TMCM-1141 Hardware Manual 规格书

4? 95/1 stallGuard'i A TRINAMIC MOTION CONTROL
MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Hardware Version V1.3
HARDWARE MANUAL
+ + TMCM-1141
+ +
UNIQUE FEATURES
1-Axis Stepper
Controller / Driver
24 V DC
up-to 1.1 A / 2A RMS
USB, RS485, and S/D Interface
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 2
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Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 Dimensions and Mounting Holes ................................................................................................................... 6
3.2 Connectors of TMCM-1141 ................................................................................................................................. 7
3.2.1 Power and RS485 Connector ..................................................................................................................... 8
3.2.2 Mini-USB Connector .................................................................................................................................... 10
3.2.3 Multipurpose I/O Connector ..................................................................................................................... 11
3.2.4 Step/Direction Connector .......................................................................................................................... 15
3.2.5 Motor Connector .......................................................................................................................................... 16
4 Motor driver current .................................................................................................................................................. 17
5 Reset to Factory Defaults ......................................................................................................................................... 20
6 On-Board LED .............................................................................................................................................................. 20
7 Operational Ratings ................................................................................................................................................... 21
8 Functional Description .............................................................................................................................................. 23
9 TMCM-1141 Operational Description ..................................................................................................................... 24
9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 24
10 Life Support Policy ..................................................................................................................................................... 26
11 Revision History .......................................................................................................................................................... 27
11.1 Document Revision ........................................................................................................................................... 27
11.2 Hardware Revision ............................................................................................................................................ 27
12 References .................................................................................................................................................................... 28
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 3
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1 Features
The TMCM-1141 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of
the art feature set. It is highly integrated, offers a convenient handling and can be used in many
decentralized applications. The module can be mounted on the back of NEMA 17 (42mm flange size)
stepper motors and has been designed for coil currents up to 1.1 A RMS RMS (low current range,
programmable) or 2A RMS (high current range, programmable, new additional range since hardware
version 1.3) and 24V DC supply voltage. With its high energy efficiency from TRINAMIC’s coolStep™
technology cost for power consumption is kept down. The TMCL™ firmware supports remote control (direct
mode) and standalone operation (with TMCL program being executed on the TMCM-1141 itself).
MAIN CHARACTERISTICS
Motion controller
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2 feature for stall detection
- coolStep feature for reduced power consumption and heat dissipation
Interfaces
- RS485 2-wire communication interface
- USB full speed (12Mbit/s) device interface
- Step/Direction/Enable interface (optically isolated) for external control of driver circuit
- 4 multipurpose inputs:
- 3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs)
- 1x dedicated analog input
- 2 general purpose outputs
- 2x open-drain 100 mA max.
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 1024 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24 V DC nominal (9… 28 V DC)
- Motor current: up to 1.1 A RMS / 1.6 A peak (low current range, programmable) or 2A RMS / 2.8A
peak (high current range, programmable, new additional range since hardware version 1.3)
Refer to separate TMCL Firmware Manual, too.
WW
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TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL
stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range
of load, velocity, and current settings. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™ coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be
reduced by as much as 75%. coolStep allows substantial energy savings, especially for
motors which see varying loads or operate at a high duty cycle. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 1.2 Energy efficiency example with coolStep
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 5
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2 Order Codes
Order code
Description
Size (mm3)
TMCM-1141-option
Single axis bipolar stepper motor controller / driver electronics with
coolStep feature
37 x 37 x 11.5
Table 2.1 Order codes
The following options are available:
Description
Order code example:
Module pre-programmed with TMCL firmware
TMCM-1141-TMCL
Table 2.2 Firmware options
A cable loom set is available for this module:
Description
Cable loom for TMCM-1141:
- 1x cable loom for power and RS485 connector (length 200mm)
1x cable loom for multi-purpose I/O connector (length 200mm)
- 1x cable loom for S/D connector (length 200mm)
- 1x cable loom for motor connector (length 200mm)
- 1x USB type A connector to mini-USB type B connector cable (length 1.5m)
Table 2.3 Cable loom order codes
Please note that the TMCM-1141 is available with NEMA17 stepper motors, too. Refer to the PD-1141
documents for more information about these products.
\_H_l\
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3 Mechanical and Electrical Interfacing
3.1 Dimensions and Mounting Holes
The dimensions of the controller/driver board are approx. 37 mm x 37 mm x 11.5 mm in order to fit on
the back of a 42 mm stepper motor. Maximum component height (height above PCB level) without
mating connectors is around 8mm above PCB level and 2 mm below PCB level. There are two mounting
holes for M3 screws for mounting to a NEMA17 stepper motor.
