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TMCM-160 Manual (V1.11 / August 8th, 2007)

6 Revision History

6.1 Documentation

Revision

Version

Comment

Description

1.07

New Version

Revised Version

1.08

1.09

Appl. Env.

Added application environment and optical changes

1.10

HW change

Reverse protection on EVALboard only

1.11

Pinning

Clarification of pinning to avoid module damage

Table 6.1: Documentation Revision

6.2 Firmware

Revision

Version

Comment

Description

1.01

Initial Version

Bug in current regulation algorithm: Instable operation with settings
above 4.6A

1.02

Added RS485,
Tacho output

Added baud rate switching
Added RS485 interface
Fixed current regulation bug
GPIO1 provides for a hall sensor derived tacho signal
Analog control input now uses 10 bit resolution for PWM / velocity
control

1.03

Invert Hall

Added possibility for inversion for hall sensor signals
Corrected velocity readout when motor is turned by external force

1.04

Disable Stop
switch

Added disable stop switch function

1.05

RS485

Corrected sent back address

1.06

Corrected
position
counter

In older firmware versions, the position counter sometimes looses a
step, which may add up during longer motions to 1/1000 of total
count.

Table 6.2: Firmware Revision

7 References

[TMCL] TMCL

Manual,

www.trinamic.com

TMCM BLDC Module

Reference and Programming Manual,

www.trinamic.com

Содержание TMCM-160

Страница 1: ...60 Hardware BLDC motor controller driver module 5A 36V with RS232 RS485 and analog interface V1 11 August 8th 2007 Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20357 Hamburg Germany www trinami...

Страница 2: ...le motor current limit 10 5 8 Parameterizing the PID velocity regulator 11 5 9 Parameterizing the positioning algorithm 12 5 10 Restoring factory default settings 12 6 Revision History 13 6 1 Document...

Страница 3: ...ions with automatic ramp generation Remote controlled RS232 or RS485 or stand alone operation 0 10V signal Plug On module or panel mount operation Very compact multi axis drives integrate several modu...

Страница 4: ...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 5: ...7 9 8 10 11 13 12 14 15 17 16 18 19 21 20 22 23 25 24 26 U U V V W W VS VS GND GND GND 5V H3 H2 H1 GND GND GND VS VS W W V V U U Figure 3 1 Pinning CAUTION Since the two connectors of the TMCM 160 ar...

Страница 6: ...FF Emergency stop Tie this pin to GND to stop the motor same as Motor Off switch on PCB The motor can be restarted via the interface or by cycling the power supply 8 LED_TEMP 5V TTL output Toggling wi...

Страница 7: ...uded since these are just for evaluation purpose Figure 3 2 Dimensions 3 3 Connectors Hall sensor JST1 5mm type S5B ZR SM2 TF only on EvalBoard Board Plug on connectors 2 54 mm two row Header 3 4 Appl...

Страница 8: ...0 3 VCC 0 3 V VO Logic output current on digital outputs 5V CMOS output 10 mA VIA Analog input voltage 24 0 10 24 V fCHOP Chopper frequency 20 kHz Ex Exactness of voltage and current measurement 8 8 T...

Страница 9: ...ntrol flag 1 Power on velocity v Table 5 1 Options for stand alone operation In all modes the motor torque is limit by the maximum current setting The polarity of the DIR pin can be inversed by the di...

Страница 10: ...le the TMCM 160 calculates a reduced PWM value for the next chopper cycle New values are calculated 100 times a second The response time of the current regulation can be set using the parameter curren...

Страница 11: ...on loop delay parameter tPIDDELAY is the resulting delay between two PID calculations The PID parameters are divisors e g use a higher value to get less influence from the parameter To parameterize fo...

Страница 12: ...pplication 5 Set MVP_target_reached_distance to the value which gives a stop as near as possible to the target position velocity position target position set via MVP max_pos_speed min_pos_speed MVP_ta...

Страница 13: ...d RS485 Tacho output Added baud rate switching Added RS485 interface Fixed current regulation bug GPIO1 provides for a hall sensor derived tacho signal Analog control input now uses 10 bit resolution...

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