapter 8.

  • Page 12: Settings Tab

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Settings tab 5.1.1 After connecting the module with the connect button you can choose the settings tab and fill in basic values: motor settings, encoder settings and commutation mode. All settings correspond to specific axis parameters, which are described in detail in chapter 6.

  • Page 13: Torque Mode Tab

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Torque mode tab 5.1.2 The torque mode tab offers the possibility to test different current settings and to evaluate the current PID control by choosing values for the P, I, and D parameters of set 1 and set 2. Further the I clipping value for each set can be chosen and the threshold for the switch-over between set 1 and set 2 can be set.

  • Page 14: Velocity Mode Tab

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Velocity mode tab 5.1.3 The input area of the velocity tab has three parts: the velocity ramp control, the velocity control and the velocity PID control. In the middle of the input area is the velocity control, which is used to start the drive (positive and negative direction) in velocity mode with a chosen speed [rpm] or stop it.

  • Page 15: Positioning Mode Tab

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Positioning mode tab 5.1.4 The input area of the positioning mode tab has three parts: the velocity ramp control, the positioning control, and the positioning PID control. The velocity ramp control is the same as on the velocity mode tab. Maximum velocity and acceleration can be chosen and the velocity ramp can be enabled or disabled.
  • Page 16 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Figure 5.5: Positioning mode tab of TMCL-BLDC www.trinamic.com...

  • Page 17: Pwm Mode Tab

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) PWM mode tab 5.1.5 On the PWM mode tab is the PWM control field, where a target PWM can be chosen. The drive can be started and stopped as on the other tabs with the appropriate buttons below the value field of the target PWM.

  • Page 18: Tmcl™ Tab

    TMCL-IDE. Command number, type, motor/bank and a chosen value can be set. By clicking the Send button the request will be sent to the evaluation board. Immediately the reply of the TMC603-EVAL will be displayed in the Reply field.

  • Page 19: File Menu Of Tmcl-Bldc

    TMCL-IDE. Therefore choose Export settings to TMCL. Certainly actual values can be stored and restored. Figure 5.8: File menu of TMCL-BLDC TRINAMIC offers different scripts (www.trinamic.com) for testing block hall, hallFX™, encoder, switches and the rotary switch: Block_Hall_torque_velocity_rotary_switch.tmc HallFXTest.tmc Sinus_Encoder_Limit_Switch_Test.tmc...

  • Page 20: Tmcl-Ide

    TMCL™ commands in direct mode. The TMCL-IDE is a PC application running under Windows 95/98/NT/2000/XP/Vista/Windows 7. For the TMC603-EVAL in particular the dialogue for configuring BLDC modules is important. Most other functions can be used, too. Please refer to the TMCL-IDE User Manual (www.trinamic.com) for detailed information about this.
  • Page 21 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 5.2.1.1 Axis parameters and motion On the left side of the BLDC tool are two tabs, which can be chosen: Values TMCL The values tab offers a table with two columns: numbers of the TMCL™ axis parameters and appropriate descriptions on the left and given values on the right.
  • Page 22 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 5.2.1.2 Value display While the TMCL™ BLDC tool is active the value display offers a smart visualization of all chosen adjustments. Changes of axis parameters and other commands will be shown immediately in graphics and table.

  • Page 23: Tmcl™ Command Overview

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) TMCL™ command overview In this section a short overview of the TMCL™ commands is given. Motion commands 5.3.1 These commands control the motion of the motor. They are the most important commands and can be used in direct mode or in stand-alone mode.

  • Page 24: Commands

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Commands The module specific commands are explained in more detail on the following pages. They are listed according to their command number. ROR (rotate right) 5.4.1 With this command the motor will be instructed to rotate with a specified velocity in right direction (increasing the position counter).

  • Page 25: Rol (Rotate Left)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) ROL (rotate left) 5.4.2 With this command the motor will be instructed to rotate with a specified velocity (opposite direction compared to ROR, decreasing the position counter). Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter #2 (target velocity).

  • Page 26: Mst (Motor Stop)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) MST (motor stop) 5.4.3 With this command the motor will be instructed to stop. Internal function: The axis parameter target velocity is set to zero. Related commands: ROL, ROR, SAP, GAP Mnemonic: MST 0...

  • Page 27: Mvp (Move To Position)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) MVP (move to position) 5.4.4 With this command the motor will be instructed to move to a specified relative or absolute position. It will use the acceleration/deceleration ramp and the positioning speed programmed into the unit. This command is non-blocking (like all commands) –...

