Technical Manual
Contents
1. 8 a value of 7 or 8 is internally Usrs Microstep resolution microsteps per fullstep 27 mapped to 6 by the TMC429 Table 7 1 TMC429 velocity parameters MICROSTEP FREQUENCY The microstep frequency of the stepper motor is calculated with usf Hz Pee DOA ESD with usf microstep frequency FULLSTEP FREQUENCY To calculate the fullstep frequency from the microstep frequency the microstep frequency must be divided by the number of microsteps per fullstep Jsf Hz usf Hz with fsf fullstep frequency pm The change in the pulse rate per time unit pulse freguency change per second the acceleration a is given by f CLK 2 A max 7 2 pulse _ div ramp _ div 29 This results in acceleration in fullsteps of a af yn with af acceleration in fullsteps MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 EXAMPLE Signal value 16 MHz 1000 1000 uss 5 msf o eae ON 2 2048 32 fof iy O l 1907 34 Hz 16Mhz 1 go SY yy M 911429 5 119 21 12 ie af Bega gt 5 CALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e g 72 fullsteps per rotation Mpa EN E Bel fullsteps per rotation 72 l RPM RETOR _ 1907 34 60 _ 58946 7 fullsteps per rotation 72 22 MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 23 8 Revision History 8 1 Document Revision oso 2013 0C 01 0 91 a MAY Tm for hardware version 1 1 Current s2. FAULHABER Y Hardware MCST3601 Technical Manual EA W E CREATE MOTION 9 SY FAULHABER Imprint Version 1st edition 01 10 2014 Copyright by FAULHABER PRECISTEP SA Rue des Gentianes 53 2300 La Chaux de Fonds Switzerland All rights reserved including those to the translation No part of this description may be duplicated reproduced stored in an information system or processed or transferred in any other form without prior express written permission of FAULHABER PRECISTEP SA This technical manual has been prepared with care FAULHABER PRECISTEP SA cannot accept any liability for any errors in this technical manual or for the consequences of such errors Equally no liability can be accepted for direct or consequential damages resulting from improper use of the equipment The relevant regulations regarding safety engineering and interference suppression as well as the requirements specified in this technical manual are to be noted and followed when using the software Subject to change without notice The respective current version of this technical manual is available on FAULHABERSs internet site www faulhaber com YX FAULHABER Hardware Version V1 2 HARDWARE MANUAL MCST3601 La sele ge gt 1 Axis Stepper AA cl a Controller Driver Ee ale 3 axes controller ig Ta FUN E i 2 ov Master Slave operation A eT Up to 1 A 36 V Incremental encoder input GPIOs AAAAARAAAAAAAA
3. one phase with max current settings incl both Jumpers closed and 256 microsteps CH1 yellow motor current 100mV A HMO1524 HW 0x10130001 SW 04 522 2014 04 30 13 58 Auto Trig Complete TB 10ms_ T ims Motor current with both Jumpers set closed Motor current setting in software TMCL Range setting Current Motor Motor in software scaling step current current rms TMCL CS Ipeak A 144 151 18 0 482 0 341 MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 Motor current setting in software TMCL 240 247 3o 0787 0556 2 248255 1 1 31 0812 0574 o o o ow oem o ers 0 1 0094 0066 163 o 2 omj 010 o aa o 3 0 0188 0133 o BB o 4 0235 0166 40 47 Ss 0282 019 o a55 o 6 0328 0232 OO 0 e 64 71 0 422 na o KE oa os o 8087 O 10 05161 0365 o 3889510 0 898 96 008 o 2 06101 0431 o owm o B 0657 0465 o 129 o 4 0704 0498 2 101271 5 07517 0531 o 128 135 0O 16 0788 0564 Er 0o 17 84S 0597 o 14151 O 18 0892 o 0630 o 152 159 0 1 098 0664 160 167 O 20 09851 0 697 2 168 175 0O 21 1032 0730 o 176 183 o0 22 109 0763 o 184191 0 2 1126 079 o 19219 O0 24 1173 0830 2 200 207 235 1220 0 863 2 208 215 0 26 1267 0896 2 2162231 0 1314 0 929 2 242311 O 28 1361 0962 2 2322391 O 29 1408 0995 202a 0 30 1455 1029 o 248 255 0O 31 1502 1062 Range
