TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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Table of Contents
2
Features ........................................................................................................................................................................... 3
3
Order Codes ................................................................................................................................................................... 4
4
Mechanical and Electrical Interfacing ..................................................................................................................... 5
4.1
TMCM-1180 Dimensions and Mounting Holes ............................................................................................. 5
4.2
PD86-1180 Dimensions and Motor Specifications ...................................................................................... 6
4.2.1
Dimensions of PD86-3-1180 ........................................................................................................................ 6
4.2.2
Motor Specifications of QSH8618-96-55-700 ........................................................................................... 7
4.2.3
Torque Figure of QSH8618-96-55-700 ....................................................................................................... 8
4.3
Connectors of TMCM-1180 ................................................................................................................................. 9
4.3.1
Power Connector ......................................................................................................................................... 10
4.3.2
Serial Communication Connector ........................................................................................................... 12
4.3.3
USB Connector .............................................................................................................................................. 12
4.3.4
Output Connector ........................................................................................................................................ 13
4.3.5
Input Connector ........................................................................................................................................... 14
4.3.6
Step/Direction Connector .......................................................................................................................... 16
4.3.7
Encoder Connector ...................................................................................................................................... 17
4.3.8
Motor Connector and Specifications ...................................................................................................... 18
5
Jumpers ......................................................................................................................................................................... 19
5.1
RS485 Bus Termination .................................................................................................................................... 19
5.2
CAN Bus Termination........................................................................................................................................ 19
6
Operational Ratings ................................................................................................................................................... 20
7
Functional Description .............................................................................................................................................. 21
7.1
System Architecture .......................................................................................................................................... 21
7.1.1
Microcontroller ............................................................................................................................................. 21
7.1.2
EEPROM ........................................................................................................................................................... 21
7.1.3
Motion Controller ........................................................................................................................................ 21
7.1.4
Stepper Motor Driver .................................................................................................................................. 22
7.1.5
sensOstep Encoder ...................................................................................................................................... 22
8
TMCM-1180 Operational Description ..................................................................................................................... 23
8.1
Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23
9
TMCL ............................................................................................................................................................................... 25
10
CANopen ....................................................................................................................................................................... 25
11
Life Support Policy ..................................................................................................................................................... 26
12
Revision History .......................................................................................................................................................... 27
12.1
Document Revision ........................................................................................................................................... 27
12.2
Hardware Revision ............................................................................................................................................ 27
13
References..................................................................................................................................................................... 27
