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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) 

preliminary

 

  10 

 

3.2

 

ESELSBRÜCKE: SPI Interface, I/Os, and Test Points 

The multi-pin connector ESELSBRÜCKE is used to connect STARTRAMPE and TMC5130-EVAL. Pin connections 
include the SPI interface, supply voltages, and IOs like driver enable (DRV_ENN), position compare (PP), 
interrupts (INT), and status flags. ESELSBRÜCKE offers test points for several measurements.  

 

Figure 3.4 ESELSBRÜCKE: pin assignment 

 

Pin 

Label 

ESELSBRÜCKE 

Label 

TMC5130-EVAL 

Description 

1 

+VM 

+VM 

Operational voltage: +4.5… 20V DC. 
STARTRAMPE: connected to µC (VM_MEAS) for voltage 
measurement.  

2 

GND 

GND 

System and module ground.  

3 

GND 

GND 

System and module ground.  

4 

ID_CLK 

ID_CLK 

STARTRAMPE: clock pulse test point.  
Timer mode 3 (general purpose) and timer mode 8 (advanced 
control) of the microcontroller are used. Both capture 4 
channels. 

5 

+5V_USB 

VCC_IO 

Used to generate 3.3V (VCCIO). 

6 

ID_CH0 

ID_CH0 

ID channel 0. Used for automatic module detection.  

7 

ID_CH1 

- 

STARTRAMPE: ID_CH1.

 Not used with TMC5130-EVAL.  

8 

DIO0 

DRV_ENN 

Enable (not) input for driver (tie to GND). Switches off all motor 
outputs (set high for disable).  

9 

DIO1 

ENCN_DCO 

Encoder N-channel or dcStep ready output when SD_MODE=1. 

10 

DIO2 

ENCA_DCIN 

Encoder A-channel  or dcStep gating input for axis 
synchronization when SD_MODE=1.  

11 

DIO3 

ENCB_DCEN 

Encoder B-channel or dcStep enable input when SD_MODE=1. 

12 

DIO4 

- 

STARTRAMPE: analogue inputs. 

Not used with TMC5130-EVAL.

 

13 

DIO5 

- 

14 

AIN0 

- 

15 

AIN1 

- 

16 

AIN2 

- 

17 

DIO6 

REF_L 

Left reference switch signal 

18 

DIO7 

REF_R 

Right reference switch signal 

19 

DIO8 

- 

STARTRAMPE: digital IOs. 

Not used with TMC5130-EVAL.

 

20 

DIO9 

- 

21 

DIO10 

AIN_IREF_SW 

Optional current reference when using TMC5130 internal current 
sensing (sense resistors bridged).  

22 

DIO11 

AIN_IREF_PWM  Analog scaling of motor current using microcontroller PWM.  

23 

CLK16 

CLK 

CLK input 16MHz.  

 

 

Avoid displacing ESELSBRÜCKE when operating! 
Otherwise STARTRAMPE and/or the TMC5130-EVAL 
can be damaged! 

 

 
 

 

www.trinamic.com 

 

Содержание TMC5130-EVAL

Страница 1: ...s TMCL IDE 3 0 SOFTWARE TMCL IDE 3 0 software allowing access to all registers Graphical view of position counter and motor velocity Additional tools for special features TMC5130 MAIN CHARACTERISTICS 2 phase bipolar stepper motors Drive capability up to 2A coil current Motion controller sixPoint ramp Voltage range 4 75 46V DC SPI single wire UART Dual ABN encoder interface 2x reference switch inpu...

Страница 2: ...ows significant energy savings because coolStep automatically enables torque reserve when required 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 50 100 150 200 250 300 350 Efficiency Velocity RPM Efficiency with coolStep Efficiency with 50 torque reserve dcStep dcStep is an automatic commutation mode for the stepper motor It allows the stepper to run with its nominal velocity taken from the ramp generat...

