TMCM-1311 Hardware Manual
Contents
1. voltage and programmable 1k pull ups to 5V The programmable pull ups can be switched on or off in software both together 5V e ii REF_L REF_R microcontroller GND GND GND Figure 3 9 Reference switch input circuit simplified diagram www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 19 3 5 3 General Purpose Inputs The TMCM 1311 has two I O connectors with 8 inputs altogether including two dedicated analog inputs All inputs offer the same basic input protection circuit but digital and analog inputs have different input voltages the digital inputs have been designed for 5V and 24V signal levels The analog inputs have different input voltage dividers to support a full scale input voltage range of 0 10V IN 1 IN 2 IN 3 IN 5 IN 6 IN 7 microcontroller GND GND GND Figure 3 10 General purpose digital input circuit AIN_0 3 3V AIN_4 microcontroller GND GND GND Figure 3 11 General purpose analog input circuit The function of the inputs might differ depending on the firmware version 3 5 4 General Purpose Outputs The TMCM 1311 offers two I O connectors with 8 outputs altogether All outputs are open drain outputs and a freewheeling diode to Voir is already integrated Six outputs are designed for currents up to 100mA and two outputs offer more powerful MOSFET driver transistors supporting currents up to 1A If the Vec connection of the I O2. 3pins 3 96mm pitch Connector housing JST VHR 3N Contacts JST SVH 21T P1 1 Wire 0 83mm AWG 18 Motor connector JST B4B EH A UST EH series 4pins 2 5mm pitch Connector housing JST EHR 4 Contacts JST SEH 001T P0 6 Wire 0 33mm AWG 22 Encoder connector JST B8B PH K S JST PH series 4pins 2mm pitch Connector housing JST PHR 8 Contacts JST SPH 002T P0 5S Wire 0 22mm AWG 24 Reference switch JST B4B PH K S JST PH series 4pins 2mm pitch Connector housing JST PHR 4 Contacts JST SPH 002T P0 5S aia Wire 0 22mm AWG 24 Di JST B4B PH K S Connector housing JST PHR 4 ae IST PH series 4pins 2mm pitch Contacts JST SPH 002T P0 5S Wire 0 22mm AWG 24 I O connector 0 1 JST B10B PH K S UST PH series 10pins 2mm pitch Connector housing JST PHR 10 Contacts JST SPH 002T P0 5S Wire 0 22mm AWG 24 Mini USB connector Mini USB Type B vertical receptacle Any standard mini USB plug CAN RS485 connector Male D SUB 9 pin Any standard D SUB female 9 pin Table 3 1 Connectors and mating connectors contacts and applicable wire www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 8 3 2 1 Power Connector The module has a single power connector with the option to have separate supplies for driver electronics and the digital controller part A single supply voltage is sufficient All further voltages required e g for
3. RS485 bus lines with resistor network www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 16 3 4 2 CAN For remote control and communication with a host system the TMCM 1311 provides a CAN bus interface To select a modules address the TMCM 1311 is equipped with dip switches with digits from 1 to 4 Anyhow the switches use the binary digit system Thus node addresses from 1 to 15 can be set THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING All DIP switches off RS485 address is taken from the on board non volatile memory EEPROM Factory default value for the module address is 1 At least one DIP switch on the 4 DIP switches define the CAN address The address is specified as binary 4bit value DIP switches 1 4 specify bit 1 4 of the address CTS 206 4 Figure 3 6 Dip switch for address selection Per default all dip switches are off and the module address taken from the EEPROM is 1 Per default the host address is 2 Do not use equal addresses for the host and the TMCM 1311 For proper operation the following items should be taken into account when setting up a CAN 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 Basically it should be short compared to the length of the bus Host Slave Slave Slave termination resistor 120 Oh
4. expected to result in personal injury or death TRINAMIC Motion Control GmbH amp Co KG 2013 5 german quality 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 All trademarks used are property of their respective owners www trinamic com 23 TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 8 Revision History 8 1 Document Revision 0 90 2012 0Cr 25 1 00 2012 DEC 05 First complete version 2013 MAY 23 Adapted to latest hardware version V1 2 111 2013 JUL 03 SD Information about dip switch added New photo Changes related to the design 2013 JUL 05 Table 8 1 Document revision 8 2 Hardware Revision Version Date Description S S S TMCM 1311_V10 2012 JUL 27 2013 JAN 14 TMCM 1311 V11 Minor corrections and modifications USB circuit corrected Current measurement option added to motor driver output signals TMCM 1311 V12 2013 APR 10 Several corrections and modifications Additional supply input filters and enhanced protection circuit Stepper motor driver stage output filter added Revised ground shield concept Enclosure connected to shield instead of system ground Option for
