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TMCM-3110 Hardware Manual

1. Symbol Parameter Min Typ Max Unit Vsi on Input voltage for step inputs S_0 1 2 0 0 24 27 V direction inputs D_0 1 2 and enable inputs E_0 1 2 Veine 01112 1 Low level voltage for step inputs 0 1 1 V S_0 1 2 direction inputs D_0 1 2 and enable inputs E_0 1 2 Voypie orz H High level voltage for step inputs 2 9 27 V S_0 1 2 direction inputs D_0 1 2 and enable inputs E_0 1 2 Table 7 4 Operational ratings of the S D inputs OPERATIONAL RATINGS OF THE ENCODER INPUTS 0 1 2 Symbol Parameter Min Typ Max Unit AONNE Voltage at encoder signal inputs 0 3 5 5 V Table 7 5 Operational ratings of the encoder inputs 0 1 2 OPERATIONAL RATINGS OF THE RS485 INTERFACE Symbol Parameter Min Typ Max Unit Nesse Number of nodes connected to single 320 RS485 network Us Maximum signaling rate 1 Mbps Table 7 6 Operational ratings of the RS485 interface OPERATIONAL RATINGS OF THE CAN INTERFACE Symbol Parameter Min Typ Max Unit Now Number of nodes connected to single gt 110 CAN network ab cree Maximum signaling rate 1 Mbps Table 7 7 Operational ratings of the RS485 interface Please note maximum signaling rate and maximum number of nodes will not be achieved at the same time for both serial bus interfaces RS485 and CAN With increasing number of nodes per bus and increasing bus length the maximum data rate usually has to be reduced Maximum number of nodes per
2. 7 After switching on power supply and connecting USB cable all permanent settings have been restored to factory defaults 15 meee nooo meee 1000 1000 1000 E an a a bd H e e e e a e e e o e o e E na A pi e e j E H O 8 e e eo eo gt es ee ee ee se se Mecceceee MOCOS meccccce O Short these two pins DIO and CLK Figure 6 1 Reset pins bottom view of module www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 7 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 GENERAL OPERATIONAL RATINGS OF THE MODULE 26 Symbol Parameter Min Typ Max Unit Vorrver Power supply voltage for driver 9 24 48 52 8 V V Drerral Power supply voltage for controller V DRIVER V option can be left unconnected Viss Power supply via USB connector 5 V ven Current withdrawn from USB supply 130 mA when USB bus powered no other supply connected Ikay Current at 5V output for supply of 400 mA external circuits e g encoder reference limit switches all 5V outputs together or Motor coil current for sine wave peak 0 4 A chopper regulated adjustable via software lyg Continuous motor current RMS 0 2 8 A I Power supply cur
3. Pin Label Direction Description 1 GND Power GND Signal and system ground gt 5V Power Supply 5V output for external circuit output Input Input for reference limit switch left integrated pull up 3 REF_L to 5V 4 REF_R Input Input for reference limit switch right integrated pull up to 5V Table 3 5 Reference switch connectors 0 1 2 www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 10 3 3 5 I O Connectors O 1 The module offers two I O connectors The number and type of inputs outputs and supply is the same for both connectors Therefore if only half of the inputs outputs etc is required it will be sufficient to use just one of the two connectors and reduce simplify cabling I O CONNECTOR 0 Pin Label Direction Description 1 GND Power GND GND 2 Vorera Power Connected to Vorea Of Power connector supply output 3 AIN O Input Dedicated analog input input voltage range 0 10V resolution 12bit 0 4095 4 IN1 Input Digital input 24V compatible Home switch input for motor 0 5 IN2 Input Digital input 24V compatible Home switch input for motor 1 6 IN 3 Input Digital input 24V compatible Home switch input for motor 2 7 OUT_O Output Open drain output max 100mA Integrated freewheeling diode 8 OUT_1 Output Open drain output max 100mA
4. TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 16 3 5 2 CAN For remote control and communication with a host system the TMCM 3110 provides a CAN bus interface To select a modules address the TMCM 3110 is equipped with dip switches with digits from 1 to 8 Anyhow the switches use the binary digit system Thus node addresses from 1 to 255 can be set THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING All DIP switches off CAN address is taken from the on board non volatile memory EEPROM Factory default value for the module address is 1 At least one DIP switch on the 8 DIP switches define the CAN address The address is specified as binary 8bit value DIP switches 1 8 specify bit 1 8 of the address Figure 3 7 Dip switch for address selection Note Per default all dip switches are off and the module address taken from the EEPROM is 1 Per default the host address is 2 Do not use equal addresses for the host and the TMCM 3110 For proper operation the following items should be taken into account when setting up a CAN network 6 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 termination resistor 120 Ohm termination resistor 120 Ohm keep distance as short as possible Figure 3
