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Trinamic TMCM-1161 Hardware Manual

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MODULES FOR STEPPER MOTORS
Hardware Version V1.0
HARDWARE MANUAL
+
+
U
F
NIQUE
EATURES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Arrow.com.
Downloaded from
:
TMCM-1161
+
1-Axis Stepper
Controller / Driver
up to 2.8 RMS / 24V DC
USB, RS485, and RS232
+
MODULES

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Summary of Contents for Trinamic TMCM-1161

  • Page 1 MODULES FOR STEPPER MOTORS MODULES Hardware Version V1.0 HARDWARE MANUAL TMCM-1161 1-Axis Stepper Controller / Driver up to 2.8 RMS / 24V DC USB, RS485, and RS232 NIQUE EATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com Arrow.com. Downloaded from...

  • Page 2: Table Of Contents

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) Table of Contents Features ................................3 Order Codes ..............................5 Mechanical and Electrical Interfacing ......................6 TMCM-1161 Dimensions and Mounting Holes ..................6 Connectors of TMCM-1161 ........................7 3.2.1 Interface and Power Supply Connector ....................8 3.2.2...

  • Page 3: Features

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 1 Features The TMCM-1161 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-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-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. 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 Table 2.3 Cable loom order code Please note that the TMCM-1161 is available with NEMA23 and NEMA24 stepper motors, too. Please refer to the PD-1161 documents for more information about these products.

  • Page 6: Mechanical And Electrical Interfacing

    56.75 49.5 10.5 4.59 46.25 45.95 13.75 14.05 3.25 10.5 55.41 Figure 3.1 Dimensions of TMCM-1161 and position of mounting holes www.trinamic.com Arrow.com. Arrow.com. Arrow.com. Arrow.com. Arrow.com. Arrow.com. Downloaded from Downloaded from Downloaded from Downloaded from...

  • Page 7: Connectors Of Tmcm-1161

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 3.2 Connectors of TMCM-1161 The TMCM-1161 offers four connectors including the motor connector which is used for attaching the motor coils to the electronics. There are two connectors for serial communication (one for USB and one for RS232/RS485) and one connector for I/O signals and switches.

  • Page 8: Interface And Power Supply Connector

    Add external power supply capacitors! It is recommended to connect an electrolytic capacitor of significant size (2200µF or larger recommended) to the power supply lines next to the TMCM-1161 especially if the distance to the power supply is large (i.e. more than 2-3m)! μF...

  • Page 9: Usb Connector

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus.
  • Page 10 TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) Data – Data + not connected ground Table 3.2 Mini USB connector www.trinamic.com Arrow.com. Arrow.com. Arrow.com. Arrow.com. Arrow.com. Arrow.com. Arrow.com. Arrow.com. Arrow.com. Arrow.com. Downloaded from Downloaded from Downloaded from Downloaded from Downloaded from...

  • Page 11: In/Out Connector

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 3.2.3 In/Out Connector Label Description Module ground (system and signal ground) 10… 30V DC power supply / nom. 24V DC OUT_0 General purpose output, open collector OUT_1 General purpose output, open collector IN_0 Analog input, 0…...

  • Page 12: Motor Connector

    3.2.3.1 Left and Right Limit Switches The TMCM-1161 can be configured so that a motor has a left and a right limit switch. The motor stops when the traveler has reached one of the limit switches. An additional home switch might be used for initialization.

  • Page 13: Reset To Factory Defaults

    4 Reset to Factory Defaults It is possible to reset the TMCM-1161 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 14: On-Board Leds

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 5 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 slowly flashing during operation and the red LED should be off.

  • Page 15: Operational Ratings

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 6 Operational Ratings The operational ratings shown below should be used as design values. In no case should the maximum values been exceeded during operation. Symbol Parameter Unit Power supply voltage for operation...

  • Page 16: Functional Description

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 7 Functional Description The TMCM-1161 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 17: Tmcm-1161 Operational Description

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 8 TMCM-1161 Operational Description 8.1 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 18 TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) Example: Signal value 16 MHz velocity 1000 a_max 1000 pulse_div ramp_div usrs  1000 122070   2048 122070 1907  1000 Calculation of the number of rotations: A stepper motor has e.g. 72 fullsteps per rotation.

  • Page 19: Life Support Policy

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 9 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 20: Revision History

    TMCM-1161 V1.0 Hardware Manual (Rev. 1.14 / 2013-JUL-05) 10 Revision History 10.1 Document Revision Version Date Author Description GE - Göran Eggers SD - Sonja Dwersteg 1.00 2011-JUN-30 Initial version 1.10 2011-AUG-22 Updates for hardware version TMCM-1161_V10 Chapter 5 added 1.11...

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