Controller/driver module up to 10a rms/12...48v dc can, rs232/rs485 optional, mechatronic device with 57 mm bldc servo motor up to 10a rms/12...48v dc can, rs232/rs485 optional incremental encoder hall sensors (18 pages)
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Figure 4.4: Internal wiring of the I/Os ......................... 10 Figure 4.5: Restoring all parameters to factory default ................... 11 Figure 5.1: Main parts of the TMCM-610 ........................13 Figure 6.2: stallGuard™ adjusting tool ......................... 15 Figure 6.3: The stallGuard™ profiler ..........................16 Figure 6.4: Left and right limit switches ........................
TMCM-610 Hardware Manual (V1.14/2010-APR-30) 1 Life support policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH &...
2 Features The TMCM-610 is a stepper motor controller and driver module that can drive up to six bipolar two-phase stepper motors with a peak coil current of up to 1.5A for each coil. The module provides a complete motion control system.
The RS232 interface is one way to connect the unit to a PC or a microcontroller with RS232 interface. All TMCL™ commands can be sent to the unit via this interface. A null modem cable has to be used to connect the TMCM-610 to a PC.
Programming the CPU via an in-circuit programmer. This is to be done by TRINAMIC only and not by the user! The user can upgrade the firmware via the RS232 or USB interface using the Install OS function in the TMCL- IDE.
TMCM-610 Hardware Manual (V1.14/2010-APR-30) 6 Functional description Figure 6.1 depicts the main parts of the TMCM-610. It uses two TMC428 motion controller, six TMC246 stepper motor driver, the TMCL™ processor, the program memory (EEPROM), and the host interfaces (RS232 and USB).
6.1.4 Stepper motor drivers On TMCM-610 modules the TMCM246 driver chips are used. These chips are fully compatible with the TMC236 chips, but have the additional stallGuard™ feature. These drivers are very easy to use. They can control the currents for the two phases of the stepper motors.
- sensorless motor stall detection The TMCM-610/SG modules are equipped with the stallGuard™ option. The stallGuard™ option makes it possible to detect if the mechanical load on a stepper motor is too high or if the traveler has been obstructed. The load value can be read using a TMCL™...
Note: 10k pullup resistors for reference switches are included on the module. 6.3.1 Left and right limit switches The TMCM-610 can be configured so that a motor has a left and a right limit switch (Figure 6.4). The motor stops when the traveler has reached one of the limit switches.
To set the microstep resolution with TMCL™ use instruction 5: SAP, type 140: microstep resolution. You can find the appropriate value in Table 6.3. Please refer to the TMCM-610 TMCL™ Firmware Manual for more information about TMCL™ commands. This Manual is available on the TechLibCD or on www.trinamic.com.
USB IC used on the TMCM-610 device (FT245BM) is already included in the kernel. When the TMCM-610 module is connected to the USB interface of a PC for the first time, you will be prompted for a driver by the operating system.
7 Putting the TMCM-610 into operation On the basis of a small example it is shown step by step how the TMCM-610 is set into operation. If you need more detailed information, please refer to the TMCM-610 TMCL™ Firmware Manual (available on the TechLibCD or on www.trinamic.com).
TMCM-610 Hardware Manual (V1.14/2010-APR-30) 9 TMCL™ Like most of the other Trinamic motion control modules, the TMCM-610 is also equipped with TMCL™, the Trinamic Motion Control Language. The TMCL™ language in this unit has been extended so that six motors can be controlled with the normal TMCL™...
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