Trinamic TMCM-1230 Hardware Manual

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Module for Stepper

TMCM-1230 Hardware Manual

Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18

The TMCM-1230 is a single axis controller/driver module for 2-phase bipolar stepper motors. The

module can either be used with TMCL rmware supporting standalone operation as well as direct

mode control using TMCL™ commands or with CANopen rmware supporting control using the

CANopen® protocol. Both rmware versions make extensive use of the Trinamic TMC4361 motion

controller and TMC5160 motor driver. Dynamic current control, and quiet, smooth and e

operation are combined with StealthChop™, DcStep™, StallGuard2™ and CoolStep™ features.

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

Simpli ed Block Diagram

Terms of delivery and rights to technical change reserved.

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www.trinamic.com

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• Robotics

• Factory Automation

• Test & Measurement

Features

• Single axis controller/driver for 2-phase

bipolar stepper motor

• Trapezoid, SixPoint™ and S-shaped

ramps

• +10. . . 30V DC motor supply voltage

• Up to 5A RMS motor current

• RS485 and CAN interface

• Single-ended ABN encoder interface

• Step/direction inputs

• Stop switch and home switch inputs

• General purpose inputs and outputs

• Life Science

• Biotechnology

• Liquid Handling

MODULE

cient

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Summary of Contents for Trinamic TMCM-1230

Page 1 TMCM-1230 Hardware Manual Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 The TMCM-1230 is a single axis controller/driver module for 2-phase bipolar stepper motors. The module can either be used with TMCL rmware supporting standalone operation as well as direct mode control using TMCL™...
Page 2: Table Of Contents
TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 2 / 25 Contents 1 Features 2 Order Codes 3 Mechanical and Electrical Interfacing 3.1 Size of the board ..........
Page 3: Features
Incremental ABN encoders are also supported. For driver-only applications, the TMCM-1230 of- fers Step/Direction inputs. The TMCM-1230 is also equipped with two analog inputs (0. . . 5V range), two digital inputs and two digital (TTL level) outputs. For communication, RS485 and CAN bus interfaces are available.
Page 4 TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 4 / 25 • 98-pin slot type connector Software • TMCL™ remote (direct mode) and standalone operation (memory for up to 2047 TMCL™ commands), fully supported by TMCL-IDE (PC based integrated development environment). Please see TMCM- 1230 TMCL rmware manual for more details.
Page 5: Order Codes
TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 5 / 25 2 Order Codes The standard version of the TMCM-1230 is pre-programmed with either TRINAMIC TMCL™ rmware or CANopen rmware. Order Code Description Size TMCM-1230-TMCL...
Page 6: Mechanical And Electrical Interfacing
TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 6 / 25 3 Mechanical and Electrical Interfacing 3.1 Size of the board The board has an overall size of 80mm x 40mm without the connector. Together with the slot type con- nector the board size is 80mm x 45mm.
Page 7: Connectors
PCB are labelled B1. . . B48 and the pins located on the bottom side of the PCB are labelled A1. . . A48. For trying out the TMCM-1230 for the rst time we recommend using a Trinamic base board. But a base board can also be designed by the user.
Page 8 TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 8 / 25 Label Direction Description output Motor coil B pin 2 output Motor coil B pin 2 output Motor coil B pin 2 output Motor coil B pin 1...
Page 9 TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 9 / 25 Slot Type Connector Pin Assigment (PCB Bottom Side) Label Direction Description — not connected — not connected — not connected — not connected —...
Page 10: Reset To Factory Defaults
NOTICE 5 Reset to Factory Defaults It is possible to reset all settings in rmware for the TMCM-1230 to factory defaults without establishing a working communication connection. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got lost.
Page 11 TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 11 / 25 4. Wait a few seconds. 5. Switch power supply OFF again. 6. Remove the short between the two pads. 7. After switching power supply ON again all permanent settings have been restored to factory de- faults.
Page 12: Analog Input Ain0
The address pins ADDR0, ADDR1, ADDR2 and ADDR3 can be used to set the TMCL module address or CANopen node ID of the TMCM-1230. This is useful when a base board with more than one slot is being used. In this case, every slot can be assigned to one speci c TMCL module address or CANopen node ID by hardware.
Page 13 TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 13 / 25 settings will be set in software. When at least one of the address pins is pulled high the address or ID set by the address pins will be used.
Page 14: Communication
14 / 25 7 Communication 7.1 RS485 For remote control and communication with a host system the TMCM-1230 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.
Page 15: Can
Figure 5: RS485 bus lines with Pro bus™recommended line termination 7.2 CAN For remote control and communication with a host system the TMCM-1230 provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken into account when setting up a CAN network: 1.
Page 16 Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1230 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.
Page 17: Functional Description
The TMCM-1230 is a highly integrated single axis controller/driver module for stepper motors with up-to 5A RMS / 7A peak motor coil current. The TMCM-1230 can be controlled via RS485 or CAN interface. The TMCM-1230 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™).
Page 18: Operational Ratings And Characteristics
TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 18 / 25 9 Operational Ratings and Characteristics Never Exceed the absolute maximum ratings! Keep the power supply voltage NOTICE below the upper limit of +30V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended.
Page 19 TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 19 / 25 Operational Ratings of the RS485 Interface Symbol Parameter Unit Number of nodes connected to single RS485 network RS485 Max. speed for RS485 network 1Mbit/s...
Page 20: Abbreviations Used In This Manual
TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 20 / 25 10 Abbreviations used in this Manual Abbreviation Description Integrated Development Environment Light Emmitting Diode Root Mean Square value TMCL TRINAMIC Motion Control Language Table 8: Abbreviations used in this Manual ©2021 TRINAMIC Motion Control GmbH &...
Page 21: Figures Index
TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 21 / 25 11 Figures Index Board dimensions, position of mount- RS485 bus lines with resistor (bias) ing holes and position (pin 1) of con- network on one side, only .
Page 22: Tables Index
TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 22 / 25 12 Tables Index TMCM-1230 Order Codes ..Operational ratings of the RS485 inter- Top Side Slot Connector Pin Assignment face .
Page 23: Supplemental Directives
13.5 Disclaimer: Life Support Systems TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the speci c written consent of TRINAMIC Motion Control GmbH & Co. KG.
Page 24: Collateral Documents & Tools
In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in signi cant personal injury or death (safety-Critical Applications) without TRINAMIC’s speci c written consent.
Page 25: Revision History
TMCM-1230 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-AUG-18 25 / 25 14 Revision History 14.1 Hardware Revision Version Date Author Description V1.1 2020-MAY-05 Initial version. V1.2 2020-AUG-13 IN1 and OUT1 removed. (A41 and B41 not connected any more.) Table 9: Hardware Revision 14.2 Document Revision...

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