BB-1630 - Trinamic
Contents
1. TMCM 1630 TMCM 1630 Hardware Manual TMCM 1630 TMCM 1630 TMCL Firmware Manual TMCM 160 TMCM 160 Hardware Manual TMCM 160 TMCM 160 Firmware Manual TMCL IDE TMCL IDE User Manual Please refer to www trinamic com www trinamic com2. MODULE FOR STEPPER MOTORS MODULE V 1 0 HARDWARE MANUAL p N v No 3 4 migi ji 1 1 li Ne he P t Baseboard for TMCM 1630 and TMCM 160 10A 48V DC RS232 CAN RS485 and USB Encoder interface c O o o est c o Baseboard gon e o oO wo E lt Lo ah Qa a ceo i C I E Ssader pa 1 T Fi RS485 gt i n Se 7 Gyre y AEL A TRINAMIC Motion Control GmbH amp Co KG TR N A M C Hamburg Germany MOTION CONTROL www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 Table of contents E die suppor poll tesoro cee eee eee eee eee 3 A E eet ai dutee caletinea elute statneen ta tate 4 A E E 4 A Mechanical and electrical tornan a ed cd da 5 4 1 Dimensions ol the module c adiret oa ai 5 5 CONNEC O S rasna aAa OA A A Oa nN 6 5 1 mei im I moror CONDE CTO ciro e id 7 5 2 IIO reco aq si a E Moet Mee a et oP T 7 5 3 l OWer CoOLlle CEOT ii e te ele CA e E OCT C REPRE tS 8 5 4 piled hey gr ol oy AA 8 5 5 Hall CONNOR ao 8 5 6 ENCOUE CONN CUO aero ru pIcccIpI RS PI DIOS MM DCII IM CDI DEOS UNE M OIR sensu wteeeaeceasess 9 5 7 Interface connectors of BB 1630 sese nnnnnnnetnnnn tns e tns str setrn ss tn sat rn rner anena en 9 5 4 1 JSUSBUBEeE dB toon ee uM MEL ML A 9 JW MS 2 o Emm 9 Dudo ROL In TII Em T 9 Sree RABIN a CE E E 9 suoi TL LL LEER EE 10 7 NN 11 8 Operatio
3. A TRINAMIC Baseboard n Po Faai 4 Suppi 4 b E Een UK onnector 34 C L O C c lt L gt a Q c Power supply Motor Hall Domain Connector type Mating connector I O connector SSW series socket strip 2x13 poles double row 2 54mm pitch Samtec TSM 113 03 L DV K A 2x13 poles double row 2 54mm pitch SMD vertical Samtec Power motor SSW series socket strip 2x13 poles double row 2 54mm pitch Samtec TSM 113 03 L DV K A 2x13 poles double row 2 54mm pitch SMD connector vertical Samtec USB USB type B 4 pol vertical female USB type B 4 poles male RS232 D sub 9 poles female D sub 9 poles male VS 09 BU D SUB 10 MPT 0 5 CAN D sub 9 poles male D sub 9 poles male VS 09 ST DSUB 10 MPT 0 5 RIA Connect 31383104 4 poles grid RIA Connect 31114104 4 poles grid RS485 dimension 3 81mm dimension 3 81mm RIA Connect 31220103 3 poles grid RIA Connect 31249103 3 poles grid Motor dimension 5 08mm dimension 5 08mm Encoder low profile box header without Female connector 10 poles locking bar 2 54mm pitch 2 54mm pitch Power supply RIA Connect 31220102 2 poles grid dimension 5 08mm RIA Connect 31249102 2 poles grid dimension 5 08mm Hall RIA Connect 31383105 5 poles grid dimension 3 81mm RIA Connect 31114105 5 poles grid dimension 3 81mm T
4. FUNCTIONS WITH WITHOUT JUMPERS Section Jumper setlunset Description cca tern a Cr a Velocity Table 6 2 Jumper setting Jumper set pina pin2 Torque signal is GND Torque It is necessary to remove the RS485 termination jumper before using the USB interface www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 11 7 LEDs The BB 1630 module has 4 on board LEDs e Power e Current overload e temperature warning e GPIOs Please note function of LEDs might depend on firmware version Power CurrLim TempLim GPIO Table 7 1 Status LEDs of BB 1630 8 Operational ratings The operational ratings show the intended the characteristic range for the values and should be used as design values An operation within the limiting values is possible but shall not be used for extended periods because the unit life time may be shortened In no case shall the limiting values be exceeded smio Parameter Mn Typ ox un Power supply voltage for operation 24 48 Table 8 1 Operational ratings www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 12 9 Revision history 91 Document revision 2011 NOV 03 i Information for USB interface added 2012 JUN 11 Table 9 1 Document revision 9 2 Hardware revision Version Dae Description 2011 MAR 31 First version for TMCM 1630 and TMCM 160 Table 9 2 Hardware revision 10 References