34
2xM3
37
34
37
3
3
Figure 3.1 Dimensions of TMCM-1141 and position of mounting holes
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3.2 Connectors of TMCM-1141
The TMCM-1141 controller/driver board offers five connectors including the motor connector which is
used for attaching the motor coils to the electronics. Further, there is a connector for power and for the
RS485 interface. The USB interface and the step/direction interface have their own connectors. The 8pin
multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs.
Motor
14 1
5
Power and
RS485
1
8
Multi-
purpose
I/O
Step /
Direction
USB
14
Figure 3.2 Overview connectors
Label
Connector type
Mating connector type
Power and
RS485
Connector
CI0105P1VK0-LF
CVIlux CI01 series, 5 pins, 2mm pitch
Connector housing CVIlux: CI01055000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-5
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Multi-purpose
I/O Connector
CI0108P1VK0-LF
CVIlux CI01 series, 8 pins, 2mm pitch
Connector housing CVIlux: CI01085000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-8
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Step/Direction
Connector
CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Motor
Connector
CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Mini-USB
Connector
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
Table 3.1 Connectors and mating connectors, contacts and applicable wire
©®
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3.2.1 Power and RS485 Connector
A 5pin single row connector is used for power supply and RS485 serial communication.
5
1
Pin
Label
Direction
Description
1
GND
Power (GND)
System and signal ground
2
VDD
Power (Supply)
VDD (+9 V… +28 V)
3
GND
Power (GND)
System and signal ground
4
RS485+
Bidirectional
RS485 interface, diff. signal (non-inverting)
5
RS485-
Bidirectional
RS485 interface, diff. signal (inverting)
Table 3.2 Connector for power supply and RS485
3.2.1.1 Power Supply
For proper operation care has to be taken with regard to power supply concept and design. Due to space
restrictions the TMCM-1141 includes about 40µF/35V of supply filter capacitors. These are ceramic
capacitors which have been selected for high reliability and long life time. The module includes a 24V
suppressor diode for over-voltage protection.
CAUTION!
Add external power supply capacitors!
It is recommended to connect an electrolytic capacitor of significant size (e.g. 1000µF/35V)
to the power supply lines next to the TMCM-1141 especially if the distance to the power
supply is large (i.e. more than 2-3m)! 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.
Rule of thumb for size of electrolytic capacitor:    
 
In addition to power stabilization (buffer) and filtering this added capacitor will also
reduce any voltage spikes which might otherwise occur from a combination of high
inductance power supply wires and the ceramic capacitors. In addition it will limit slew-
rate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors
may cause stability problems with some switching power supplies.
Keep the power supply voltage below the upper limit of 28V!
Otherwise the driver electronics will seriously be damaged! Especially, when the selected
operating voltage is near the upper limit a regulated power supply is highly
recommended. Please see also chapter 7 (operating values).
There is no reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver
transistors.
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 9
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3.2.1.2 RS485
For remote control and communication with a host system the TMCM-1141 provides a two wire RS485
bus interface. For proper operation the following items 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.
c:> node
1
node
n - 1
node
n
Host Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 3.3: 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-1141
does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both
ends of the bus have to be added externally.
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 transceivers used on the TMCM-1141 units (hardware V1.2: SN65HVD3082ED,
since hardware V1.3: SN65HVD1781D) have a significantly reduced bus load and allow a
maximum of 255 units to be connected to a single RS485 bus using TMCL firmware. Please note:
usually it cannot be expected to get reliable communication with the maximum number of nodes
connected to one bus and maximum supported communication speed at the same time. Instead,
a compromise has to be found between bus cable length, communication speed and number of
nodes.
4. COMMUNICATION SPEED:
The maximum RS485 communication speed supported by the TMCM-1141 is 115200 bit/s for
hardware version 1.2 and 1Mbit/s for hardware version 1.3. Factory default is 9600 bit/s. Please
see separate TMCM-1141 TMCL firmware manual for information regarding other possible
communication speeds.
5. 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 to well defined logic levels.
