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PD-013-42 / TMCM-110-42 Manual (V1.24/2011-NOV-25)

Revision history

9.1

Document revision

Version Comment Author 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

Updates

stallGuard

™

added with RS485 command ‘G’, formerly used for output

setting (LED) now command ‘O’. Switched default mode to SPI.

1.15

Updates

RS485 connection documentation revised

1.16

Updates

Power supply requirements, velocity mode, modes 3 and 4, GPO, GPI
wiring scheme included

1.17

Updates

Firmware update included

1.18

Corrections

Step / direction timing

1.19

Corrections

Chopper mode 2 – inductivities, microstep resolution corrected

1.20

Addition

Reversed connector numbering, step/dir high signal has to match V

COM

1.21

Update

RS485 command ‘W’ clarified, Figure 8.4 corrected (disable)

1.22

Addition

Additional feature of firmware V1.12 (stallGuard

™

with step/direction)

added.

1.23

Correction

Address setting procedure corrected

1.24

Correction

Order codes new, new design, minor changes

Table 9.1: Document revision

9.2

Firmware revision

Version Comment

Description

1.05

Pls. update

1.07

Bug fix

Full functionality with some possibilities to expand

1.08

Bug fix, new

options

Added chopper modes 3 and 4, modified V command, corrected RS485
bug (always echoing of CR at earlier versions)

1.09

Bug fix

‘E’ command corrected (output was shifted by four bits)

1.10

New options

‘X’ command can also be given as lower case letter
Option 2 for ‘O’ command added
Mixed decay automatically disabled when StallGuard enabled
Mixed decay can be disabled without turning on stallGuard

™

using G8

1.11

Improvement stallGuard

™

improved by filtering

1.12

New option

stallGuard

™

also usable in step/direction mode (controls GPO then)

1.13

Improvement Motor powered (with stand by current) directly after enabling in all modes

Table 9.2: Firmware revision

Содержание PDx-013-42

Страница 1: ...MIC Motion Control GmbH Co KG Hamburg Germany www trinamic com V 1 24 HARDWARE MANUAL TMCM 013 42 TMCM 013 42 LA controller driver up to 1A RMS 30V DC RS485 step direction driver PDx 013 42 controller driver up to 1A RMS 30V DC RS485 step direction driver ...

Страница 2: ... 7 2 1 10 Velocity mode V and A 15 7 2 1 11 Store parameters to EEPROM W 15 7 2 1 12 Microstep resolution Z 16 7 3 Chopper modes 16 7 3 1 Chopper mode 0 SPI default mode 16 7 3 2 Chopper mode 1 PWM 16 7 3 3 Chopper mode 2 PHASE 16 7 3 4 Chopper mode 3 Phase and SPI 17 7 3 5 Chopper mode 4 PWM and SPI 17 7 4 Step direction 18 7 4 1 Direction 18 7 4 2 Step 18 7 5 Firmware update 19 7 6 Reset to fact...

Страница 3: ...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 TRINAMIC Motion Control GmbH Co KG 2011 Information given in this data sheet is believed to be accurate and reliable However neither responsibility is assumed for the consequences of its use nor for an...

Страница 4: ...iver for general decentralized applications Robotics Remote diagnostics feedback allows for high reliability drives Motor type Coil 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 200 fullsteps per revolution please refer to motor data sheet for detailed motor information Highlights Remote controlled ...

Страница 5: ...iption Dimensions mm PD1 013 42 option PANdrive 0 27Nm 53 x 42 x 42 PD2 013 42 option PANdrive 0 35Nm 59 x 42 x 42 PD3 013 42 option PANdrive 0 49Nm 69 x 42 x 42 TMCM 013 option Motion control module for NEMA 17 motors 14 x 42 x 42 TMCM 013 LA option Motion control module for NEMA 17 linear actuators 14 x 42 x 50 Table 3 1 PANdrive and module order codes Option Host interface 485 RS485 Table 3 2 O...

