TMCM-1640 Hardware Manual
Contents
1. BM2 PSG IPS z E2 30k E3 Low pass LPW H1 E BM3 2 l j D a A o 30k LE EE A L Ap ENRS_TEST SP_SUP 8 JE 2 A Ia 21114 eld Figure 7 1 hallFX block diagram and timing A switched capacitor filter for each coil supplies the measured effective coil voltages Its filter frequency can be adapted to the chopper frequency and the desired maximum motor velocity An induction pulse suppressor unit gates the commutation spikes which result from the inductive behavior of the motor coils after switching off the current The gating time can be adapted by an external capacitor to fit the motor inductivity and its maximum velocity Copyright 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 8 Revision history 8 1 Document revision Author Version Date GE Goran Eggers Description SD Sonja Dwersteg 0 90 2010 MAY 05 GE Initial version 1 00 2011 FEB 14 SD First complete version 1 01 2011 MAY 12 SD Minor changes 1 02 2011 OCT 31 SD Table for connectors and mating ones new minor changes 1 03 2011 NOV 03 SD Order codes new 1 04 2011 NOV 16 GE Table overview mating connectors corrected Table 8 1 Document revisi2. Ly 2 GND Module ground power supply and signal ground Table 4 1 Connector for power supply Please note that there is no protection against reverse polarity and only limited protection against voltages above the upper maximum limit The power supply typically should be within a range of 9 to 28 5V When using supply voltages near the upper limit a regulated power supply is mandatory Please ensure that enough power filtering capacitors are available in the system 2200uF or more recommended in order to absorb mechanical energy fed back by the motor in stalling conditions and in order to prevent any voltage surge e g during power on especially with longer power supply cables as there are only ceramic filter capacitors on board In larger systems a zener diode circuitry might be required in order to limit the maximum voltage when the motor is operated at high velocities 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 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 Guidelines f
3. RS485 serial communication 3 general purpose inputs and one output General purpose inputs and output may have dedicated functionality depending on firmware GPIO RS485 lt Pam p dr 2 FEE Encoder VII Motor Figure 4 2 Overview connectors Domain Connector type Mating connector type Tyco electronics formerly AMP MTA 100 MTA 100 series 3 640440 2 2 pol female Er series 3 640456 2 2 pol male Tyco electronics formerly AMP MTA 100 MTA 100 series 3 640440 3 3 pol female Honi series 3 640456 3 3 pol male USB 5 pin standard mini USB connector female 5 pin standard mini USB connector male Hall 2mm pitch 5 pin JST B5B PH K connector Housing JST PHR 5 Crimp contacts BPH 002T P0 5S 0 5 0 22mm Encoder 2mm pitch 5 pin JST B5B PH K connector Housing JST PHR 5 Crimp contacts BPH 002T P0 5S 0 5 0 22mm T O RS485 2mm pitch 8 pin JST B8B PH K connector Housing JST PHR 8 Crimp contacts BPH 002T P0 5S 0 5 0 22mm Copyright 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 8 4 2 1 Power connector A 2 pin Tyco electronics formerly AMP MTA 100 series connector 3 640456 2 is used as power connector on board Mating connector Tycos electronics formerly AMP MTA 100 series 3 640440 2 Pin Label Description 1 4 1 U Module driver stage power supply input
4. module mainly consists of the Cortex M3 CPU TRINAMICs TMC603A 3 phase pre driver the MOSFET driver stage and the USB 2 0 interface Hall sensor feedback optional RS485 USB 2 a TMC603 MOSFET AIN Cortex M3 3 phase driver BLDC Motor CPU pre driver stag DIN 1 2 LED Temp LED Curlimit 9 28 5V DC TMCM 1640 Figure 6 1 Main parts of the TMCM 1640 6 1 System architecture The TMCM 1640 integrates a microcontroller with the TMCL Trinamic Motion Control Language operating system The motion control real time tasks are realized by the TMC603A 6 1 1 Microcontroller On this module the ARM Cortex M3 CPU 32 bit