4. 128 0 090 8s Ott _ 013900 0099 13 o 2 0151 0107 MAM 0 B 0163 0 115 Oo masmep o 4 0174 0123 elelejlelejelelelelejlele jelelelelelejejeljle 17 MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 18 Motor current eee Range setting Current Motor Motor setting in o in software scaling step current current lems Ibeak A A TMCL TMCL CS peak A A 120 127 0 1 oss 0132 12835 Oo 16 0198 0140 136 143 O 17 0209 0148 eS o g 0221 0156 152159 0O 1 0232 0 164 160 167 0 20 0244 0 173 2 168 175 0 2 gt 0256 0 181 176 183 0 22 0267 0189 o 184 191 o 2 0279 0197 19219 0o 2x 0291 0205 200 207 0 25 03020214 208 215 0 26 0314 0222 2 216 223 0 27 0325 0230 p 224 281 0 28 03371 0238 232 289 0 2 0349 0247 2 2402471 Oo 0 80 03601 0255 248 255 o 8 0372 0263 Motor current These are the values for TMCL axis parameter 6 motor run current and 7 motor setting in standby current They are used to set the run standby current using the following software TMCL commands TMCL SAP 6 lt motor number 0 5 gt lt value gt set run current SAP 7 lt motor number 0 5 gt lt value gt set standby current For lt value gt numbers between 0 and 255 are supported see table read out value with GAP instead of SAP Please see separate MCST3601 TMCL firmware manual for
5. 23 S2 HardWare REVISION ede O ekl Aka ae saa li eck us Sse atresia nee adie aloo eens eek aaa ei 23 Ge Reterences rt ee ea E eee a ONO de 23 MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 1 Features The MCST3601 is a single axis controller driver module for 2 phase bipolar stepper motors It supports supply voltages up to 36V DC and motor currents up to 1A RMS different motor current settings selectable in software and via two jumpers The TMCL firmware allows for both standalone operation and direct mode The module can be configured as master controller driver controlling up to two external drivers in addition to the on board one or as slave driver only with step direction enable inputs MAIN CHARACTERISTICS Motion controller Motion profile calculation in real time On the fly alteration of motor parameters e g position velocity acceleration High performance 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 dissipation Dynamic current control Integrated protection Interfaces USB device interface on board mini USB connector 6x open drain outputs 24V compatible REF_L REF_R HOME switch inputs 24V compatible with programmable pull ups 1x S D input for the on board driver on board motion controller can be deactivated 2x Step direction output for two sep
6. MCST3601 support USB self powered operation when an external power is supplied via the power supply connector and USB bus powered operation no external power supply via 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 Motor movements will not be possible 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 additional cabling external devices as e g power supply etc are required in that case Please note that the module might draw current from the USB 5V bus supply even in USB self powered operation depending on the voltage level of this supply 3 5 Inputs and Outputs 3 5 1 Reference and Home switch inputs All three reference and home switch inputs REF L REF Rand HOME offer the same input circuit with voltage resistor dividers limiting diodes against over and under voltage and programmable 1k pull ups to 5V The programmable pull ups can be switched on or off together for all three inputs common switch for REL REF_R HOME 1k REF L 3 3V RER L_ gt HOME 15k microcontroller and 2 IMO129 REF_L HER 27k 1nF GND GND GND Figure 3 4 Reference switch input circuit simplified diagram 3 5 2 General purpose Inputs The MCST3601 offers three general purpose dig
7. RA LEE J Li pa a v 2 gt gt S gt 501160 g z E A a Cn E HHE 05 inn cas us 01m UNIQUE FEATURES Compatible with the whole PRECIstep stepper motor range Compact and fully programmable ASIC design A POWERED BY TR NAM IC MOTION CONTROL MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 Table of Contents Pe BCU geceli e ee ee e vie PR e Me ME 5 ZMN e 1 ee Gr 0 ee pe Me e e AE e e e ee ee 6 3 Mecnanicalanc Electical MECE ER 7 3 1 Dimensions ana MOUNTING Hol ui sl mila Slide all Dali 7 A A ala Sai Di Sa Sa i Sie Sedna 8 321 Motory Encoder COMME e LO 9 3272 Power Interface connect sn asl dek a emilme be sald Sa dl a ini ine 10 2 2 5 Motor connect e sele ao N 11 IZA SD e o ag og e AM KE KE A RR a e 11 32 5 SDZ CONIC CUO ar ka del la ee am a m anla nde ila ii cis 11 3 2 0 MinrUsB CONNECT A EA 12 gt Power SODA A AA 12 34 USB COMMUNIC ALON MA A ea Gane ees 13 gt input and Opr elen ee A RRS gn te ime a 13 3 5 1 Reference and Home SWITCH inputs Meyan ll a lil dean digi a 13 5 52 General purpose INPUTS Are al lal iia 14 55 5 General Purpose EDS id al a a a lela dala AG rd 14 e MOLO MGR EM sence ee A T 15 RE O 19 A O Mi 20 7 EMESTS6O NM Opetationa Descrip e betas 21 7 1 Calculation Velocity and Acceleration vs Microstep and FullistepFregueney 21 Ore Pe A O A NY ae E eae 23 8 1 DOCUMENT REVISION ai cssed a e