There are actually two options which can be recommended:
Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both
ends):
E: % %
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node
n - 1
node
n
Slave Slave
termination
resistor
(120R)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
termination
resistor
(220R)
RS485+ / RS485A
Figure 3.4: Bus lines with resistor (Bias) network on one side, only
Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination):
node
n - 1
node
n
Slave Slave
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
RS485- / RS485B
RS485+ / RS485A
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
Figure 3.5: Bus lines with resistor (Bias) network at both ends
3.2.2 Mini-USB Connector
A 5pin mini-USB connector is available on-board for serial communication (as alternative to the RS485
interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
1
5
Pin
Label
Direction
Description
1
VBUS
Power
(supply input)
+5V supply from host
2
D-
Bidirectional
USB Data –
3
D+
Bidirectional
USB Data +
4
ID
Power (GND)
Connected to signal and system ground
5
GND
Power (GND)
Connected to signal and system ground
Table 3.3 Connector for USB
For remote control and communication with a host system the TMCM-1141 provides a USB 2.0 full-speed
(12Mbit/s) device interface (mini-USB connector). As soon as a USB host is connected the module will
accept commands via USB.
USB BUS POWERED OPERATION MODE
The TMCM-1141 supports both, USB self powered operation (when an external power is supplied via the
power supply connector) and USB bus powered operation, (no external power supply via power supply
connector).
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 11
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During USB bus powered operation the on-board digital core logic will be powered, only. The digital core
logic consists of the microcontroller itself and also the EEPROM. The USB bus powered operation mode
has been implemented to enable configuration, parameter settings, read-outs, firmware updates, etc. by
just connecting an USB cable between module and host PC. 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 depending on the voltage level of this supply.
Motor movements are not possible during USB bus powered operation! Apply power to the power
connector (USB self powered operation) in order to be able to move the motor.
3.2.3 Multipurpose I/O Connector
An 8pin 2mm pitch single row connector is available for all multipurpose inputs and outputs.
8
1
Pin
Label
Direction
Description
1
GND
Power (GND)
System and signal ground
2
VDD
Power (Supply)
VDD, connected to VDD pin of the power and
RS485 connector
3
OUT_0
Output
Open-drain output (max. 100 mA)
Integrated freewheeling diode to VDD
4
OUT_1
Output
Open-drain output (max. 100 mA)
Integrated freewheeling diode to VDD
5
IN_0
Input
Dedicated analog input,
Input voltage range: 0… +10V
Resolution: 12bit (0… 4095)
6
IN_1
Input
General purpose digital input (+24 V compatible)
Alternate function: left stop switch input
7
IN_2
Input
General purpose digital input (+24 V compatible)
Alternate function: right stop switch input
8
IN_3
Input
General purpose digital input (+24 V compatible)
Alternate function: home switch input
Table 3.4 Multipurpose I/O connector
Note:
- All inputs have resistor based voltage input dividers with protection diodes. These resistors
also ensure a valid GND level when left unconnected.
- For all digital inputs (IN_1, IN_2, IN_3) a 1k pull-up resistor to +5V can be activated. In this case
these inputs have a default (unconnected) logic level of 1 and an external switch to GND can
be connected. This might be especially interesting in case these inputs are used as STOP_L /
STOP_R and HOME switch inputs (alternate function).
3.2.3.1 Digital Inputs IN_1, IN_2, IN_3
The eight pin connector of the TMCM-1141 provides three multipurpose digital inputs IN_1, IN_2 and
IN_3. All three inputs accept up to +24V (nom.) input signals and offer the same input circuit with voltage
resistor dividers, limiting diodes against over- and under-voltage and programmable 2k2 pull-up resistors.
The pull-ups can be switched on or off for all three inputs at once in software.
With TMCL firmware command SIO 0, 0, 0 will switch-off the pull-ups and command SIO 0, 0, 1
will switch them on (see separate TMCL firmware manual, command SIO for more detailed information).
o\oa
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+3.3V
IN_1
IN_2
IN_3
microcontroller (all)
and TMC429 (IN_0, IN_1)
10k
22k 1nf
GND GND GND
common switch for all
three digital inputs
1k
+5V
Figure 3.6 General purpose inputs (simplified input circuit)
The three digital inputs have alternate functionality depending on configuration in software. The
following functions are available:
Label
(pin)
Default function
Alternate function 1
IN_1 (6)
General purpose digital input
TMCL: GIO 1, 0 // get digital
value of input IN_1
STOP_L - left stop switch input
connected to processor and TMC429 REF input
(supporting left stop functionality in hardware)
TMCL: GAP 11, 0 // get digital value of STOP_L input
IN_2 (7)
General purpose digital input
TMCL: GIO 2, 0 // get digital
value of input IN_2
STOP_R - right stop switch input
connected to processor and TMC429 REF input
(supporting right stop switch functionality in hardware)
TMCL: GAP 10, 0 // get digital value of STOP_R input
IN_3 (8)
General purpose digital input
TMCL: GIO 3, 0 // get digital
value of input IN_3
HOME - home switch input
(connected to processor)
TMCL: GAP 9, 0 // get digital value of HOME input
Table 3.5 Multipurpose inputs / alternate functions
- All three digital inputs are connected to the on-board processor and can be used as general
purpose digital inputs.