  • Page 28: Sap (Set Axis Parameter)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) SAP (set axis parameter) 5.4.5 With this command most of the motion control parameters of the module can be specified. The settings will be stored in SRAM and therefore are volatile. That is, information will be lost after power off. Please use command STAP (store axis parameter) in order to store any setting permanently.

  • Page 29: Gap (Get Axis Parameter)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) GAP (get axis parameter) 5.4.6 Most parameters of the TMC603-EVAL can be adjusted individually. With the GAP command they can be read out. Related commands: SAP, STAP, and RSAP Mnemonic: GAP <parameter number>, 0...

  • Page 30: Stap (Store Axis Parameter)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) STAP (store axis parameter) 5.4.7 The STAP command stores an axis parameter previously set with a Set Axis Parameter command (SAP) permanently. Most parameters are automatically restored after power up (refer to axis parameter list in chapter 6).

  • Page 31: Rsap (Restore Axis Parameter)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) RSAP (restore axis parameter) 5.4.8 For all configuration related axis parameters non-volatile memory locations are provided. By default, most parameters are automatically restored after power up (refer to axis parameter list in chapter 6). A single parameter that has been changed before can be reset by this instruction also.

  • Page 32: Sgp (Set Global Parameter)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) SGP (set global parameter) 5.4.9 Global parameters are related to the host interface, peripherals or application specific variables. The different groups of these parameters are organized in banks to allow a larger total number for future products.

  • Page 33: Ggp (Get Global Parameter)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) GGP (get global parameter) 5.4.10 All global parameters can be read with this function. Lists of global parameters are available in section 0. Related commands: SGP, STGP, RSGP Mnemonic: GGP <parameter number>, <bank number>...

  • Page 34: Stgp (Store Global Parameter)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) STGP (store global parameter) 5.4.11 Some global parameters are located in RAM memory, so modifications are lost at power down. This instruction copies a value from its RAM location to the configuration EEPROM and enables permanent storing.

  • Page 35: Rsgp (Restore Global Parameter)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) RSGP (restore global parameter) 5.4.12 This instruction copies a value from the configuration EEPROM to its RAM location and so recovers the permanently stored value of a RAM-located parameter. Most parameters are automatically restored after power up.

  • Page 36: Customer Specific Tmcl™ Command Extension (Uf0

    The user definable functions UF0… UF7 are predefined, functions without topic for user specific purposes. Contact TRINAMIC for customer specific programming of these functions. Internal function: Call user specific functions implemented in C by TRINAMIC. Related commands: none Mnemonic: UF0… UF7 Binary representation: INSTRUCTION NO.

  • Page 37: Tmcl™ Control Functions

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) TMCL™ control functions 5.4.14 There are several TMCL™ control functions, but for the user is only command 136 interesting. Other control functions can be used with axis parameters. Command Type Parameter Description Access 0 – string...

  • Page 38: Axis Parameter Overview (Sap, Gap, Stap, Rsap)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 6 Axis parameter overview (SAP, GAP, STAP, RSAP) The following section describes all axis parameters that can be used with the SAP, GAP, STAP and RSAP commands. Meaning of the letters in column Access:...
  • Page 39 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Number Axis Parameter Description Range [Unit] Acces Thermal winding Thermal winding time constant for the used 0… +4294967295 time constant motor. Used for I²t monitoring. [ms] I²t limit An actual I²t sum that exceeds this limit leads 0…...
  • Page 40 Bit 15: unused Bit 16: unused for TMC603-EVAL (value should be 0 or 1) Bit 17: I²t exceeded flag. This flag is set if the I²t sum exceeded the I²t limit of the motor.
  • Page 41 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Number Axis Parameter Description Range [Unit] Acces Activate stop Bit 0 Left stop switch When this bit is set 0… 3 enable the motor will be switch stopped moving in negative direction left stop...
  • Page 42 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Number Axis Parameter Description Range [Unit] Acces Start current Motor current for controlled commutation. 0… +4294967295 This parameter is used in commutation mode [mA] 1, 4, 5 and in initialization of sine. Current PID error Actual error of current PID regulator -2147483648…...
  • Page 43 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Number Axis Parameter Description Range [Unit] Acces Init sine block This parameter helps to tune hall sensor -32768… +32767 offset CCW based initialization in a way, that the motor has the same velocity for left and right turn.

