TMCM-610 Hardware Manual (V1.14/2010-APR-30)
2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Contents
1
Life support policy ....................................................................................................................................................... 4
2
Features ........................................................................................................................................................................... 5
3
Order codes .................................................................................................................................................................... 6
4
Electrical and mechanical interfacing ..................................................................................................................... 7
4.1
Dimensions ........................................................................................................................................................... 7
4.2
Connecting the TMCM-610 module ................................................................................................................ 7
4.2.1
Power supply ............................................................................................................................................. 8
4.2.2
LED indicators ............................................................................................................................................ 8
4.2.3
Motor connectors ...................................................................................................................................... 8
4.2.4
Stop switches / reference switches .................................................................................................... 8
4.2.5
RS232 interface .......................................................................................................................................... 9
4.2.6
USB interface .............................................................................................................................................. 9
4.2.7
General purpose I/Os .............................................................................................................................. 9
4.2.8
Reset button ............................................................................................................................................. 10
4.2.9
ISP connector – restore to factory default ..................................................................................... 10
5
Operational ratings .................................................................................................................................................... 12
6
Functional description .............................................................................................................................................. 13
6.1
System architecture .......................................................................................................................................... 14
6.1.1
Microcontroller ......................................................................................................................................... 14
6.1.2
TMCL™ EEPROM ....................................................................................................................................... 14
6.1.3
TMC428 motion controller .................................................................................................................... 14
6.1.4
Stepper motor drivers ........................................................................................................................... 14
6.2
stallGuard™ - sensorless motor stall detection ....................................................................................... 15
6.2.1
stallGuard™ adjusting tool .................................................................................................................. 15
6.2.2
stallGuard™ profiler ............................................................................................................................... 16
6.3
Reference switches ........................................................................................................................................... 17
6.3.1
Left and right limit switches ............................................................................................................... 17
6.3.2
Triple switch configuration .................................................................................................................. 17
6.3.3
One limit switch for circular systems ............................................................................................... 18
6.4
Microstep resolution......................................................................................................................................... 18
6.5
USB ........................................................................................................................................................................ 19
7
Putting the TMCM-610 into operation .................................................................................................................. 20
8
TMCM-610 operational description ........................................................................................................................ 21
8.1
Calculation: velocity and acceleration vs. microstep- and fullstep-frequency ................................. 21
9
TMCL™ ........................................................................................................................................................................... 23
10
Revision history .......................................................................................................................................................... 24
10.1
Document revision ............................................................................................................................................ 24
10.2
Firmware Revision ............................................................................................................................................ 24