advertisement
Module for Stepper MODULE
TMCM-1110 StepRocker Hardware Manual
Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
The TMCM-1110 StepRocker is a single axis motor controller/driver board for 2-phase bipolar stepper motors. It features the TRINAMIC controller/driver chain consisting of TMC429 and TMC262 in combination with an ARM Cortex-M4™ (MK20DX128VLK7) processor. The module is intended to be a fully functional development platform. A stepRocker can be extended to a full 3-axes system using two additional boards, because the TMCM-1110 StepRocker board can be both, master or slave.
Features
• Single axis controller/driver for 2-phase bipolar stepper motor
• 2 and 3 axes systems are possible with additional boards configured as slaves
• +10. . . 30V DC supply voltage
• Up to 2.8A RMS motor current
• RS485 & USB interface
• Multi-purpose inputs and outputs
Applications
• Laboratory Automation
• Manufacturing
• Robotics
Simplified Block Diagram
• Factory Automation
• Test & Measurement
• Technology evaluation
• First experiences with stepper motors
• Hobby applications
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com
Read entire documentation.
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 2 / 26
Contents
3 Mechanical and Electrical Interfacing
5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
4.2 I/O Connector (Microcontroller)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
4.4 Reference Switch Connector (TMC429)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
Upgrade the TMCM-1110 StepRocker for CAN communication
. . . . . . . . . . . . . 10
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.7 Step/Dir Input Connector (Motor 0)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.8 Step/Dir Output Connectors (Motor 1 and Motor 2)
. . . . . . . . . . . . . . . . . . . . . . . . . 11
4.9 Microcontroller Programming Interface
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3
4
15
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
18
9.1 Extensions of the TMCM-1110 StepRocker
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
12
13
14
10 Operational Ratings and Characteristics
11 Abbreviations used in this Manual
24
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
14.3 Trademark Designations and Symbols
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
14.5 Disclaimer: Life Support Systems
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
14.7 Collateral Documents & Tools
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
26
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
20
21
22
23
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 3 / 26
1 Features
The TMCM-1110 StepRocker is a single axis motor controller/driver board for 2-phase bipolar stepper motors. It features the TRINAMIC controller/driver chain consisting of TMC429 and TMC262 in combination with an ARM Cortex-M4™ (MK20DX128VLK7) processor. The module is intended to be a fully functional development platform. A TMCM-1110 StepRocker can be extended to a full 3-axes system using two additional boards, because the TMCM-1110 StepRocker board can be both, master or slave.
Applications
• Highly compact single axis stepper motor controller/driver board for 2-phase bipolar stepper motors
• 2- and 3-axis systems using additional boards as slaves
Electrical data
• Supply voltage: +24V DC (+10. . . +30V DC)
• Motor current: up to 1A RMS or 2.8A RMS (can be selected with jumpers)
Mechanical data
• Board size: 85mm x 55mm, height 15mm max. without mating connectors
• 4 mounting holes for M3 screws
Interfaces
• RS485 host interface
• USB 2.0 host interface (mini-USB connector)
• Step/Dir input (TTL level)
• Step/Dir outputs (TTL level) for multi axis applications
• 3 multi-purpose inputs (can be used for ABN-encoder)
• 2 limit switch inputs per motor
• 6 multi-purpose I/Os
• 2 open-drain outputs
• MCU programming interface SWD (single wire debug / pads on PCB)
• Retro-fit option: CAN 2.0B communication interface
Features
• TMC429 stepper motor controller IC for on-the-fly alteration of many motion specific parameters
• TMC262 advanced stepper motor driver IC with StallGuard2™ and CoolStep™ features. Using the
SpreadCycle chopper the microstep current sine wave is well formed with smooth zero crossing.
• Up to 256 microsteps per fullstep trough MicroPlyer™ technology
• 2x end switch for all three axes.
• EEPROM
Software
• TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands)
• Fully supported by TMCL-IDE (PC based integrated development environment)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 4 / 26
2 Order Codes
The standard version of the TMCM-1110 StepRocker has RS485 and USB interfaces (CAN transceiver not assembled).