- In order to use IN_1 and IN_2 as STOP_L and STOP_R inputs, this function has to be enabled
explicitly in software (factory default: switched off). With TMCL firmware the stop switch
functionality can be enabled using SAP 12, 0, 0 (STOP_R / right limit switch) and SAP 13,
0, 0 (STOP_L / left limit switch). As the names already indicate: the status of the left limit
switch (STOP_L) will be significant during motor left turns and the status of the right limit switch
during motor right turns (positive direction), only. Reading out input values using the GAP
commands as listed in the table above is possible at any time. Please see separate TMCL
firmware manual for additional information.
%r
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3.2.3.2 Analog Input IN_0
The eight pin connector of the TMCM-1141 provides one dedicated analog input IN_0.
This dedicated analog input offers a full scale input range of 0… +10V (0..+10.56V nom.) with a resolution
of the internal analog-to-digital converter of the microcontroller of 12 bit (0… 4095).
The input is protected against higher voltages up-to +24 V using voltage resistor dividers together with
limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below).
+3.3V
IN_0
ADC input
(microcontroller)
22k
10k
10nF
GND GND GND
Figure 3.7 General purpose inputs (simplified input circuit)
With TMCL firmware the analog value of this input may be read using command GIO 0, 1. The
command will return the raw value of the 12bit analog-to-digital converter between 0 .. 4095. It is also
possible to read the digital value of this input using TMCL command GIO 0, 0. The trip point (between
0 and 1) will be at approx. +5V input voltage (half the analog input range).
3.2.3.3 Outputs OUT_0, OUT_1
The eight pin connector of the TMCM-1141 offers two general purpose outputs OUT_0 and OUT_1. These
two outputs are open-drain outputs and can sink up to 100 mA each. The outputs of the N-channel
MOSFET transistors are connected to freewheeling diodes each for protection against voltage spikes
especially from inductive loads (relais etc.) above supply voltage (see figure below).
OUT_0 and OUT_1 should not be connected to any voltage above supply voltage of the module due to
the internal freewheeling diodes.
VDD
microcontroller
GND GND
10k since V1.3
Figure 3.8 General purpose outputs
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Since hardware version 1.3 the gate inputs of the MOSFETs are pulled-low during power-up and while
the processor is still in reset / output pins not initialized. This way, the outputs will not briefly switch on
at power-up.
With TMCL firmware OUT_0 can be switched on (OUT_0 pulled low) using command SIO 0, 2, 1 and
off again (OUT_0 floating) using command SIO 0, 2, 0. Quite similar OUT_1 can be switched on
(OUT_1 pulled low) using command SIO 1, 2, 1 and off again (OUT_1 floating) using command SIO
1, 2, 0. Factory default setting for both outputs is off (floating). In case a floating output is not
desired in the application an external resistor to e.g. supply voltage may be added.
OO MC: ' m2, 3%?
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3.2.4 Step/Direction Connector
A 4pin 2mm pitch single row connector is available for the Step/Dir interface. This interface can be used
for connecting an external motion controller to the on-board driver stage instead of the integrated
motion controller.
All three Step/Dir/Enable signals are optically isolated. Therefore, an additional supply input (COMMON) is
available which has to be connected to a supply voltage between +5 V and +24 V for proper operation.
4
1
Pin
Label
Direction
Description
1
COMMON
Power
(Supply input)
Power supply input for the three Step / Direction
/ Enable signals. Accepts voltages between +5V
and +24V nom.
2
/ENABLE
Input
Enable input
(function depends on firmware)
3
STEP
Input
Step pulse input
(connected to step input of TMC262 driver IC)
4
DIRECTION
Input
Direction input
(connected to direction input of TMC262 driver IC)
Table 3.6: Step/Direction connector
3.2.4.1 Step / Direction / Enable inputs
The inputs Step / Direction / Enable are electrically (optically) isolated from the power supply and all
other signals of the TMCM-1141 module. These inputs have one common reference input COMMON (see
Figure 3.). The COMMON input should be connected to a positive supply voltage between +5V and +24V.