8. arate external drivers in addition to the on board 1x encoder input for incremental a b n encoder 3x general purpose digital inputs 24V compatible 1x analog input 0 10V Please note not all functions are available at the same time as connector pins are shared Software TMCL standalone operation or remote controlled operation program memory non volatile for up to 2048 TMCL commanos and PC based application development software TMCL IDE available for free Electrical and mechanical data Supply voltage 24 V DC nominal 9 36 V DC Motor current up to 1 A RMS 1 5 A peak programmable Board size 68mm 47 5mm MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 6 2 Order Codes Ordercode Description Size mm MCST3601 Single axis bipolar stepper motor controller driver electronics 68 x 47 5 x 13 Table 2 1 Order codes MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 3 Mechanical and Electrical Interfacing 3 1 Dimensions and Mounting Holes The dimensions of the controller driver board are approx 68 mm x 47 5 mm x 13 mm Maximum component height height above PCB level without mating connectors is around 9mm above PCB level and 2 mm below PCB level 58 00mm 64 50mm 3 50mm 47 50mm 44 00mm lt 3 50mm ii Figure 3 1 Dimension of MCST3601 and position of mounting holes MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 3 2 Connectors The controller
9. ctor S D 2 connector S D 3 connector Mini USB Connector Connector type Screw connector Screw connector Molex PicoBlade Apin 1 25mm pitch 53047 0410 Single row header 4pins 2 54mm pitch Single row header 4pins 2 54mm pitch Molex 500075 1517 Mini USB Type B vertical receptacle Table 3 1 Connectors and mating wires connectors Wire AWG 26 28 2 54mm pitch 2 54mm pitch Mating connector type Wire up to 0 5 mm Wire up to 0 5 mm Connector housing Molex 51021 0400 Contacts Molex 50079 8000 Single row female plug 4pins Single row female plug 4pins Any standard mini USB plug MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 9 3 2 1 Motor Encoder connector 12 screw connectors located next to each other at one end of the board offer inputs for reference home switches an incremental a b n encoder including 5V encoder supply output and connection for the 2 phase bipolar stepper motor Direc Pin Label on Description 1 REF_L ii Left stop switch input programmable pull up to 5V or DIR_IN p direction input in S D operation mode REF R Right stop switch input programmable pull up to 5V 2 Input EN_IN or enable input in S D operation mode 4 3 HOME oi Home switch input programmable pull up to 5V or STEP_IN p enable input in S D operation mode ENC_A 4 a Input Incremental encoder channel A input or digital inp
10. driver board MCST3601 offers two rows of screw connectors at each end of the pcb There is one additional motor connector and two single row headers for step direction output for axis one and two please note that the internal driver axis has the number 0 Motor Encoder connector F L ORIN EE HEME a iri TE ENGNT ING 5720 7 T m 8 MW 3 Motor Phase At 11 Motor Phase Bt S D 1 SD 2 Connector gt gt N vy JEE ea P Dile o ia Se gt SUL e Ti P t a as F o o MEA BER Mall ada BER ie a Connector gizz llas uz erer az MCST36O1 gt leme ap f mH HH a 5 J gm Wo f E N z 37 gt a a a hr 6 PT A a 2 L i mx 44 gt ELIES 94 EEr kad 5 r Y i gt sib eto Wadari TDEAK di 4 y 0 CA ye Ne y J 3 ha Es A j 7 z gt 3 Sree 5 a 3 ATA Taes lio pS AN O E co le A USB gp a teams 1 2 xi moe o gt e a pn a is za AN S iz am Ppa y vE E dd ud gt lt ez Z i iz gt Taig Ree zi gt RUN oe E I S mr rms te 49 mikey me gt Somes poe Hua ae e o BAT R ZA FAULHA Motor Connector Figure 3 2 Overview connectors Connector connector 5 amm ie EJE EJE fio asom GD Label Motor Encoder connector Power Interface connector Motor conne
11. eak with VSENSE 1 programmable Open Max motor current 0 26A RMS 0 37A peak with VSENSE 0 programmable Max motor current 0 14A RMS 0 204 peak with VSENSE 1 programmable Table 5 1 Jumper Please note it is mandatory to either set both jumpers or leave both jumpers unpopulated Do not remove install jumpers while module is powered on MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 20 6 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values In no case shall the maximum values be exceeded EEE MN yp es Tue Power supply voltage for YE 12 24 e E jumper closed and VSENSE 0 DE ME fe PR closed E O A jumper open colL RMS Continuous motor current RMS with jumper aa and VSENSE 0 programmable l 5vouT current at 5V output for encoder supply Tenv Environment temperature at maximum rated current no forced cooling required Table 6 1 General operational ratings of module preliminary data based on basic temperature tests OPERATIONAL RATINGS OF MULTIPURPOSE INPUTS Symbol parameter mim ve Max fume VREF REF MMO input voltage range for REF_L REF_R HOME NN P iis INO IN1 IN2 IN3 INO IN1 IN2 IN3 a WOME MAN Mat A ME IN3 1N2 1N3 1 HOME IN1 IN2 IN3 ME INL N2 1N3 H HOME IN1 IN2 IN3 Vino Full scale input voltage range for analog voltage input Table 6 2 Operational rati