The module is pre-programmed with TRINAMICs TMCL™ firmware with all available features.
Order Code
TMCM-1110 StepRocker Order Code
Description
TMCM-1110 StepRocker 1-axis bipolar stepper motor controller/driver module with RS485 and USB
Size (LxWxH)
85mm x 55mm x 15mm
Table 1: TMCM-1110 StepRocker Order Code
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 5 / 26
3 Mechanical and Electrical Interfacing
3.1 Size of board
The board with the controller/driver electronics has an overall size of 85mm x 55mm x 15mm without mating connectors. It offers four mounting holes for M3 screws (3.2mm diameter). All four mounting holes are connected to the ground plane (signal and supply ground) of the module.
4
Ø 3.2
4
55
4 x M3 screws
4
85
Figure 1: Board Dimensions and Positions of Mounting Holes (all Values in mm)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 6 / 26
4 Connectors
The TMCM-1110 StepRocker has nine connectors altogehter. There are two screw connectors for power and motor and two interface connectors (mini-USB and RS485). Furthermore, the TMCM-1110 StepRocker has one connector for reference switches for all three motors, the driver input connector (TTL level) for motor 0, two controller output connectors (TTL level) for motors 1 and 2 and the GPIO connector, which can be used e.g. for connecting an ABN-encoder.
NOTICE Start with power supply OFF and do not connect or disconnect motor during operation!
Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them.
Therefore, always switch off / disconnect power supply or at least disable driver stage before connecting / disconnecting motor.
1
GPIO
14
Power
1
Driver In 0
1
USB
1
Motor
RS485
(CAN optional)
1
Connector
Power
Motor
USB
RS485/CAN
1
Reference switches
1
Controller
Out 2
1
Controller
Out 1
Figure 2: TMCM-1110 StepRocker Connectors
Connector Types and Mating Connectors
Connector type on-board Mating connector type
RIA 220-02, 2 pin, 5.08mm pitch, shrouded header
RIA 183-04, 4 pin, 3.5mm pitch, schrouded header
RIA 249-02, screw type terminal block, pluggable, centerline 5.08mm
pitch
RIA 169-04, screw type terminal block, pluggable, centerline 3.5mm
pitch
USB-mini female connector
Low profile box header without locking bar, type 8380, 10 pin, DIN 41651,
2.54mm pitch
USB-mini male connector
Low profile IDC socket connector, 10 pin, DIN 41651, 2.54mm pitch
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 7 / 26
Connector
GPIO
Ref. switches
Driver In
Connector type on-board
Multi-pin-connector, 14 pin, 2.54mm
pitch
Multi-pin-connector, 7pin, 2.54mm
pitch
Multi-pin-connector, 3 pin, 2.54mm
pitch
Controller Out 1, 2 Multi-pin-connector, 3 pin, 2.54mm
pitch
Mating connector type
Female connector with 2.54mm pitch
Female connector with 2.54mm pitch
Female connector with 2.54mm pitch
Female connector with 2.54mm pitch
Table 2: Connector Types and Mating Connectors of the TMCM-1110 StepRocker
4.1 Power Connector
Power Supply Connector Pin Assigment
Pin
1
Label
GND
Direction
Power (GND)
Description
Common system supply and signal ground
2 10. . . 30V Power (input) Power supply voltage
Table 3: Power Supply Connector Pin Assignment
NOTICE Do not connect or disconnect motor during operation!
Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting / disconnecting motor.
Take care of polarity, wrong polarity can destroy the board!
NOTICE
4.2 I/O Connector (Microcontroller)
The TMCM-1110 StepRocker offers an on-board ARM Cortex-M4™ microcontroller with +3V3 powered IOs and +5V tolerant inputs. In order to be compatible with previous generations of the module, +5V output level-shifters/buffers have been integrated on-board. This way, all general purpose IO pins configured as outputs will deliver +5V TTL signals.