5. available via this connector max 100mA per connector Pin Label Direction Description 1 GND Power GND Signal and system ground gt 5V Power 5V output for external circuit max 100mA supply output 3 Input Encoder channel A input 1 differential non inverting Input Encoder channel A input 4 A f mae differential inverting Input Encoder channel B input 5 B a differential non inverting Input Encoder channel B input 6 B care differential inverting Input Encoder zero index channel input 7 N i differential non inverting 8 N Input Encoder zero index channel input differential inverting Table 3 8 Encoder connector 0 1 2 DIFFERENTIAL ENCODER SIGNALS For differential encoder signals connect all differential signals A and A B and B and opt N and N to the respective connector input pins Usually onboard line termination should be also installed for differential signals close all three jumpers for 120R line termination of the respective differential encoder input aJa Place jumpers for og proper temrination Please refer to encoder manufacturer data sheet for correct interface settings also Figure 3 4 Encoder input termination SINGLE ENDED ENCODERS For single ended encoders TTL or open collector signals connect the encoder signals A B and optional N to the positive non inverting di
6. 8 CAN bus structure 7 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 3110 does not integrate any termination resistor Therefore 1200 termination resistors at both ends of the bus have to be added externally 8 NUMBER OF NODES The bus transceiver used on the TMCM 3110 units TJA1050T supports at least 110 nodes under optimum conditions Practically achievable number of nodes per CAN bus highly depends on bus length longer bus gt less nodes and communication speed higher speed gt less nodes www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 17 3 5 3 USB For remote control and communication with a host system the TMCM 3110 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 CAN interface will be de activated then The TMCM 3110 supports both 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 USB Bus POWERED OPERATION MODE On board digital core logic will be powered via USB in case no other supply is connected USB bus powered operation The digital core logic comprehends the microcontroller itself and also the EEPROM The USB bus power
7. Cable colour Coil Description A 1 Black A Motor coil A pin 1 E green 2 Green A Motor coil A pin 2 3 Red B Motor coil B pin 1 ca 4 Blue B Motor coil B pin 2 E Mi blue Figure 3 3 Example how to connect a QSH5718 stepper motor www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 3 3 3 S D IN Connector The module offers one common connector for external Step Direction input for all three axes This way an external motion controller instead of the on board one might be used together with the three on board stepper motor driver stages Y Pin Label Direction Description 1 GND Power GND GND 2 ISO Input Step signal input for motor 0 24V compatible 3 IDO Input Direction signal input for motor 0 24V compatible 4 JEO Input Enable signal input for motor 0 24V compatible 5 S 1 Input Step signal input for motor 1 24V compatible 6 D1 Input Direction signal input for motor 1 24V compatible 7 E1 Input Enable signal input for motor 1 24V compatible 8 S2 Input Step signal input for motor 2 24V compatible 9 De Input Direction signal input for motor 2 24V compatible 10 E 2 Input Enable signal input for motor 2 24V compatible Table 3 4 S D IN connector 3 3 4 Reference Switch Connector 0 1 2 For each stepper motor axis a separate reference limit switch input connector is available
8. 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 amp Co KG 2013 2014 Information given in this data sheet is believed to be accurate and reliable However neither 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 All trademarks used are property of their respective owners www trinamic com 31 TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 32 11 Revision History 11 1 Document Revision Version Date Author Description 0 90 2012 SEP 26 GE Preliminary version 1 00 2013 JUN 12 SD First complete version 1 01 2013 JUL 23 SD Minor changes Home switch inputs added 1 02 2014 DEC 11 GE Table with motor current settings added chapter 4 Minor corrections additions Table 11 1 Document revision 11 2 Hardware Revision Version Date Description TMCM 3110_V10 2012 MAY 25 Initial version TMCM 3110 V11 2012 AUG 17 Few corrections and enhancement Processor reset corrected Encoder N channel connected to different port pin for better interrupt handling in software