5. 60 Electrical data e Supply voltage 24V DC or 48V DC nominal 12 55V DC max e Motor current up to 10A RMS peak Interfaces e The interface connectors refer to the assembly options of the TMCM 1630 and TMCM 160 RS232 CAN 2 0B up to 1Mbit s RS485 USB High speed 12Mbit s The baseboard integrates all communication connectors There are no assembly options Please note Functionality of communication interfaces depends on assembly options of TMCM 1630 and TMCM 160 modules Other e Separate connectors for interfaces encoder power supply motor and hall sensors e Potentiometers for analog inputs plus push button for digital input function depending on firmware e ROHS compliant e Size 120x90mm2 3 Order codes BB 1630 Baseboard for TMCM 1630 and TMCM 160 120 x 90 x 38 Table 3 1 Order codes www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 b 4 Mechanical and electrical interfacing 4 1 Dimensions of the module The module has a size of 120mm x 90mm Maximum overall height of the module including connectors and screws approx 38mm Figure 4 1 Size of module www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 5 Connectors The baseboard offers two double row 2 54mm pitch standard connectors female for connecting the TMCM 1630 I O connector and supply motor connector o o o BR RS485 Encoder Figure 5 1 Connectors of BB 1630
6. able 5 1 Connectors of the BB 1630 Since the two connectors of the TMCM 1630 are similar be careful not to plug in the module the other way round Also be sure to place the connectors exactly to their mating opponents Not following these guidelines might cause permanent damage to the module when turning power supply on www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 7 51 Power motor connector A double row 26 pin socket strip with 2 54mm pitch is used for connecting all motor related signals and module power supply AAA 5 V MotorcoilV 6 VW Motorcoil VO 7 V Motorcoll VT 8 VW JjMotrcolV 9 U jMotrcilU 10 U J Motorcoil Us 17 GND Module ground power supply 18 GND Module ground power supply and signal ground and signal ground 19 GND Module ground power supply 20 GND Module ground power supply and signal ground and signal ground 21 GND Module ground power supply 22 GND Module ground power supply and signal ground and signal ground 5V output 100mA max for 23 5V encoder and or hall sensor 24 HALL3 Hall sensor 3 signal input HALL1 Hall sensor 1 signal input HALL2 Hall sensor 2 signal input Table 5 2 Connector for motor related signals and power supply 5 1 1 1 Power supply requirements The power supply should be designed in a way that it supplies the nominal motor voltage at the desired maximum motor current In no case shall
7. he motor can be restarted via high when module shut down the interface or by cycling the due to overtemperature power supply Ei High when module goes into 10 45V 5V output as reference for current limiting mode external purpose GND reference GND reference Encoder A channel Encoder A channel Encoder B channel Encoder B channel Encoder N channel Encoder N channel CAN low RXD RXD signal for RS232 epi SBUE USB D bus line inverting signal for RS485 CAN high TXD TXD signal for RS232 Mbps USB D bus line non inverting signal for RS485 Use to detect availability of GND reference GND reference Table 5 3 Connector for communication and GPIOs 5 3 Power connector Pin Label Description Module ground power supply and signal ground Power supply input Table 5 4 Power connector 5 4 Motor connector Pm label Description Table 5 5 Motor connector 5 5 Hall connector Pin Label Hall1 Hall sensor 1 signal input Hall2 Hall sensor 2 signal input Hall3 Hall sensor 3 signal input Signal and module ground 5 SV Hall bV output 100mA max for encoder and or hall sensor supply Table 5 6 Hall connector www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 5 6 Encoder connector Pm labe Description 6 EncoderA Encoder channel A 9 EncoderB Encoder channel Be Table 5 7 Encoder connector 5 7 Interface con