Pin
1
2
3
Label
GND
GND
PWMD_0
I/O Connector Pin Assignment
Direction Description
Power (GND) Supply and signal ground
Power (GND) Supply and signal ground in/out General purpose I/O (+5V compatible, default: input)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 8 / 26
Pin
4
7
8
5
6
9
Label
PWMU_0
PWMD_1
PWMU_1
PWMD_2
PWMU_2
AIN_0
10 PHASE_A
11 OpenDrain_1
12 PHASE_B
13 OpenDrain_2
14 PHASE_Z
Direction in/out in/out in/out in/out in/out in in out in out in
Description
General purpose I/O (+5V compatible, default: output)
General purpose I/O (+5V compatible, default: input)
General purpose I/O (+5V compatible, default: output)
General purpose I/O (+5V compatible, default: input)
General purpose I/O (+5V compatible, default: output)
Analog input (can be used as home switch).
Input voltage range: 0. ..+10V
Resolution: 12bit (0. . . 4095)
Encoder input channel A (+5V compatible, internal pull-up to +5V)
Open-drain output (max. 100mA)
Encoder input channel B (+5V compatible, internal pull-up to +5V)
Open-drain output (max. 100mA)
Encoder input zero channel (+5V compatible, internal pull-up to +5V)
Table 4: I/O Connector Pin Assignment
4.3 Motor Connector
The motor has to be connected to the motor connector, one phase (phase A) between A1 and A2 and the second phase (phase B) between B1 and B2.
Motor Connector Pin Assignment
Pin Label Direction Description
1
2
A1
A2 out out
Pin 1 of motor coil A
Pin 2 of motor coil A
3
4
B1
B2 out out
Pin 1 of motor coil B
Pin 2 of motor coil B
Table 5: Motor Connector Pin Assignment
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 9 / 26
NOTICE
Do not connect or disconnect motor during operation!
Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting / disconnecting motor.
4.4 Reference Switch Connector (TMC429)
5
6
3
4
7
Reference Switch Connector Pin Assignment
Pin Label
1 GND
Direction Description
Power (GND) Signal and system ground
2 L1 in Input for left reference/limit switch of motor 0
R1
L2
R2
L3
R3 in in in in in
Input for right reference/limit switch of motor 0
Input for left reference/limit switch of motor 1
Input for right reference/limit switch of motor 1
Input for left reference/limit switch of motor 2
Input for right reference/limit switch of motor 2
Table 6: Reference Switch Connector Pin Assignment
4.5 RS485 and CAN Connector
The standard TMCM-1110 StepRocker offers the RS485 interface, only.
Pin Label
1
2
RS485/CAN Connector Pin Assignment
Direction Description
3 CAN_L bi-directional differential CAN bus signal (inverting) - retro-fit option
4 CAN_H bi-directional differential CAN bus signal (non-inverting) - retrofit option
9
10
5 GND Power (GND) Signal and system ground
6 RS485+ bi-directional differential RS485 bus signal (non-inverting)
7 RS485bi-directional differential RS485 bus signal (inverting)
8
Table 7: RS485/CAN Connector Pin Assignment
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 10 / 26
4.5.1 Upgrade the TMCM-1110 StepRocker for CAN communication
CAN transceiver
SN65HVD1050D
Housing: SOIC8
0.1µF capacitor
Housing: 0603
The previous table further above shows the pin configuration for CAN, too. Before starting with CAN it is necessary to solder a SN65HVD1050D CAN transceiver with housing SOIC8 and a 0.1
µ capacitor with housing 0603 on the TMCM-1110
StepRocker. Afterwards, the TMCM-1110
StepRocker is ready for using the CAN interface.
Because of the pin assignment CAN and
RS485 can be used at the same time.
Please note: it is not necessary to remove the RS485 transceiver.
