TMCM-110-42 Manual
Contents
1. Connector 1 Power supply and host interface JST PHR 5 Connector 2 Motor JST PHR 4 Connector 3 Additional 1 0 JST PHR 8 Figure 4 3 Connectors of the TMCM 110 RS232 version Connecting the module Never connect or disconnect a motor when the module is powered as this may damage the module Also the motor driver is not protected against short circuits to ground To integrate the TMCM 110 on a user board you can choose universal high precision female header rows like Fischer electronic BLY1 50Z The pin of the module has a square of 0 5mm 0 5mm To compensate for the height of the power capacitor on the TMCM 110 one hole is required at the corresponding position diameter gt 8 mm 4 2 1 Connector 1 power supply and host interface Use this connector to connect the power and the host interface RS232 RS485 IIC or CAN The pin assignments are different for the four available versions of the module Pin Function RS232 RS485 TIC CAN 1 GND GND GND GND 2 7 34V DC 7 34V DC 7 34V DC 7 34V DC 3 GND GND GND GND 4 RxD RS485 SCL CAN 5 TxD RS485 SDA CAN Table 4 1 Connector 1 Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 10 4 2 1 1 RS485 interface version The RS485 interface version of the TMCM 110 42 includes an on board RS485 bus termination resistor 1200hm The resistor c2. MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrives Hardware Version V1 3 HARDWARE MANUAL TMCM 110 42 controller driver up to 1 1A RMS 24V RS232 RS485 or CAN stallGuard M PDx 110 42 full mechatronic device up to 1 1A RMS 24V RS232 RS485 or CAN stallGuard NEMA17 42mm stepper motor A TRINAMIC Motion Control GmbH amp Co KG TR N A M C Hamburg Germany MOTION CONTROL www trinamic com PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 Table of contents 1 2 3 8 Features ee POE IS Se AE OPE Te OO An OO oe SP 4 Orden af0 Le ine era oar re er ae EE NT 6 Electrical and mechanical interfacing sens 3 1 Dimensions 3 1 1 Dimensions of the TMCM 110 452 3 1 2 Dimensions of the PDx 110 G2 ccesesssssscceseeccescessscsesssesecsecsecsccsccaccaesacacseeersaesascaesausaeseseeeesaneaseaseasenees 32 A A Ne ne nn RTE 9 3 2 1 Connector 1 power supply and host interface 9 3 2 2 Connector 2 motor iia t PUR UE Eo le elo dd EE 11 3 2 3 Connector 3 additional TO aaa e a a aaa a a aai aaisa 11 3 2 4 TSP CON ACCI N A A a a o a a Ae ene 12 3 3 O e Operational ratings Functional description DL System architecture nit lidad 14 5 1 1 Microcontroller A a 14 5 1 2 EEPRO Misa e tee a A Na a e da ld lll de te 15 5 1 3 TMC428 motion controller oococnnnnnnn ln nn ni nninnnjnjjnjnnnnnnnnnnnnn nananana nnna 15 5 1 4 TMC246 Motor driver conccicnninninncnn EnEn EA AnAEn Annana na
3. amp Co KG 22
4. not have typical motor values like rotations per second as velocity Here the parameter values can be calculated directly from the TMC428 parameters Please refer to the PDx 110 42 Firmware Manual for more information about that Parameter Description Range ar Clock frequency 16 MHz velocity O 2047 a_max Maximum acceleration O 2047 pulse_div Velocity pre divider The higher the value is the less 0 13 is the maximum velocity Default value 3 Can be changed in TMCLTM using SAP 154 ramp_div Acceleration pre divider The higher the value is the 0 13 less is the maximum acceleration default value 7 Can be change in TMCL using SAP 153 Usrs Microstep resolution microsteps per fullstep 2 O 6 Can be changed in TMCL using SAP 140 Table 6 7 1 TMC428 Velocity parameters The microstep frequency of the stepper motor is calculated with Fox Hz velocity Hz usfl D pulse div 2048 32 with usf microstep frequency To calculate the fullstep frequency from the microstep frequency the microstep frequency must be divided by the number of microsteps per fullstep asf Hz H SF 2 gurs with fsf fullstep frequency The change in the pulse rate per time unit microstep frequency change per second the acceleration a is given by 2 e Fork Cmax 2 pulse_ div ramp _ div 29 This results in an acceleration in fullsteps of a the ot