5. mode THE TRINAMIC CLOSED LOOP MODE OPERATION prevents the motor from stall and step loss caused by too high load or high velocity adapts the current amplitude to each motor load which is within the ranges predetermined by motor and controller driver board characteristics achieves a higher torque output than in open loop mode guarantees a precise and fast positioning enables velocity and positioning error compensation Using the TMCM 1311 energy will be saved and the motor will be kept cool www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 2 Order Codes Order code Description Size of unit mm TMCM 1311 option l axis closed loop bipolar stepper motor controller driver module 110 x 110 x 26 5 Table 2 1 Order codes The following options are avallable Firmware option Description Order code example TMCL Module pre programmed with TMCL firmware TMCM 1311 TMCL Table 2 2 Firmware options A cable loom set is available for this module Order code Description TMCM 1311 CABLE Cable loom for TMCM 1311 Contains see chapter 3 2 also 1x cable loom for power connector 1x cable loom for reference switch connector 1x cable loom for step direction input connector 1x cable loom for encoder input connector 1x cable loom for motor connector 2x cable loom for I O connector 0 1 1x USB type A connector to mini U
6. supply current measurement added Table 8 2 Hardware revision 9 References TMCL IDE TMCL IDE User Manual see http www trinamic com TMCM 1311 TMCM 1311 Hardware Manual see http www trinamic com www trinamic com 24
7. the digital components are generated on board Pin Label Direction Description 1 GND Power GND Common system supply and signal ground 2 Vorwer Power Stepper driver supply voltage Without this voltage supply input the stepper driver and any motor connected will not be energized 3 Voica Power Supply voltage for everything else apart from the supply input stepper motor driver The on board voltage regulator generates the necessary voltages for the digital circuits from this supply The pin can be left unconnected In this case a diode between Vppryce and Vorcrra ensures the supply for the digital parts ATTENTION The diode has a current rating of 3A As Vopre7a IS available at the I O connectors and at the reference switch connectors also always connect this pin to positive supply voltage in case substantial amount of current is withdrawn from these pins for external circuits It is expected that Vorerra and Voprer are connected to the same power supply output when both pins are used Otherwise please ensure that Vorerra IS always equal or higher than Virve when connected due to the diode o Table 3 1 Power connector 3 2 2 Motor Connector A 4 pin JST EH series connector is available for motor connection Pin Label Direction Description 1 Al Output Pin 1 of motor coil A 2 Ae Output Pin 2 of motor coil A 3 B1 Output Pin
8. voltage is near the upper limit a regulated power supply ts highly recommended There is no reverse polarity protection The module will short any reversed supply voltage due to internal diodes of the driver transistors 3 3 1 Adding an Electrolytic Capacitor TRINAMIC recommends connecting an electrolytic capacitor of significant size to the power supply lines next to the TMCM 1311 As rule of thumb around 1000uF of capacity should be added for 1A of module power supply input current The additional electrolytic capacitor serves for power stabilization buffer and filtering reduces voltage spikes which can occur in consequence of the combination of high inductance power supply wires and ceramic capacitors limits the slew rate of the power supply voltage at the module This is reasonable because the low ESR Equivalent Series Resistance of ceramic only filter capacitors may cause stability problems with some switching power supplies VDRIVER TMC262 MOSFETs gt stepper driver 48VDC SMBJ48A 4 x 10pF Power 250A connector SK36 GND GND GND Viii Supply of other circuits ES gt va on board regulators Vorarra on I O connector O 1 48VDC p SMBJ48A 1uF 250A GND GND GND Figure 3 2 TMCM 1311 power supply concept www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 14 3 4 Communication 3 4 1 RS485 For remote control and communication with a host system the TMCM 1311 provides a