Step / Direction / Enable signals might be driven either by open-collector / open-drain outputs or by
push-pull outputs. In case of push-pull outputs the COMMON supply voltage should be equal / similar to
the high signal voltage level of the push-pull drivers (otherwise the LEDs will not be turned off during
signal high-level). There is no need to add external resistors in line with the “Enable”, “Step” or
“Direction” inputs. The internal current sources (Figure 3.8) will adjust the current through the LEDs of
the optical isolation to approx. 8mA for signal input voltages between nom. +5V and +24V.
8mA
8mA
8mA
+3.3V
GND
Enable
Direction
Step
Common
(5..24V)
microcontroller
TMC262
TMC262
Figure 3.9 Step/Dir/Enable inputs
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3.2.5 Motor Connector
As motor connector a 4pin 2mm pitch single row connector is available. The motor connector is used for
connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics.
4
1
Pin
Label
Direction
Description
1
OB2
Output
Pin 2 of motor coil B
2
OB1
Output
Pin 1 of motor coil B
3
OA2
Output
Pin 2 of motor coil A
4
OA1
Output
Pin 1 of motor coil A
Table 3.7 Motor connector
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.
For hardware version 1.3: please note the additional high current range for motor
currents up-to 2A RMS!
Setting motor current too high might lead to excessive power dissipation inside the
motor, overheating and even permanent damage of the motor. Therefore, make sure the
motor current is properly set. Also with hardware version 1.3 the low current range is
set as default.
M
A
black
green
B
blue
red
TMCM-1141
QS4218 Motor
Motor connector pin
Cable color
Coil
Description
1
Red
B
Motor coil B pin 1
2
Blue
B-
Motor coil B pin 2
3
Green
A-
Motor coil A pin 2
4
Black
A
Motor coil A pin 1
Icon pm Icon ms
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 17
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4 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed in
software in two ranges (low current range up-to 1.1A RMS and high current range up-to 2A RMS) with 32
effective scaling steps in hardware for each range.
Please note: the high current range is available with hardware revision V1.3, only and should not be
activated / used with hardware revision V1.2! The high current range should not be used with motor
currents above 2A RMS – this will violate specification of the module - please note limitations at the
end of this chapter!
Explanation of different columns in table below:
Motor current
setting in
software
(TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor
standby current). They are used to set the run / standby current using the following
TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-1141 firmware
manual for further information)
Range setting
in software
(TMCL)
This is the value for TMCL axis parameter 179 (Vsense). This value defines the current
range. This value can be set using the following TMCL command:
SAP 179, 0, <value> // = 0 high current range
// = 1 low current range
For <value> either 0 (high current range) or 1 (low current range) is supported (see
table) since hardware revision V1.3. For hardware revision V1.2 this parameter should
not be changed to any value other than “1” (low current range).
(read-out value with GAP instead of SAP. Please see separate TMCM-1141 firmware
manual for further information)
Motor current
IRMS [A]
Resulting motor current based on range and motor current setting
Motor current
setting in
software (TMCL)
Range setting
in software
(TMCL)
Current
scaling step
(CS)
Motor
current
ICOIL_PEAK [A]
Motor
current
ICOIL_RMS [A]
0..7
1
0
0.052
0.036
8..15
1
1
0.103
0.073
16..23
1
2
0.155
0.109
24..31
1
3
0.206
0.146
32..39
1
4
0.258
0.182
40..47
1
5
0.309
0.219
48..55
1
6
0.361
0.255
56..63
1
7
0.413
0.292
64..71
1
8
0.464
0.328
72..79
1
9
0.516
0.365
80..87
1
10
0.567
0.401
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 18
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Motor current
setting in
software (TMCL)
Range setting
in software
(TMCL)
Current
scaling step
(CS)
Motor
current
ICOIL_PEAK [A]
Motor
current
ICOIL_RMS [A]
88..95
1
11
0.619
0.438
96..103
1
12
0.670
0.474
104..111
1
13
0.722
0.510
112..119
1
14
0.773
0.547
120..127
1
15
0.825
0.583
128..135
1
16
0.877
0.620
136..143
