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TMCM-078 Manual (V1.03 / September 10th, 2008)

Revision History

6.1

Documentation Revision

Version

Date

Author

Description

0.90

13-Nov-07

Initial version

0.91

17-Jan-08

DIP switch settings corrected

1.00

RS485 commands added

1.01

28-May-08

Error corrections, ‘D’ command added

1.02

10-Sep-08

Figure 3.2 corrected

Table 6.1: Document Revision

6.2

Firmware Revision

Version

Comment

Description

1.00

3-Apr-08

First release

1.01

16-Apr-08

‘D’ command added

1.02

26-Jun-08

Motor current values corrected

1.03

8-Aug-08

ChopSync function added, acceleration and velocity fine-tuned

Table 6.2: Firmware Revision

Содержание TMCM-078

Страница 1: ...078 Manual 1 axis stepper motor controller driver module 7A RMS 9 8A peak 75V with step direction interface Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20357 Hamburg Germany http www trinamic...

Страница 2: ...on 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 Se...

Страница 3: ...re 5 3 Step and Direction Signal schematically optocoupler input at screw connector 20 List of Tables Table 1 1 Order codes 4 Table 3 1 Power connector 6 Table 3 2 Motor connector 6 Table 3 3 RS485 co...

Страница 4: ...uts and outputs are accessible either via pluggable screw connector or by high density 2mm JST connectors Applications Step Direction stepper driver for industrial applications Robotics Centralized mo...

Страница 5: ...uipment 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 TR...

Страница 6: ...Pin1 Pin1 Pin1 Pin1 Pin1 Pin1 Pin1 Pin1 Power Motor RS485 I O Step Dir Figure 3 1 Pinning of TMCM 078 3 1 1 Power Pin Name Function 1 VS Positive power supply voltage 2 GND GND power Table 3 1 Power c...

Страница 7: ...Constant 3 3V output reference 2 Step Optically isolated step input negative 2 S Differential step input non inverted 3 Dir Optically isolated direction input positive 3 S Differential step input inve...

Страница 8: ...or to 3 3V 4 GND GND GND 5 GPI GPI General Purpose Input 6 GPO GPO General Purpose Output 7 RS485A RS485 remote control access A TTL input 8 RS485B RS485 remote control access B TTL input Table 3 5 I...

Страница 9: ...Step 2 Stall 0 Stall 1 Stall 2 Mode 0 Mode 1 ON 1 8 3 3 1 Motor current settings The motor run current can be set independently from the motor standby current There are five DIP switches altogether fo...

Страница 10: ...n current using the DIP switches marked StdCurr The module will switch to standby current when there has been no step pulse for at least two seconds StbCurr switches Standby current 2 1 0 OFF OFF OFF...

Страница 11: ...red OFF ON ON GPO set when StallGuard level greater than 2 else cleared ON OFF OFF GPO set when StallGuard level greater than 3 else cleared ON OFF ON GPO set when StallGuard level greater than 4 else...

Страница 12: ...ember 10th 2008 12 Copyright 2008 TRINAMIC Motion Control GmbH Co KG 3 4 Dimensions 135 00 94 00 5 00 89 00 76 00 47 50 18 00 5 00 33 00 67 50 102 00 130 00 All dimensions are in millimeter Figure 3 4...

Страница 13: ...nect com Motor Screw RIA type 320 RM5 4 pin RIA type 349 RM5 4 pin www riaconnect com RS485 Screw RIA type 183 RM3 5 4 pin RIA type 169 RM3 5 4 pin www riaconnect com JST JST B4B PH K RM2 www farnell...

Страница 14: ...ends on operation mode 20 or 36 kHz tSLP Coil output slope 300 ns IS Power supply current ICOIL 1 4 ICOIL A VOPTON Signal active voltage at disable step and direction input optocoupler on screw connec...

Страница 15: ...cal information on the motor choice but you can skip it if you want to experiment with a given motor Normally best results will be achieved when operating the given motor in a range of 50 to 100 of no...

Страница 16: ...24 V 5 0 0 75 mH 75 V 0 48 mH 48 V 0 24 mH 24 V 4 0 0 94 mH 75 V 0 6 mH 48 V 0 3 mH 24 V 3 0 A 1 25 mH 75 V 0 8 mH 48 V 0 4 mH 24 V 2 0 A 1 875 mH 75 V 1 2 mH 48 V 0 6 mH 24 V 1 0 A 3 75 mH 75 V 2 4...

Страница 17: ...fore we recommend to a keep power supply cables as short as possible b use large diameter for power supply cables c if the distance to the power supply is large i e more than 2 3m use a robust 4700 F...

Страница 18: ...ent to a value which is significantly lower than the motor maximum coil current If it is too high the motor has significant magnetization losses and coil power dissipation and would get much too hot e...

Страница 19: ...External signals and motor reactions Disable 5V 5V rotating on off Direction 5V rotating direction 5V Step 5V 5V Velocity Deceleration Acceleration const Motor Speed rotate right rotate left 0 GND GN...

Страница 20: ...Step and Direction Signal schematically optocoupler input at screw connector Maximum frequency at JST connector Even higher than at screw connector Limited by microcontroller but not yet evaluated app...

Страница 21: ...rch h Check if reference search still in progress 5 4 7 L l Limit switch L configure limit switches l read back limit switch settings 5 4 8 M m Mode M select chopper mode 0 2 m read back actual choppe...

Страница 22: ...s set by the DIP switches The c command outputs the actual motor current setting 5 4 4 Commands D and d Set or read back mixed decay setting The D command sets the mixed decay behavior The parameter c...

Страница 23: ...nd H and h start or check reference search The H command starts a reference search that must have been previously configured by an R command Its main use is to test the reference search configuration...

Страница 24: ...nce search The R command is used to configure the automatic power on reference search feature The command takes four parameters the reference search mode the reference search velocity the reference se...

Страница 25: ...ges the baud rate of the module for RS485 communication according to the following table Parameter U Baud rate 0 9600 baud 1 14400 baud 2 19200 baud 3 28800 baud 4 38400 baud 5 57600 baud 6 76800 baud...

Страница 26: ...microstep resolution The Z command changes the microstep resolution The z command outputs the actual microstep resolution The power on setting can be set using the DIP switches Parameter Z Microstep r...

Страница 27: ...witch settings corrected 1 00 OK RS485 commands added 1 01 28 May 08 OK Error corrections D command added 1 02 10 Sep 08 OK Figure 3 2 corrected Table 6 1 Document Revision 6 2 Firmware Revision Versi...

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