9. 1 of motor coil B 4 Be Output Pin 2 of motor coil B Table 3 2 Motor connector www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 9 3 2 3 Encoder Connector A dedicated encoder input connector is available Connector type is JST PH series 8pin with 2mm pitch The following encoders are supported in incremental A B N interface configuration encoders with incremental differential RS422 output signals with or without zero index channel encoders with incremental single ended TTL or open collector output signals with or without zero index channel Power GND Signal and system ground 5V output for external circuit Encoder channel A input differential non inverting Encoder channel A input differential inverting Encoder channel B input differential non inverting Encoder channel B input differential inverting differential non inverting differential inverting Table 3 3 Encoder connector configuration for encoders with incremental A B N output For encoders with 5V supply the required 5V output is also available via this connector max 100mA per connector 3 2 3 1 1 Differential A B N Encoder Signals For differential encoder signals connect all differential signals A and A B and B and optional N and N to the respective connector input pins Usually on board line termination should be also installed for differential signals Therefore close all three jum
10. 85 communication An on board bi stable relay allows switching between CAN and RS485 connector pin assignment in software This bi stable relay remembers its state even when un powered Hence the configuration of the pin assignment for either CAN or RS485 has to be done only once 3 2 8 1 CAN Connector If selected a CAN 2 0B interface is available via the on board 9 pin male D SUB connector Only three pins of the connector are used The pin assignment of these three pins is in accordance with the CiA Draft Recommendation Part 1 Cabling and connector pin assignment Pin label Direction Desaipton O CAN_L Differential CAN bus signal inverting Power GND Signal and system ground rr EE O eee ET E MA Table 3 10 CAN connector 3 2 8 2 RS485 Connector If selected an RS485 interface is available via the 9 pin male D SUB connector The module supports 2 wire RS485 communication Only three pins of the connector are used Pin label Direction Descipton O O o RS485 Differential RS485 bus signal inverting Power GND Signal and system ground HA PE A o Table 3 11 RS485 connector www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 13 3 3 Power Supply For proper operation care has to be taken with regard to power supply concept and design The TMCM 1311 includes about 40uF of supply filter capacitors These are ceramic capacitors which have been selected for high reliability an
11. MODULE FOR STEPPER MOTORS MODULE Hardware Version V1 2 HARDWARE MANUAL pe TMCM 1311 1 Axis Stepper Closed Loop Controller Driver 3 0A 48V Encoder Input 18 GPIOs USB CAN RS485 A TRINAMIC Motion Control GmbH amp Co KG Hamburg Germany www trinamic com MOTION CONTROL TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 Table of Contents T Fead e ee ee re Pe CE ee RE Ee ee er eee ONT 3 2 Order Ode tt 5 3 Mechanical a d Electrical Intentan us ss ta 6 3 1 A PEPE Ps URE PT Poe EF Oe REP Pate ee Pen ee ee 6 3 2 CONNSCIOS iaa adidas 7 32E Power onne ON ii A A A oia 8 e MOTO Connec Ohaa SS 8 a FENCO ar C ONE de one 9 3 24 Reference S Witch COMECTO ennn es 10 eo Step IN CONnecioL nde 10 320 JO Connector Oana dr ls e ad 10 er USB GCOMMECIOl A a 11 32 8 CAN IRSA Con ia cae cs ecc eeu sbcicliwnlek na a T A 12 3 3 FOWeEr e eee 13 3 3 1 Adding an Electrolytic Capacitor cccescssessscssssssscssssesecsessesesssseesessesecseseusesauseesesaeseesesaesesaeesesesaneeeaess 13 3 4 COMMUNICA ON at a Rh et e E el BE a bl ead da trie Ra 14 AIRS AOS sce seaciceca ccs ce ccsnces a a acctee earscen te eracacenccnsbtcatenau uecaeata wecermecccesecaoauas 14 Se CA Nit dsn 16 o USD osea oeste 17 A AA o AA 18 WE COONS IDU 18 20 2 LReTerence Witch OPUS rier eee ee E T E ete 18 232 General ca oY o e US o eee eee 19 334 General Purpose QUID ros 19 4 OBO LEDS tos on ae ee 20 SO oF 1 06 a Ny L