Страница 3: ... STARTRAMPE Therefore use ESELSBRÜCKE a special connector board with test points Order codes Description Size of unit mm2 TMC5130 EVAL KIT Evaluation board for TMC5130A TA two phase motor controller driver including STARTRAMPE and ESELSBRÜCKE 12 6 x 8 5 Table 1 1 Order Codes Note STARTRAMPE and ESELSBRÜCKE are baseboard and connector board designed for universal use within TRINAMICs plug in evalua...

Страница 4: ... 5 Test Points in addition to ESELSBRÜCKE 9 3 2 ESELSBRÜCKE SPI Interface I Os and Test Points 10 3 3 STARTRAMPE Connectors on the Base Board 11 3 3 1 USB Connector 11 3 3 2 RS232 Connector not soldered 12 4 System Status LEDs 12 5 Operational Ratings of the TMC5130 EVAL KIT 13 6 Getting Started 14 6 1 Starting up 15 6 1 1 Checking the Status of Startrampe and TMC5130 EVAL 16 6 2 Velocity Mode 17 ...

Страница 5: ...his small board forwards signals from STARTRAMPE to TMC5130 EVAL ESELSBRÜCKE provides test points for several measurements TMC5130 EVAL This evaluation board is designed for testing all features of the TMC5130 The TMC5130 motion controller and driver IC is an intelligent power component interfacing between the CPU and a stepper motor Several motion commands can be easily executed The TMC5130 offer...

Страница 6: ...to the motor load stealthChop chopper for noiseless operation and smooth motion Integrated current sense option Passive breaking and freewheeling mode spreadCycle chopper or classic chopper Electrical Data Motor current up to 2x 1 1 A RMS nominal motor current Supply voltage 4 5V 20V DC operating voltage Interfaces USB type B RS232 connector can be retrofitted Native SPI of the TMC5130 Encoder int...

Страница 7: ...able for M3 screws TMC5130 EVAL maximum component height above PCB level without mating connectors 12mm STARTRAMPE maximum component height above PCB level without mating connectors 11mm 55 85 4 4 Figure 2 1 Dimensions TMC5130 EVAL and STARTRAMPE 2 1 2 Dimensions of ESELSBRÜCKE Board dimensions are 61mm x 38mm Maximum component height above PCB level without mating connectors is 9 4mm 38 61 Figure...

Страница 8: ...ouded header RIA 169 04 screw type terminal block pluggable centerline 3 5 mm 0 138 inches wire entry parallel to plug direction SPI and IOs 2 x 22 pol 2 54mm pitch pluggable female connector 2 x 22 pol 2 54mm pitch pluggable male connector Reference switches Standard male 4 pin connector one row 2 54mm pitch Standard female 4 pin connector one row 2 54mm pitch Encoder Standard male 5 pin connecto...

Страница 9: ... connector 3 1 5 Test Points in addition to ESELSBRÜCKE Apart from ESELSBRÜCKE the evaluation system provides test points on the TMC5130 EVAL TEST POINTS ON TMC5130 EVAL Label Description R_SENSE1 Sense resistor motor coil A R_SENSE2 Sense resistor motor coil B GND Signal and system ground AIN_REF Analog reference voltage of AIN_REF_SW internal current sensing or of AIN_REF_PWM analog current scal...

Страница 10: ...3V VCCIO 6 ID_CH0 ID_CH0 ID channel 0 Used for automatic module detection 7 ID_CH1 STARTRAMPE ID_CH1 Not used with TMC5130 EVAL 8 DIO0 DRV_ENN Enable not input for driver tie to GND Switches off all motor outputs set high for disable 9 DIO1 ENCN_DCO Encoder N channel or dcStep ready output when SD_MODE 1 10 DIO2 ENCA_DCIN Encoder A channel or dcStep gating input for axis synchronization when SD_MO...

Страница 11: ...ut DIAG1 Interrupt 38 DIO16 SWN_DIAG0 Single wire IO negative when SWSEL 1 otherwise diagnostics output DIAG0 Interrupt or STEP output in motion controller mode 39 DIO17 STARTRAMPE reference switches and end switches Can be used as digital IOs Not used with TMC5130 EVAL 40 DIO18 41 DIO19 42 5V VM 5V supply Only available when VM applied 700mA 43 GND GND System and module ground 44 GND GND System a...

