TMCM-023 Manual

TMCM-023
Manual
Triple step-/ direction driver module
for up to three motors
2A RMS / 28.5V
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg, Germany
Phone +49-40-51 48 06 – 0
FAX: +49-40-51 48 06 – 60
http://www.trinamic.com
INFO@TRINAMIC.COM
TMCM-023 Manual (V1.21 / November 15th, 2006)
2
Contents
1
2
3
4
5
6
7
Features ........................................................................................................................................... 3
Life support policy ............................................................................................................................ 4
Connections and Mechanical ........................................................................................................... 5
3.1
Pinning ...................................................................................................................................... 5
3.2
Dimensions ............................................................................................................................... 6
Operational Ratings ......................................................................................................................... 7
4.1
Power supply requirements ...................................................................................................... 8
4.2
Temperature range ................................................................................................................... 8
Functional Description...................................................................................................................... 9
5.1
Step-Direction Interface ............................................................................................................ 9
5.1.1 Direction ............................................................................................................................. 10
5.1.2 Step.................................................................................................................................... 10
5.2
Mixed Decay ........................................................................................................................... 10
5.3
Micro Step Resolution............................................................................................................. 11
5.4
LEDs ....................................................................................................................................... 11
5.5
Hardware changes for 5V Step-Direction control ................................................................... 11
5.6
Application with 3 - Axis Control Module TMCM-302 ............................................................. 12
Revision History ............................................................................................................................. 12
6.1
Documentation Revision ......................................................................................................... 12
References ..................................................................................................................................... 12
Figures
Figure 3.1: Pinning of TMCM-023 ........................................................................................................... 5
Figure 3.2: Dimensions for TMCM-023 ................................................................................................... 6
Figure 5.1: Main parts of the TMCM-023 ................................................................................................ 9
Figure 5.2: Step-Direction signals and motor reactions .......................................................................... 9
Figure 5.3: Step and Direction Signal.................................................................................................... 10
Figure 5.4: Step-Direction input with 5V signal replacement info.......................................................... 11
Figure 5.5: Application with TMCM-302 (5V inputs required, please see 5.5 for modifications) .......... 12
Tables
Table 1.1: Order code.............................................................................................................................. 3
Table 3.1: Pinning of TMCM-023 ............................................................................................................ 5
Table 4.1: Operational Ratings................................................................................................................ 7
Table 4.2: Cooling requirements at different settings and conditions ..................................................... 8
Table 5.1: External signals and motor reactions ..................................................................................... 9
Table 5.2: LED indication ...................................................................................................................... 11
Table 6.1: Documentation Revisions..................................................................................................... 12
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
3
1 Features
The TMCM-023 is a very compact step- / direction three axis stepper motor controller and driver. With
up to 2 A coil current it operates from a single 7 to 28.5V power supply. With jumpers for every axis
mixed decay can be enabled. The micro step resolution of 4 or 8 steps can be chosen with jumpers
also.
Applications
• Triple step-/ direction stepper driver for general decentralized applications
• Two LEDs for every axis for error diagnostics
• Optically decoupled input of step- /direction signals (24V, different voltage rating upon request)
Motor type
• Motor coil current 2A RMS (2.8A peak) (different rating upon request)
• 7V to 28.5V nominal supply voltage
Highlights
• Fully protected drive
• Possibility to individually select mixed decay mode with a jumper for every axis
• Two micro step resolutions for every axis available (4 and 8 microsteps, up to 24 upon request)
• Theoretical microstep frequency up to 250kHz
Other:
• RoHS compliant
• Size: 60x100mm2
Order code
TMCM-023
Related products
Description
3-axis step/direction driver module
TMCM-302
Table 1.1: Order code
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
2 Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent
of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment 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.
© TRINAMIC Motion Control GmbH & Co. KG 2005
Information given in this data sheet is believed to be
accurate and reliable. However no responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result form its use.
Specifications subject to change without notice.
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
4
TMCM-023 Manual (V1.21 / November 15th, 2006)
5
3 Connections and Mechanical
3.1 Pinning
GND
VS = 7..28.5 V
A1
A2
B1
B2
Motor 1
DIR
STEP
Vcom
A1
A2
B1
B2
Motor 2
DIR
STEP
Vcom
A1
A2
B1
B2
Motor 3
DIR
STEP
Vcom
Figure 3.1: Pinning of TMCM-023
Pin
VS
GND
VCOM
Dir
Step
A1
A2
B1
B2
Function
Positive power supply voltage
GND, power
Reference voltage for step-direction inputs. Positive optocoupler supply. Required for
negative logic.
