TMCM-610
Hardware Manual
Version: 1.14
2010-APR-30
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20 357 Hamburg, Germany
Phone +49-40-51 48 06 - 0
FAX: +49-40-51 48 06 - 60
http://www.trinamic.com
Page 1: ...TMCM 610 Hardware Manual Version 1 14 2010 APR 30 Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20 357 Hamburg Germany Phone 49 40 51 48 06 0 FAX 49 40 51 48 06 60 http www trinamic com...
Page 2: ...ratings 12 6 Functional description 13 6 1 System architecture 14 6 1 1 Microcontroller 14 6 1 2 TMCL EEPROM 14 6 1 3 TMC428 motion controller 14 6 1 4 Stepper motor drivers 14 6 2 stallGuard sensorle...
Page 3: ...he TMCM 610 13 Figure 6 2 stallGuard adjusting tool 15 Figure 6 3 The stallGuard profiler 16 Figure 6 4 Left and right limit switches 17 Figure 6 5 Limit switch and reference switch 17 Figure 6 6 One...
Page 4: ...pment 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 TRIN...
Page 5: ...modules The TMCM 610 extends this to six motors It uses a powerful ATmega64 microcontroller and two TMC428 motor controllers As stepper motor drivers six TMC246 ICs are used Their very low heat dissi...
Page 6: ...nsions mm3 TMCM 610 SG 6 axis controller driver RS232 and USB interfaces 160 x 120 x 29 Related products QSH4218 35 10 027 QMot stepper motor 42mm 1A 0 27Nm 42 3 x 42 3 x 33 5 QSH4218 41 10 035 QMot s...
Page 7: ...0 Figure 4 1 Dimensions 4 2 Connecting the TMCM 610 module Figure 4 2 gives an overview of all the connectors The following sections describe all the connectors in detail R S232 USB 7 34 V DC GND Gene...
Page 8: ...ts of the connectors are printed on the board Connect one coil of the motor to the terminals marked A0 and A1 and the other coil to the connectors marked B0 and B1 See Figure 4 2 Never connect or disc...
Page 9: ...ded The interface supports the USB 2 0 standard Please see chapter 6 5 on how to install the device driver that is needed to communicate with the TMCM 610 via USB The USB interface and the RS232 inter...
Page 10: ...Programming the CPU via an in circuit programmer This is to be done by TRINAMIC only and not by the user The user can upgrade the firmware via the RS232 or USB interface using the Install OS function...
Page 11: ...TMCM 610 Hardware Manual V1 14 2010 APR 30 11 Copyright 2010 TRINAMIC Motion Control GmbH Co KG TMCM 610 Pin 1 Link these two pins USB RS232 Figure 4 6 Restoring all parameters to factory default...
Page 12: ...supply current per motor ICOIL 1 4 ICOIL A VINPROT Input voltage for StopL StopR GPI0 internal protection diodes 0 5 0 5 V 5V 0 5 V VANA INx analog measurement range 0 5 V VINLO INx StopL StopR low l...
Page 13: ...tion controller six TMC246 stepper motor driver the TMCL processor the program memory EEPROM and the host interfaces RS232 and USB 7 34V DC C TMCL Memory RS232 USB 16 I Os TMC 246 progammable Motion C...
Page 14: ...e operation the TMCM 610 module is equipped with a 16kByte EEPROM attached to the microcontroller The EEPROM can store TMCL programs consisting of up to 2048 TMCL commands 6 1 3 TMC428 motion controll...
Page 15: ...is deactivated default 1 7 Motor stops when stallGuard value is reached and position is not set zero Table 6 1 stallGuard parameter SAP 205 To activate the stallGuard feature use the TMCL command SAP...
Page 16: ...d profiler The result is shown as a graphic in the stallGuard profiler window After the profile recording has finished you can scroll through the profile graphic using the scroll bar below it The scal...
Page 17: ...CM 610 can be configured so that a motor has a left and a right limit switch Figure 6 4 The motor stops when the traveler has reached one of the limit switches left stop switch right stop switch REF_L...
Page 18: ...h is the highest resolution To set the microstep resolution with TMCL use instruction 5 SAP type 140 microstep resolution You can find the appropriate value in Table 6 3 Please refer to the TMCM 610 T...
Page 19: ...USB interface of a PC for the first time you will be prompted for a driver by the operating system Now insert the CD and select the tmcm 610 inf file there The driver will then be installed and is no...
Page 20: ...n the power supply An on board LED should start to flash This indicates the correct configuration of the microcontroller Step 5 Start the TMCL IDE Software development environment Type in the followin...
Page 21: ...0 13 ramp_div divider for the acceleration The higher the value is the less is the maximum acceleration default value 0 0 13 Usrs microstep resolution microsteps per fullstep 2usrs 0 7 a value of 7 i...
Page 22: ...p_div 1 usrs 6 Hz 31 122070 32 2048 2 1000 MHz 16 msf 1 Hz 34 1907 2 31 122070 Hz fsf 6 s MHz 21 119 2 1000 Mhz 16 a 29 1 1 2 s MHz 863 1 2 s MHz 21 119 af 6 If the stepper motor has e g 72 fullsteps...
Page 23: ...set independently for each motor TMCL the TRINAMIC Motion Control Language is described in a separate documentation the TMCM 610 TMCL Firmware Manual This manual is provided on the TMC TechLibCD and...
Page 24: ...03 2005 SEP 28 OK Dimensional drawing added 1 10 2006 SEP 16 HC Major Revision 1 11 2007 JUN 20 HC Added chapter 6 4 Microstep resolution 1 12 2007 DEC 18 HC Internal wiring of I Os added chapter 4 2...
