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Summary of Contents for Trinamic CoolStep StallGuard2 TMCM-1180
- Page 1 MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1.1 HARDWARE MANUAL TMCM-1180 PD86-1180 1-Axis Stepper Controller / Driver 5.5A RMS/ 24 or 48V DC USB, RS232, RS485, and CAN TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com...
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Page 2: Table Of Contents
Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ........ 23 TMCL ....................................25 10 CANopen ..................................25 11 Life Support Policy ..............................26 12 Revision History ................................27 12.1 Document Revision ............................27 12.2 Hardware Revision ............................27 13 References..................................27 www.trinamic.com... -
Page 3: Features
Program memory (non volatile) for up to 2048 TMCL commands PC-based application development software TMCL-IDE available for free CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported Please see separate TMCL and CANopen Firmware Manuals for additional information www.trinamic.com... -
Page 4: Order Codes
85.9 x 85.9 x 118.5 Table 3.1 PANdrive or module order codes Option Firmware -TMCL TMCL firmware -CANopen CANopen firmware Table 3.2 Options for order codes Component part Description TMCM-1180-CABLE Cable loom for module and PANdrive Table 3.3 Order codes for component parts www.trinamic.com... -
Page 5: Mechanical And Electrical Interfacing
86mm stepper motor. The TMCM-1180 is 21.5mm high without matching connectors. There are four mounting holes for M4 screws. 85.9 67.45 4.55 R5.9 85.9 TMCM-1180 81.35 67.45 18.45 13.9 4.55 13.9 18.45 81.35 Figure 4.1 Dimensions of TMCM-1180 and mounting holes www.trinamic.com... -
Page 6: Pd86-1180 Dimensions And Motor Specifications
86mm flange size bipolar hybrid stepper motor. 4.2.1 Dimensions of PD86-3-1180 22.5 max 12.7 73.02±0.05 85.85 11.6 31.75±1 1.52 8.38 69.5±0.2 85.9 85.9 73.02±0.05 11.6 69.5±0.2 12.7 4 x ø 5.5 400 min. Figure 4.2 PD86-3-1180 dimensions www.trinamic.com... -
Page 7: Motor Specifications Of Qsh8618-96-55-700
0.02 Shaft Axial Play (450g load) 0.08 Maximum Radial Force (20 mm from front flange) Maximum Axial Force Ambient Temperature °C -20… +50 Temp Rise °C max. 80 (rated current, 2 phase on) Table 4.1 Motor specifications of QSH8618-96-55-700 www.trinamic.com... -
Page 8: Torque Figure Of Qsh8618-96-55-700
For full step operation there are always a number of resonance points (with less torque) which are not depicted. These will be minimized by microstep operation. Testing conditions: 48V; 5,5A Full step Torque [Nm] 1000 10000 Speed [Pps] Figure 4.3 QSH8618-96-55-700 speed vs. torque characteristics www.trinamic.com... -
Page 9: Connectors Of Tmcm-1180
Molex 500075-1517 Mini-USB Any standard mini-USB plug Mini USB Type B vertical receptacle Connector housing CVIlux: CI01085000-A Contacts CVIlux: CI01T011PE0-A Serial CI0108P1VK0-LF communication CVIlux CI01 series, 8 pins, 2mm pitch Connector housing JST: PHR-8 Contacts JST: SPH-002T-P0.5S Wire: 0.22mm www.trinamic.com... -
Page 10: Power Connector
Power supply ripple due to the chopper operation should be kept at a maximum of a few 100mV. www.trinamic.com... - Page 11 Please see also chapter 6 (operating values). There is no reverse polarity protection! The module will short any reversed supply voltage due to internal diodes of the driver transistors. www.trinamic.com...
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Page 12: Serial Communication Connector
Table 3.3 Connector for serial communication 4.3.3 USB Connector A 5-pin mini-USB connector is available on board (might depend on assembly option). Label Description VBUS +5V power Data – Data + Not connected ground Table 3.4 Mini USB connector www.trinamic.com... -
Page 13: Output Connector
+24V e.g. +24V e.g. +24V galvanic isolation freewheeling diode integrated on-board opto-coupler Figure 4.5 Possible circuits for GPO Logic Logic OUT_0 OUT_1 OUT_0 1k00 OUT_1 1k00 Figure 4.6 Internal circuit of the outputs www.trinamic.com... -
Page 14: Input Connector
HOME programmable internal pull-up (1k to +5V) Module ground (system and signal ground) Table 4.5 Input / Stop / Home switch connector +24V Figure 4.7 Possible circuit for GPI IN_0/1 +3.3V IN_0/1 Figure 4.8 Internal circuit of the inputs www.trinamic.com... - Page 15 4.3.5.3 One Limit Switch for Circular Systems If a circular system is used (Figure 4.11), only one reference switch is necessary, because there are no end- points in such a system. motor REF _ L _x eccentric ref switch Figure 4.11 One reference switch www.trinamic.com...
