Trinamic TMCM-078, Руководство пользователя, Страница: 2 / 27

TMCM-078 Manual (V1.03 / September 10th, 2008) 2
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1 Features........................................................................................................................................................................... 4
2 Life support policy ....................................................................................................................................................... 5
3 Electrical and Mechanical Interfacing ..................................................................................................................... 6
3.1 Pinning ................................................................................................................................................................... 6
3.1.1 Power ........................................................................................................................................................... 6
3.1.2 Motor ............................................................................................................................................................ 6
3.1.3 RS485 ............................................................................................................................................................ 7
3.1.4 Step / Dir ..................................................................................................................................................... 7
3.1.5 I / O .............................................................................................................................................................. 8
3.2 Jumper .................................................................................................................................................................... 8
3.2.1 Select Optically Isolation ....................................................................................................................... 8
3.2.2 RS485 Term ................................................................................................................................................ 9
3.3 DIP switches......................................................................................................................................................... 9
3.3.1 Motor current settings ............................................................................................................................ 9
3.3.2 Microstep resolution .............................................................................................................................. 10
3.3.3 Stall detection ......................................................................................................................................... 11
3.3.4 Mode setting ............................................................................................................................................ 11
3.4 Dimensions ......................................................................................................................................................... 12
3.5 Connectors .......................................................................................................................................................... 13
4 Operational Ratings ................................................................................................................................................... 14
5 Getting Started ............................................................................................................................................................ 15
5.1 Motor .................................................................................................................................................................... 15
5.1.1 Motor Choice ............................................................................................................................................ 15
5.1.1.1 Motor velocity ............................................................................................................................. 15
5.1.1.2 Operating Modes 0 (SPI / Default Mode) and 1 (PWM) .................................................. 15
5.1.1.3 Operating Mode 2 (PHASE) ...................................................................................................... 16
5.2 Power Supply Requirements ......................................................................................................................... 17
5.2.1 Operating Modes .................................................................................................................................... 17
5.2.1.1 Operating Mode 0 (SPI) / Default Mode .............................................................................. 17
5.2.1.2 Operating Mode 1 (PWM) ........................................................................................................ 18
5.2.1.3 Operating Mode 2 (PHASE) ...................................................................................................... 18
5.3 Step / Direction.................................................................................................................................................. 19
5.3.1 Direction .................................................................................................................................................... 19
5.3.2 Step ............................................................................................................................................................ 20
5.4 RS485 interface .................................................................................................................................................. 20
5.4.1 RS485 command overview .................................................................................................................. 21
Example for test move:................................................................................................................................... 22
5.4.2 Commands ‘A’ and ‘a’: Set or read back acceleration ................................................................. 22
5.4.3 Commands ‘C’ and ‘c’: Set or read back motor current .............................................................. 22
5.4.4 Commands ‘D’ and ‘d’: Set or read back mixed decay setting ................................................. 22
5.4.5 Commands ‘E’ and ‘e’: Read motor driver error status ............................................................... 22
5.4.6 Commands ‘G’ and ‘g’: StallGuard ..................................................................................................... 23
5.4.7 Command ‘H’ and ‘h’: start or check reference search ............................................................... 23
5.4.8 Command ‘L’: limit switch configuration ........................................................................................ 23
5.4.9 Command ‘M’ and ‘m’: Chopper mode ............................................................................................ 23
5.4.10 Command ‘O’: set the general purpose output ............................................................................ 24
5.4.11 Command ‘P’ and ‘p’: set and read position counter ................................................................. 24
5.4.12 Command ‘Q’ or ‘q’: read the state of the I/O lines .................................................................... 24
5.4.13 Command ‘R’ and ‘r’: configure automatic reference search .................................................... 24
5.4.14 Command ‘T’ and ‘t’: set RS485 delay .............................................................................................. 25
5.4.15 Command ‘U’ and ‘u’: set RS485 bit rate ........................................................................................ 25
5.4.16 Command ‘V’ and ‘v’: velocity mode ................................................................................................ 25
5.4.17 Command ‘W’: store parameters to FlashROM .............................................................................. 25
5.4.18 Command ‘X’ and ‘x’: firmware revision number ......................................................................... 26
5.4.19 Command ‘Y’ and ‘y’: standby current setting .............................................................................. 26
5.4.20 Command ‘Z’ and ‘z’: change microstep resolution ..................................................................... 26