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MODULES FOR STEPPER MOTORS

 

    

  

                                                                                                     MODULES

 

  

 

 

 
 
 
 
 

TRINAMIC Motion Control GmbH & Co. KG 

 

Hamburg, Germany 
 

www.trinamic.com 

 
 
 
 

 
 

Hardware Version V1.3 

HARDWARE MANUAL 

 

+

 

+

 

 

TMCM-1141 

 

 

 

 

 
 

 

 
 
 
 
 
 
 
+ 

+    

 
 
 

U

NIQUE 

F

EATURES

 

 

 

 

 

 

 

1-Axis Stepper 
Controller / Driver 
24

 

V DC 

up-to 1.1

 

A

 

 / 2A RMS  

USB, RS485, and S/D Interface

 

Содержание TMCM-1141

Страница 1: ...MODULES TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com Hardware Version V1 3 HARDWARE MANUAL TMCM 1141 UNIQUE FEATURES 1 Axis Stepper Controller Driver 24 V DC up to 1 1 A 2A RMS...

Страница 2: ...nnector 10 3 2 3 Multipurpose I O Connector 11 3 2 4 Step Direction Connector 15 3 2 5 Motor Connector 16 4 Motor driver current 17 5 Reset to Factory Defaults 20 6 On Board LED 20 7 Operational Ratin...

Страница 3: ...mance microcontroller for overall system control and serial communication protocol handling Bipolar stepper motor driver Up to 256 microsteps per full step High efficient operation low power dissipati...

Страница 4: ...1 1 stallGuard2 load measurement SG as a function of load coolStep coolStep is a load adaptive automatic current scaling based on the load measurement via stallGuard2 adapting the required current to...

Страница 5: ...Table 2 2 Firmware options A cable loom set is available for this module Order code Description TMCM 1141 CABLE Cable loom for TMCM 1141 1x cable loom for power and RS485 connector length 200mm 1x cab...

Страница 6: ...are approx 37 mm x 37 mm x 11 5 mm in order to fit on the back of a 42 mm stepper motor Maximum component height height above PCB level without mating connectors is around 8mm above PCB level and 2 mm...

Страница 7: ...CVIlux CI01055000 A Contacts CVIlux CI01T011PE0 A or Connector housing JST PHR 5 Contacts JST SPH 002T P0 5S Wire 0 22mm2 Multi purpose I O Connector CI0108P1VK0 LF CVIlux CI01 series 8 pins 2mm pitch...

Страница 8: ...t size e g 1000 F 35V to the power supply lines next to the TMCM 1141 especially if the distance to the power supply is large i e more than 2 3m In larger systems a zener diode circuitry might be requ...

Страница 9: ...us transceivers used on the TMCM 1141 units hardware V1 2 SN65HVD3082ED since hardware V1 3 SN65HVD1781D have a significantly reduced bus load and allow a maximum of 255 units to be connected to a sin...

Страница 10: ...eed 12Mbit s connections 1 5 Pin Label Direction Description 1 VBUS Power supply input 5V supply from host 2 D Bidirectional USB Data 3 D Bidirectional USB Data 4 ID Power GND Connected to signal and...

Страница 11: ...24 V compatible Alternate function left stop switch input 7 IN_2 Input General purpose digital input 24 V compatible Alternate function right stop switch input 8 IN_3 Input General purpose digital inp...

Страница 12: ...functionality in hardware TMCL GAP 10 0 get digital value of STOP_R input IN_3 8 General purpose digital input TMCL GIO 3 0 get digital value of input IN_3 HOME home switch input connected to processo...

Страница 13: ...ay be read using command GIO 0 1 The command will return the raw value of the 12bit analog to digital converter between 0 4095 It is also possible to read the digital value of this input using TMCL co...

Страница 14: ...witch on at power up With TMCL firmware OUT_0 can be switched on OUT_0 pulled low using command SIO 0 2 1 and off again OUT_0 floating using command SIO 0 2 0 Quite similar OUT_1 can be switched on OU...

Страница 15: ...ut of TMC262 driver IC Table 3 6 Step Direction connector 3 2 4 1 Step Direction Enable inputs The inputs Step Direction Enable are electrically optically isolated from the power supply and all other...

Страница 16: ...e motor is disconnected connected while energized These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them Therefore always disconnect power supply befo...

Страница 17: ...rrent read out value with GAP instead of SAP Please see separate TMCM 1141 firmware manual for further information Range setting in software TMCL This is the value for TMCL axis parameter 179 Vsense T...

Страница 18: ...232 239 1 29 1 547 1 094 240 247 1 30 1 598 1 130 248 255 1 31 1 650 1 167 0 7 0 0 0 095 0 067 8 15 0 1 0 191 0 135 16 23 0 2 0 286 0 202 24 31 0 3 0 381 0 270 32 39 0 4 0 477 0 337 40 47 0 5 0 572 0...

Страница 19: ...e table above from the high current range above 2A RMS motor current should not be used as they will violate specification of the module In addition to the settings in the table the motor current may...

Страница 20: ...on board red and green LEDs start flashing fast this might take a while 5 Power off board disconnect USB cable 6 Remove short between pads 7 After switching on power supply connecting USB cable all pe...

Страница 21: ...A IDD Power supply current ICOIL 1 4 ICOIL A TENV Environment temperature at rated current no forced cooling required 30 40 C Table 7 1 General operational ratings of module High current range availab...

Страница 22: ...ACE Symbol Parameter Min Typ Max Unit NRS485 Number of nodes connected to single RS485 network 256 fRS485 Maximum bit rate supported on RS485 connection 9600 115200 1000000 bit s Table 7 3 Operational...

Страница 23: ...TMCL memory the motion controller which calculates ramps and speed profiles internally by hardware the power driver with stallGuard2 and its energy efficient coolStep feature and the MOSFET driver st...

Страница 24: ...ion The higher the value is the less is the maximum acceleration default value 0 0 13 Usrs microstep resolution microsteps per fullstep 2usrs 0 8 a value of 7 or 8 is internally mapped to 6 by the TMC...

Страница 25: ...1 usrs 6 Hz MHz msf 31 122070 32 2048 2 1000 16 1 Hz Hz fsf 34 1907 2 31 122070 6 s MHz Mhz a 21 119 2 1000 16 29 1 1 2 s MHz s MHz af 863 1 2 21 119 6 CALCULATION OF THE NUMBER OF ROTATIONS A steppe...

Страница 26: ...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 2013 2014 Infor...

Страница 27: ...Clock generation and distribution changed 16Mhz crystal instead of 8MHz TMC429 and TMC262 running from 16Mhz clock signal from processor Resistor dividers at inputs changed more compact and optimized...

Страница 28: ...speeds up to 1Mbit s General purpose outputs OUT0 OUT1 the driver circuit of the open drain output MOSFETs has been modified in order to ensure glitch free power up That is output MOSFETs will not tur...

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