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Page 16: Step/Direction Connector
Common supply / opto-coupler (+5V .. +24V) OC_EN Enable signal OC_STEP Step signal OC_DIR Direction signal Table 4.6 Step/Dir connector OC_COM +3.3V = 8mA const OC_EN = 8mA const OC_DIR OC_STEP STEP Figure 4.12 Internal circuit of the Step/Dir interface www.trinamic.com... -
Page 17: Encoder Connector
– start moving in accordance with the rotating magnetic field as soon as the motor starts moving. This might lead to shorts of electronic contacts / wires on the board and totally erratic behavior of the module! Use compressed air for cleaning the module if necessary. www.trinamic.com... -
Page 18: Motor Connector And Specifications
A 3.96mm pitch 4 pin connector is used for motor connection. Both motor coil windings (bipolar stepper motor) are connected to this connector. Mating connector housing: VHR-4N Mating connector contacts: BVH-21T-P1.1 Label Description Motor coil A Motor coil A Motor coil B Motor coil B Table 4.8 Connector for motor www.trinamic.com... -
Page 19: Jumpers
RS485+ and RS485-. 5.2 CAN Bus Termination The board includes a 120 Ohm resistor for proper bus termination of the CAN interface. When this jumper is closed, the resistor will be placed between the two differential bus lines CAN_H and CAN_L. www.trinamic.com... -
Page 20: Operational Ratings
The motor might heat up well above 50°C when running at full current without proper cooling. This might substantially increase the environmental temperature for the electronics. When using the coolStep operation mode, the actual current might be substantially less than programmed max. current producing and temperature. www.trinamic.com... -
Page 21: Functional Description
On this module, the Atmel AT91SAM7X256 is used to run the TMCL operating system and to control the TMC428/429. The CPU has 256KB flash memory and a 64KB RAM. The microcontroller runs the TMCL (Trinamic Motion Control Language) operating system which makes it possible to execute TMCL commands that are sent to the module from the host via the RS232, RS485, USB, or CAN interface. -
Page 22: Stepper Motor Driver
The encoder offers a resolutions of 8 bit (256 steps) per revolution which is completely sufficient for detecting step losses with a standard 1.8° stepper motors. www.trinamic.com... -
Page 23: Tmcm-1180 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 www.trinamic.com... - Page 24 1907 1000 Calculation of the number of rotations: A stepper motor has e.g. 72 fullsteps per rotation. 1907 fullsteps rotation 1907 1589 fullsteps rotation www.trinamic.com...
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Page 25: Tmcl
Please refer to these source for updated data sheets and application notes. 10 CANopen The TMCM-1180 module should also be used with the CANopen protocol in future versions. For this purpose, a special CANopen firmware is under development. Please contact TRINAMIC if you are interested in this option. www.trinamic.com... -
Page 26: Life Support Policy
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 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 &... -
Page 27: Revision History
12.2 Hardware Revision Version Date Description 1.00 2010-OCT-29 Pre-series version 1.10 2011-MAR-03 Series version Table 12.2 Hardware revision 13 References [TMCM-1180 / PD86-1180 TMCL] TMCM-1180 and PD86-1180 TMCL Firmware Manual [TMCL-IDE] TMCL-IDE User Manual [QSH8618] QSH8618 Manual Please refer to www.trinamic.com. www.trinamic.com... - Page 28 X-ON Electronics Largest Supplier of Electrical and Electronic Components Click to view similar products for manufacturer: Trinamic Other Similar products are found below : TMC2041-EVAL-KIT TMC2041-LA TMCM-1310 TMCM-343-H-TMCL PD-1141-CABLE PD86-3-1180-CANOPEN QSH6018-65-28-210 TMCS-40-KIT QSH8618-95-55-700 TMC-UPS-10A70V-EVAL TMC5031-EVAL-KIT PD42-2-1240-TMCL TMC424 PD57-2-1060- TMCL TMC4361A-EVAL TMCM-1270-TMCL TMCM-3214-CANOPEN TMCM-3230-CANOPEN TMCM-3312-TMCL TMCM-3313...
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