Trinamic TMCM-1240 Hardware Manual Download

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TMCM-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2018-05-17

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Motor current setting

in software (TMCL)

Current scaling step

(CS)

Motor current I

COIL

[A]

peak

Motor current I

COIL

[A]

RMS

160. . . 167

5.332

3.770

168. . . 175

5.586

3.950

176. . . 183

5.840

4.129

184. . . 191

6.094

4.309

192. . . 199

6.348

4.488

200. . . 207

6.602

4.668

208. . . 215

6.855

4.848

216. . . 223

7.109

5.027

224. . . 231

7.363

5.207

232. . . 239

7.617

5.386

240. . . 247

7.871

5.566

248. . . 255

8.125

5.745

Table 10: Available motor current settings

In addition to the settings in the table the motor current may be switched off completely (free-wheeling)

using axis parameter 204 (see TMCM-1260 ﬁrmware manual).

Terms of delivery and rights to technical change reserved.

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Summary of Contents for TMCM-1240

Page 1: ...RS485 CAN USB interface integrated sensOstep encoder and support for external encoder S D interface multi purpose inputs and outputs Applications Laboratory Automation Manufacturing Semiconductor Handling Robotics Factory Automation Test Measurement Life Science Biotechnology Liquid Handling Simpliﬁed Block Diagram 12 54V DC Microcontroller EEPROM I Os Step Motor RS485 MOSFET Driver Stage Energy E...

Page 2: ...l encoder input 15 7 5 Step Direction inputs 16 8 Communication 17 8 1 RS485 17 8 2 CAN 18 9 Motor driver current 20 10 Functional Description 22 11 Operational Ratings and Characteristics 23 12 Abbreviations used in this Manual 25 13 Figures Index 26 14 Tables Index 27 15 Supplemental Directives 28 15 1 Producer Information 28 15 2 Copyright 28 15 3 Trademark Designations and Symbols 28 15 4 Targ...

Page 3: ...in real time On the ﬂy alteration of motor parameters e g position velocity acceleration Linear and unique sixPoint ramp in hardware Encoder interface and Reference Stop switch inputs Driver Motor current up to 6A RMS 8 4A peak programmable in software Supply voltage 24V and 48V DC 12 54V DC 256 microsteps per fullstep spreadCycle highly dynamic current control chopper stealthChop for quiet operat...

Page 4: ...mounting holes for M3 screws Software TMCL remote direct mode and standalone operation memory for up to 1024 TMCL commands fully supported by TMCL IDE PC based integrated development environment Please see TMCM 1260 TMCL ﬁrmware manual for more details CANopen ﬁrmware with CANopen standard protocol stack for the CAN interface Please see TMCM 1260 CANopen ﬁrmware manual for more details 2018 TRINAM...

Page 5: ...S485 and USB interfaces 60mm x 60mm x 26mm TMCM 1260 3A TMCL 1 axis bipolar stepper motor controller driver up to 6A RMS motor current 48V nom supply in tegrated sensOstep encoder S D input 3 analog inputs 2 digital inputs 1 OD output CAN RS485 and USB interfaces 60mm x 60mm x 26mm Table 1 TMCM 1260 Order Code A cable loom set is available for this module Order Code Description TMCM 1260 CABLE Cab...

Page 6: ... motor mounted version together with a selection of NEMA23 NEMA24 ﬂange size stepper motor Please refer to PD57 60 x 1260 PANdrive hardware manual for further details 2018 TRINAMIC Motion Control GmbH Co KG Hamburg Germany Terms of delivery and rights to technical change reserved Download newest version at www trinamic com ...

Page 7: ...The TMCM 1260offers four metal plated mounting holes All mounting holes are connected to system and signal ground same as power supply ground In order to minimize distortion of signals and radiation of HF signals improve EMC compatibility especially in sensitive noisy environments it is important to ensure a solid ground connection within the system In order to support this it is recommended to co...

Page 8: ...ge spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them Therefore always switch off disconnect power supply or at least disable driver stage before connecting disconnecting motor I O RS485 CAN 1 5 USB 1 8 Motor 1 4 Power 1 4 1 4 Figure 2 TMCM 1260 connectors Connector Types and Mating Connectors Connector Connector type on board Mating connector type Power JST...

