Trinamic TMCM-1140 Hardware Manual
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Trinamic TMCM-1140 Hardware Manual

1-axis stepper controller/driver 2 a/24 v
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MODULE 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-1140
+
1-Axis Stepper
Controller / Driver
2 A / 24 V
sensOstep™ Encoder
USB, RS485, and CAN
+
MODULE

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Summary of Contents for Trinamic TMCM-1140

  • Page 1 MODULE FOR STEPPER MOTORS MODULE Hardware Version V1.3 HARDWARE MANUAL TMCM-1140 1-Axis Stepper Controller / Driver 2 A / 24 V sensOstep™ Encoder USB, RS485, and CAN NIQUE EATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com...

  • Page 2: Table Of Contents

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) Table of Contents Features ................................... 3 Order Codes ................................... 5 Mechanical and Electrical Interfacing ........................6 Dimensions and Mounting Holes ........................6 Board mounting considerations ........................6 Connectors of TMCM-1140 ..........................7 3.3.1...

  • Page 3: Features

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 1 Features The TMCM-1140 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-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 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.

  • 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-1140 is available with NEMA17 stepper motors, too. Refer to the PD-1140 documents for more information about these products.

  • Page 6: Mechanical And Electrical Interfacing

    Nevertheless, this might not always be an option e.g. in case the metal system chassis / TMCM-1140 mounting plate is already connected to earth and a direct connection between supply ground (secondary side) and mains supply earth (primary side) is not desired / not an option.

  • Page 7: Connectors Of Tmcm-1140

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 3.3 Connectors of TMCM-1140 The controller/driver board of the TMCM-1140 offers four connectors including the motor connector which is used for attaching the motor coils to the electronics. The power and communication connector is used for power supply, CAN interface, and RS485 interface.

  • Page 8: Power And Communication Connector

    For proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the TMCM-1140 includes about 40µF/35V of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. The module includes a 28V suppressor diode for over-voltage protection.

  • Page 9: Rs485

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 3.3.1.2 RS485 For remote control and communication with a host system the TMCM-1140 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: BUS STRUCTURE: The network topology should follow a bus structure as closely as possible.

  • Page 10: Can

    USB-2-485 with bias network at one end of the bus). 3.3.1.3 CAN For remote control and communication with a host system the TMCM-1140 provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the...

  • Page 11: Multipurpose I/O Connector

    NUMBER OF NODES: The bus transceiver used on the TMCM-1140 units (TJA1050T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus ->...

  • Page 12: Digital Inputs In_1, In_2, In_3

    3.3.2.1 Digital Inputs IN_1, IN_2, IN_3 The eight pin connector of the TMCM-1140 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 13: Analog Input In_0

    0 and 1) will be at approx. +5V input voltage (half the analog input range). 3.3.2.3 Outputs OUT_0, OUT_1 The eight pin connector of the TMCM-1140 offers two general purpose outputs OUT_0 and OUT_1. OUT_0 is an open-drain output capable of switching (sinking) up to 1A. The output of the N-channel MOSFET transistors is connected to a freewheeling diode for protection against voltage spikes especially from inductive loads (relais etc.) above supply voltage (see figure below).

  • Page 14: Motor Connector

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) microcontroller Figure 3.9 General purpose output OUT_0 (simplified circuit) With TMCL firmware OUT_0 can be switched on (OUT_0 pulled low) using command SIO 0, 2, 1 and off again (OUT_0 floating) using command SIO 0, 2, 0 (this is also the factory default setting of this output).

  • Page 15: Mini-Usb Connector

    Connected to signal and system ground Table 3.6 Connector for USB For remote control and communication with a host system the TMCM-1140 provides a USB 2.0 full-speed (12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept commands via USB.

  • Page 16: Motor Driver Current

    (TMCL) 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-1140 firmware manual for further information) Motor current Resulting motor current based on motor current setting...

  • Page 17: Reset To Factory Defaults

    204 (see TMCM-1140 firmware manual). 5 Reset to Factory Defaults It is possible to reset the TMCM-1140 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 18: On-Board Leds

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 6 On-Board LEDs The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation and the red LED should be off.

  • Page 19: Operational Ratings

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 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! Symbol Parameter Unit Power supply voltage for operation 12…...
  • Page 20 TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) PERATIONAL RATINGS OF INTERFACE Symbol Parameter Unit Number of nodes connected to single RS485 > 110 network 1000 1000 kbit/s Maximum bit rate supported on CAN connection Table 7.4 Operational ratings of the CAN interface...

  • Page 21: Functional Description

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 8 Functional Description The TMCM-1140 is a highly integrated controller/driver module 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 22: Tmcm-1140 Operational Description

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 9 TMCM-1140 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 23 TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) XAMPLE Signal value 16 MHz velocity 1000 a_max 1000 pulse_div ramp_div usrs  1000   122070   2048 122070   1907  1000      ...

  • Page 24: Life Support Policy

    © TRINAMIC Motion Control GmbH & Co. KG 2013 – 2015 Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is...

  • Page 25: Revision History

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 11 Revision History 11.1 Document Revision Version Date Author Description 0.90 2011-DEC-22 Initial version 0.91 2012-MAY-02 Updated for TMCM-1140_V11 pcb version First complete version including new chapters about: 1.00 2012-JUN-12 reset to factory defaults, and LEDs 1.01...

  • Page 26: References

    TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) Version Date Description both sides PCB. Provides improved protection against humidity and dust / swarf (e.g. in case of the motor mounted versions PD42-x-1140: tiny metal parts on the PCB attracted by the encoder magnet might lead to malfunction of the unprotected device).

This manual is also suitable for:

Stallguard2 tmcm-1140Stallguard2 tmcm-1140-tmclStallguard2 tmcm-1140-canopen

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