processor is used to run the TMCL operating system and to control the TMC603A The flash ROM of the microcontroller holds the TMCL operating system The EEPROM memory is used to permanently store configuration data The microcontroller runs the TMCLTM 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 TMC603A which executes the motion commands The TMCL operating system can be updated via the host interface Please use the latest version of the TMCL IDE to do this 6 1 2 TMC603 3 phase pre driver The TMC603A is a three phase motor driver for highly compact and energy efficient drive solutions It contains all power and analog circuit
5. 85 RS485 2 wire serial interface non inverted signal 8 RS485 RS485 2 wire serial interface inverted signal Table 4 6 General purpose input output connector Copyright 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 11 4 3 Input output circuits 4 3 1 Hall sensor input The hall sensor input circuit supports 5V push pull TTL and open collector hall sensor signals In order to support open collector signals the input circuit offers 2k7 pull up resistors to 5V generated on board from power supply voltage Hall Extem 100nF 50V Figure 4 3 Hall sensor input circuit 4 3 2 Encoder input The encoder input circuit supports 5V push pull TTL and open collector hall sensor signals In order to support open collector signals the input circuit offers 2k7 pull up resistors to 5V 5V generated on board from power supply voltage 100nF 50V Figure 4 4 Encoder input circuit Copyright O 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 4 3 3 General purpose inputs outputs GND 5V Speed Ain 0 10V Stop In Din 1 Dir In Din 2 OUT RS485 RS485 B H CO 10k 3 3V I 100nF 50V gt ren 1h 100nF 50V Figure 4 5 General purpose input output circuit Copyright O 2011 TRINAMIC Motion Control GmbH amp Co KG 12 TM
6. CM 1640 Hardware Manual V1 04 2011 NOV 16 5 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 Min Typ Max Unit U Power supply voltage for operation 9 24 28 5 V DC Meg Continuous motor current RMS o 3 5 A Tire Power supply current lt lt loon 1 4 Toon A aw Environment temperature at rated tbd C current no forced cooling required Table 5 1 General operational ratings of the module Symbol Parameter Min Type Max Unit Vin Signal voltage at hall sensor input o 5 V 1 2 3 either push pull TTL or open collector internal 2k7 pull up Venconer Signal voltage at encoder input a b n o 5 V either push pull TTL or open collector internal 2k7 pull up Van Signal voltage at analog input AIN o 10 V Von 2 0IN 2 Signal voltage at digital input DIN_1 o 24 V DIN_2 Vow ao 21 Signal voltage at digital input DIN 1 o 0 8 V DIN 2 low level Vow apwe Signal voltage at digital input DIN 1 2 24 V DIN 2 high level Table 5 2 Operational ratings of hall sensor encoder and general purpose inputs and outputs Copyright O 2011 TRINAMIC Motion Control GmbH amp Co KG 13 TMCM 1640 Hardware Manual V1 04 2011 NOV 16 14 6 Functional description In Figure 6 1 the main parts of the TMCM 1640 module are shown The
7. MCM 1640 Related motors QBL4208 41 04 006 QMot BLDC motor 42 mm 4000RPM 0 06Nm 42 X 42 X 41 QBL4208 61 04 013 QMot BLDC motor 42 mm 4000RPM 0 13Nm 42 X 42 X 61 Table 3 1 Order codes Copyright O 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 6 4 Mechanical and electrical interfacing 4 1 Controller driver board size and mounting holes The dimensions of the controller driver board TMCM 164 are approx 42mm x 42mm in order to fit on the back side of a 42mm NEMA 17 brushless DC motor Maximum component height height above PCB level without mating connectors is around 10mm and about 3mm below PCB level There are two mounting holes for M3 screws for mounting the board directly to a NEMA 17 42mm flange size brushless DC motor 39 0 36 5 36 5 42 0 3 42 0 Figure 4 1 Module dimension and position of mounting holes Copyright 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 7 4 2 Connectors The controller driver board offers 6 connectors including the motor connector which is used for attaching the motor coils to the electronics In addition to the power connector there is one connector for optional motor hall sensor signals and one connector for optional incremental encoder signals For serial communication a mini USB connector has been integrated on board There is an additional connector for