5. D 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 15 6 1 2 EEPROM To store TMCL programs for standalone operations the TMCM 110 module is equipped with a 16kByte EEPROM attached to the microcontroller The EEPROM can store TMCL programs consisting of up to 2048 TMCL commands 6 1 3 TMC428 motion controller The TMC428 is a high performance stepper motor controller It can control up to three 2 phase stepper motors on this module only one motor can be used Motion parameters like speed or acceleration are sent to the TMC428 via SPI by the microcontroller Calculation of ramps and speed profiles are done internally by hardware based on the target motion parameters 6 1 4 TMC246 motor driver The TMC246 motor driver is very dependable because it provides a variety of protection and diagnostic features which can be read out by the user software The 16 times up to 32 times microstepping gives a quiet and precise motor operation As the power dissipation of the TMC246 is very low no heat sink or cooling fan is needed The temperature of these chips does not get too high easily The coils will be switched off automatically when the temperature or the current exceed the limits They are automatically switched on when the values are within the limits again 6 2 Power supply The TMCM 110 42 is equipped with a linear voltage regulator that generates the 5V supply voltage for the digital components of the module from the motor power suppl
6. FEB 20 12 5V max Vo O max Vs optional Pushbutton Switch Light barrier etc GPO Figure 4 7 Examples for possible wirings for GPI and GPO 4 2 4 ISP connector The 6pin 2x3pin header on the module is the connector for an Atmel ISP programmer which can be used to program the CPU directly This is done during production and testing at TRINAMIC only Please do not use and do not connect anything to this connector ISP connector Figure 4 8 ISP connector RS232 version 4 3 Activity LED The TMCM 110 42 module is equipped with an LED Some TMCM 110 42 modules are equipped with a yellow LED and some other TMCM 110 42 modules are equipped with a red one During normal operation this LED flashes After resetting the configuration EEPROM it maybe takes some seconds before the LED starts flashing When the operating system is being downloaded to the module the LED is permanently on Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 13 5 Operational ratings The operational ratings show the intended the characteristic range for the values and should be used as design values In no case shall the maximum values be exceeded Symbol Parameter Min Typ Max Unit Ve Power supply voltage for operation 7 12 30 34 V Teor Motor coil current for sine wave o 0 4 1 5 1 5 A peak chopper regulated adjustable via software
7. able 2 1 Motor technical data Interface e RS232 RS485 12C or CAN 2 0a host interface e 2 inputs for reference and stop switches e 1 general purpose input and 1 output Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 Features e up to 16 times microstepping e memory for 2048 TMCL commands e automatic ramp generation in hardware e on the fly alteration of motor parameters e g position velocity acceleration e stallGuard for sensorless motor stall detection e full step frequencies up to 20kHz e dynamic current control e TRINAMIC driver technology No heat sink required Software e stand alone operation using TMCL or remote controlled operation e PC based application development software TMCL IDE included Other e pluggable JST connectors e RoHS compliant Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 6 3 Order codes The RS232 and RS485 interfaces are assembly options of one and the same TMCM 110 printed circuit board The TMCM 110 42 CAN module has a dedicated printed circuit board Cables are not included Add the appropriate cable loom to your order if required Order code Description Dimensions mm PD1 110 42 option PANdrive 0 27Nm 53 X 42 X 42 PD2 110 42 option PANdrive 0 35Nm 59 X 42 X 42 PD3 110 42 option PANdrive 0 49Nm 69 X 42 X 42 TMCM 110 42 optio
8. acing an order progammable CAN Motion Controller RS232 with TMC428 High Power Driver TMC246 RS485 rc additional I Os Stop Switches 12 30V DC TMCM 110 42 5V Power Supply Figure 5 1 Main parts of the PDx 110 42 6 1 System architecture The TMCM 110 integrates a microcontroller with the TMCL Trinamic Motion Control Language operating system The motion control real time tasks are realized by the TMC428 6 1 1 Microcontroller On this module the Atmel ATmega32 is used to run the TMCL operating system and to control the TMC428 The CPU has a 32Kbyte flash memory and a 1Kbyte EEPROM The microcontroller runs the TMCL operating system which makes it possible to execute TMCL commands that are sent to the module from the host via the interface The microcontroller interprets the TMCL commands and controls the TMC428 which executes the motion commands The flash ROM of the microcontroller holds the TMCL operating system The EEPROM memory of the microcontroller is used to permanently store configuration data The TMCL operating system can be updated via the host interface Please use the latest version of the TMCL IDE to do this As already mentioned above the TRINAMIC CANnes CAN Bus PCI Card or the TRINAMIC USB 2 X interface converter is needed to connect modules with CAN or I C interfaces to the PC to update the OS Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG P
