TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
21
www.trinamic.com
7
Functional Description
In figure 7.1 the main parts of the PD86-1180 are shown. The PANdrive mainly consists of the µC (connected
to the EEPROM TMCL memory), the TMC428/429 motion controller, the TMC262A-PC power driver with its
energy efficient coolStep feature, the external MOSFET driver stage, the QSH8618 stepper motor, and the
integrated sensOstep encoder. Alternatively it is possible to connect an external encoder. Nominal supply
voltages are 24VDC or 48VDC.
18
…
55V DC
µC
TMCL™
Memory
Motion
Controller
CAN
RS232
4
add.
I/Os
Step
Motor
USB
Step/
Dir
RS485
MOSFET
Driver
Stage
Energy
Efficient
Driver
TMC262
Power
Driver
with
coolStep™
external
Encoder
sensOstep™
Encoder
ABN
Alternative:
Stop
Switches
+5V
ABN
PD86-1180
TMCM-1180
Figure 7.1 Main parts of the PD86-1180
7.1
System Architecture
The TMCM-1180 integrates a microcontroller with the TMCL (Trinamic Motion Control Language) operating
system. The motion control real-time tasks are realized by the TMC428/429.
7.1.1
Microcontroller
On this module, the Atmel AT91SAM7X256 is used to run the TMCL operating system and to control the
TMC428/429. The CPU has 256KB flash memory and a 64KB RAM. The microcontroller runs the TMCL (Trinamic
Motion Control Language) operating system which makes it possible to execute TMCL commands that are
sent to the module from the host via the RS232, RS485, USB, or CAN interface. The microcontroller interprets
the TMCL commands and controls the TMC428/429 which executes the motion commands. In addition it is
connected with the encoder interface and processes the inputs.
The flash ROM of the microcontroller holds the TMCL operating system. The TMCL operating system can be
updated via the RS232 interface or via the CAN interface. Use the TMCL-IDE to do this.
7.1.2
EEPROM
To store TMCL programs for stand-alone operation the TMCM-1180 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048
TMCL commands. The EEPROM is also used to store configuration data.
7.1.3
Motion Controller
The TMC428/429 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper-
motors. Motion parameters like speed or acceleration are sent to the TMC428/429 via SPI by the
microcontroller. Calculation of ramps and speed profiles are done internally by hardware based on the
target motion parameters.