8. MODULES FOR BLDC MOTORS MODULES V 1 04 HARDWARE MANUAL TMCM 1640 1 axis BLDC controller driver 5A 24V DC RS485 USB interface hall sensor interface halLFXTM encoder interface A TRINAMIC Motion Control GmbH amp Co KG Hamburg Germany www trinamic com MOTION CONTROL TMCM 1640 Hardware Manual V1 04 2011 NOV 16 Table of Contents 1 Life Support PA A A a 3 AA A NOAA 4 O O NN 5 4 Mechanical and electrical interfacing x ennnnrrrrnenrsrenerrrrenenrrrenerrrrenerrnrener 4 1 Controller driver board size and mounting holes 4 2 Connectors niana evecare a dalt 4 2 1 Power connector Ale Motor connector rise A AEA EEA E AEE A EA 4 2 3 Hall sensor connector 4 2 4 Encoder connector eS USB CONNECT E NEARNE Id TT 4 2 6 GPIOs and RS485 connector anessen e aara a 4 3 Input output rd asise neriie a i raiar 4 3 1 Hall sensor input 43 2 Encoder pUt aia a asa 4 3 3 General purpose inputs outputs 5 Operational ratings 6 Functional description 6 1 System architecture 6 1 1 Microcontrolleriaia aisla iodo sata 6 12 TMC603 3 phase pre rivelr c sscscssssssssssssssssssccscscscscsesesessssssssescscseacscsssssssssesesesesescscscscsesesesesesesescacaceues 7 hallFX 8 Revisi n Ad e bald O 8 1 Document revision 8 2 Hardware revision 9 References Copyright O 2011 TRINAMIC Motion Control GmbH Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 1 Life su
9. cation protocol handling Integrated driver e High performance integrated pre driver TMC603 e Support for sensorless back EMF commutation hallFXTM e High efficient operation low power dissipation MOSFETs with low Rosiow e Dynamic current control e Integrated protection Interfaces e USB mini USB connector full speed 12Mbit s serial communication interface e RS485 serial communication interface e Hall sensor interface 5V TTL or open collector signals e Encoder interface 5V TTL or open collector signals e 3 general purpose inputs 2x digital 5V 24V compatible 1x analogue o 10V e 1 general purpose output open drain Software e Available with TMCL e stand alone operation or remote controlled operation e program memory non volatile for up to 2048 TMCL commands e PC based application development software TMCL IDE e PC based application development software TMCL BLDC for initial settings Please refer to separate TMCM 1640 TMCL Firmware Manual for further information Copyright O 2011 TRINAMIC Motion Control GmbH Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 3 Order codes Cables are not included Add the TMCM 1640 CABLE to your order if required Order code Description Dimensions mm TMCM 1640 a axis BLDC controller driver module with up to 5A 42x 42x15 28 5V RS485 and USB 2 0 interface Component parts TMCM 1640 CABLE Cable loom for T
10. o2T Po sS Pin Label Description A 1 GND Hall sensor supply and signal ground Furs Or 2 5V 5V output for encoder supply max 100mA 3 A Encoder channel a 4 B Encoder channel b 5 N Encoder index null channel Table 4 4 Connector for encoder signals 4 2 5 USB connector A 5 pin standard mini USB connector is available on board for serial communication Pin Label Description 5 1 VBUS 5V power D a 2 D Data 18 3 D Data VA ID Not connected 5 GND ground Table 4 5 Mini USB connector Copyright O 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 4 2 6 GPIOs and RS485 connector 10 A 2mm pitch 8 pin JST B8B PH K connector is used for connecting general purpose inputs and outputs Mating connector housing PHR 8 Mating connector contacts SPH o02T Po 5S Pin Label Description 1 GND Signal and system ground 2 5V 5V output for supply of external circuit max 100mA AIN Analog input o 10V may be used as velocity control 3 input in standalone mode depending on firmware ae 4 4 IN o Digital input may be used as stop STOP_R limit switch 8 input depending on firmware Digital input may be used as stop STOP_L limit switch 5 IN_1 k h input depending on firmware 6 OUT Digital output open drain max 100mA 7 RS4