9. Integrated freewheeling diode to Vaigitat 9 OUT_2 Output Open drain output max 100mA Integrated freewheeling diode to Voigitat 10 0UT_3 Output Open drain output max 1A Integrated freewheeling diode to Vgigitat Table 3 6 I O connector 0 T O CONNECTOR 1 Pin Label Direction Description 1 GND Power GND GND 2 Vorma Power Connected to Vora Of Power connector supply output 3 AIN 4 Input Dedicated analog input input voltage range 0 10V O resolution 12bit 0 4095 4 IN5 Input Digital input 24V compatible 5 IN 6 Input Digital input 24V compatible 6 IN7 Input Digital input 24V compatible 7 OUT_4 Output Open drain output max 100mA Integrated freewheeling diode 8 OUT_5 Output Open drain output max 100mA Integrated freewheeling diode to Vaigitat 9 OUT_6 Output Open drain output max 100mA Integrated freewheeling diode to Vigitat 10 OUT_7 Output Open drain output max 1A Integrated freewheeling diode to Vaigitat Table 3 7 I O connector 1 www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 11 3 3 6 Encoder Connector 0 1 2 For each stepper motor axis a separate encoder input connector is available Encoders with incremental output signals either differential RS422 signals or single ended TTL or open collector signals with or without zero index channel are supported For encoders with 5V supply the required 5V output is also
10. bus and maximum signaling rate might be limited by firmware with TMCL max 255 nodes also www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 28 8 Functional Description The TMCM 3110 is a highly integrated 3 axes controller and driver module with encoder inputs It can be controlled via CAN RS485 or USB serial interfaces Communication traffic is kept low since all time critical Operations e g ramp calculation are performed onboard The module is designed for both standalone operation and direct mode Full remote control of device with feedback is possible The firmware of the module can be updated via any of the serial interfaces In Figure 8 1 the main parts of the module are shown the microprocessor which runs the TMCL or CANopen operating system the TMCL program memory stores up to 2048 TMCL commands 1x motion controller for three axes which calculates ramps and speed profiles by hardware 3x power driver with stallGuard2 and the energy efficient coolStep feature 3x external MOSFET driver transistors RS485 CAN and USB transceivers on board switching and linear voltage regulators for supply of on board digital circuits 3x encoder interface one TMCM 3110 3x encoder Inputs RS485 Power CAN Driver ce SID TMC262 y USB Motion sip Power sPI Controller mas with TMC429 Inputs Power Driver TMC262 Outputs TMCL Power supply Memory Figure 8 1 TMCM 3
11. 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 Slave Slave Slave termination resistor 120 Ohm termination resistor 120 Ohm RS485 keep distance as short as possible Figure 3 3 Bus structure 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 3110 does not integrate 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 standard EIA 485 allows up to 32 nodes to be connected to a single bus The bus transceiver used on the TMCM 3110 SN65HVD1781D has a significantly reduced bus load and allows a maximum of 255 units to be connected to a single RS485 bus using TMCL firmware Please note usually it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum supported communication speed www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 15 at the same time Instead a compromise has to be found between bus c
12. load measurement via stallGuard2 adapting the required current to the load Energy consumption can be reduced by as much as 75 coolStep allows substantial energy savings especially for motors which see varying loads or operate at a high duty cycle Because a stepper motor application needs to work with a torque reserve of 30 to 50 even a constant load application allows significant energy savings because coolStep automatically enables torque reserve when required Reducing power consumption keeps the system cooler increases motor life and allows reducing cost 0 9 Efficiency with coolStep 0 8 H Efficiency with 50 torque reserve 0 7 0 6 0 5 Efficiency 0 4 0 3 0 2 0 1 0 T T T T T _ 0 50 100 150 200 250 300 350 Velocity RPM Figure 1 2 Energy efficiency example with coolStep www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 2 Order Codes Order code Description Size mm TMCM 3110 option 3 axes bipolar stepper motor controller driver module with encoder interface 130 x 100 x 30 Table 2 1 TMCM 3110 order codes The following options are available Firmware option Description Order code example TMCL Module pre programmed with TMCL firmware TMCM 3110 TMCL CANopen Module pre programmed with CANopen firmware TMCM 3110 CANopen Table 2 2 TMCM 3110 firmware options A cable