12. er capacitors These are ceramic capacitors which have been selected for high reliability and long life time Add external power supply capacitor It is recommended to connect an electrolytic capacitor of significant size e g 470uF 35V to the power supply lines next to the MCST3601 Rule of thumb for size of electrolytic capacitor c 1000 X supp y In addition to power stabilization buffer and filtering this added capacitor will also reduce any voltage spikes which might otherwise occur from a combination of high inductance power supply wires and the ceramic capacitors In addition it will limit slew rate of power supply voltage at the module The low ESR of ceramic only filter capacitors may cause stability problems with some switching power supplies Keep the power supply voltage below the upper limit of 36V Otherwise the driver electronics might be seriously damaged Especially when the selected operating voltage is near the upper limit a regulated power supply is highly recommended There is no reverse polarity protection The module will short any reversed supply voltage due to internal diodes of the driver transistors MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 13 3 4 USB communication For remote control and communication with a host system the MCST3601 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
13. ettings chapter 4 added 201 SEP 12 Update pictures Table 9 1 Document revision 8 2 Hardware Revision Version Date Description S TMCM 1114 FH_V10 2013 JUL 30 MCST3601 V11 2014 MAR 28 USB powered option added air wire from previous version removed Board size changed labels added next to connector Motor numbers in silk screen changed to be compatible with TMCL IDE Varistors at driver output added for better protection Board renamed in MCST3601 Solderstop blue connectors Amphenol black MCST3601_V12 2014 JUL 09 e CAN information suppressed Table 9 2 Hardware revision 9 References TMC262 TMC262 Datasheet TMC429 TMC429 Datasheet TMCL IDE TMCL IDE User Manual For further information please refer to www trinamic com YX FAULHABER FAULHABER PRECISTEP SA Rue des Gentianes 53 2300 La Chaux de Fonds Switzerland Tel 41 32 910 6050 Fax 41 32 910 6059 7000 55001 English 1st edition 10 2014 i i info precistep com FAULHABER PRECISTEP SA Subject to change without notice www faulhaber com
14. further information Range setting This is the value for TMCL axis parameter 179 Vsense This value defines the in software current range This value can be set using the following TMCL command TMCL SAP 1 9 motor xmumber U s5 gt x lt valare gt y O high current range 1 low current range For lt value gt either O or 1 is supported see table read out value with GAP instead of SAP Please see separate MCST3601 TMCL firmware manual for further information Motor current Resulting motor current based on range and motor current setting Irus A In addition to the settings in the table the motor current may be switched off completely free wheeling individually for each motor using axis parameter 204 see MCST3601 TMCL firmware manual MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 19 5 Jumper The MCST3601 offers 2 on board Jumpers for selection of two different motor current ranges iey ile MCST3601 ie 2 eats 0012300 hee IM T IE m gt LOY gt gt Ea coe e izi pl 5 5 4 339 w Tjan p gt E 7 e Jp z0 b ARARAMAAAAAAAARA _ LEE po po o o o A paama a sa nl ga IMTI OLU Kaza Y na BY ja E a ri nl J m Blea i pen b R anmann y Mun pE Lig uij o 1 kd Oo VU Jumpers Jumper Description Closed Max motor current 1A RMS 1 5A peak with VSENSE 0 programmable Max motor current 0 57A RMS 0 8A p
