PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007)
2
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Contents
1
Features........................................................................................................................................................................... 4
2
Life support policy....................................................................................................................................................... 5
3
Electrical and Mechanical Interfacing..................................................................................................................... 6
3.1
Dimensions........................................................................................................................................................... 6
3.1.1
PCB Dimensions........................................................................................................................................ 6
3.1.2
PANDrive Dimensions ............................................................................................................................. 7
3.2
Connectors ............................................................................................................................................................ 7
3.3
Connecting the Module..................................................................................................................................... 8
3.3.1
Connector 1: Power Supply, RS485, Step/Direction........................................................................ 8
3.3.2
Connector 2: RS232 and additional I/O ............................................................................................. 9
3.4
Connecting the Motor (Connector 3 and 4) ................................................................................................ 9
4
Operational Ratings................................................................................................................................................... 10
4.1
Step, Direction and Disable Inputs ............................................................................................................. 11
5
Functional Description.............................................................................................................................................. 12
5.1
System Architecture ......................................................................................................................................... 12
5.1.1
Microcontroller (µC) ............................................................................................................................... 12
5.1.2
TMCL EEPROM........................................................................................................................................... 12
5.1.3
TMC428 Motion Controller ................................................................................................................... 12
5.1.4
TMC249 Motor Driver............................................................................................................................. 12
5.2
Power Supply Requirements ......................................................................................................................... 13
5.3
Disable ................................................................................................................................................................. 13
5.4
Communication Interface – RS232 and RS485 ......................................................................................... 13
5.5
Motor Current setting ...................................................................................................................................... 14
5.6
Microstep Resolution ....................................................................................................................................... 14
5.7
Optimum motor settings................................................................................................................................ 15
5.8
Step / Direction Interface ............................................................................................................................... 15
5.8.1
Direction Input........................................................................................................................................ 15
5.8.2
Step Input................................................................................................................................................. 15
5.9
Reference Switches .......................................................................................................................................... 16
5.10
StallGuard™ - Sensorless Motor Stall Detection ..................................................................................... 16
5.11
Environment Temperature Considerations................................................................................................ 16
5.12
LEDs 17
5.13
Firmware update............................................................................................................................................... 17
5.14
Resetting the module...................................................................................................................................... 17
6
Putting the TMCM-109 into Operation.................................................................................................................. 18
7
TMCM-109 Operational Description ....................................................................................................................... 19
7.1
Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency .............................. 19
8
Software........................................................................................................................................................................ 20
9
Revision History.......................................................................................................................................................... 21
9.1
Documentation Revision................................................................................................................................. 21
9.2
Firmware Revision............................................................................................................................................ 21
10
References .................................................................................................................................................................... 21