13. loom set is available for this module Order code Description TMCM 3110 CABLE Cable loom for TMCM 3110 Contains see chapter 3 2 also 1x cable loom for power connector 3x cable loom for reference switch connectors 0 2 3x cable loom for motor connectors 0 2 2x cable loom for I O connectors 0 1 3x cable loom for encoder connectors 0 2 1x cable loom for S D connector 1x USB type A connector to mini USB type B connector cable Table 2 4 Cable loom order code www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 6 3 Mechanical and Electrical Interfacing 3 1 Dimensions The board with the controller driver electronics has an overall size of 130mm x 100mm It has four mounting holes for M3 screws 3 2mm diameter Maximum board height without mating connectors and cable looms is about 30mm approx 26mm above printed circuit board level 130 125 y 4x M3 screws for mounting 100 95 Figure 3 1 Board dimensions and position of mounting holes all values in mm 3 2 Considerations for Mounting The TMCM 3110 has four metal plated mounting holes These mounting holes are connected to the system and signal ground which is the same as the power supply ground In order to minimize distortion of signals and radiation of HF signals improve EMC compatibility especially in sensitive and or noisy environments it is important to ensure a solid ground connection withi
14. see TMCM 3110 firmware manual www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 24 5 Onboard LEDs The board offers two LEDs in order to indicate board status The function of both LEDs is dependent on firmware version With standard TMCL firmware the green LED should be flashing slowly during operation and the red LED should be off Please see separate TMCM 3110 TMCL firmware manual for additional information If there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on Green LED Red LED ELLELLL 1 RA CARS LATA Figure 5 1 On board LEDs www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 25 6 Reset to Factory Defaults It is possible to reset the TMCM 3110 module to factory default settings without establishing a communication link This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost For this procedure two pads on the bottom side of the board have to be shortened PERFORM THE FOLLOWING STEPS 1 Power supply off and USB cable disconnected 2 Short two pads as marked in Figure 6 1 3 Power up board power via USB is sufficient for this purpose 4 Wait until the on board red and green LEDs start flashing fast this might take a while 5 Power off board disconnect USB cable 6 Remove short between pads
15. 00mA If Vira connection of the I O connectors is used for supply of substantial current to any external circuit please make sure to connect Vorma In addition to Vorwerk Of the power supply connector VorGITAL OUT_O OUT_1 OUT_2 OUT_3 OUT 4 OUT_5 microcontroller OUT_6 OUT_7 GND Figure 3 12 General purpose output open drain with freewheeling diode With TMCL firmware command SIO lt n gt 2 1 can be used to set pull down the output lt n gt See TMCL Firmware Manual command SIO for more details www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 20 3 6 4 Encoder Inputs The TMCM 3110 offers three connectors for incremental a b n encoders Encoders with or without index null zero channel are supported Differential signals push pull TTL or open collector are accepted For differential signals on board termination resistors can be activated via jumpers Encoder input circuit for each encoder channel Termination jumper Figure 3 13 Encoder input circuit The termination jumpers three jumpers per encoder input channel are located close to the encoder connector Termination jumpers for encoder input 2 Termination jumpers for encoder input 1 f id O E ANAL 27 ha A AER Termination jumpers for encoder input 0 we tereeres Encoder connectors Figure 3 14 Termination jumper for differential encoder signals jumper shown open no termin