11. on 8 2 Hardware revision Version Date Description TMCM 164 Vio 2010 APR 09 First 8 prototype boards TMCM 1640 V10 2010 DEC 10 First version pre series Table 8 2 Hardware revision 9 References TMCM 1640 TMCL IDE and TMCL BLDC TMC603A QBL4208 TMCM 1640 TMCLTM Firmware Manual TMCL IDE User Manual TMC603A Datasheet QBL4208 Manual Please refer to our homepage http www trinamic com Copyright O 2011 TRINAMIC Motion Control GmbH amp Co KG 16
12. or power supply a keep power supply cables as short as possible b use large diameters for power supply cables c add 2200pF or larger filter capacitors near the motor driver unit especially if the distance to the power supply is large i e more than 2 3m 4 2 2 Motor connector A 3 pin Tyco electronics formerly AMP MTA 100 series connector 3 640456 3 is used as motor connector on board Mating connector Tycos electronics formerly AMP MTA 100 series 3 640440 3 Pin Label Description o 1 BM1 Motor coil phase 1 U as 2 BM2 Motor coil phase 2 I V 3 BM3 Motor coil phase 3 W Table 4 2 Connector for brushless DC motor Copyright 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 4 2 3 Hall sensor connector A 2mm pitch 5 pin JST B5B PH K connector is used for hall sensor signals Mating connector housing PHR 5 Mating connector contacts SPH oo2T Po sS Pin Label Description GND Hall sensor supply and signal ground 5V 5V output for hall sensor supply HALL 1 Hall sensor signal 1 a er ty amp IWIN HALL_2 Hall sensor signal 2 UT HALL 3 Hall sensor signal 3 Table 4 3 Connector for hall sensor signals 4 2 4 Encoder connector A 2mm pitch 5 pin JST B5B PH K connector is used for encoder signals Mating connector housing PHR 5 Mating connector contacts SPH o
13. pport 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 2011 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 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 4 2 Features The TMCM 1640 is a highly compact controller driver module for brushless DC BLDC motors with up to 5A coil current optional encoder and or hall sensor feedback For communication the module offers RS485 and mini USB interfaces Applications e Compact single axis brushless DC motor solutions Electrical data e Supply voltage 24VDC nom 12V 28 5V DO e Motor current up to 5A RMS programmable Integrated motion controller e High performance ARM Cortex M3 microcontroller for system control and communi
14. ry required for a high performance BLDC motor system The TMC603A is designed to provide the frontend for a microcontroller doing motor commutation and control algorithms It integrates shunt less current measurement by using the MOSFETs channel resistance for sensing Integrated hallFX pat allows for sensorless commutation Protection and diagnostic features as well as a step down switching regulator further reduce system cost and increase reliability Copyright 2011 TRINAMIC Motion Control GmbH amp Co KG TMCM 1640 Hardware Manual V1 04 2011 NOV 16 15 7 hallFX hallFX provides emulated hall sensor signals The emulated hall sensor signals are available without a phase shift and there is no error prone PLL necessary like with many other systems nor is the knowledge of special motor parameters required Since it is based on the motors back EMF a minimum motor velocity is required to get a valid signal Therefore the motor needs to be started without feedback until the velocity is high enough to generate a reliable hallFXT signal Please refer to the TMCM 1640 Firmware Manual for further information about parameterizing the PID regulator for using hallFXTM Switch Cap filters Position signal Induction pulse generation PSG supressor IPS U AA mm rY Nuy Low pass LPU Low pass LPV
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