Страница 6: ...ve power supply voltage GND 2 GND power VCOM 3 Reference 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 to inverse motor direction leave open or at VCOM otherwise Step 6 Step signal optically isolated Cathode of optocoupler Alert 7 Alert output for wiring ...

Страница 7: ...e 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 4 2 Dimensions for TMCM 013 TMCM 013 LA 5 4 mm 44 6 mm 36 4 mm 12 5mm 20 9 mm 20 9 mm 36 4 mm 50 0 mm 41 8 mm Figure 4 3 Dimensions for TMCM 013LA 4 3 Connectors The numbering printed on the 16 pin connector is reversed The red cable is pin 1 Both connectors are cri...

Страница 8: ...ly voltage for step direction and disable inputs have negative logic 5 24 27 V VOPTON Signal active voltage at disable step and direction input optocoupler on measured from UCOM to input 3 5 4 5 24 30 V VOPTOFF Signal inactive voltage at disable step and direction input optocoupler off measured from UCOM to input 5 5 0 2 V IOPT Optocoupler current internally regulated 4 8 mA fSTEP Step frequency 3...

Страница 9: ...positive supply voltage of the master and the inputs are driven by open collector or push pull outputs VOPTOFF and VOPTON must not exceed VCOM to avoid reverse polavity for the optocouplers OFF VCOM VIN 1 0V ON VCOM VIN 3 5V UCOM 5 24V Disable Dir Step C E A C C E A C C E A C GND µC A Anode C Cathode C Collector E Emitter 5V Figure 5 1 Step direction and disable inputs Examples VOPTOFF VOPTON VSTE...

Страница 10: ...user s responsibility to stop the step impulses or set the velocity to zero before enabling the motor again because it starts abrupt otherwise Function Table VOPTON open wire VOPTOFF motor disabled motor enabled 7 2 RS485 interface The RS485 interface can control all functions of the TMCM 013 It is possible to change parameters with this interface which are also valid in the other modes like max v...

Страница 11: ...hout moving the motor See command R to read out current value 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 7 2 1 7 R Read Current Position Provides the current position of the motor See command P to manipulate this value 32 bit S Changes address byte Capital letter followed by the command S makes this letter the new address byte BS mak...

Страница 12: ...ve the 100 setting at any time Not all currents can be continuously driven at all supply voltages and cooling circumstances Please take care of the motor current limitations 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 35A 33 20 0 30A 0 21A 25 0 0A 0 00A 0 Table 7 2 Motor current examples not possible for chopper mode 2 7 2...

Страница 13: ...p direction mode the motor will not be stopped when the stallGuard value is reached but the general purpose output will be controlled by the stallGuard value when the actual load value is greater than the stallGuard value the GPO will be switched on and when the actual load value is lower or equal to the stallGuard limit the GPO will be switched off This can be used to signal a stall to the step d...

Страница 14: ... The position value of the motor can be changed by the command P When changing this value just the motors positioning counter is changed The motor does no according movement The actual position can be read out by the command R 7 2 1 8 I Os readout Q Command AQ ENTER Bit 7 6 5 4 3 2 1 0 Port 0 0 0 GPI REF_A REF_B GPO ALARM Table 7 8 I Os Readout 7 2 1 9 Baud rate U The parameter U changes the baud ...

Страница 15: ...s microsteps n s microsteps v For a 200 step motor at 64 microsteps this results in 85815 s rotations n s rotations v A practical limit for most stepper motor types is ca 20 rotations sec in chopper mode 0 In chopper mode 2 it is 5 rotations sec As a second parameter value 0 or 1 is optional The V command also has a second parameter leaving it out or setting it to 0 will send the carriage return c...

Страница 16: ...d a high range of supply voltage and motor current settings A resolution of up to 64 microsteps can be simulated but the motor precision is only slightly improved compared to 16 microsteps and the same as with 32 microsteps The maximum supply voltage VS of the motor must not exceed 22 25 times the nominal motor voltage VN regarding the multiplication of ICOIL MAX and RMOTOR A higher value would le...