4.6 USB Connector
A USB interface is available via a mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
Pin Label
1 VBUS Power (+5V input) +5V supply from the host
2 Dbi-directional USB Data-
3
4
D+
ID
USB Connector Pin Assignment
Direction Description bi-directional USB Data+
Connected to signal and system ground
5 GND Power (GND) Signal and system ground
Table 8: USB Connector Pin Assignment
4.7 Step/Dir Input Connector (Motor 0)
The TMCM-1110 StepRocker is equipped with a step/dir input connector for motor 0. Via this connector an external motion controller can be used together with the on-board driver electronics. For selecting an external motion controller instead of the on-board TMC429 motion controller two jumpers have to be set
(please refer to chapter
Step/Dir Input Connector Pin Assignment
Pin Label
1 GND
Direction Description
Power (GND) Signal and System ground
2 Step In
3 Dir In in in
Driver step input signal (+5V compatible)
Driver direction input signal (+5V compatible)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 11 / 26
Pin Label Direction Description
Table 9: Step/Dir Input Connector Pin Assignment
4.8 Step/Dir Output Connectors (Motor 1 and Motor 2)
The TMC429 motion controller on the TMCM-1110 StepRocker is able to control up to three stepper motors. Its Step/Dir outputs (TTL level) for motor 1 and motor 2 are available via connectors Step/Dir Out 1 and Step/Dir Out 2. The TMCM-1110 StepRocker can be extended to a complete motion controller/driver system for all three motors.
Pin
1
Label
GND
2 Step Out
3 Dir Out
Step/Dir Output Connector Pin Assignment
Direction Description
Power (GND) Signal and System ground out out
Driver step output signal (+5V compatible)
Driver direction output signal (+5V compatible)
Table 10: Step/Dir Output Connector Pin Assignment
NOTICE Note For setting the step pulse length global parameter 86 is used. Adjust this parameter with the SGP command. Refer to the TMCL Firmware Manual of the
TMCM-1110 StepRocker for further information.
4.9 Microcontroller Programming Interface
The programming pads for the microcontroller are located on the bottom side of the module. They are connected directly to the related processor pins - resp. GND or on-board generated +3V3 supply. These pins are used for programming of the bootloader and firmware during production + testing of the module.
Pin
1
2
3
Label
GND
+3V3 nRST
Programming Pads
Description
Module and signal ground
+3V3 DC supply - generated on-board
Hardware reset input
4 SWDIO Serial wire data I/O
5 SWDCLK Serial wire clock
Table 11: Programming Pads on Bottom of the PCB
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
SWDCLK
SWDIO nRST
+3V3
GND
1
12 / 26
Figure 3: TMCM-1110 StepRocker Programming Pads
5 Reset to Factory Default
It is possible to reset all settings of the TMCM-1110 StepRocker to factory default without establishing a working communication connection. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got lost. To do this the following steps have to be performed:
1. Switch the supply power off and also disconnect the USB cable if connected.
2. Short the SWDIO pad with the SWDCLK pad (on the bottom side of the PCB, see figure
3. Switch the supply power on again.
4. LED1 and LED2 are now flashing fast.
5. Switch the supply power off.
6. Remove the short between the two pads.
7. Switch the supply power on and wait until LED1 flashes normally again. The TMCM-1110 StepRocker now runs with factory default settings.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 13 / 26
6 Jumper Settings
The TMCM-1110 StepRocker offers a number of jumpers for selection of different settings in hardware.
Select motion controller
Select motor current
Select motor current
Figure 4: Jumper Settings of the TMCM-1110 StepRocker
Jumper
Select motor current
Select motion controller
Jumpers of the TMCM-1110 StepRocker
Label Description
1A/2.8A
Jumper plugged: motor current up to 2.8A RMS,
Jumper unplugged: motor current up to 1A RMS
2-3 TMC429 Set jumpers to select motion controller TMC429
(on the module)
1-2 External Set jumpers to select external motion controller.
Step/Dir Signals from external motion controller have to be connected to Step/Dir In
Table 12: Jumpers of the TMCM-1110 StepRocker
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
7 LEDs
14 / 26
Status
Power on
LED Description
Label Description
POWER This orange LED lights up upon the power supply is available
LED1 without pre-defined functionality LED1
LED2 without pre-defined functionality LED2
POSCOMP output used POSCOMP
This yellow LED can be used customer specific. This LED is connected to PTA5 (pin 31) of the MK20DX128VLK7 microcontroller.