Direction: Tie to GND to inverse motor direction, leave open or at VCOM otherwise;
optically isolated (Cathode of optocoupler)
Step signal, optically isolated (Cathode of optocoupler)
Connection for motor coil A
Connection for motor coil A
Connection for motor coil B
Connection for motor coil B
Table 3.1: Pinning of TMCM-023
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
6
3.2 Dimensions
60mm*100mm*14mm (Height is measured by the highest part on PCB). The mounting holes are
3.2mm diameter.
54mm
Motor 1
100mm
Motor 2
94mm
Motor 3
60mm
Figure 3.2: Dimensions for TMCM-023
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
7
4 Operational Ratings
The operational ratings show the intended / the characteristic range for the values and should be used
as design values. In no case shall the maximum values be exceeded.
Symbol
Parameter
Min
Typ
Max
Unit
VS
Power supply voltage for operation
7
12 .. 28.5
30
V
VSUV
Undervoltage LED threshold
ICRUN
RMS Motor coil current
ICSTANDBY Motor coil RMS current in standby
(chopper regulated, standby mode
1 sec. after last step pulse)
IS
Power supply current motor running
VISO
Isolation voltage of optocouplers
VCOM
Supply voltage for step and
direction; (inputs have negative
logic)
fSTEP
Step frequency
11
V
2000
mA
¼ ICRUN
mA
<< ICRUN
1.4 * ICRUN
A
± 42
±100
V
24
27
V
245
kHz
18
tSTEPLO
Step impulse low time (opto coupler
on)
1.0
µs
tSTEPHI
Step impulse
coupler off)
2.0
µs
0
µs
µs
high
time
(opto
tDIRSETUP Direction setup time to rising edge
of step input
tDIRHOLD
Direction hold time after rising edge
of step input
3.0
TENV
Environment
temperature
for
operation (forced cooling required
at heavy duty cycle)
-25
70
°C
Table 4.1: Operational Ratings
Never pull / plug motor connections during operation. This could damage the unit due to high-voltage
discharge flowing into the power driver outputs. Always switch off the unit before connecting or
disconnecting a motor.
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
8
4.1 Power supply requirements
The power supply should be designed in a way, that it supplies the nominal motor voltage at the
desired maximum motor power. In no case shall the supply value exceed the upper / lower voltage
limit. The stepper motor unit uses a chopper principle, i.e. the power supply to the motor is pulsed at a
frequency of 36kHz. To ensure reliable operation of the unit, the power supply has to have a sufficient
output capacitor and the supply cables should have a low resistance, so that the chopper operation
does not lead to an increased power supply ripple directly at the unit. Power supply ripple due to the
chopper operation should be kept at a maximum of a few 100mV.
Therefore 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 2200µF or
larger additional filtering capacitor located near to the motor driver unit.
An effect the power supply has to cope with, is, that the motors can feed back current into the power
supply if the motors are operated at very high velocity! Precautions have to be taken, to limit the
supply voltage to within the operational limits. Normally a large power supply capacitor is sufficient for
this.
4.2 Temperature range
The module generates heat when operated. The temperature range in the power stage has to be kept
well below 150°C. This is guaranteed, when operating within the following limits:
Temperature
duty cycle of motors
forced air flow
PCB mounted
T < 45°C
100%
no
horizontally or vertically
45°C < T < 70°C
50%
no
horizontally or vertically
45°C < T < 70°C
100%
yes
horizontally or vertically
Table 4.2: Cooling requirements at different settings and conditions
However, a higher component temperature decreases live time of the product. It is not advised to
operate the unit near the limits for an increased period of time.
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
9
5 Functional Description
The TMCL-023 module is able to control up to three stepper motors autonomous with its step/direction interface. Mixed decay can be switched on and off via jumpers. Also the micro step
resolution can be changed from 4 to 8 steps.
TMCM-023
Driver
Step/Dir
Opto
isolation
µStep
sequencer
TMC239
Step/Dir
Opto
isolation
µStep
sequencer
Driver
µStep
sequencer
Opto
isolation
Step/Dir
7..28.5V DC
TMC239
Driver
TMC239
5V Power Supply
Step
MOSFET
Driver
Stage
Motor
Step
MOSFET
Driver
Stage
Motor
Step
MOSFET
Driver
Stage
Motor
Figure 5.1: Main parts of the TMCM-023
5.1 Step-Direction Interface
The Step-Direction controls are as follows:
Motor
Velocity
Acceleration
Rotate right
Rotate left
Control
Step frequency
Increase or
decrease of Step
frequency
Direction open
wired or connected
to VCOM
Direction
connected to
Ground
Table 5.1: External signals and motor reactions
Vcom
Direction
rotating direction
0V
Vcom
Step
0V
Velocity
const.