9. adjust via Software Inc Continuous motor current RMS o 0 3 1 1 1 1 A fcnop Motor chopper frequency 36 8 kHz I Power supply current lt lt loon 1 4 Toon A Uy 5V output max 20mA load 4 8 5 0 5 2 V Vero Open collector output max 100mA Ve V freewheeling diode included Vinprot Input voltage for StopL StopR GPIo 24 0 5 24 V internal protection DC Vana GPIo analog measurement range O 5 Verna StopL StopR low level input o 0 9 Vetopur StopL StopR high level input 1 9 5 integrated 10k pull up to 5V Vars Environment temperature at rated 40 45 C current no forced cooling required Environment temperature at 80 of 40 60 C rated current or 50 duty cycle no forced cooling required Table 5 1 Operational ratings Please make sure that you have a TMC246A PA driver chip on the module when using a supply voltage above 28 5V All modules produced in 2006 and later have this chip Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 14 6 Functional description In Figure 4 1 the main parts of the PDx 110 42 module are shown The module mainly consists of the pC a TMC428 motion controller a TMC246 stepper motor driver the TMCL program memory EEPROM and the optional host interfaces RS232 RS485 TIC and CAN PDx 110 42 Choose one out of four interface options before pl
10. an be enabled by setting a jumper as in figure 4 4 In that case the 120 Ohm resistor will be placed between the two RS485 and RS485 bus wires Please note that termination is required for the first and the last node of an RS485 network For all other nodes in between the bus termination jumper has to be removed Otherwise communication might be impossible or unreliable RS485 bus termination jumper Figure 4 4 RS485 bus termination jumper RS485 version 4 2 1 2 CAN interface version The CAN interface version of the TMCM 110 42 includes an on board CAN bus termination resistor 1200hm The resistor can be enabled by setting a jumper as in figure 4 5 In that case the 120 Ohm resistor will be placed between the two CAN and CAN bus wires Please note that termination is required for the first and the last node of a CAN network For all other nodes in between the bus termination jumper has to be removed Otherwise communication might be impossible or unreliable CAN bus termination jumper Mi RINAMI Figure 4 5 CAN bus termination jumper CAN version Copyright O 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 4 2 2 Connector 2 motor Connect a two phase bipolar stepper motor to this connector The pin assignment of this connector is as follows Pin Function 1 Phase A1 2 Phase A2 3 Phase B1 4 Phase B2 Table 4 2 Conne
11. ana An Ena anneanne anaana 15 5Sa Pow rsupplysn na e adas 15 5 3 Communication interfaces eeessesescesceccecceccecsessecsecsccsececcacsaesaeecsevsceeeseceascaasacsacseseceaecascatsassaeeassaeeeeaneassaneatens 15 5 3 1 5 3 2 5 3 3 5 3 4 A TETEN E AENA A TO 16 5 4 Reference Switches ooumiinnnininini nea adaa eraa a ata A ere aap aaant 16 5 5 stallGuard M sensorless motor Stall detection 17 56 gt Motor clirrent setting 1 043 datada 17 5 7 Microstep resolution 17 5 8 Optimum Motor Settings taste 18 Operational description 19 6 1 Calculation Velocity and acceleration vs microstep and fullstep frequency 19 REVISION Historia a hoatbe a E O AE 21 7 1 Document TeViSiON ocnnnnninininnin ren 21 Tie HardWare f visionNs E SR Rte AE A E rs des inrn bien Se 21 7 2 1 RS232 RS485 I2C interface Version ccccccesceccessssssssssescescesceccescecsecsaseessacsececesecaccaesausaeensneeeaceaseaneasees 21 7 2 2 CAN interface versi n ne dar DS mn AR nm LD et SL Es 21 R ferehces tddi 22 Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 1 Life support policy TRINAMIC Motion Control GmbH amp 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 amp Co KG Life support systems are equipment intended to support or sustain life and whose failure to perfo