This yellow LED can be used customer specific. This LED is connected to PTE5 (pin 6) of the MK20DX128VLK7 microcontroller.
This yellow LED lights up if the POSCOMP output of the TMC429 is used. POSCOMP is available for triggering when moving over a programmable position.
Interrupt detected
StallGuard2™ detected
Interrupt This orange LED lights up upon interrupts.
The LED is connected to the nIND_SDO_C pin of the TMC429.
stallGuard2 This red LED lights up upon stalling conditions. The LED is connected to the SG_TST pin of the TMC262.
Table 13: LED Description
Figure 5: TMCM-1110 StepRocker LEDs
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 15 / 26
8 Communication
8.1 RS485
For remote control and communication with a host system the TMCM-1110 StepRocker provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network:
1.
BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus.
Host c:>
Slave node
1
Slave node n - 1
Slave node n
} termination resistor
(120 Ohm) termination resistor
(120 Ohm)
RS485
keep distance as short as possible
Figure 6: RS485 Bus Structure with Termination Resistors
2.
BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1110 StepRocker does not intergate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.
3.
NUMBER OF NODES:
The RS485 electrical interface stadard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-1110 StepRocker units (SN65HVD3082ED) has just 1/8th of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus.
4.
NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to GND resp. +5V. In contrast to the termination resistors this network is normally required just once per bus. Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485).
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 16 / 26
RS485+ / RS485A
RS485- / RS485B
Slave
node n - 1
Slave
node n
+5V pull-up (680R) termination resistor
(120 Ohm) pull-down (680R)
GND
Figure 7: RS485 Bus Lines with Resistor Network
8.2 USB
For remote control and communication with a host system the TMCM-1110 StepRocker provides a USB
2.0 full-speed (12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept commands via USB. The TMCM-1110 StepRocker supports USB self powered operation (External power supplied via the power supply connector) and USB bus powered operation, also (no external power is supplied via the power supply connector). During USB bus powered operation, only the core digital circuit parts will be operational. That is, the microcontroller itself and also the EEPROM. Of course, any motor movement will not be possible in this mode. This mode has been implemented in order to enable configuration / parameter setting / read-out, firmware updates etc. by just connecting a USB cable between the module and a host PC. No other connection / additional power supply is required.
8.3 CAN (Retro-fit Option)
For remote control and communciation with a host system the TMCM-1110 StepRocker can be equipped with a CAN bus interface. Please note, that it is necessary to add CAN transceiver and filter capacitor first for the standard TMCM-1110 StepRocker version (see
For proper operation the following items should be taken into account when setting up a CAN network:
1.
BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus.
Host c:>
Slave node
1
Slave node n - 1
Slave node n
} termination resistor
(120 Ohm) termination resistor
(120 Ohm)
CAN
keep distance as short as possible
Figure 8: CAN Bus Structure with Termination Resistors
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 17 / 26
2.
BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1110 StepRocker does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 18 / 26
9 Functional Description
The TMCM-1110 StepRocker is a highly integrated single axis controller/driver module for stepper motors.
It can be controlled via RS485 or USB serial interfaces (CAN retro-fit option) and comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level commands like move to position a rapid and fast development of motion control applications is guaranteed. Whereas the boot loader is installed during production and testing at
TRINAMIC and remains usually untouched throughout the whole lifetime, the firmware ca be updated by the user.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed on-board. Full remote control of the device with feedback is possible. The firmware of the module can be updated via any of the serial interfaces.
The TMCM-1110 StepRocker module contains the following main components:
• Microcontroller (ARM Cortex-M4™, MK20DX128VLK7), responsible for overall control and communication
• TMC429 highly integrated 3 axes stepper motor controller. Step-/direction outputs for motor 0 connected to TMC262.