12. SB type B connector cable Table 2 3 Cable loom order code www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 6 3 Mechanical and Electrical Interfacing 3 1 Dimensions The TMCM 1311 has an overall size of 110mm x 110mm and offers four mounting holes with 4mm diameter Maximum height without mating connectors and cable looms is about 26 3mm 98 5 gt 5 e 74 5 11 gt 19 46 5 26 5 11 A A A A ON ON 13 5 75 5 44 64 89 3 max lt 94 9 gt 3 4 70 89 3 max 110 110 Figure 3 1 Dimensions of TMCM 1311 all values in mm www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 3 2 Connectors The TMCM 1311 has nine connectors altogether one detachable connector for the motor one detachable connector for the corresponding encoder input one detachable connector for the reference switches two detachable 1 0 connectors one detachable power connector one mini USB connector one connector for RS485 and CAN one detachable connector for external step direction in moto pane O 2 v oe vo we Figure 3 2 TMCM 1311 connectors OVERVIEW OF CONNECTOR AND MATING CONNECTOR TYPES Label Connector type Mating connector type Power connector JST B3P VH UST VH series
13. a the USB interface In Figure 6 1 the main parts of the TMCM 1311 are shown the microprocessor which runs the TMCL operating system connected to TMCL memory the power driver with stallGuard2 and its energy efficient coolStep feature the MOSFET driver stage Encoder interface USB CAN and RS485 transceivers On board switching and linear voltage regulators for supply of on board digital circuits SID RS485 CAN USB Power Ref switch inputs MOSFET Driver Inputs TMC262 with coolStep Driver Stage Outputs 12 48V DC a Encoder ABN Figure 6 1 Main parts of TMCM 1311 The TMCM 1311 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 a rapid and fast development of motion control applications is guaranteed Please refer to the TMCM 1311 Firmware Manual for more information about TMCL commands www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 7 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 amp Co KG Life support systems are equipment intended to support or sustain life and whose failure to perform when properly used in accordance with instructions provided can be reasonably
14. as possible Figure 3 4 RS485 bus structure 2 BUS TERMINATION 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 1311 does not integrate any termination resistor Therefore 120 Q termination resistors at both ends of the bus have to be added externally www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 15 3 NUMBER OF NODES The RS485 electrical interface standard EIA 485 allows up to 32 nodes to be connected to a single bus The bus transceiver used on the TMCM 1311 units SN65HVD3082ED has just 1 8th of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus 4 NO FLOATING BUS LINES Avoid floating bus lines while neither the host master nor one of the slaves along the bus line is transmitting data all bus nodes switched to receive mode Floating bus lines may lead to communication errors In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines as well defined logic levels In contrast to the termination resistors this network is normally required just once per bus Certain RS485 interface converters available for PCs already include additional resistors e g USB 2 485 Slave Slave RS485 RS485A termination resistor RS485 RS485B 120 Ohm a pull down 1k GND Figure 3 5
15. connectors connected internally to Von is used for the supply of substantial current to any external circuit make sure to connect Vbrcra tO Vppver of the power supply connector V DIGITAL OUT 4 OUT_5 microcontroller Figure 3 12 General purpose output open drain with freewheeling diode www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 20 4 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 blinking during operation and the red LED should be off When there is no valid firmware programmed into the board or during firmware update with boot loader active the red and green LEDs are permanently on Error Run Figure 4 1 On board LEDs www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 21 5 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values In no case shall the maximum values be exceeded Power supply voltage for driver USB bus powered no other supply connected chopper regulated adjustable via software Continuous motor current RMS Power supply current A Tawvo 24v Environmental temperature at maximum current no forced cooling with 24V supply voltage Tenv 48v Environmental temperature at maximum current no forced cooling wi