15. ital inputs and one analog input All inputs offer the same basic input protection circuit The dedicated analog input has different input voltage dividers in order to support a full scale input voltage range of 0 10V The other digital inputs have been designed in order to be able to accept 5V and 24V signal levels INT 13 3V IN2 IN3 15k microcontroller 27k ser GND GND GND Figure 3 5 General purpose digital input circuit 3 3V INO 21k microcontroller 10k 1nF GND GND GND Figure 3 6 General purpose analog input circuit The function of the inputs might differ depending on firmware version 3 5 3 General purpose Outputs The MCST3601 offers six general purpose outputs All outputs are open drain outputs For all outputs a freewheeling diode to power supply is already integrated V 36V E ia ll microcontroller Figure 3 7 General purpose output open drain with freewheeling diode MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 15 4 Motor driver current The on board stepper motor driver operates current controlled The driver current may be programmed in software for each motor axis individually in two ranges 0 5A RMS and 1A RMS with 32 effective scaling steps in hardware for each range In addition via setting closing two jumpers see chapter 5 two lower current ranges with 32 effective scaling steps in hardware for each range may be selected Motor current measured for
16. ngs of multipurpose Inputs OPERATIONAL RATINGS OF MULTIPURPOSE OUTPUTS Symbol parameter in fiw m Unt Vout1 ouT2 ouT3 Voltage at open drain outputs VDD v OUT4 OUT5 ouT6 OUTO OUT1 OUT2 OUT3 OUT4 OUTS5 100 mA ouT ouT2 ouT3 Output sink current of open drain outputs l 5vouT Current at 5V output for encoder active reference switch supply etc Table 6 3 Operational ratings of multipurpose Outputs 1 Please note free wheeling diodes for all outputs connected to positive supply voltage are already included on board Therefore the nom voltage at these outputs should not exceed the power supply voltage of this module MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 7 MCST3601 Operational Description 21 7 1 Calculation Velocity and Acceleration vs Microstep and Fullstep Frequency The values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity But these values can be calculated from the TMC429 parameters as shown in this section PARAMETERS OF TMC429 Signal Description Range fax Clock frequency 16 MHz velocity 0 2047 a_max Maximum acceleration 0 2047 Divider for the velocity The higher the value is the less is pulse div the maximum velocity 0 13 default value 0 Divider for the acceleration The higher the value is the ramp_div less is the maximum acceleration 0 13 default value 0 l l e O
17. r Pin Label Direction Description 1 GND Power GND System and signal ground Power supply in Common supply input for gt 9V 36V DC Power Supply driver and logic part All further required in voltages are generated on board from this voltage x 3 Reserved ud 4 Reserved gt Open drain output Max 100mA sink to Q 5 OUTO Output ground capability with integrated 2 freewheeling diode to power supply in 2 Open drain output Max 100mA sink to 2 6 OUT1 Output ground capability with integrated freewheeling diode to power supply in 2 Open drain output Max 100mA sink to amp 7 OUT2 Output ground capability with integrated GB freewheeling diode to power supply in Open drain output Max 100mA sink to e 8 OUT3 Output ground capability with integrated S freewheeling diode to power supply in Open drain output Max 100mA sink to 9 OUT4 Output ground capability with integrated freewheeling diode to power supply in Open drain output Max 100mA sink to 10 OUTS5 Output ground capability with integrated freewheeling diode to power supply in 11 INO but Analog input O 10V can be used as digital input too 12 GND Power GND System and signal ground Table 3 3 Connector for power analog input and general purpose digital outputs 3 2 3 Motor Connector A Molex PicoBlade 4pin 1 25mm pitch connector is available for motor connection motor axis O in TMCL firmware Please no