• TMC262 advanced stepper motor driver IC with StallGuard2™ and CoolStep™ with MOSFET driver stage (4x N+P power MOSFETs for bipolar stepper motor) for motor 0
• RS485 and USB transceivers
• On-board voltage regulators (+5V and +3V3) required for supply of all on-board digital circuits
Figure 9: TMCM-1110 StepRocker Block Diagram
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 19 / 26
9.1 Extensions of the TMCM-1110 StepRocker
The TMCM-1110 StepRocker can be extended for multi-axes systems with up-to 3 axes. The module itself can be configured as master or slave. An example for a three axes system is shown below. The TMCM-
1110 StepRocker at the top is configured as master while the other two are configured as slave. In addition to jumper setting it is necessary to switch both slave controller to driver-only operation ( SAP 254, 0, 1 see TMCL firmware manual, also). Only the motion controller on the master will be used. Therefore, all motion control related commands have to be issued to the master. In contrast, driver related commands
(e.g. current settings, microstep resolution) have to be issued to each board separately (or stored on each board as TMCL program).
GPI /O
USB
TMCL ™
3 x REF- IN
Master / Motor 0
S/D OUT
USB / RS485 only initialization and parameterization
S/D IN
Motor 1
USB / RS485 only initialization and parameterization
S/D IN
Motor 2
Figure 10: 3-Axes System using three TMCM-1110 StepRocker modules in Master/Slave Configuration
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
10 Operational Ratings and Characteristics
20 / 26
NOTICE Never Exceed the absolute maximum ratings!
Keep the power supply voltage below the upper limit of +30V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended.
General Operational Ratings
Symbol Parameter
V
Power
V
USB
I
USB
Power supply voltage
Power supply via USB connector
Min
10
Typ
12. . . 24
5
70
I
I
COIL
MC
T
ENV
Current withdrawn from USB supply when USB bus powered (no other supply connected)
Motor coil current for sine wave peak (chopper regulated, adjustable via software)
Continuous motor current ( RMS)
Environmental temperature at rated current (no forced cooling reaquired)
0
0
-25
Max
30
1500 or 4000 mA
1000 or 2800 mA
60 °C
Unit
V
V mA
Table 14: General Operational Ratings of the Module
Operational Ratings of the RS485 Interface
Symbol Parameter
N
RS485
Number of nodes connected to single RS485 network
Min Typ Max Unit
256
Table 15: Operational Ratings of the RS485 Interface
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
11 Abbreviations used in this Manual
Abbreviation Description
IDE
LED
Integrated Development Environment
Light Emmitting Diode
RMS
TMCL
Root Mean Square value
TRINAMIC Motion Control Language
Table 16: Abbreviations used in this Manual
21 / 26
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
12 Figures Index
1 Board Dimensions and Positions of
Mounting Holes (all Values in mm)
. .
2 TMCM-1110 StepRocker Connectors
.
3 TMCM-1110 StepRocker Programming Pads
. . . . . . . . . . . . . . . .
12
4 Jumper Settings of the TMCM-1110
. . . . . . . . . . . . . . . .
13
. . . . .
14
5
6
22 / 26
6 RS485 Bus Structure with Termination Resistors
. . . . . . . . . . . . . .
15
7 RS485 Bus Lines with Resistor Network
16
8 CAN Bus Structure with Termination
. . . . . . . . . . . . . . . . .
16
9 TMCM-1110 StepRocker Block Diagram
18
10 3-Axes System using three TMCM-
1110 StepRocker modules in Master/Slave Configuration
. . . . . . . .
19
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
13 Tables Index
1 TMCM-1110 StepRocker Order Code
.
2 Connector Types and Mating Connectors of the TMCM-1110 StepRocker
.
3 Power Supply Connector Pin Assignment
. . . . . . . . . . . . . . . . . . .
4 I/O Connector Pin Assignment
. . . .
5 Motor Connector Pin Assignment
. .
6 Reference Switch Connector Pin As-
4
7
. . . . . . . . . . . . . . . . .
9
7 RS485/CAN Connector Pin Assignment
9
8 USB Connector Pin Assignment
. . . .