16. d long life time Further the module includes a 48V suppressor diode and additional varistor for over voltage protection CAUTION Add external power supply capacitors The module contains a number of capacitors for power supply filtering Nevertheless depending on operation and selected motors the resulting capacity might be not large enough for proper supply buffering Note upper supply voltage limit must not be exceeded not even for a short period of time In this context it should be taken into account that the module will transfer energy from the motor back into the supply rail when the motor is working as generator e g during deceleration or brake conditions In case the power supply capacitors are not sufficient for limiting power supply rising additional measures have to be considered e g suppressor diodes brake resistor Refer to chapter 3 3 1 for further information about adding electrolytic capacitors Do not connect or disconnect motor during operation Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected connected while energized These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them Therefore always disconnect power supply before connecting disconnecting the motor Keep the power supply voltage below the upper limit of 52 5V Otherwise the driver electronics will seriously be damaged Especially when the selected operating
17. ence switch connector 3 2 5 Step Dir IN Connector A separate Step Direction input connector is available Connector type is JST PH series 4pin with 2mm pitch Pin label Direction Description E AN 24V pe PE date 2 function depends on firmware connected to step input of TMC262 driver IC connected to direction input of TMC262 driver IC Table 3 6 Step Dir In connector 3 2 6 10 Connectors 0 and 1 The module offers two I O connectors JST PH series 8pin with 2mm pitch Number and type of inputs outputs and supply are the same for both connectors It is sufficient to use just one connector if only few I Os are required This simplifies cabling 3 2 6 1 I O Connector 0 Pin label Direction Description VCC Power Connected to Vircra Of Power connector Please note 2 supply output max current is 500mA protected via on board 500mA polyfuse AINO Input Dedicated analog input ae ie input voltage range 0 10V resolution 12bit 0 4095 6 IN3 Input Digitalinput 24V compatible ate feenhecing ode 7 l Integrated freewheeling diode eel treenneeing doae Integrated freewheeling diode A ate feenheeing diode Integrated freewheeling diode Integrated freewheeling diode Table 3 7 I O connector 0 www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 11 3 2 6 2 I O Connector 1 Pin tabel Direction Deseniptien VCC Power Connected to Vircra Of Power c
18. g 10 Sessan a E 21 6 Funcional Description a a ee 22 AMS SUDOR OO a e o o e 23 o REVISION MISION suscribirte 24 8 1 Document REVISION bd 24 8 2 Hardware REVISION A a EA deamosetaeees 24 O RTC RCIA OS a a ia ei a 24 www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 3 1 Features The TMCM 1311 is a single axis stepper motor controller and driver standalone board with USB CAN and RS485 interface It supports motor currents up to 3A RMS and supply voltages up to 48V nominal The module offers inputs for an incremental a b n TTL open collector and differential inputs encoder In addition there are dedicated stop switch inputs and 8 general purpose inputs and 8 general purpose outputs MAIN CHARACTERISTICS Bipolar stepper motor driver Up to 256 microsteps per full step High efficient operation low power dissipation Dynamic current control Integrated protection overtemperature and undervoltage stallguard2 feature for stall detection Encoder Encoder input for incremental a b n TTL OC or diff Interfaces RS485 2 wire communication interface CAN 2 0B communication interface 4x DIP switch for CAN RS485 address setting or other settings USB 2 0 full speed 12Mbit s communication interface mini USB connector Encoder input incremental a b n TTL OC or diff Dedicated STOP_L STOP_R inputs Up to 8 multi purpose inputs 24V compatible incl 2 dedicated analog inputs Up to 8 multi purpose o
