Trinamic TMCM-1141 Hardware Manual
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Trinamic TMCM-1141 Hardware Manual

1-axis stepper controller / driver 24 v dc up-to 1.1 a / 2a rms usb, rs485, and s/d interface
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MODULES FOR STEPPER MOTORS
Hardware Version V1.3
HARDWARE MANUAL
+
+
U
F
NIQUE
EATURES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1141
+
1-Axis Stepper
Controller / Driver
24 V DC
up-to 1.1 A / 2A RMS
USB, RS485, and S/D Interface
+
MODULES

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Summary of Contents for Trinamic TMCM-1141

  • Page 1 MODULES FOR STEPPER MOTORS MODULES Hardware Version V1.3 HARDWARE MANUAL TMCM-1141 1-Axis Stepper Controller / Driver 24 V DC up-to 1.1 A / 2A RMS USB, RS485, and S/D Interface NIQUE EATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com...

  • Page 2: Table Of Contents

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) Table of Contents Features ................................3 Order Codes ..............................5 Mechanical and Electrical Interfacing ......................6 Dimensions and Mounting Holes ......................6 Connectors of TMCM-1141 ........................7 3.2.1 Power and RS485 Connector ......................8 3.2.2...

  • Page 3: Features

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 1 Features The TMCM-1141 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of the art feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized applications.
  • Page 4 TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) TRINAMIC – E TMCL NIQUE EATURES ASY TO SE WITH stallGuard2™ stallGuard2 is a high-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 below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings.

  • Page 5: Order Codes

    1x USB type A connector to mini-USB type B connector cable (length 1.5m) Table 2.3 Cable loom order codes Please note that the TMCM-1141 is available with NEMA17 stepper motors, too. Refer to the PD-1141 documents for more information about these products.

  • Page 6: Mechanical And Electrical Interfacing

    42 mm stepper motor. Maximum component height (height above PCB level) without mating connectors is around 8mm above PCB level and 2 mm below PCB level. There are two mounting holes for M3 screws for mounting to a NEMA17 stepper motor. 2xM3 Figure 3.1 Dimensions of TMCM-1141 and position of mounting holes www.trinamic.com...

  • Page 7: Connectors Of Tmcm-1141

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 3.2 Connectors of TMCM-1141 The TMCM-1141 controller/driver board offers five connectors including the motor connector which is used for attaching the motor coils to the electronics. Further, there is a connector for power and for the RS485 interface. The USB interface and the step/direction interface have their own connectors.

  • Page 8: Power And Rs485 Connector

    It is recommended to connect an electrolytic capacitor of significant size (e.g. 1000µF/35V) to the power supply lines next to the TMCM-1141 especially if the distance to the power supply is large (i.e. more than 2-3m)! In larger systems a zener diode circuitry might be required in order to limit the maximum voltage when the motor is operated at high velocities.
  • Page 9 3.2.1.2 RS485 For remote control and communication with a host system the TMCM-1141 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible.

  • Page 10: Mini-Usb Connector

    Table 3.3 Connector for USB For remote control and communication with a host system the TMCM-1141 provides a USB 2.0 full-speed (12Mbit/s) device interface (mini-USB connector). As soon as a USB host is connected the module will accept commands via USB.

  • Page 11: Multipurpose I/O Connector

    3.2.3.1 Digital Inputs IN_1, IN_2, IN_3 The eight pin connector of the TMCM-1141 provides three multipurpose digital inputs IN_1, IN_2 and IN_3. All three inputs accept up to +24V (nom.) input signals and offer the same input circuit with voltage resistor dividers, limiting diodes against over- and under-voltage and programmable 2k2 pull-up resistors.
  • Page 12 TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) common switch for all three digital inputs +3.3V IN_1 IN_2 IN_3 microcontroller (all) and TMC429 (IN_0, IN_1) Figure 3.6 General purpose inputs (simplified input circuit) The three digital inputs have alternate functionality depending on configuration in software. The following functions...
  • Page 13 3.2.3.3 Outputs OUT_0, OUT_1 The eight pin connector of the TMCM-1141 offers two general purpose outputs OUT_0 and OUT_1. These two outputs are open-drain outputs and can sink up to 100 mA each. The outputs of the N-channel MOSFET transistors are connected to freewheeling diodes each for protection against voltage spikes especially from inductive loads (relais etc.) above supply voltage (see figure below).
  • Page 14 TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) Since hardware version 1.3 the gate inputs of the MOSFETs are pulled-low during power-up and while the processor is still in reset / output pins not initialized. This way, the outputs will not briefly switch on at power-up.

  • Page 15: Step/Direction Connector

    The inputs Step / Direction / Enable are electrically (optically) isolated from the power supply and all other signals of the TMCM-1141 module. These inputs have one common reference input COMMON (see Figure 3.). The COMMON input should be connected to a positive supply voltage between +5V and +24V. Step / Direction / Enable signals might be driven either by open-collector / open-drain outputs or by push-pull outputs.

  • Page 16: Motor Connector

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 3.2.5 Motor Connector As motor connector a 4pin 2mm pitch single row connector is available. The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics.

  • Page 17: Motor Driver Current

    SAP 6, 0, <value> // set run current SAP 7, 0, <value> // set standby current (read-out value with GAP instead of SAP. Please see separate TMCM-1141 firmware manual for further information) Range setting in This is the value for TMCL axis parameter 179 (Vsense). This value defines the current software range.
  • Page 18 TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) Motor current Range setting in Current Motor Motor current setting in software scaling step current COIL_RMS software (TMCL) (TMCL) (CS) COIL_PEAK 96..103 0.670 0.474 104..111 0.722 0.510 112..119 0.773 0.547 120..127 0.825 0.583 128..135...
  • Page 19 TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) The settings marked red in the table above from the high current range (above 2A RMS motor current) should not be used as they will violate specification of the module! In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-1141 firmware manual).

  • Page 20: Reset To Factory Defaults

    5 Reset to Factory Defaults It is possible to reset the TMCM-1141 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost.

  • Page 21: Operational Ratings

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 7 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded! ENERAL OPERATIONAL RATINGS Symbol...
  • Page 22 TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) RS485 PERATIONAL RATINGS OF INTERFACE Symbol Parameter Unit Number of nodes connected to single RS485 RS485 network 9600 115200 bit/s RS485 Maximum bit rate supported on RS485 connection 1000000*) Table 7.3: Operational ratings of RS485 interface *) hardware revision V1.2: max.

  • Page 23: Functional Description

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 8 Functional Description The TMCM-1141 is a highly integrated mechatronic device which can be controlled via several serial interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are performed on board.

  • Page 24: Tmcm-1141 Operational Description

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 9 TMCM-1141 Operational Description 9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency The values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity.
  • Page 25 TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) XAMPLE Signal value 16 MHz velocity 1000 a_max 1000 pulse_div ramp_div usrs  1000 122070   2048 122070 1907  1000 ALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e.g. 72 fullsteps per rotation.

  • Page 26: Life Support Policy

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 10 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

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 11 Revision History 11.1 Document Revision Version Date Author Description 0.90 2011-DEC-19 Initial version 0.91 2011-DEC-23 Connector pin assignment corrected First complete version including the following chapters: 1.00 2012-JUN-12 Reset to factory defaults, LEDs 1.01...

  • Page 28: References

    TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) motor current scaling factor to 232 (TMCL command SAP 6, 0, 232) will then increase motor driver output current to 2A RMS during movements. Please note: changing motor current will happen immediately – therefore it is recommended to first set the current scaling value (SAP 6, 0, 232 resp.

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