10
9 Step/Dir Input Connector Pin Assignment
. . . . . . . . . . . . . . . . . . .
11
7
8
8
23 / 26
10 Step/Dir Output Connector Pin Assignment
. . . . . . . . . . . . . . . . .
11
11 Programming Pads on Bottom of the
. . . . . . . . . . . . . . . . . . . .
11
12 Jumpers of the TMCM-1110 StepRocker
13
. . . . . . . . . . . . .
14
14 General Operational Ratings of the
. . . . . . . . . . . . . . . . . .
20
15 Operational Ratings of the RS485 Interface
. . . . . . . . . . . . . . . . . .
20
16 Abbreviations used in this Manual
. .
21
. . . . . . . . . . .
26
. . . . . . . . . . .
26
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 24 / 26
14 Supplemental Directives
14.1 Producer Information
14.2 Copyright
TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2021 TRINAMIC. All rights reserved. Electronically published by
TRINAMIC, Germany.
Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available productrelated documentation.
14.3 Trademark Designations and Symbols
Trademark designations and symbols used in this documentation indicate that a product or feature is owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation.
This Hardware Manual is a non-commercial publication that seeks to provide concise scientific and technical user information to the target user. Thus, trademark designations and symbols are only entered in the Short Spec of this document that introduces the product at a quick glance. The trademark designation
/symbol is also entered when the product or feature name occurs for the first time in the document. All trademarks and brand names used are property of their respective owners.
14.4 Target User
The documentation provided here, is for programmers and engineers only, who are equipped with the necessary skills and have been trained to work with this type of product.
The Target User knows how to responsibly make use of this product without causing harm to himself or others, and without causing damage to systems or devices, in which the user incorporates the product.
14.5 Disclaimer: Life Support Systems
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.
Information given in this document 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 from its use. Specifications are subject to change without notice.
14.6 Disclaimer: Intended Use
The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 25 / 26 or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given.
In particular, this also applies to the stated possible applications or areas of applications of the product.
TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in significant personal injury or death
(safety-Critical Applications) without TRINAMIC’s specific written consent.
TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product.
14.7 Collateral Documents & Tools
This product documentation is related and/or associated with additional tool kits, firmware and other items, as provided on the product page at: www.trinamic.com
.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25 26 / 26
15 Revision History
15.1 Hardware Revision
Version Date
V1.3
V2.2
V2.3
2016-SEP-26
Author Description
2013-NOV-26 GE
GE
2017-AUG-02 GE
Series version with Samsung Cortex-M0 processor
Processor changed to Cortex-M4 microcontroller
Minor changes: silksreen corrected, plating added to mounting holes and resistor values of input divider adapted in order to improve compatibility with version V1.3
Table 17: Hardware Revision
15.2 Document Revision
1.10
1.11
1.12
1.13
1.06
1.07
1.08
1.09
Version Date
1.00
2011-OCT-01
Author Description
GE First version
1.01
1.02
2011-OCT-04
2011-OCT-05
GE
GE
Minor changes
Minor changes
1.03
1.04
1.05
2011-OCT-27
2011-OCT-31
2011-DEC-21
GE
GE
GE
Minor changes
Minor changes
Chapter 3.2.8 corrected: labels of Step/Dir Out 1 and Step/Dir Out 2 on PCB are exchanged. Information about USB interface corrected
(3.2.6)
I/O connector information updated (3.2.2) 2011-DEC-22 GE
2012-JAN-03 GE
2012-APR-04 GE
2017-MAY-29 GE
Minor changes
Chapter 3.2.8 completed, Hint added in chapter 3.2.5.1
Major update: document format changed and update covering hardware version V2.2 (with new microcontroller)
Minor update: adapted to hardware revision V2.3
2017-SEP-06 GE
2017-OCT-10 OK
2019-APR-03 GE
2021-MAR-26 OK
New product picture on first page.
Layout correction in chapter 4.5.1.
Added reset to factory default.
Table 18: Document Revision
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
advertisement
Related manuals
advertisement