Analog Devices TMCM-1240 Hardware Manual
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Analog Devices TMCM-1240 Hardware Manual

Module for stepper
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Module for Stepper
TMCM-1240 Hardware Manual
Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024
The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors
with up-to 2A root mean square (RMS) motor current. It supports 6-point ramps in addition to
linear ramps.
Applications
• Laboratory Automation
• Manufacturing
• Semiconductor Handling
Simplified Block Diagram
©2024 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.analog.com.
Read entire documentation.
• Robotics
• Factory Automation
• Test and Measurement
Features
• Single axis controller/driver for 2-phase
bipolar stepper motor
• Linear and sixPoint™ ramps
• +10V. . . 30V DC supply voltage
• Up to 2A RMS motor current
• RS485, CAN, and USB interface
• Integrated sensOstep encoder and
support for external encoder
• Step/direction interface
• Multi-purpose inputs and outputs
• Life Science
• Biotechnology
• Liquid Handling
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Summary of Contents for Analog Devices TMCM-1240

  • Page 1 TMCM-1240 Hardware Manual Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with up-to 2A root mean square (RMS) motor current. It supports 6-point ramps in addition to linear ramps.

  • Page 2: Table Of Contents

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 2/29 Contents 1 Features 2 Order Codes 3 Mechanical and Electrical Interfacing Size of Board ..........

  • Page 3: Features

    3/29 1 Features The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with up-to 2A RMS (2.8A peak) motor coil current. It supports linear ramps and unique sixPoint™ramps. It offers on-board sensOstep encoder and, in addition, support for connection of an external (incremental A/B) encoder.
  • Page 4 TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 4/29 • Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs) • One analog input (0V..10V nom. input range) • HOME switch input (shared with analog input) Mechanical Data •...

  • Page 5: Order Codes

    On request, a version with three analog inputs (0V..10V) is available instead of one analog and two digital inputs on the I/O connector of the TMCM-1240. As this is an assembly version with different components concerning these inputs, only all mechanical data and all other electrical data are the same.

  • Page 6: Mechanical And Electrical Interfacing

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 6/29 3 Mechanical and Electrical Interfacing 3.1 Size of Board The board with the controller/driver electronics has an overall size of 37mm x 37mm x 11mm without mating connectors.

  • Page 7: Board Mounting Considerations

    7/29 3.2 Board Mounting Considerations The TMCM-1240 offers two metal plated mounting holes. Both mounting holes are connected to system and signal ground (same as power supply ground). To minimize distortion of signals and radiation of HF signals (improves electromagnetic compatibility (EMC)), especially in sensitive/noisy environments, it is important to ensure a solid ground connection within the system.

  • Page 8: Connectors

    8/29 4 Connectors The TMCM-1240 offers five connectors. There is one motor and one power supply connector - both with four pins - and two interface connectors - one with five pins for RS485 and CAN, and a dedicated micro-USB connector.

  • Page 9: Power Supply Input Connector

    9/29 4.1 Power Supply Input Connector The TMCM-1240 offers one 4-pin JST PH series power supply input connector. In addition to main power supply input and related ground connection, this connector offers a separate logic supply input with the option to keep the on-board logic alive while the driver stage is switched off. It is not necessary to connect the logic supply input in case separate supplies are not required as the main power supply input will always supplies power to the driver stage and the logic part.

  • Page 10: Rs485 + Can Connector

    Do not mix power supply and motor connectors! 4.3 RS485 + CAN Connector For serial communication, the TMCM-1240 offers RS485, CAN, and USB interfaces. While the USB inter- face is available for configuration and service of the board, mainly (example parameter settings, firmware updates) a 5-pin JST PH series connector offers 2-wire RS485 and CAN interfaces for in-system communi- cation.

  • Page 11: I/O Connector

    Table 7: USB Connector Pin Assignment 4.5 I/O Connector The TMCM-1240 offers several inputs (two of them optically isolated) and one digital (open-drain) output. The inputs include support for stop switches (left and right), home switch, step/direction, incremental A/B channel encoder, and analog (0V. . . +10V) input. All this functionality is available through one 8-pin JST PH series I/O connector.

  • Page 12: On-Board Leds

    Figure 4: TMCM-1240 LEDs 6 Reset to Factory Defaults It is possible to reset all settings in the TMCM-1240 firmware to factory defaults without establishing a working communication connection. This is helpful if communication parameters of the preferred inter- face are set to unknown values or are lost.
  • Page 13 TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 13/29 3. Switch power supply ON again (or connect USB again, if applicable). 4. Wait until the on-board red and green LEDs start flashing fast (this might take a while).

