Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
www.trinamic.com
Start into stepper motor motion systems
Italic and green lines can be neglected for the PD-110.
•
Your TMCM-110 stepper motor controller
and driver module
•
A stepper motor with 1A RMS coil current
•
Interface (RS232, RS485, CAN or IIC)
suitable to your TMCM-110 version, with
cables and maybe converter supplied.
•
Power supply for 12V to 30V
•
TMCL IDE program and PC
•
Equipment to connect motor and TMCM-
110, maybe soldering tools.
•
Do not connect or disconnect the motors while powered
•
Do not mix up connections or short-circuit pins
•
Avoid bundling IO wires with motor power wires, as this
may cause noise pickup from the motor.
•
Do not exceed the maximum power supply of 30V.
•
If attaching the TMCM-110 directly to a motor leave at
least a 5mm gap for air cooling.
Start with power supply OFF.
1. Connect RS232 pin 2 (PC-TxD) to pin 4 (110-RxD) and pin 3
(PC-RxD) to pin 5. Use other interfaces equivalent.
2. Connect RS232 cable to PC.
3. Connect power supply to TMCM-110
•
Power supply (+) to pin 2
•
Ground (GND) to pin 1
4. Connect stepper motor to 4 pin connector
5. Turn power ON. The LED of the module flashes and the motor
is powered (standby current flows) but in standstill.
If this does
not occur switch power OFF and check your connections and
power supply.
6. Start the TMCL IDE program (see other side of the sheet how
to configure the connection and use the IDE).
7. Type following into the open window:
8. Click the “
Assemble
” icon, then click the “
Download
” icon to
download the code to the TMCM-110. Click the “
Run
” icon. The
downloaded program will now be executed
9. Click stop button and start “TMCL Direct Mode” to issue
following commands:
•
ROR rotate right, Motor 0, value 500
→
Click Execute
The motor is rotating now.
•
MST motor stop, Motor 0
→
Click Execute
First steps are made.
For other commands of the TMCM-110
refer to next page and the TMCM-110 Manual.
Wiring note:
The TMCM-110 comes with a 4pin, a 5pin and an 8
pin JST PHR-connector with about 20cm cables for each pin. If you
have a PANdrive the TMCM-110 is mounted to a motor and no
extra motor connection is needed.
2 3 5
RS232
TMCM-110
Pin
1
Power-
supply
12..30V
Motor
+
-
2
1
3
4
8
6
Pi
n 1
Pin 1
9
use null modem
cable, otherwise
switch pins 2 and 3
GN
D
GN
D
VS
GN
D
RxD
TxD
A1
A2
B1
B2
Starting up:
You will need
Precautions
//A simple example for using TMCL and the TMCL-IDE
SAP 4, 0, 100
//Set the maximum speed
Loop: MVP ABS, 0, 15000 //Move to position 15000
WAIT POS, 0, 0
WAIT TICKS, 0, 200
MVP ABS, 0, 0 //Move back to position 0
WAIT POS, 0, 0
WAIT TICKS, 0, 100
JA Loop //Infinite Loop