19. m termination resistor 120 Ohm CAN keep distance as short as possible Figure 3 7 CAN bus structure 2 BUS TERMINATION 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 1311 does not integrate any termination resistor Therefore 120 Q termination resistors at both ends of the bus have to be added externally 3 NUMBER OF NODES The bus transceiver used on the TMCM 1311 units TJA1050T supports at least 110 nodes under optimum conditions In practice the achievable number of nodes per CAN bus highly depends on the bus length longer bus gt less nodes and on the communication speed higher speed gt less nodes www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 17 3 4 3 USB For remote control and communication with a host system the TMCM 1311 provides a USB 2 0 full speed 12Mbit s interface As soon as the USB host is connected the module accepts commands via the USB interface The TMCM 1311 supports USB self powered operation with external power supply via the power supply connector and USB bus powered operation without this external power supply USB BUS POWERED OPERATION During USB bus powered operation only the core digital circuit parts microcontroller and EEPROM are operational Motor movements are not possible This mode has been implemented in order to enable configura
20. onnector Please note 2 supply output max current is 500mA protected via on board 500mA polyfuse AIN4 Input Dedicated analog input ee ie input voltage range 0 10V resolution 12bit 0 4095 Digital input 24V compatible al cola GIN Input Digital input 24V compatible A ate feentesing inde 7 l i Integrated freewheeling diode A rates femme dode Integrated freewheeling diode eel eewhesing diode Integrated freewheeling diode Integrated freewheeling diode Table 3 8 I O connector 1 3 2 7 USB Connector An USB device interface is available via a mini USB connector This module supports USB 2 0 full speed 12Mbit s connections The on board digital core logic mainly processor and EEPROM will be powered via USB in case no other power supply is connected This is useful for setting parameters and downloading TMCL programs or for performing firmware updates Using a USB connection to the host the tasks outlined above can be carried out inside a machine while the machine is powered off Refer to chapter 3 4 1 please Pin label Direction Description VBUS Power 5V supply from Host 1 5V input 2 D Bi directional USBData S 4 m Connectedtosignaland system ground _ __ Table 3 9 USB connector www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 12 3 2 8 CAN RS485 Connector The TMCM 1311 offers one 9 pin male D SUB connector for CAN and RS4
21. pers for the 120R line termination of the respective differential encoder input ala Place jumpers for aja proper temrination Figure 3 3 Encoder input termination Please refer to the encoder manufacturer data sheet for the correct interface settings 3 2 3 1 2 Single Ended A B N Encoder Signals For single ended encoders TTL or open collector signals connect the encoder signals A B and optional N to the positive non inverting differential inputs of the encoder connector A B N NECESSARY CONNECTIONS Encoder connector E a ee ncoder sign Pin Label Description Encoder channel A input differential non inverting B 5 Be Encoder channel B input differential non inverting N T optional Encoder zero index channel input differential non inverting Table 3 4 How to connect single ended encoders The pins A B and N of the encoder connector may be left unconnected www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 10 3 2 4 Reference Switch Connector A separate reference limit switch input connector is available Connector type is JST PH series 4pin with mm pitch Pin taba e OOOO O O O oa Power GND Signal and system ground 5V Power 5V supply output for external encoder and reference Scheie output switch circuit REF_L apu Input for reference limit switch left 4 REFR Input for reference limit switch right Table 3 5 Refer
22. th 48V supply voltage Table 5 1 General operational ratings of the module E REF L REF R REF L REF R REF L REF R Table 5 2 Operational ratings of the reference switch inputs Vour 0 7 Voltage at open collector output Mera Output sink current for OUT_0 1 2 and i OUT_4 5 6 Lour 317 Output sink current for OUT_3 and OUT_7 WN M 00 Ny 00 Typ DIGITAL Way aan Input voltage for general purpose digital inputs IN_1 2 3 and IN_5 6 7 Ven 11213151617 Low level voltage for general purpose digital i inputs IN_1 2 3 and IN_5 6 7 Ven usy High level voltage for general purpose digital 2 9 j inputs IN_1 2 3 and IN_5 6 7 V AIN 014 Full scale input voltage range for analog voltage inputs Table 5 3 Operational ratings of the general purpose I Os V mA A V V V V Max www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 22 6 Functional Description The TMCM 1311 is a highly integrated single axis closed loop controller driver module which can be controlled via USB RS485 or CAN Communication traffic is kept low since all time critical operations e g ramp calculations are performed on board The preferred nominal supply voltage of the unit can be chosen out of 24V 12V and 48V DC The module is designed for both standalone operation and direct mode Full remote control of the device with feedback is possible The firmware of the module can be updated vi