16. 110 block diagram O O 3 3x 2 reference switches The TMCM 3110 comes with the PC based software development environment TMCL IDE for the Trinamic Motion Control Language TMCL Using predefined TMCL high level commands as move to position a rapid and fast development of motion control applications is guaranteed Please refer to the TMCM 3110 Firmware Manual for more information about TMCL commands www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 29 9 Operational Description 9 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 fak 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 the maximum pulse_div velocity 0 13 default value 0 divider for the acceleration The higher the value is the less is the ramp_div maximum acceleration 0 13 default value 0 Usrs microstep resolution microsteps per fullstep 2 0 8 Table 9 1 TMC429 velocity parameters MICROSTEP FREQUENCY The microstep frequency of the stepper motor is calculated with fcrgl Hz velocity 9 pulse
17. H K S UST PH series 10pins 2mm pitch JST B10B PH K S UST PH series 10pins 2mm pitch Molex 500075 1517 Mini USB Type B vertical receptacle Tyco electronics 3 1634218 2 D SUB socket with 4 40 female screwlocks Tyco electronics 3 1634218 2 D SUB socket with 4 40 female screwlocks JST B8B PH K S UST PH series 8 pins 2mm pitch Label Connector type Mating connector type Poner JST B3P VH Connector housing JST VHR 3N i UST VH series 3pins 3 96 itch Contacts JST SVH 21T P1 1 connector series 3pins 3 96mm pitc Wire 0 83mm AWG 18 Motor JST B4B EH A Connector housing JST EHR 4 UST EH series 4pins 2 5 itch Contacts JST SEH 001T P0 6 connectors series 4pins 2 5mm pitc Wire 0 33mm AWG 22 Reference Connector housing JST PHR 4 Switch aia Dunes T Contacts JST SPH 002T P0 5S connectors eerie A Wire 0 22mm AWG 24 Connector housing JST PHR 10 Contacts JST SPH 002T P0 5S Wire 0 22mm AWG 24 Connector housing JST PHR 10 Contacts JST SPH 002T P0 5S Wire 0 22mm AWG 24 Any standard mini USB plug Any standard D SUB female 9 pin Any standard D SUB female 9 pin Connector housing JST PHR 8 Contacts JST SPH 002T P0 5S Wire 0 22mm AWG 24 Table 3 1 Connectors and mating connectors contacts and applicable wire www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 8 3 3 1 Power Connector The module offers a single power connector with the option for separ
18. L commands SAP 6 0 lt value gt set run current SAP 7 0 lt value gt set standby current read out value with GAP instead of SAP Please see separate TMCM 3110 firmware manual for further information Resulting motor current based on motor current setting Motor current Current Motor Motor setting in scaling step current current software TMCL CS Icon peak A Theor aa UNI 0 7 0 0 132 0 093 8 15 1 0 264 0 187 16 23 2 0 397 0 280 24 31 3 0 529 0 374 32 39 4 0 661 0 467 40 47 5 0 793 0 561 48 55 6 0 925 0 654 56 63 7 1 058 0 748 64 71 8 1 190 0 841 72 79 9 1 322 0 935 80 87 10 1 454 1 028 88 95 11 1 587 1 122 96 103 12 1 719 1 215 104 111 13 1 851 1 309 112 119 14 1 983 1 402 120 127 15 2 115 1 496 128 135 16 2 248 1 589 136 143 17 2 380 1 683 144 151 18 2 512 1 776 152 159 19 2 644 1 870 160 167 20 2 776 1 963 168 175 21 2 909 2 057 176 183 22 3 041 2 150 184 191 23 3 173 2 244 192 199 24 3 305 2 337 200 207 25 3 438 2 431 208 215 26 3 570 2 524 216 223 21 3 702 2 618 224 231 28 3 834 2 711 232 239 29 3 966 2 805 240 247 30 4 099 2 898 248 255 31 4 231 2 992 www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 23 In addition to the settings in the table the motor current may be switched off completely free wheeling using axis parameter 204
19. MODULES FOR STEPPER MOTORS MODULES Hardware Version V1 1 HARDWARE MANUAL TMCM 3110 3 Axis Stepper Controller Driver 2 8A 48V USB RS485 and CAN Step Dir Interface Encoder Interface coolStep stallGuard2 A TRINAMIC Motion Control GmbH amp Co KG Hamburg Germany www trinamic com MOTION CONTROL TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 Table of Contents A SULIT eS EE E E cs cates EEE O cw ec acetic nec caste staat cau ccausisavatucasxaedetaunerceaaaet te 3 2 Order Codes cimas a ali 5 3 Mechanical and Electrical Tnterfacing ccnicicndcinnnnnnn i d 6 3 1 DIMENSIONS iS A DRE ee nee hn DARL ee ee 6 3 2 Considerations for Mountings iene a ea i 6 3 3 A 7 331 Power OLLA L O EE A E 8 3 3 2 Motor Connector O RTA E E A A E E E AE A AEE AE EEEE its 8 3 3327 SIDAN CON Oi A I AS A Ne 9 3 3 4 Reference Switch Connector 0 1 2 cvecececsssssssssccesceccssssscsssecsseseceecsecsscassacsacseesecsesaceaesausaeseseeeceaneateassaeens 9 335 TIO Connector di iia 10 3 3 6 Encoder Connector 0 1 Beninnninidnininjjnjjjnjjnnjnnnnnnnn Annana AAA EnEn Annana nananana nananana 11 32327 SCAN Connector E A E E nts 12 3 3 8 gt RS485 Conne dd 12 33 9 USB Connector 3 e o lead ao be aio 12 3 4 POS lt dit dd da 13 3 5 CommM NICat Opein a tine ee ee cian ai aes 14 SiS O OO ONO 14 3512 CAN ON 16 315 3 NN 17 3 6 Tin putssarid DUES ld dada 18 3 6 1 Reference Switch Inputs ccsssssssssessssssssss