1
17
0.928
0.656
144..151
1
18
0.980
0.693
152..159
1
19
1.031
0.729
160..167
1
20
1.083
0.766
168..175
1
21
1.134
0.802
176..183
1
22
1.186
0.839
184..191
1
23
1.238
0.875
192..199
1
24
1.289
0.912
200..207
1
25
1.341
0.948
208..215
1
26
1.392
0.984
216..223
1
27
1.444
1.021
224..231
1
28
1.495
1.057
232..239
1
29
1.547
1.094
240..247
1
30
1.598
1.130
248..255
1
31
1.650
1.167
0..7
0
0
0.095
0.067
8..15
0
1
0.191
0,135
16..23
0
2
0.286
0.202
24..31
0
3
0.381
0.270
32..39
0
4
0.477
0.337
40..47
0
5
0.572
0.404
48..55
0
6
0.667
0.472
56..63
0
7
0.763
0.539
64..71
0
8
0.858
0.607
72..79
0
9
0.953
0.674
80..87
0
10
1.048
0.741
88..95
0
11
1.144
0.809
96..103
0
12
1.239
0.876
104..111
0
13
1.334
0.944
112..119
0
14
1.430
1.011
120..127
0
15
1.525
1.078
128..135
0
16
1.620
1.146
136..143
0
17
1.716
1.213
144..151
0
18
1.811
1.281
152..159
0
19
1.906
1.348
160..167
0
20
2.002
1.415
168..175
0
21
2.097
1.483
176..183
0
22
2.192
1.550
184..191
0
23
2.288
1.618
192..199
0
24
2.383
1.685
200..207
0
25
2.478
1.752
208..215
0
26
2.573
1.820
216..223
0
27
2.669
1.887
224..231
0
28
2.764
1.954
232..239
0
29
2.859
2.022
240..247
0
30
2.955
2.089
248..255
0
31
3.050
2.157
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 19
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The settings marked red in the table above from the high current range (above 2A RMS motor current)
should not be used as they will violate specification of the module!
In addition to the settings in the table the motor current may be switched off completely (free-wheeling)
using axis parameter 204 (see TMCM-1141 firmware manual).
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 20
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5 Reset to Factory Defaults
It is possible to reset the TMCM-1141 to factory default settings without establishing a communication
link. This might be helpful in case communication parameters of the preferred interface have been set to
unknown values or got accidentally lost.
For this procedure two pads on the bottom side of the board have to be shortened.
Now, perform the following steps:
1. Power supply off and USB cable disconnected
2. Short two pads as marked in Figure 5.1
3. Power up board (power via USB is sufficient for this purpose)
4. Wait until the on-board red and green LEDs start flashing fast (this might take a while)
5. Power-off board (disconnect USB cable)
6. Remove short between pads
7. After switching on power-supply / connecting USB cable all permanent settings have been
restored to factory defaults
Short these two pads
Figure 5.1 Reset to factory default settings
6 On-Board LED
The board offers an LED in order to indicate board status. The function of the LED is dependent on the
firmware version. With standard TMCL firmware the green LED should be flashing slowly during
operation. When there is no valid firmware programmed into the board or during firmware update the
green LED is permanently on.
BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE
Label
Description
Run
This green LED flashes slowly during operation.
Green LED
Figure 6.1 On-board LED
Icon lion
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 21
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7 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!
GENERAL OPERATIONAL RATINGS
Symbol
Parameter
Min
Typ
Max
Unit
VDD
Power supply voltage for operation
9
12… 24
28
V
ICOIL_PEAK_L
Motor coil current for sine wave peak
(low range setting, chopper regulated,
adjustable via software)
0
1.6
A
ICOIL_RMS_L
Continuous motor current (RMS)
(low current range setting, chopper
regulated, adjustable via software)
0
1.1
A
ICOIL_PEAK_H*)
Motor coil current for sine wave peak
(high current range setting, chopper
regulated, adjustable via software)
0
2.8*)
A
ICOIL_RMS_H*)
Continuous motor current (RMS)
(high current range setting, chopper
regulated, adjustable via software)
0
2*)
A
IDD
Power supply current
<< ICOIL
1.4 * ICOIL
A
TENV
Environment temperature at rated current (no
forced cooling required)
-30
+40
°C
Table 7.1 General operational ratings of module
*) High current range available as new additional range with hardware revision V1.3 – not with
hardware revision V1.2. Please note: motor coil currents above 2A RMS are not recommended and will
violate specification of the module.