12. ctor 2 4 2 3 Connector 3 additional I O All other inputs and outputs of the module can be connected here These are the limit switches a general purpose input and a general purpose output The limit switch inputs are equipped with internal pull up resistors so they have to be connected to GND via normally closed switches The general purpose input can either be used as a digital TTL input or as an analogue input o 5V The general purpose output is an open collector output for a maximum current of 100mA A freewheeling diode is also included so that e g a relay or a coil can be connected directly Please note that the freewheeling diode is connected to the supply voltage and not to 5V so when using e g a relay that is connected to 5V a freewheeling diode must be connected externally The pin assignment of this connector is as follows Pin Name Function 1 StopL Left limit switch input integrated 10K pull up to 5V 2 StopR Right limit switch input integrated 10K pull up to 5V 3 GND Signal Ground GPO General purpose output o a open collector max 100mA max 40V 5 VDD VDD same as connector 1 pin 2 6 GND Signal Ground 7 GPI General purpose input Analog Digital 8 5V 5V DC output max 20mA Table 4 3 Connector 3 Figure 4 6 Wiring scheme for GPO and GPI Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG 11 PD 110 42 TMCM 110 42 Manual V1 19 2012
13. he 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 too high Just activate stallauard and then let the traveler run against a mechanical obstacle that is placed at the end of the operation area When the motor has stopped it is definitely at the end of its way and this point can be used as the reference position Please see the PDx 110 42 Firmware Manual on how to activate the stallGuard feature The TMCL IDE also has some tools which let you try out and adjust the stallGuard function in an easy way Mixed decay should be switched off when stallGuard is used in order to get good results 6 6 Motor current setting The motor current can be set in a range of o 1500 using the TMCL software 1500 corresponds to the module s maximum Icon setting Setting Tcompp Lcon rus 1500 1 5A 1 06A 1410 1 41A 1 0A 1100 1 1A 0 8A 800 0 8A 0 6A 600 0 6A 0 4A 400 0 4A 0 3A o oA oA Table 5 6 2 Motor current examples 6 7 Microstep resolution The microstep resolution can be set using the TMCL software The default setting is 64 microsteps which is the highest resolution For setting the microstep resolution with TMCL use instruction 5 SAP type 140 microstep resolution You can find the appropriate value in Table 5 6 3 Value microste
14. his time depends on the converter used Converters controlled by the RTS line need about 15ms sometimes 25ms An RS485 termination network 1k from RS485 to 5V 1k form RS485 to GND 100R between RS485 and RS485 may be necessary for faster communication for longer distances and it is recommended in any case 6 3 3 CAN To use the TMCL IDE with CAN interface either the TRINAMIC CANnes card or the Trinamic USB 2 X interface converter is needed Otherwise an additional CAN termination of 120 Ohms between CAN high and CAN low at both ends of the cable may be necessary 6 3 4 C To use the C interface with the TMCL IDE the Trinamic USB 2 X interface is required 6 4 Reference switches Two digital reference stop switch inputs are provided StopL stop left and StopR stop right They are used as an absolute position reference for homing and to set a hardware limit for the motion range The inputs have internal pull up resistors Either opto switches or mechanical switched with normally closed contact can be used The 5V output can be used as a supply for opto switches Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 17 6 5 stallGuard sensorless motor stall detection The integrated stallGuard feature gives a simple means to detect mechanical blocking of the motor This can be used for precise absolute referencing when no reference switch is available T
15. igure 4 7 direct integration on user board info added chapter o 1 17 2009 NOV 20 SD Dimensions of the PANdrive drawings added Minor changes and corrections 1 18 2011 JUL 29 GE New front page hardware revision updated RS485 and CAN termination jumper information added 1 19 2012 FEB 20 SD Order codes new CAN interface information corrected Table 7 8 1 Document revision 8 2 Hardware revision 8 2 1 RS232 RS485 I2C interface version RS232 RS485 and I2C are assembly options of the same printed circuit board version 21 Version Date Description 1 0 2003 NOV 17 Initial Release 1 1 2007 FEB 27 Minor corrections 1 2 2008 JUN 09 Minor corrections 1 3 2011 JUL 09 Layout optimization Table 7 8 2 Hardware revision RS232 RS485 I2C 8 2 2 CAN interface version The CAN interface version uses a dedicated printed circuit board Version Date Description 1 0 2004 JUN 30 Initial Release 1 1 2008 JUN 18 Minor corrections 1 2 2011 MAR 18 Layout optimization Table 7 3 Hardware revision CAN Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 9 References PDx 110 42 PDx 110 42 Firmware Manual USB 2 X USB 2 X Manual CANnes CANnes Manual USB 2 485 USB 2 485 Manual TMCL IDE TMCL IDE User Manual See http www trinamic com Copyright 2012 TRINAMIC Motion Control GmbH