23. tion parameter setting read out firmware updates etc by connecting an USB cable between the module and an USB host No additional cabling or external devices e g power supply are required Please note that the module might draw current from the USB 5V bus supply even in USB self powered operation This depends on the voltage level of this supply www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 18 3 5 Inputs and Outputs 3 5 1 Encoder Input The dedicated encoder connector offers support for the connection of an incremental encoder with a b signals and optional n index channel Encoders with 5V TTL open collector or differential output signals can be connected directly A 5V output available at one connector pin can be used for the encoder circuit supply The on board 5V switching voltage regulator has been designed in order to provide a maximum of 100mA for external circuits shared with external encoder and reference switch circuit Termination E gidd AS O O E O ricco O O fe B gt O DAM rooie i O N gt gt p gt microcontroller r O BIBLE 3k3 3k3 O O GND Figure 3 8 Encoder input circuit simplified diagram 3 5 2 Reference Switch Inputs The reference switch connector provides two reference limit switch inputs REF_L and REF_R Both inputs offer the same input circuit including voltage resistor dividers limiting diodes against over and under
24. two wire RS485 bus interface The pins are shared with the CAN interface Therefore make sure the RS485 interface has been activated in software To select a modules address the TMCM 1311 is equipped with dip switches with digits from 1 to 4 Anyhow the switches use the binary digit system Thus node addresses from 1 to 15 can be set THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING All DIP switches off RS485 address is taken from the on board non volatile memory EEPROM Factory default value for the module address is 1 At least one DIP switch on the 4 DIP switches define the RS485 address The address is specified as binary 4bit value DIP switches 1 4 specify bit 1 4 of the address CTS 206 4 Figure 3 3 Dip switch for address selection Per default all dip switches are off and the module address taken from the EEPROM is 1 Per default the host address is 2 Do not use equal addresses for the host and the TMCM 1311 For proper operation the following considerations should be taken into account 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 Basically it should be short compared to the length of the bus Host Slave Slave Slave termination resistor 120 Ohm termination resistor 120 Ohm RS485 keep distance as short
25. utputs Open drain incl 2 outputs for currents up to 1A Software TMCL remote direct mode and standalone operation with memory for up to 1024 TMCL commands Closed loop support Fully supported by TMCL IDE PC based integrated development environment Electrical data Supply voltage 12V 48V DC Motor current up to 3A RMS programmable Mechanical data Board size 110mm x 110mm height 26 3mm max Please refer to separate TMCM 1311 Firmware Manual for additional information www trinamic com TMCM 1311 V1 2 Hardware Manual Rev 1 12 2013 JUL 05 4 TRINAMIC FEATURES CLOSED Loop MODE The TMCM 1311 is mainly designed to run 2 phase stepper motors in closed loop mode It offers an automatic motor load adaption in positioning mode velocity mode and torque mode which is based on encoder feedback and closed loop control software for analysis error detection and error correction The closed loop mode operation combines the advantages of a stepper driver system with the benefits of a servo drive Thus the TMCM 1311 is able to satisfy ambitious requirements in reliability and precision and can be used in several industrial demanding applications TMCM 1311 Benefits of Stepper Drive Benefits of Servo Drive High torque without gearing Reaction to any impact No feedback loop oscillations No position loss High precision Torque control Precise velocity control Figure 1 1 TMCM 1311 characteristics in closed loop
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