Deceleration
Acceleration
Speed
Motor
rotate right
0
rotate left
Figure 5.2: Step-Direction signals and motor reactions
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
10
5.1.1 Direction
Description: The Direction signal changes the motors rotation from clockwise (CW) to counterclockwise (CCW) and vice versa.
Function Table:
GND
open wire
motor CW
VCOM = 24V
motor CCW turn
5.1.2 Step
Description: The Step signal controls the velocity and acceleration of the motor. The velocity
depends on the frequency, the acceleration on the change of the frequency. One step impulse
represents one microstep.
Calculation of rotations per second:
Step input frequency
v[rotations / s] =
[rotations / s]
Fullsteps ⋅ Microstep resolution
Frequency: The maximum Step input frequency is 245 kHz, aligned to the Direction signal. The
minimum logic ”0” time is 1 µs and the minimum logic “1” time is 3 µs. A step is triggered by the
positive going edge of the signal (switching off of opto coupler).
Function Table:
Extern
GND
Intern
HIGH
open wire
VCOM = 24V
LOW
1.0µs min
1.0µs min
step pulse
3.0µs min
direction
tDIRSETUP
tDIRHOLD
Figure 5.3: Step and Direction Signal
5.2 Mixed Decay
With the jumper “MxDec” the mixed decay mode can be switched on (jumper set) and off (jumper
open). With mixed decay on, the motor steps more smoothly, especially in medium frequency range.
This is the standard setting. With mixed decay off, power consumption is reduced.
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
11
5.3 Micro Step Resolution
With the jumper “uStep” the micro step resolution can be switched between 4 (jumper open) and 8
(jumper set) steps.
5.4 LEDs
There is a power supply LED plus two status LEDs for each driver.
Symbol
PWR
UV
Err
Parameter
Description
Power LED Identifies power on (12…28.5 V)
Under
Lights, when supply voltage is below 11 volts
Voltage LED
Lights upon a short circuit condition or overheating of the
units power stage. The LED flashes shortly upon power
Error LED
on. If the LED is on during operation, please switch off
the unit and check motor cabling
Table 5.2: LED indication
5.5 Hardware changes for 5V Step-Direction control
The TMCM-023 operates with Step-Direction signals of nominally 24V. By a simple hardware change /
addition this voltage can be lowered to 5V (3.3V to 7V) to operate the three drivers with e.g. a TMCM302 Step-Direction controller.
Substitute the 2.4k ohms type 1206 resistors at each Step and Direction entrance with 330 Ohms
resistors (or bypass the 2.4k with a 390 ohms resistor) to lower the switching voltage to 5V.This has to
be done for each driver to be controlled by 5V signals. Be careful not to use 24V signals on modified
inputs.
24V
VCOM
5V
24V signal
Direction
5V signal
24V signal
Step
5V signal
+5V
A
C
C
E
2.4k
replace by
330 ohms
µC
A
C
C
E
A: Anode
C: Cathode
C: Collector
E: Emitter
2.4k
replace by
330 ohms
GND
Figure 5.4: Step-Direction input with 5V signal replacement info
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
TMCM-023 Manual (V1.21 / November 15th, 2006)
12
5.6 Application with 3 - Axis Control Module TMCM-302
The TMCM-302 Step-Direction 3-axis motion controller module is perfect to control the TMCM-023
driver module. Only 5V inputs are required. For modifications refer to 5.5 Hardware changes for 5V
Step-Direction control.
TMCM-023
TMCM-302
Pin 68
Pin 42
Pin 40
Pin 38
Pin 36
Pin 34
Pin 32
Pin 6
41
Motor 2
B2
B1
A2
A1
Motor 1
B2
B1
A2
A1
Motor 0
B2
B1
A2
A1
DIR_M2
39
STEP_M2
37
DIR_M1
35
STEP_M1
33
DIR_M0
31
STEP_M0
5
Pin 4: GND
Pin 2: GND
VCOMM = +5V DC
VS = 7..28.5 V
GND
Figure 5.5: Application with TMCM-302 (5V inputs required, please see 5.5 for modifications)
6 Revision History
6.1 Documentation Revision
Version
1.00
1.20
1.21
Comment
First Release
Updates
Description
Full functionality for Firmware V1.05
Some updates
Order code, Step/Dir Timing, 5V Step-Dir signal inputs, TMCM-302 Info
Table 6.1: Documentation Revisions
7 References
[TMCM-302]
TMCM-302 manual (see http://www.trinamic.com)
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
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