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TMCM-013 Manual (V1.14 / January 17th, 2006)

7 Revision History

7.1 Documentation Revision

Version

Comment

Description

1.10

First Release

Full functionality for Firmware V1.05

1.11

PD-release

Includes PANDrive order codes

1.12

Limit switch

Added Limit switch documentation

1.13

Additions

StallGuard added with RS485 command ‘G’, formerly used for output
setting (LED) now command ‘O’. Switched default mode to SPI.

Table 7.1: Documentation Revisions

7.2 Firmware Revision

Version

Comment

Description

1.05

First Release

Full functionality (except DC-Motor) with some possibilities to expand

Table 7.2: Firmware Revisions

Summary of Contents for PANdrive PD013-42

Page 1: ...EPPER motor controller driver module 1A RMS 1 5A peak 30V with RS485 and step direction interface Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20357 Hamburg Germany Phone 49 40 51 48 06 0 FAX 4...

Page 2: ...ption 15 6 1 Disable 15 6 2 RS485 Control Interface 15 6 2 1 RS485 Commands 16 6 2 1 1 Example for test move 17 6 2 1 2 Motor Current C 17 6 2 1 3 StallGuard G 17 6 2 1 4 Limit Switch L 18 6 2 1 5 I O...

Page 3: ...tep Direction signals and motor reactions 21 Figure 6 2 Step and Direction Signal 22 Figure 6 3 Reset to factory default 22 Figure 6 3 Layout Changes for act like DC Motor option 23 List of Tables Tab...

Page 4: ...current from 300mA to 1A RMS 1 5A peak 7V to 30V nominal supply voltage PANdrive Motor data all PANdrive motors optimized for 1A RMS coil current please refer to motor data sheet for detailed motor in...

Page 5: ...quipment 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 T...

Page 6: ...eference voltage for step direction inputs Positive optocoupler supply Required for negative logic Disable 4 Tie to GND to shut down motor power leave open or at VCOM otherwise Direction 5 Tie to GND...

Page 7: ...or TMCM 013 are 3 2mm The center hole of the TMCM 013 42 is 6 0mm and of the TMCM 013LA 12 5mm TMCM 013 36 5 mm 42 mm 5 5 mm 42 mm 36 5 mm 36 5 mm 21 0 mm 21 0 mm Figure 3 2 Dimensions for TMCM 013 TM...

Page 8: ...al frequency depends on operation mode 20 36 kHz IS Power supply current ICOIL 1 4 ICOIL A VISO Isolation voltage of optocoupler 42 100 V VCOM Supply voltage for step direction and disable inputs have...

Page 9: ...le the difference between VOPTOFF and VCOM has to be less than 1 0V and to interconnect the difference between VCOM and VOPTON has to exceed 3 5V VOPTOFF and VOPTON must not exceed VCOM VCOM VOPTOFF 1...

Page 10: ...ile power on Damage to the module may occur 5 2 1 Motor Choice Care has to be taken concerning the selection of motor and supply voltage In the different chopper modes different criteria apply Modes 0...

Page 11: ...MAX COIL N N S N R I V V 25 22 V V 2 5 2 1 2 Chopper Mode 2 PHASE In Table 5 1 and Figure 5 2 examples of maximum supply voltages VS regarding the current ICOIL and inductivity L of your motor are sp...

Page 12: ...550 650 750 850 950 ICOIL mA L mH VS 24V VS 18V VS 12V VS 7V Figure 5 2 Maximum Supply Voltage regarding Motor Current and Inductivity Any combination of motor coil current and inductivity witch is ab...

Page 13: ...e The step direction mode is enabled if the acceleration command is set to 0 default using the RS485 5 28 V GND GND GND Disable Common 0 V rotation off on Step Common 0 V Velocity Deceleration Acceler...

Page 14: ...s for RS485 Mode The RS485 Mode is enabled if the acceleration command differs from 0 TMCM 013 Pin 1 PWR 7 28 V Pin 2 Pin 14 Pin 15 Pin 16 GND optional Example Current AC 50 Acceleration AA 400 Veloci...

Page 15: ...Connected to ground all power to the motor will shut down independent of the current settings It is in the users responsibility to stop the step impulses or set the velocity to zero before enabling th...

Page 16: ...tor 32 bit 0 Q Read I Os Provides out of the I O the values of the ports GPI REF_A REF_B GPO and ALARM Refer to 6 2 1 5 R Read Current Position Provides the current position of the motor 32 bit S Chan...

Page 17: ...maximum depends upon the actual motor This is due to some internal restrictions AC ICOIL PP ICOIL RMS to max ICOIL 100 1 50A 1 06A 100 80 1 20A 0 85A 75 66 1 00A 0 71A 66 50 0 75A 0 53A 50 33 0 50A 0...

Page 18: ...witch To activate a reference switch set the appropriate bit to 1 When motor stops the position counter is set to zero Example AL 8 ENTER Activates REF_B 1 When destination reached motor stops and pos...

Page 19: ...32 4 1 16 max 4 4 16 Table 6 7 Adjusting of Microstep Resolution Example AZ 2 ENTER Sets the microstep resolution to a quarter of the maximum resolution 6 2 2 Chopper Modes 6 2 2 1 Chopper Mode 0 SPI...

Page 20: ...h is significantly lower than the motor maximum coil current If it is to high the motor has significant magnetization losses and coil power dissipation and would get much too hot even with zero averag...

Page 21: ...Step frequency Direction open wired or connected to VCOM Direction connected to Ground Table 6 8 External signals and motor reactions Motor Speed Step Vcom 0 V Disable Vcom 0 V Velocity Deceleration A...

Page 22: ...en wire VCOM 5 24V Intern HIGH LOW step pulse direction 0 7 s min 2 0 s min 2 0 s min 0 7 s min same minimum times as above Figure 6 2 Step and Direction Signal 6 4 Reset to factory default If the mod...

Page 23: ...advised to connect an external voltage divider to the GPI pin as depicted However there are two free places for 0805 SMD resistors to be equipped directly on the module TMCM 013 To enable this mode so...

Page 24: ...like max acceleration max velocity microsteps Before enabling this mode with the RS485 command connect a voltage of 7 28V to General Purpose Input GPI The voltage has to exceed zero point voltage befo...

Page 25: ...1 PD release Includes PANDrive order codes 1 12 Limit switch Added Limit switch documentation 1 13 Additions StallGuard added with RS485 command G formerly used for output setting LED now command O Sw...

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