20. SB connector 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 Electrical data Supply voltage 10V 48V DC Motor current up to 2 8A RMS programmable per axis Safety features Integrated protection overtemperature undervoltage Mechanical data Board size 130mm x 100mm height 30mm max 4 mounting holes for M3 screws Please see separate TMCM 3110 TMCL Firmware Manual for additional information www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 4 TRINAMICS UNIQUE FEATURES EASY TO USE WITH TMCL stallGuard2 stallGuard2 is a high precision sensorless load measurement using the back EMF on the coils It can be used for stall detection as well as other uses at loads below those which stall the motor The stallGuard2 measurement value changes linearly over a wide range of load velocity and current settings At maximum motor load the value goes to zero or near to zero This is the most energy efficient point of operation for the motor Load stallGuard2 Nm Initial stallGuard2 SG value 100 Max load stallGuard2 SG value 0 Maximum load reached Motor close to stall Motor stalls Figure 1 1 stallGuard2 load measurement SG as a function of load coolStep coolStep is a load adaptive automatic current scaling based on the
21. Table 11 2 Hardware revision 12 References UST JST connector http www jst com USB 2 485 USB 2 485 interface converter Manual available on http www trinamic com TMC262 TMC262 datasheet Manual available on http www trinamic com TMC429 TMC429 datasheet Manual available on http www trinamic com TMCL IDE TMCL IDE User Manual Manual available on http www trinamic com www trinamic com
22. _div 2048 32 usf Hz 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 usf Hz Hz Ssfl Hz ae with fsf fullstep frequency The change in the pulse rate per time unit pulse frequency change per second the acceleration a is given by 2 Fork A max pulse_div ramp_ div 29 QF p This results in acceleration in fullsteps of a af with af acceleration in fullsteps QUES www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 EXAMPLE Signal value fa 16 MHz velocity 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 msf a a 1000 L 122070 31 Hz 2 2048 32 sarita 222799 2 1907 34H2 2 q L6Mhz 7 1000 _ jo 2 MEZ 9 H1 29 s jeer MH af y 183 6 2 s CALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e g 72 fullsteps per rotation RPS IS Es 26 49 fullsteps per rotation 72 f sf 1907 34 RPM 90 AA 1589 46 fullsteps per rotation 7 www trinamic com 30 TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 10 Life Support Policy TRINAMIC Motion Control GmbH amp 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 amp
23. able length communication speed and number of nodes COMMUNICATION SPEED The maximum RS485 communication speed supported by the TMCM 3110 is 1Mbit s Factory default is 9600 bit s Please see separate TMCM 6110 TMCL firmware manual for information regarding other possible communication speeds 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 well defined logic levels There are actually two options which can be recommended Add resistor Bias network on one side of the bus only 120R termination resistor still at both ends Slave Slave PH 5V pull up 680R termination RS485 RS485A termination resistor resistor 220R RS485 RS485B 120R pull down 680R GND Figure 3 4 Bus lines with resistor Bias network on one side only Or add resistor Bias network at both ends of the bus like Profibus termination Slave Slave 5V pull up 390R termination RS485 RS485A termination resistor resistor 220R RS485 RS485B 220R pull down 390R pull down 390R GND GND Figure 3 5 Bus lines with resistor Bias network at both ends www trinamic com
24. ate supply for driver electronics and digital controller part A single supply voltage is sufficient All further voltages required e g for the digital components are generated on board Pin Label Direction Description 1 GND Power GND Common system supply and signal ground 2 Vorwer Power Stepper driver supply voltage Without this voltage the supply input stepper driver part and therefore any motor connected will not be energized 3 Vorerra Power Supply voltage for everything else apart from the supply input stepper motor driver ICs An on board voltage regulator O will generate the necessary voltages for the digital circuits from this supply This pin can be left unconnected In this case a diode between Voprver and Vprerrq Will ensure the supply of the digital parts Note It is expected that Vorera and Vprwer are connected to the same power supply output when both pins are used Otherwise ensure that Vprera is always equal or higher than Vperyeg When connected due to the diode Table 3 2 Power connector 3 3 2 Motor Connector 0 1 2 For each stepper motor axis a separate connector is used Pin Label Description 1 OA1 Motor coil A 2 OA2 Motor coil A 4 3 0B1 Motor coil B 4 OB2 Motor coil B Table 3 3 Motor connectors 0 1 2 TMCM 3110 QSH5718 motor M black _e Motor connector pin