16. lculation are performed on board The TMCL program can be stored in the on board EEPROM for stand alone operation The firmware of the module can be updated via the serial interface With the integrated stallGuard feature it is possible to detect motor overload or motor stall Electrical data e up to 1 1A coil current RMS 1 5A peak e 7V to 34V motor supply voltage e supports two phase bipolar motors with 0 3A to 1 1A coil current PANdrive motor data Specifications Units QSHA T8 35 10 027 41 10 035 51 10 049 Rated Voltage V 5 3 4 5 5 0 Rated Phase Current A 1 0 1 0 1 0 Phase Resistance at 20 C Q 5 3 4 5 5 0 Phase Inductance typ mH 6 6 7 5 8 0 Ncm 27 35 49 Holding Torque typ SE 38 E 69 Detent Torque mNm 22 25 28 Rotor Inertia g cm 35 54 68 Weight Mass Kg 0 22 0 28 0 35 Insulation Class B B B Dielectic Strength for one minute VAC 500 500 500 Connection Wires N 4 4 4 Step Angle 1 8 1 8 1 8 Step angle Accuracy max 5 5 5 Flange Size max mm 42 3 42 3 42 3 Motor Length max mm 33 5 38 47 Rear shaft hole depth mm 5 0 5 0 5 0 Rear shaft hole diameter mm 3 0 3 0 3 0 Axis Diameter mm 5 0 5 0 5 0 Axis Length typ mm 24 24 24 Axis D cut 0 5mm depth mm 20 20 20 Maximum Radial Force 20 mm from front flange hi Es de a Maximum Axial Force N 10 10 10 Ambient temperature C 20 50 20 50 20 50 T
17. n Motion control module 15 X 42 X 42 Table 3 1 PANdrive or module order codes Option Host interface 232 RS232 interface 485 RS485 interface CAN CAN interface Table 3 2 Options for order codes Component parts Description TMCM 110 CABLE Cable loom for module and PANdrive Table 3 3 Order codes for component parts Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 4 Electrical and mechanical interfacing 4 1 Dimensions 4 1 1 Dimensions of the TMCM 110 452 The overall height of the module is 15mm Please note that connectors on the front are upright 41 91 Figure 4 1 Board dimensions and mounting holes all dimensions in millimeters Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 4 1 2 Dimensions of the PDx 110 42 Connectors 31 5 t Length of motor PD1 33 541mm PD2 38 1mm PD3 47 1mm PD4 60 1mm 4xM3 Deep 4 5 42 3 Figure 4 2 Dimensions of the PDx 110 42 Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 9 4 2 Connectors The connector type is JST 2mm PH series The TMCM 110 has the following connectors Connector 2 Pin 1 Connector 3 Pina Connector 1
18. oD ur with af acceleration in fullsteps Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 Example f_CLK 16 MHz on the TMCM 110 module velocity 1000 a_max 1000 pulse div 1 ramp_div 1 usrs 6 sf 16 MHz 1000 000706195 Hz 2 2048 32 SF 1 POSTS _1907 35Hz 16Mhz 1000 MH pe ta oon 2 s 119 208 2 A af 1 863 2 5 If the stepper motor has e g 72 fullsteps per rotation the number of rotations of the motor is ee ff _ 1907 35 fullsteps per rotation 72 RPM fsf 60 _1907 35 60 _ 1 20 458 fullsteps per rotation 72 Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG 20 PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 8 Revision history 8 1 Document revision Version Comment Author Description 1 00 Tnitial Release OK Tnitial version 1 03 2004 JUL 16 OK CAN interface added 1 10 2004 JUL 27 OK Major revision 1 11 2004 OCT 01 OK Minor error corrections 1 12 2004 OCT 04 TG Corrected mounting dimensions 1 13 2005 DEC 24 BD HC Added Pan Drive documentation and major revision 1 14 2007 FEB 21 HC Pull up failure corrected GPO wiring scheme added for GPO GPI 1 15 2007 JUN 20 HC Additional interface information added chapter 6 7 Microstep Resolution and 6 8 Optimum motor settings 1 16 2007 OCT 22 HC Example wirings added F
19. ps P Do not use For fullstep please see fullstep threshold 1 Halfstep not recommended 2 4 3 8 4 16 5 32 6 64 Table 5 6 3 Microstep resolution setting Despite the possibility to set up to 64 microsteps the motor physically will be positioned to a maximum of about 24 Microsteps when it is operated with 32 or 64 microstep setting Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 18 6 8 Optimum motor settings The following settings apply best for highest motor velocities with smooth motor behavior at low velocities Mixed decay should be switched on constantly The microstep resolution is 4 TMCL this means 16 times microstepping The pulse devisor is set to 3 QSH4218 Optimum Motor Settings Unit 35 10 027 41 10 035 51 10 049 PD1 PD2 PD3 Motor current RMS MEE valu cai 1414 1414 A 1 1 1 Motor voltage V 24 24 24 Maximum microstep velocity TMCL value 330 270 220 Fullstep threshold RPS 3 147 2 575 2 098 Maximum fullstep velocity MLT value 670 600 480 RPS 6 389 5 722 4 578 Table 5 6 4 Optimum motor settings Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 19 7 Operational description 7 1 Calculation Velocity and acceleration vs microstep and fullstep frequency The values of the parameters sent to the TMC428 do
