Related Manuals for Trinamic TMCM-101
Summary of Contents for Trinamic TMCM-101
- Page 1 TMCM-101 One Axis Closed Loop Controller / Driver Module 3A / 28.5V Manual Version: 1.08 June 24 , 2009 Trinamic Motion Control GmbH & Co KG Sternstraße 67 D - 20 357 Hamburg, Germany http://www.trinamic.com...
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Page 2: Table Of Contents
Putting the TMCM-101 into operation ..........................18 Calculating Velocity and Acceleration ..........................19 Software ....................................20 10 Revision History ..................................21 10.1 Documentation Revision ............................. 21 10.2 Firmware Revision ................................. 21 11 References ....................................21 Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG... -
Page 3: Features
1 Features The TMCM-101 is a single axis 2-phase stepper motor controller and driver module. The build in encoder feedback makes it an optimum solution for high reliability drives. It is equipped with a CAN interface and a serial interface that can be used as an RS232, RS422 or RS485 interface by adding an appropriate line driver/level shifter. -
Page 4: Life Support Policy
Specifications subject to change without notice. Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG... -
Page 5: Technical Data
77.30mm 80.00mm Figure 4.1: Dimensions The size of the module 80x70mm, similar as the other Trinamic motion control modules (80x50). It also uses the same connector. Connector type: 2x34 pins, 2mm pitch Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG... -
Page 6: Pin Assignments
The module is equipped with a 68 pin connector (two rows of 34 pins each) with 2mm pitch. (There is a special Trinamic document about mating connectors). Figure 4.2 shows how to locate pin 1. The following table shows all... -
Page 7: Operational Ratings
Table 5.1: Operational Ratings 6 Functional Description In Figure 6.1 the main parts oft the TMCM-101 module are shown. The module mainly consists of a TMC428 motion controller, the TMCL program memory (EEPROM), the host interfaces (RS-232, RS-485 and CAN), the TMC249 high power driver and an encoder interface. -
Page 8: System Architecture
6.1.4 Stepper Motor Drivers The stepper motor driver used on the TMCM-101 module is the TMC249 chip together with SI7501 MOSFETs and an extension for up to 64 microsteps. This driver circuit is very easy to use. It can control the currents for the two phases of the stepper motors. -
Page 9: Power Supply Requirements
6.2 Power supply requirements Two different power supplies have to be provided for the TMCM-101: +5VDC for the controller part and +7..28.5VDC for the motor supply. Please connect all listed pins for the power supply inputs and ground in parallel. Refer to 4.2 Pin Assignments. -
Page 10: Motor Connection
For large systems, an optically decoupled CAN bus for each number of nodes, e.g. for each base board with a number of TMCM-101 modules may make sense, especially when a centralized power supply is to be used. Be aware that different ground potentials of the CAN sender (e.g. a PC) and the power supply may damage the modules. -
Page 11: Encoder Interface
Automatic motor stop on deviation error is also usable. This can be set using axis parameter 212 (maximum deviation). This function is turned off when the maximum deviation is set to 0. Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG... -
Page 12: Host Communication
When the RS232 interface is in receive mode the TxD pin will be tri-stated. This feature can be used to connect multiple TMCM-101 modules to only one RS422 line driver, just by connecting all TxD pins and all RxD pins of the modules to the same input and output pins of the RS422 diver. -
Page 13: Stallguard™ - Sensorless Motor Stall Detection
6.6 StallGuard™ - Sensorless Motor Stall Detection The TMCM-101 modules are equipped with StallGuard. 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 command or the module can be programmed so that the motor will be stopped automatically when it has been obstructed or the load has been to high. -
Page 14: 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 © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG... -
Page 15: Reference Switches
Note: 10k pullup resistors for reference switches are included on the module. 6.7.1 Left and right limit switches The TMCM-101 can be configured so that a motor has a left and a right limit switch (Figure 6.6). The motor then stops when the traveler has reached one of the limit switches. -
Page 16: One Limit Switch For Circular Systems
Port expansion Pin 3, output Out_4 Port expansion Pin 4, output Out_5 Port expansion Pin 5, output Out_6 Port expansion Pin 6, output Out_7 Port expansion Pin 7, output Table 6.10: Pinout port expansion Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG... -
Page 17: Miscellaneous Connections
The address pins (pins 31, 33, 35) have no function when pulled to ground. Otherwise they define the lower three bit of the module address. Thus multiple TMCM-101 can be used easily in a backplane All these pins are not protected. -
Page 18: Putting The Tmcm-101 Into Operation
7 Putting the TMCM-101 into operation On the basis of a small example it is shown step by step how the TMCM-101 is set into operation. Users who are already familiar with TMCL and other Trinamic modules may skip this chapter. It is assumed that all necessary hardware connections are made properly. -
Page 19: Calculating Velocity And Acceleration
8 Calculating Velocity and Acceleration The values of the parameters sent to the TMCM-101 do not have typical motor values, like rotations per second as velocity. But these values can be calculated from the TMC-101 parameters, as shown in this document. The... -
Page 20: Software
TMCL applications. All the manuals are provided on the TMC TechLib CD and on the web site of TRINAMIC Motion Control GmbH & Co. KG (http://www.trinamic.com). Also the latest versions of the firmware (TMCL operating system) and PC software (TMCL IDE) can be found there. -
Page 21: Revision History
6.20 Initial Release Please refer to TMCL documentation (encoder pre-scaler not implemented) 6.28 Several updates Updates include encoder pre-scaler. Table 10.2: Firmware Revisions 11 References [TMCL] TMCL manual (see http://www.trinamic.com) Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG...
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