Page 9: ...settings in software This input may be connected to main power supply input permanently in case an enable input in hardware is not required Power Supply Connector Pin Assigment Pin Label Direction Description 1 GND Power GND Common system supply and signal ground 2 VMAIN Power input Main power supply input for the driver and on board logic 12 54V 3 Enable Digital input Driver enable input A voltag...

Page 10: ...e voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them Therefore always switch off disconnect power supply or at least disable driver stage before connecting disconnecting motor NOTICE Do not mix up power supply connector and the larger motor connector 4 3 RS485 CAN Connector For serial communication the TMCM 1260 offers selection between RS485 CAN and...

Page 11: ...urce sharing USB and CAN communication interfaces are not available at the same time As soon as USB is physically attached to a host or hub the CAN interface will be switched off USB Connector Pin Assignment Pin Label Direction Description 1 VBUS Power 5V USB 5V nom power supply input 2 D Bidirectional USB interface diff signal inverting 3 D Bidirectional USB interface diff signal inverting 4 ID I...

Page 12: ...x continuous pull down current 100mA Table 8 I O Connector Pin Assignment All pins marked light green offer functional isolation towards main supply input In case this is not required ISO_COM may be connected to main ground or supply input of course The opto couppler used are AC types This way either high side switches or low side switches for both inputs are supported 5 On Board LEDs The board of...

Page 13: ... steps 1 Switch power supply OFF and disconnect USB cable if applicable 2 Short CLK and DIO pads of programming pads on bottom of pcb see ﬁgure 4 3 Switch power supply ON again or connect USB again if applicable 4 Wait until the on board red and green LEDs start ﬂashing fast this might take a while 5 Switch power supply OFF again and disconnect USB cable if applicable 6 Remove short between pads 7...

Page 14: ... TMCM 1260 pull up disabled V 0 10V Figure 5 Analog input IN0 The analog input can be used as digital input also There is an integrated pull up to 5V which can be switched on of off in software When using this input as anlog input the pull up should be usually switched off 7 2 Digital inputs IN1 and IN2 The TMCM 1260 offers two digital inputs IN1 and IN2 which accept signals between 0 and 30V with...

Page 15: ... 680 6k8 2k2 3V3 microcontroller TMCM 1260 STOP_L STOP_R ISO_COM 24V_ISO GND_ISO or 24V_ISO GND_ISO Figure 7 Stop switch inputs A separated isolated supply may be used for the switches as indicated in the drawing 24V_ISO and related GND_ISO but same supply as for the TMCM 1260 can be used also of course 7 4 External incremental encoder input The TMCM 1260 offers an integrated hall sensor based mag...

Page 16: ... Please note that these signals should be 24V signals For lower voltage signals a simple small signal transistor maybe inserted as level converter 680 6k8 2k2 3V3 microcontroller TMCM 1260 STEP DIR ISO_COM 24V_ISO GND_ISO Figure 9 Step Direction input Due to limitations of the opto isolators the maximum step frequency of these inputs is limited to around 20kHz For higher motor speed the step inter...

Page 17: ...the TMCM 1260 units SN65HVD1781D offers a signiﬁcantly reduced bus load compared to the standard and allows a maximum of 255 units to be connected to a single RS485 bus using standard TMCL ﬁrmware Please note usually it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum supported communication speed at the same time Instead a compromi...

Page 18: ...igure 12 RS485 bus lines with Proﬁbus recommended line termination 8 2 CAN For remote control and communication with a host system the TMCM 1260 provides a CAN bus interface Please note that the CAN interface is not available in case USB is connected For proper operation the following items should be taken into account when setting up a CAN network 1 BUS STRUCTURE The network topology should follo...

Page 19: ...ould be properly terminated at both ends The TMCM 1260 does not integrate any termination resistor Therefore 120 Ohm termination resistors at both ends of the bus have to be added externally 3 BUS TERMINATION The bus transceiver used on the TMCM 1260 units TJA1051T supports at least 110 nodes under optimum conditions Practically achievable number of nodes per CAN bus highly depend on bus length lo...

Page 20: ...TMCM 1260 ﬁrmware manual for further information Motor current IRMS A Resulting motor current based on motor current setting Available motor current settings Motor current setting in software TMCL Current scaling step CS Motor current ICOIL A peak Motor current ICOIL A RMS 0 7 0 0 254 0 180 8 15 1 0 508 0 359 16 23 2 0 762 0 539 24 31 3 1 016 0 718 32 39 4 1 270 0 898 40 47 5 1 523 1 077 48 55 6 1...