18. rection out for motor axis 2 motor 2 in TMCL firmware Pin Label Direction Description 0 9 1 DIR3 Output Direction output for motor axis 2 nDNA 2 STEP3 Output Step output for motor axis 2 3 EN3 Output Enable output for motor axis 2 4 GND Power GND Signal and supply ground Table 3 6 Connector for Step Direction output for the third motor axis MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 12 3 2 6 Mini USB connector A 5pin mini USB connector is available on board for serial communication This module supports USB 2 0 Full Speed 12Mbit s connections Please note On board digital core logic mainly processor and EEPROM will be powered via USB in case no other supply is connected This mode of operation can be used to set parameters download TMCL programs or perform firmware updates with the module connected via USB only or inside the machine while the machine is powered off Label Direction Description VBUS Power 5V supply from host Supply input Bidirectional USB Data ID Power GND Connected to signal and system ground Power GND Connected to signal and system ground Table 3 7 Connector for USB Pin 2 D Bidirectional USB Data S a 3 3 Power Supply For proper operation care has to be taken with regard to power supply concept and design Due to space and especially height restrictions the MCST3601 includes just about 40uF 50V of supply filt
19. setting Current Motor Motor in software scaling step current TMCL CS peak A current rms A Motor current with both Jumpers removed not closed 16 MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 Motor current setting in Range setting Current Motor Motor in software scaling step current software TMCL TMCL CS len A TT 0 0006 000 BST 1 1 0031 0009 6 23 1 2 009 0013 pt a y 3 0025 0018 r 2 0380022 current rms A elelelele BSO a 996 0044 0031 an 1 8 0057 00 0 7 2 1 9 003 0 044 8o 1 134 007s 0 053 2 9x0 1 12 0082 0 058 Ioan 1 B3 0088 0062 gt u 1 ta 009 0067 20 027 1 15 0101 0071 o 128 185 1 16 0107 0076 o 1363 1 17 O113 0080 YO o o 1 19 0 0126 0089 o 160 167 1 20 0 0132 0093 2 1681750 14 21 0138 0098 o 9 176 183 1 22 0145 0 102 2 184191 1 1 323 7 192 199 24 0 157 2 200 207 235 01631 0116 2 208 215 1 26 0170 03120 ae 1 y 27 0176 014 o 224231 1 28 0182 0129 2 232239 a f 29 0189 0133 240 247 1 80 0195 0 138 248 255 1 31 0201 0 142 erp o o 002 0033 o 31 O 1 0023 0016 o 163 0 2 0 0035 0025 A Ao 3 006 0033 o 3231 0 4 0o58 0041 po 40 47 o 5 0071 0 049 o 4855 0 6 0081 0 058 o 6 63 0 7 _ 0093 0066 AA 20 8 0105 0074 Po 72 79 o 9 on6f 0 082 80 87 o 10 0
20. te the 4 pins of this connector are directly connected to the motor driver output signals of the Motor Encoder connector Therefore either use this connector or pin 9 to 12 of the Motor Encoder connector for connecting a bipolar 2 phase stepper motor Pin Label Direction Description 1 A Output Motor driver output coil A 2 ok Output Motor driver output coil A 3 cee Output Motor driver output coil B 6 cn Output Motor driver output coil B Table 3 4 Motor connector Do not connect or disconnect motor during operation Motor cable and motor inductivity might lead to voltage spikes when the 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 before connecting disconnecting the motor 3 2 4 S D 1 connector A 4 pin single row header with 2 54mm pitch is used for Step Direction out for motor axis 1 motor 1 in TMCL firmware Pin Label Direction Description Q m 1 DIR2 Output Direction output for motor axis 1 SDAP 2 STEP2 Output Step output for second motor axis 3 EN2 Output Enable output for second motor axis 4 GND Power GND Signal and supply ground Table 3 5 Connector for Step Direction output for the second motor axis 3 2 5 S D 2 connector A 4 pin single row header with 2 54mm pitch is used for Step Di
21. ut 1 ENC B e 5 IND ae Input Incremental encoder channel B input or digital input 2 Ss 6 ENC_N Sei Incremental encoder index null channel input or gt IN3 p digital input 3 gt P 5VOUT ee 5V output 5V generated from on board DC DC 7 5V gt 100mA converter Output can be switched on off in software output P gt 8 GND cup Signal and system ground SS 9 NIDO Output Motor driver output motor axis 0 coil A Phase A p p j Motor E 10 N Output Motor driver output motor axis 0 coil A 11 Mi Output Motor driver output motor axis 0 coil B Phase B p p Motor 12 Di Output Motor driver output motor axis 0 coil B Table 3 2 Connector for reference switches encoder and motor Do not connect or disconnect motor during operation Motor cable and motor inductivity might lead to voltage spikes when the 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 before connecting disconnecting the motor MCST3601 Hardware Manual Rev 0 91 2014 MAY 27 3 2 2 Power Interface connector 10 12 screw connectors located next to each other at the other end of the board include single power supply offer general purpose open drain outputs an incremental a b n encoder including 5V encoder supply output and connection for a 2 phase bipolar stepper moto
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