TMCM-111-56 Manual
4
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
1 Features
The PANdrive PD-111-56 is a full mechatronic solution including a 56mm flange motor. It is based on the
TMCM-111-56 electronics. The TMCM-111-56
is an intelligent stepper motor controller and driver module to be
mounted directly on a 56mm flange motor (mechanical adaptation required). This triple-PCB module converts
the motor into a compact mechatronic device with bus oriented or stand-alone control. The motor, switches,
interface and multi purpose I/Os can be connected with small pluggable connectors.
The PD-111 / TMCM-111 comes with the PC based software development environment TMCL-IDE for the
Trinamic Motion Control Language (TMCL). Using predefined TMCL high level commands like „move to
position“ or „constant rotation“ a rapid and fast development of motion control applications is guaranteed.
The unit can be controlled via an RS-232, RS-485, I²C or CAN interface, with step / direction option.
Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed
on board. The TMCL program can be stored in the on-board EEPROM for stand-alone operation. The firmware
of the module can be updated via the serial interface. With the StallGuard feature it is possible to detect
motor overload or motor stall.
Electrical data
•
up to 5A coil current RMS (7.1A peak)
•
15V to 36V motor supply voltage
•
supports two phase bipolar motors with 2A to 5A RMS coil current
Interface
•
RS232, RS485, I²C or CAN 2.0b host interface
•
Step-/Direction interface upon request
•
2 inputs for reference and stop switches
•
1 general purpose input and 1 output
Features
•
up to 64 times microstepping for high accuracy
•
high current for highly dynamic drive
•
memory for 2048 TMCL commands
•
automatic ramp generation in hardware
•
on the fly alteration of motor parameters (e.g. position, velocity, acceleration)
•
StallGuard
TM
for sensorless motor stall detection
•
full step frequencies up to 20kHz
•
dynamic current control
•
TRINAMIC driver technology: No heat sink required, low power dissipation.
Software
•
stand-alone operation using TMCL or remote controlled operation
•
PC-based application development software TMCL-IDE included
Other
•
pluggable JST connectors / screw connectors
•
RoHS compliant latest from 1 July 2006
•
Diameter: 56mm (3 stacked PCBs)
Order code
Description
PD-111-56
1-axis Motion control module including motor
TMCM-111-56 (-option)
1-axis Motion control module
TMCM-111-56-CABLE
Cable loom for TMCM-111-56
Option
Host interface
485
With I²C, RS232, RS485, Step/DIR interface
CAN
With I²C, RS232, CAN, Step/DIR interface
Table 1.1: Order codes