8. nectors of BB 1630 5 7 1 USB interface peg cr ge USB VB Board is self powered just use to detect availability of attached host system e g PC EE Differential USB bus 3 USB Differential osa Bus A A USB bus System module ground Table 5 8 USB connector Note the USB interface can only be used if the RS485 termination jumper is not set 5 7 2 CAN interface 2 CAN H CAN differential bus System board ground 1 4 5 6 8 9 Pins not used not connected Table 5 9 CAN connector 5 7 3 RS232 interface Pn Tibe Desio 2 RS232 D RS232 transmit serial data Table 5 10 RS232 connector 5 7 4 RS485 interface Pm label Description RS485 RS485 differential bus connected to pin 3 RS485 RS485 differential bus connected to pin 4 RS485 RS485 differential bus connected to pin 1 RS485 RS485 differential bus connected to pin 2 Table 5 11 RS485 connector www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 6 Jumpers There are six jumpers on the Baseboard BB 1630 for activating deactivating special functions Further it is possible to access signals via the jumper strips Note Pin1 is always a square solder pad SIGNALS Section Pina Ping Pins ua Jass Jes A Sp So GND MA Direction Direction GND MA SV to GND Table 6 1 Signals on jumper strips 1 Actual voltage depends on potentiometer position
9. ns a is IDEA M PM ELEM UP PU EIE ue E 11 9 REVON TISLOLI V aeu iid dein no ui o DIU CMM USE uU MIU 12 9 1 Document PROVISION minnst teens amne odiada 12 9 2 HardWare A EE EA OLI AERA tere M LI tanec ahead 12 10 SMS che a teeta ce tn besten dtc TT 12 www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 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 perform 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 2012 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 www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 4 2 Features The BB 1630 is the baseboard for the TMCM 1630 and TMCM 160 plug in modules The baseboard has been primarily designed for evaluation of the plug in boards Applications e Baseboard Evaluation board for TMCM 1630 and TMCM 1
10. the supply voltage exceed the upper or lower voltage limits To be able to cope with high voltage spikes which might be caused by energy fed back from the motor during deceleration a sufficient power supply capacitor should be added on the baseboard closed to the module Depending on the motor and expected motor current please use a 4 00uF or larger capacitor with suitable voltage rating Additionally a suitable suppressor zener diode might be useful 5 2 I O connector A double row 26 pin socket strip with 2 54mm pitch is used for connecting all communication and GPIO signals Fin labe Description Pin label Description Used for velocity control in 5V analog reference as used by i standalone operation by the internal DAC 2 Velocity ivin ternal 0 10V Max load 0 5mA m ini Used for max motor current torque control in standalone Module ground power supply operation by supplying external and signal ground 0 10V signal 5V TTL input Tie to GND to This pin outputs a tacho Inverse motor direction leave impulse i e toggles on each open or tie to 5V otherwise hall sensor change www trinamic com BB 1630 Hardware Manual Rev 1 02 2012 JUN 11 Pin labe Description Pin Label Description Emergency stop Tie this pin to EV TIE output Tog ling wiih GND to stop the motor same as the Motor Off switch on PCB ene NENE E E pres 7 Stop IN LED Temp warning threshold is exceeded T
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