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Summary of Contents for Trinamic TMCM-610
- Page 1 TMCM-610 Hardware Manual Version: 1.14 2010-APR-30 Trinamic Motion Control GmbH & Co KG Sternstraße 67 D - 20 357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60 http://www.trinamic.com...
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Page 2: Table Of Contents
TMCM-610 operational description ........................21 Calculation: velocity and acceleration vs. microstep- and fullstep-frequency ......... 21 TMCL™ ................................... 23 10 Revision history ................................24 10.1 Document revision ............................24 10.2 Firmware Revision ............................24 Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG... - Page 3 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 ........................
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Page 4: Life Support Policy
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 &... -
Page 5: Features
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. -
Page 6: Order Codes
42.3 x 42.3 x 33,5 QSH4218-41-10-035 QMot stepper motor 42mm, 1A, 0.35Nm 42.3 x 42.3 x 38 QSH4218-51-10-049 QMot stepper motor 42mm, 1A, 0.49Nm 42.3 x 42.3 x 47 Table 3.1: Order codes Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG... -
Page 7: Electrical And Mechanical Interfacing
General purpose I/O Connector button +7.. 34 V DC Activity Power Motor 0 Ref 0 Motor and stop switch connectors Motor 6 Ref 6 Figure 4.2: Overview of the connectors Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG... -
Page 8: Power Supply
So, on a version 1.0 board, connect the left stop switch to the terminal marked with R and the right stop switch to the terminal marked with L. The marking is corrected on the next version of the board. Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG... -
Page 9: Rs232 Interface
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. -
Page 10: Reset Button
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. -
Page 11: Figure 4.5: Restoring All Parameters To Factory Default
TMCM-610 Hardware Manual (V1.14/2010-APR-30) Link these two pins Pin 1 TMCM-610 Figure 4.6: Restoring all parameters to factory default Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG... -
Page 12: Operational Ratings
(sum of all pins) OUTx max +/- output current (CMOS +/-20 OUTI output) (sum for all outputs max. 50mA) Environment temperature at rated current °C (no cooling) Table 5.1: Operational ratings Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG... -
Page 13: Functional Description
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). -
Page 14: System Architecture
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. -
Page 15: Stallguard™ - Sensorless Motor Stall Detection
- 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™... -
Page 16: Stallguard™ Profiler
As it is very seldom that exactly the same result is produced when recording a profile with the same parameters a second time, always two or more profiles should be recorded and compared against each other. Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG... -
Page 17: Reference Switches
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. -
Page 18: One Limit Switch For Circular Systems
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. -
Page 19: Usb
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. -
Page 20: Putting The Tmcm-610 Into Operation
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). -
Page 21: Tmcm-610 Operational Description
The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a) is given by pulse ramp This results in acceleration in fullsteps of: af with af: acceleration in fullsteps usrs Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG... - Page 22 If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is: 1907 fullsteps rotation 1907 1589 fullsteps rotation Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG...
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Page 23: Tmcl
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™... -
Page 24: Revision History
Table 10.1: Document revision 10.2 Firmware Revision Version Comment Description 6.00 Initial Release Please refer to TMCL™ documentation 6.31 Also supports interpolation features (MVP COORD command) Table 10.2: Major Firmware revisions Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG...
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