Страница 17: ...ode combines the modes 2 Phase and 0 SPI in order to provide highest accuracy at lower velocities and also the possibility for faster movements Through the switching between modes some microsteps may be lost Microstep resolution must not be higher than 64 It is set according to Phase mode so possible values for Z microstep resolution are 2 3 or 4 µsteps Phase to SPI SPI to Phase V value Rounds s V...

Страница 18: ...connected to VCOM Direction connected to Ground Table 7 12 External signals and motor reactions Motor Speed Step Vcom 0 V Disable Vcom 0 V Velocity Deceleration Acceleration rotating on off const Direction Vcom 0 V rotating direction rotate left rotate right 0 Figure 7 3 Step direction signals and motor reactions 7 4 1 Direction The Direction signal changes the motors rotation from clockwise CW to...

Страница 19: ...Table Extern GND open wire VCOM 5 24V Intern HIGH LOW step pulse direction 0 7µs min 2 0µs min 0 7µs min tDIRHOLD tDIRSETUP Figure 7 4 Step and Direction Signal 7 5 Firmware update Start the program TMCM013boot exe for the firmware update available on www trinamic com Figure 7 5 Firmware update tool Choose your RS485 connection Select your Module ID default is A Load the new firmware file e g TMCM...

Страница 20: ...odule is not known it makes sense to restore factory default settings switch OFF the module and short circuit pin 1 and pin 3 of the free contacts for a 6 pin connector on the backside of the module Turn on the module and switch it off again for removing the short circuit All settings are now at factory default pin 1 quadratic pin 3 Figure 7 6 Reset to factory default ...

Страница 21: ... If the motor heats up very quickly check all settings The motor shall never reach a temperature above 100 C under any circumstances Some stepper motors need contact to metallic parts to allow continuous operation Mind the default settings when you operate in step dir mode the first time You can store your own settings in the module permanently 8 2 1 Motor choice Care has to be taken concerning th...

Страница 22: ...e motor must not exceed 22 25 times the nominal motor voltage VN regarding the multiplication of ICOIL MAX and RMOTOR A higher value would lead to an excess of motor rating The minimum supply voltage has to be above two times the nominal motor voltage MOTOR MAX COIL N N S N R I V V V V 25 22 2 8 2 4 Chopper Mode 2 PHASE In Table 8 1 and Figure 8 2 examples of maximum supply voltages VS regarding t...

Страница 23: ...motor and power supply 8 3 Power supply requirements The power supply should be designed in a way that it supplies the nominal motor voltage at the desired maximum motor power In no case shall the supply value exceed the upper lower voltage limit To ensure reliable operation of the unit the power supply has to have a sufficient output capacitor and the supply cables should have a low resistance so...

Страница 24: ...5 Pin 6 Figure 8 4 Contacts for step direction The maximum step frequency is 350 kHz limited by the optocouplers 8 5 Connections for RS485 interface The RS485 mode allows for configuration of motor parameters as well as remote control of the motor 8 5 1 Interface installation To connect the module to a PC a RS485 interface is required for example TRINAMICs USB 2 485 or any other RS485 adapter like...

Страница 25: ...e in Figure 8 6 and confirm with OK Bit rate Data bits Parity Stop bits Flow control none none Figure 8 6 Connection settings for RS485 Type into the terminal window commands like AV 50000 AA 300 or Ac and execute each with ENTER With standard RS485 adapters the typed value may be echoed and lines like AAVV 5500000000 for the typed AV 50000 appear The value sent to the module is the typed one and ...

Страница 26: ...HC RS485 command W clarified Figure 8 4 corrected disable 1 22 Addition OK Additional feature of firmware V1 12 stallGuard with step direction added 1 23 Correction OK Address setting procedure corrected 1 24 Correction SD Order codes new new design minor changes Table 9 1 Document revision 9 2 Firmware revision Version Comment Description 1 05 Pls update 1 07 Bug fix Full functionality with some ...

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