OPERATIONAL RATINGS OF MULTIPURPOSE I/OS
Symbol
Parameter
Min
Typ
Max
Unit
VOUT_0/1
Voltage at open drain output
0
+VDD
V
IOUT_0/1
Output sink current of open drain output
100
mA
VIN_1/2/3
Input voltage for IN_1, IN_2, IN_3 (digital
inputs)
0
+VDD
V
VIN_L 1/2/3
Low level voltage for IN_1, IN_2 and IN_3
0
1.2
V
VIN_H 1/2/3
High level voltage for IN_1, IN_2 and IN_3
4
+VDD
V
VIN_0
Measurement range for analog input IN_0
0
+10*)
V
Table 7.2 Operational ratings of multipurpose I/Os
*) approx. 0…+10.56V at the analog input IN_0 is translated to 0..4095 (12bit ADC, raw values). Above
approx. +10.56V the analog input will saturate but, not being damaged (up-to VDD).
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 22
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OPERATIONAL RATINGS OF RS485 INTERFACE
Symbol
Parameter
Min
Typ
Max
Unit
NRS485
Number of nodes connected to single RS485
network
256
fRS485
Maximum bit rate supported on RS485
connection
9600
115200
1000000*)
bit/s
Table 7.3: Operational ratings of RS485 interface
*) hardware revision V1.2: max. 115200 bit/s, hardware revision V1.3: max. 1Mbit/s
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 23
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8 Functional Description
The TMCM-1141 is a highly integrated mechatronic device which can be controlled via several serial
interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are
performed on board. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both:
direct mode and standalone operation. Full remote control of device with feedback is possible. The
firmware of the module can be updated via any of the serial interfaces.
In Figure 8.1 the main parts of the TMCM-1141 are shown:
- the microprocessor, which runs the TMCL operating system (connected to TMCL memory),
- the motion controller, which calculates ramps and speed profiles internally by hardware,
- the power driver with stallGuard2 and its energy efficient coolStep feature, and
- the MOSFET driver stage
9… 28V DC
RS485
USB
µC
TMCL™
Memory
6
I/Os
Step
Motor
MOSFET
Driver
Stage
SPI
TMCM-1141
SPI
SPI
S/D
TMC429
Motion
Controller
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
+5V
Stop
switches
S/D
S/D
Figure 8.1 Main parts of the TMCM-1141
Remark: stop switches are an alternate function of two out of three digital inputs.
The TMCM-1141 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCM). 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-1141 Firmware Manual for more information about TMCL commands.
m
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 24
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9 TMCM-1141 Operational Description
9.1 Calculation: Velocity and Acceleration vs. Microstep and
Fullstep Frequency
The values of the parameters sent to the TMC429 do not have typical motor values like rotations per
second as velocity. But these values can be calculated from the TMC429 parameters as shown in this
section.
PARAMETERS OF TMC429
Signal
Description
Range
fCLK
clock-frequency
16 MHz
velocity
-
0… 2047
a_max
maximum acceleration
0… 2047
pulse_div
divider for the velocity. The higher the value is, the less is
the maximum velocity
default value = 0
0… 13
ramp_div
divider for the acceleration. The higher the value is, the
less is the maximum acceleration
default value = 0
0… 13
Usrs
microstep-resolution (microsteps per fullstep = 2usrs)
0… 8 (a value of 7 or 8 is internally
mapped to 6 by the TMC429)
Table 9.1 TMC429 velocity parameters
MICROSTEP FREQUENCY
The microstep frequency of the stepper motor is calculated with
3220482
][
][ _
divpulse
CLK velocityHzf
Hzusf
with usf: microstep-frequency
FULLSTEP FREQUENCY
To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be
divided by the number of microsteps per fullstep.
usrs
Hzusf
Hzfsf 2
][
][
with fsf: fullstep-frequency
The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a) is
given by
29__
max
2
2
divrampdivpulse
CLK af
a
This results in acceleration in fullsteps of:
usrs
a
af 2
with af: acceleration in fullsteps
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 25
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EXAMPLE:
Signal
value
f_CLK
16 MHz
velocity
1000
a_max
1000
pulse_div
1
ramp_div
1
usrs
6
Hz
MHz
msf 31.122070
3220482
100016
1
HzHzfsf 34.1907
2
31.122070
][ 6
s
MHz
Mhz
a21.119
2
1000)16(
2911
2
s
MHz
s
MHz
af 863.1
2
21.119
6
CALCULATION OF THE NUMBER OF ROTATIONS
A stepper motor has e.g. 72 fullsteps per rotation.