  • Page 44: Axis Parameter Sorted By Functionality

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Axis parameter sorted by functionality The following section describes all axis parameters that can be used with the SAP, GAP, STAP and RSAP commands. Meaning of the letters in column Access: R = readable (GAP)
  • Page 45 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Number Axis Parameter Description Range [Unit] Access Init sine mode Initialization controlled sine -128… +127 commutation (determines the encoder offset) 1: Initialization in block commutation using hall sensors Initialization controlled sine commutation (use the previous set encoder...
  • Page 46 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Number Axis Parameter Description Range [Unit] Access Max current Set/get the max allowed motor current. 0… +4294967295 This value can be temporarily exceeded marginal due to [mA] the operation of the current regulator. Actual motor Get actual motor current.
  • Page 47 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) ELOCITY REGULATION MODE Number Axis Parameter Description Range [Unit] Access Actual speed The actual velocity of the motor. -2147483648… +2147483647 [rpm] Target speed Set/get the desired target velocity. -2147483648… +2147483647 [rpm] Motor halted If the actual speed is below this value the -2147483648…...
  • Page 48 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) OSITION REGULATION MODE Number Axis Parameter Description Range [Unit] Access Actual position Set/get the position counter without moving -2147483648… the motor. +2147483647 Target position The target position of a currently executed -2147483648… ramp. +2147483647...
  • Page 49 Bit 15: unused Bit 16: unused for TMC603-EVAL (value should be 0 or 1) Bit 17: I²t exceeded flag. This flag is set if the I²t sum exceeded the I²t limit of the motor.
  • Page 50 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) WITCHES AND ANALOG INPUTS Number Axis Parameter Description Range [Unit] Access Switch 2 active 0: inactive 1: active Switch 1 active 0: inactive 1: active Potentiometer The value of the analog input. 0…4095 Activate stop...

  • Page 51: Global Parameter Overview (Sgp, Ggp, Stgp, Rsgp)

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 7 Global parameter overview (SGP, GGP, STGP, RSGP) The following section describes all global parameters that can be used with the SGP, GGP, STGP and RSGP commands. Meaning of the letters in column Access:...

  • Page 52: Bank 1

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Number Global parameter Description Range Access auto start mode 0: Do not start TMCL™ application after power up (default). 1: Start TMCL™ application automatically after power TMCL™ code Protect a TMCL™ program against disassembling or...

  • Page 53: Pid Regulation

    8 PID regulation Structure of the cascaded motor regulation modes The TMC603-EVAL supports current, velocity, and position PID regulation modes for motor control in different application areas. These regulation modes are cascaded as shown in Figure 8.1. The specific modes are explained in the following sections.
  • Page 54 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) /256 PARAM /262144 PARAM Clip Clip Clip ˗ TARGET CLIP LIMIT /256 PARAM ACTUAL ˗ LAST Figure 8.2: Current PID regulation Parameter Description Actual motor current (GAP 150) ACTUAL Target motor current (SAP 155) TARGET Max.

  • Page 55: Velocity Pid Regulation

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Velocity PID regulation Based on the current regulation the motor velocity can be controlled by the velocity PID regulator. Also, the velocity PID regulator uses a timing control value (PID regulation loop delay, axis parameter 133) which determines how often the PID regulator is invoked.

  • Page 56: Velocity Ramp Generator

    PID regulator. Position PID regulation Based on the current and velocity PID regulators the TMC603-EVAL supports a positioning mode based on encoder or hall sensor position. During positioning the velocity ramp generator can be activated to enable motor positioning with controlled acceleration or disabled to support motor positioning with max allowed speed.
  • Page 57 TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) = the resulting delay between two PID calculations = PID regulation loop delay parameter For most applications it is recommended to leave this parameter unchanged at its default of 1ms. Higher values may be necessary for very slow and less dynamic drives.

  • Page 58: Parameter Sets For Pid Regulation

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) Parameter sets for PID regulation Every PID regulation provides two parameter sets, which are used as follows: Below a specified velocity threshold the PID regulator uses a combination of parameter set 1 and parameter set 2 Above the velocity threshold the PID regulator uses only parameter set 2.

  • Page 59: Temperature Calculation

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 9 Temperature calculation Axis parameter 152 delivers the actual ADC value of the motor driver. This ADC value can be converted to a temperature in °C as follows: Example 1: Example 2: ADC = 1000 ADC = 1200 R NTC ≈...

  • Page 60: Life Support Policy

    TMC603-EVAL Manual (Rev. 1.06 / 2012-AUG-29) 11 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.

  • Page 61: Revision History

    - Axis parameter 246 deleted 1.05 2011-DEC-13 - Chapter 10 updated (I t monitoring) - Chapter 8 updated (PID regulation) 1.06 2012-AUG-29 Axis parameters 164 and 166 added Table 12.2: Document revision 13 References [TMC603] TMC603 Datasheet (please refer to our homepage http://www.trinamic.com) www.trinamic.com...

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