  • Page 14: Inputs/Outputs

    7.2 Digital Inputs IN1 and IN2 The TMCM-1240 offers two digital inputs, IN1 and IN2, which accept signals between 0V and 30V with volt- ages above approx. 2.9V recognized as logical ’1’ and below 1V as logical ’0’. Both inputs offer integrated pull-ups to +5V, which can be switched on or off in the software (always together).

  • Page 15: Home/Stop_L/Stop_R Switch Inputs

    Figure 7: Digital inputs IN1 and IN2 7.3 HOME/STOP_L/STOP_R Switch Inputs The TMCM-1240 offers two optically isolated inputs, which can be used as left (STOP_L) and right (STOP_R) stop switch inputs. When enabled in the software, the STOP_L switch input stops motor movement in negative direction (step counter decreasing) while activated.

  • Page 16: Step/Direction Inputs

    Figure 9: External encoder input 7.5 Step/Direction Inputs The TMCM-1240 can be used as the driver with an external motion controller. In this case, the step/direc- tion output signals of the external motion controller can be connected to the optically isolated step/direc- tion inputs of the TMCM-1240.

  • Page 17: Communication

    17/29 8 Communication 8.1 RS485 For remote control and communication with a host system, the TMCM-1240 provides a two wire RS485 bus interface. For proper operation, consider the following items when setting up an RS485 network: 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.

  • Page 18: Can

    Figure 13: RS485 bus lines with Profibus™recommended line termination 8.2 CAN For remote control and communication with a host system, the TMCM-1240 provides a CAN bus interface. Note that the CAN interface is not available in case USB is connected. For proper operation, consider the following items when setting up a CAN network: 1.

  • Page 19: Motor Driver Current

    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-1240 does not integrate any ter- mination resistor. Therefore, 120 Ω termination resistors at both ends of the bus must be added externally.
  • Page 20 TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359, Rev 2: 4, 2024 20/29 Motor Current Set- Current Scaling Step Motor Current Motor Current ting Software (CS) [A] Peak [A] RMS COIL COIL (TMCL) 16. . . 23 0.305 0.215 24.

  • Page 21: Functional Description

    10 Functional Description The TMCM-1240 is a highly integrated single axis controller/driver module for stepper motors with up-to 2A RMS/2.8A peak motor coil current. The TMCM-1240 can be controlled through RS485, CAN, or USB serial interfaces. The TMCM-1240 comes with the PC-based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™).

  • Page 22: Operational Ratings And Characteristics

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 22/29 11 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! When the selected operating voltage is near the upper limit, a regu- lated power supply is highly recommended.
  • Page 23 TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 23/29 Operational Ratings of the I/Os Symbol Parameter Unit Max. frequency for step/direction opto-isolated STEP/DIR inputs Table 12: Operational Ratings of I/Os Operational Ratings of the RS485 Interface...

  • Page 24: Abbreviations Used In This Manual

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 24/29 12 Abbreviations Used in this Manual Abbreviation Description Integrated Development Environment Light Emitting Diode Root Mean Square TMCL TRINAMIC Motion Control Language Table 15: Abbreviations used in this manual...

  • Page 25: Figures Index

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359C, Rev 2: 4, 2024 25/29 13 Figures Index Board dimensions for hardware ver- Digital inputs IN1 and IN2 ..sion up to V1.1, position of mounting Stop switch inputs .

  • Page 26: Tables Index

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359, Rev 2: 4, 2024 26/29 14 Tables Index TMCM-1240 Order Code ..Available Motor Current Settings . . . General Operational Ratings of the TMCM-1240 Cable Loom .

  • Page 27: Supplemental Directives

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359, Rev 2: 4, 2024 27/29 15 Supplemental Directives 15.1 Producer Information 15.2 Copyright ADI Trinamic/Trinamic Motion Control GmbH & Co. KG owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources.

  • Page 28: Collateral Documents & Tools

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359, Rev 2: 4, 2024 28/29 or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given.

  • Page 29: Revision History

    TMCM-1240 Hardware Manual • Hardware Version V1.20 | 19-101359, Rev 2: 4, 2024 29/29 16 Revision History 16.1 Hardware Revision Version Date Description V1.0 10/2017 Initial version V1.1 11/2017 Minor changes: S/D support added. V1.2 12/2018 Driver stage MOSFETs and magnetic encoder IC replaced.

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