Page 21: ...8 200 207 25 6 602 4 668 208 215 26 6 855 4 848 216 223 27 7 109 5 027 224 231 28 7 363 5 207 232 239 29 7 617 5 386 240 247 30 7 871 5 566 248 255 31 8 125 5 745 Table 10 Available motor current settings In addition to the settings in the table the motor current may be switched off completely free wheeling using axis parameter 204 see TMCM 1260 ﬁrmware manual 2018 TRINAMIC Motion Control GmbH Co ...

Page 22: ...re perfomrmed on board Full remote control of the device with feedback is possible The ﬁrmware of the module can be updated via any of the serial interfaces The TMCM 1260 module contains the following main components Microcontroller ARM Cortex M3 responsible for overall control and communication Highly integrated advanced stepper motor controller supporting linear and unique 6 points ramps in hard...

Page 23: ...ed current no forced cooling reaquired 30 40 C Table 11 General operational ratings of the module Operational Ratings of the I Os Symbol Parameter Min Typ Max Unit VOUT0 Voltage at open drain output OUT0 switched off 0 VPower V IOUT0 Output sink current of open drain output OUT0 switched on 100 mA VIN0 1 2 Input voltage for IN0 IN2 0 0 24 30 V VIN0 Measurement range for analog input IN0 0 101 V VI...

Page 24: ...d to single RS485 network 256 fRS485 Max speed for RS485 network 1Mbit s Table 13 Operational ratings of the RS485 interface Operational Ratings of the CAN Interface Symbol Parameter Min Typ Max Unit NCAN Number of nodes connected to single CAN network 110 fCAN Max speed for CAN network 1Mbit s Table 14 Operational ratings of the CAN interface 2018 TRINAMIC Motion Control GmbH Co KG Hamburg German...

Page 25: ...Description IDE Integrated Development Environment LED Light Emmitting Diode RMS Root Mean Square value TMCL TRINAMIC Motion Control Language Table 15 Abbreviations used in this Manual 2018 TRINAMIC Motion Control GmbH Co KG Hamburg Germany Terms of delivery and rights to technical change reserved Download newest version at www trinamic com ...

Page 26: ... inputs IN1 and IN2 15 7 Stop switch inputs 15 8 External encoder input 16 9 Step Direction input 16 10 RS485 bus structure with termination resistors 17 11 RS485 bus lines with resistor bias net work on one side only 18 12 RS485 bus lines with Proﬁbus recommended line termination 18 13 CAN bus structure with termination resistors 19 14 TMCM 1260 block diagram 22 2018 TRINAMIC Motion Control GmbH ...

Page 27: ...1 7 USB Connector Pin Assignment 11 8 I O Connector Pin Assignment 12 10 Available motor current settings 21 11 General operational ratings of the module 23 12 Operational ratings of I Os 24 13 Operational ratings of the RS485 inter face 24 14 Operational ratings of the CAN interface 24 15 Abbreviations used in this Manual 25 16 Hardware Revision 30 17 Document Revision 30 2018 TRINAMIC Motion Con...

Page 28: ... ﬁrst time in the document All trademarks and brand names used are property of their respective owners 15 4 Target User The documentation provided here is for programmers and engineers only who are equipped with the necessary skills and have been trained to work with this type of product The Target User knows how to responsibly make use of this product without causing harm to himself or others and...

Page 29: ...MIC s speciﬁc written consent TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ ments or in automotive applications unless speciﬁcally designated for such use by TRINAMIC TRINAMIC conveys no patent copyright mask work right or other trade mark right to this product TRINAMIC assumes no liability for any patent and or other trade mark rights of ...

Page 30: ...heat distribu tion on the pcb Table 16 Hardware Revision 16 2 Document Revision Version Date Author Description 1 00 2018 FEB 20 GE Initial version based on TMCM 1240 hardware manual 1 10 2018 MAR 28 GE I O details added 1 20 2018 MAY 17 GE Board dimensions corrected in module features section Table 17 Document Revision 2018 TRINAMIC Motion Control GmbH Co KG Hamburg Germany Terms of delivery and ...

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