20. rm when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control GmbH amp Co KG 2009 2012 cman qualit Information given in this data sheet is believed to be accurate and reliable However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use Specifications are subject to change without notice Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 4 2 Features The PD 110 42 consists of an intelligent stepper motor controller and driver module mounted directly on a 42mm flange motor NEMA 17 The TMCM 110 module converts the motor into a compact mechatronic device with bus oriented or stand alone control The motor switches power and the multipurpose I Os can be connected via small pluggable connectors The TMCM 110 comes with the PC based software development environment TMCL IDE for the Trinamic Motion Control Language TMCL Using predefined TMCL high level commands like move to position or constant rotation a rapid and fast development of motion control applications is guaranteed The TMCM 110 can be controlled via an RS232 RS485 12C or CAN interface ordering option Communication traffic is kept very low since all time critical operations e g ramp ca
21. than 2 6m 6 3 Communication interfaces The communication between the host and the module takes place via its host interface This can be RS232 RS485 IC or CAN Please note that the TMCM 110 42 module can only be equipped with one of these interfaces Communication with the TMCM 110 42 module is done using TMCL commands The interface the module is equipped with is ready to use so there are no external drivers or level shifters necessary Copyright 2012 TRINAMIC Motion Control GmbH amp Co KG PD 110 42 TMCM 110 42 Manual V1 19 2012 FEB 20 16 6 3 1 RS232 To connect the RS232 interface of a PC to the module you can use a extension cable or null modem cable twisted with female plugs at both ends The difference is shown in Table 5 6 1 Null modem Modem Female Host Female Male Signal Ha A He RxD TxD GND 00 O jv A Ww N JN O U1 N y 00 O UT A W N Table 5 6 1 RS232 connection to PC 6 3 2 RS485 For RS485 communication we recommend to use our USB 2 485 converter for fast communication This converter switches to receive mode right after the last bit has been sent without any delay The pause time can be set to o It is also equipped with an RS485 termination network Not using the USB 2 485 a pause time between commands and a termination network may be necessary The telegram pause time value is milliseconds 5 T
22. y Because of that only one supply voltage is needed for the module The power supply voltage can be 12 30 V DC A higher voltage gives higher motor dynamics Please note that there is no protection against reverse polarity or too high voltage When using supply voltages near the upper limit of 34V a regulated power supply becomes a must Please ensure that enough power filtering capacitors are provided in the system 47ouF or more recommended per motor in order to absorb mechanical energy fed back by the motor in stalling conditions The power supply should be designed in a way that it supplies the nominal motor voltage at the desired maximum motor power In no case shall the supply value exceed the upper lower voltage limit To ensure reliable operation of the unit the power supply has to have a sufficient output capacitor and the supply cables should have a low resistance so that the chopper operation does not lead to an increased power supply ripple directly at the unit Power supply ripple due to the chopper operation should be kept at a maximum of a few 100mV This also is important in order to make the user s application compatible to any applicable EMC guidelines Therefore we recommend to e keep power supply cables as short as possible e use large diameter for power supply cables e use a robust 470uF or larger additional filtering capacitor located near to the motor driver unit if the distance to the power supply is large i e more
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