49.26
72
34.1907 rotationperfullsteps
fsf
RPS
46.1589
72
6034.190760
rotationperfullsteps
fsf
RPM
“mm “44w, w 4")va um.
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 26
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10 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 & 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 & Co. KG 2013, 2014
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.
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 27
www.trinamic.com
11 Revision History
11.1 Document Revision
Version
Date
Author
Description
0.90
2011-DEC-19
GE
Initial version
0.91
2011-DEC-23
GE
Connector pin assignment corrected
1.00
2012-JUN-12
SD
First complete version including the following chapters:
- Reset to factory defaults,
- LEDs
1.01
2012-JUL-23
SD
Information about sensOstep deleted.
1.02
2012-JUL-27
SD
Figure 3.5 (general purpose inputs) corrected.
1.03
2013-MAR-05
SD
- Names of inputs changed:
AIN_0 IN_0
IN_0 IN_1
IN_1 IN_2
IN_2 IN_3
- Names of outputs changed:
OUT_1 = OUT_0
OUT_0 = OUT_1
1.04
2013-JUL-23
SD
- Connector description updated
- Information about power supply updated
1.05
2014-OCT-18
GE
Hardware revision 1.3 added.
1.06
2015-JAN-09
GE
- Minor addition / corrections.
- TMCL commands for accessing I/Os added.
Table 11.1 Document revision
11.2 Hardware Revision
Version
Date
Description
TMCM-1041_V10*)
2011-MAR-03
Initial version
TMCM-1141_V10*)
2011-AUG-12
- Clock generation and distribution changed, 16Mhz crystal
instead of 8MHz, TMC429 and TMC262 running from 16Mhz
clock signal from processor
- Resistor dividers at inputs changed, more compact and
optimized input protection circuit
- Support of USB powered operation
TMCM-1141_V11*)
2011-NOV-23
- Optimization and cost reduction for board assembly after
feedback from assembly house (version 1.1 is 100%
firmware compatible with V1.0)
TMCM-1141_V12**)
2011-DEC-12
- Mounting holes connected to GND
TMCM-1141_V13**)
2013-JUL-30
- Stepper motor driver MOSFETs: The MOSFETs of the driver
stage have been replaced. The new MOSFETs offer less
heat dissipation than the previous / currently used ones.
Apart from that the performance and settings including
driver output current (incl. scaling) and output waveform
are essentially the same. Nevertheless, with the new V13
hardware extended motor current settings up-to 2A RMS
are supported, also. Switching between these two ranges
is possible using TMCL axis parameter 179. The factory
default value for this parameter is ‘1’ (SAP 179, 0, 1) for
motor currents up-to 1.1A RMS. Setting this parameter to
www.mna m \mom
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 28
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zero will enable the second current range. Setting the max.
motor current scaling factor to 232 (TMCL command SAP 6,
0, 232) will then increase motor driver output current to
2A RMS during movements. Please note: changing motor
current will happen immediately – therefore it is
recommended to first set the current scaling value (SAP 6,
0, 232 resp. SAP 7, 0, 232) and then switch the range (SAP
179, 0, 0). Settings above 232 up-to 255 are not
recommended as they might violate component
specifications.
- RS485 transceiver: the RS485 transceiver has been replaced
with the SN65HVD1781 transceiver offering better fault
protection (up-to 70V fault protection) and supporting
higher communication speeds (up-to 1Mbit/s).
- General purpose outputs OUT0 / OUT1: the driver circuit of
the open-drain output MOSFETs has been modified in
order to ensure glitch-free power-up. That is, output
MOSFETs will not turn briefly on while processor still in
reset / processor outputs not initialized.
- External S/D input. The circuit for the external STEP / DIR
input has been optimized for higher step frequencies. Step
frequencies above 1MHz are supported under optimum
conditions.
Table 11.2 Hardware revision
*): V10, V11: prototypes only.
**) V12: series product version. Is replaced with V13 series product version due to EOL (end-of-life) of the driver
MOSFETs. Please see “PCN_1013_12_27_TMCM-1141.pdf” on our Web-site, also
12 References
[TMCM-1141 TMCL] TMCM-1141 TMCL Firmware Manual
[TMC262] TMC262 Datasheet
[TMC429] TMC429 Datasheet
[TMCL-IDE] TMCL-IDE User Manual
[QSH4218] QSH4218 Manual
Please refer to www.trinamic.com.