Страница 12: ...ector 4 System Status LEDs STARTRAMPE has two LEDs The green STATUS LED flashes constantly per default and indicates normal operation of the board The red ERROR LED only lights up if an error occurred Figure 4 1 LEDs LEDS OF TMC5130 EVAL Label Color Description Status LED green Heartbeat of the module Flashes constantly per default Error LED red Lights up in case of dysfunction e g if VM is not av...

Страница 13: ... Do not exceed the maximum values during operation Otherwise the TMC5130 will be damaged Symbol Parameter Min Typ Max Unit VM Power supply voltage for operation 7 24 46 V VCCIO Digital power supply for external microcontroller 3 3 V 5V Output of internal switch regulator 5 5 1 V ISUPPLY Power supply current 0 5 1 5 2 A TENV Environment temperature at rated current no forced cooling required 20 C C...

Страница 14: ... FOR CONFIGURATION The TMC5130 EVAL KIT supports both USB self powered operation when an external power is supplied via the power supply connector on the TMC5130 EVAL and USB bus powered operation only the USB interface is connected to the PC On board digital core logic will be powered via USB in case no other supply is connected The digital core logic comprehends the microcontroller itself and al...

Страница 15: ...ctions The second tab of the dialogue offers the possibility to choose basic settings or to reset the module to factory defaults Figure 6 3 Startrampe dialogue 3 The TMCL IDE 3 0 needs room to show all important information and to provide a good overview Therefore arrange the main window related to your needs We recommend using full screen For evaluation boards it is essential to have access to th...

Страница 16: ...N 4 After selecting a value for IRUN connect the motor and the power supply For QSH4218 24V are recommended Turn power ON The green LED for the heartbeat STATUS flashes and the red LED for ERROR is off The motor is powered but in standstill now In case the ERROR LED glows check your power supply again 6 1 1 Checking the Status of Startrampe and TMC5130 EVAL In case it is desired to check if the co...

Страница 17: ...city mode and or positioning mode first Beyond this the direct mode function can be used This way TMCL commands can be sent to the evaluation board system The direct mode dialogue is designed for TRINAMICs board level solutions and not mainly for evaluation board systems 6 2 Velocity Mode For moving the motor in velocity mode set two ticks on the left side of the main window to open the velocity m...

Страница 18: ...ation deceleration start velocity can be 0 acceleration A1 velocity V1 deceleration D1 and stop velocity not less than 1 Please note that the default deceleration D1 value has to be changed before moving because it is too high Figure 6 6 Driving the motor in positioning mode The motor can be driven relatively or absolutely to the target position or to the actual position If the desired position ha...

Страница 19: ...ow pops up The direct mode is used to issue commands and create complete programs The handling of these TMCL IDE commands is easy but for evaluating the TMC5130 the other modes of operation and the direct register access via the register browser may be better because the register access is not visible in direct mode Figure 6 8 How to use direct mode Figure 6 9 Selecting a command in direct mode ww...

Страница 20: ...ard threshold to use stallGuard2 With a tick at filter enable reading out the values gets more comfortable The dialogue offers three tabs for stallGuard2 coolStep and a display of TMCL commands which can be copied to the TMCL creator Figure 6 10 coolStep and stallGuard2 dialogue 6 6 TMCL Creator The TMCL creator is a tool for writing programs which can be loaded into the module in order to drive a...

Страница 21: ...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 2014 2015 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 any infringement of patents or other rights of third...

Страница 22: ...thor Description 3 0 2014 NOV 07 OK MJ TE TMCL IDE 3 0 ßVersion Table 8 1 Firmware revision 8 2 Document Revision Version Date Author SD Sonja Dwersteg Description 0 92 2014 DEC 04 SD Initial version Table 8 2 Document revision 9 References TMC5130A TA TMC5130A TA Datasheet please refer to http www trinamic com www trinamic com ...

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