25. ation For activation of line termination for differential encoder signals jumpers have to be closed see chapter 3 3 6 www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 21 3 6 5 Step Dir Inputs The TMCM 3110 offers an external Step Dir IN connector This way an external motion controller can be used to directly control the three on board stepper drivers via Step Direction instead of the on board motion controller The external Step Dir inputs offer input protection and accept 5V up to 24V compatible input signals An on board multiplexer allows selection of the external Step Dir input via software SID E_O SIDIE_1 SIDIE_2 3 3V TMC262 MOSFETs stepper driver GND GND GND S D E from internal motion controller microcontroller Figure 3 15 Step Dir In connector input circuit www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 22 4 Motor driver current The on board stepper motor driver operates current controlled The driver current may be programmed in software for motor coil currents up to 2 8A RMS with 32 effective scaling steps in hardware CS in table below Explanation of different columns in table below Motor current setting in software TMCL Motor current Ikus A These are the values for TMCL axis parameter 6 motor run current and 7 motor standby current They are used to set the run standby current using the following TMC
26. coder a b n connectors for each motor Communication can take place via RS485 CAN or USB interfaces The module offers 8 general purpose inputs and 8 general purpose outputs for various application possibilities With its high energy efficiency from TRINAMIC s coolStep technology cost for power consumption is kept down The TMCL firmware allows for both standalone operation and direct mode 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 stallGuard2 feature for stall detection coolStep feature for reduced power consumption and heat dissipation Interfaces Up to 8 multi purpose inputs 24V compatible incl 2 dedicated analog inputs Up to 8 multi purpose outputs Open drain incl 2 outputs for currents up to 1A Inputs for 3 incremental encoders differential and TTL open drain S D in for all three axes as alternative to on board motion controller RS485 communication interface 9pin D SUB male CAN 2 0B communication interface 9pin D SUB male USB 2 0 full speed 12Mbit s communication interface mini U
27. ed operation mode has been implemented to enable configuration parameter settings read outs firmware updates etc by just connecting an USB cable between module and host PC No additional cabling or external devices e g power supply are required 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 Motor movements are not possible in this operation mode Therefore connect the power connector and change to USB self powered operation mode www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 18 3 6 Inputs and Outputs 3 6 1 Reference Switch Inputs The three reference switch connectors one for each stepper motor axis offer two reference switch inputs each REF_L and REF_R Both inputs have the same input circuit with voltage resistor dividers limiting diodes against over and under voltage and programmable 2k2 pull ups to 5V The programmable pull ups can be switched on or off together for all three axes REF_L REF_R TMC429 GND GND GND Figure 3 9 Reference switch input circuit simplified diagram With TMCL firmware commands GAP 10 o and GAP 11 O can be used to read out the status of the reference switch inputs See TMCL Firmware Manual chapter 5 about Axis parameters and Reference search for more details 3 6 2 General Purpose Inputs The TMCM 3110 offers two I O connectors wi
28. fferential inputs of the encoder connector A B N The following connections should be made Encode sional Encoder connectors 0 1 2 Pin Label Description A 3 A Encoder channel A input differential non inverting B 5 B Encoder channel B input differential non inverting N T optional 7 N Encoder zero index channel input differential non inverting Table 3 9 Encoder signals for single ended encoders Pins A B N of the encoder connector may be left unconnected www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 12 3 3 7 CAN Connector A CAN 2 0B interface is available via a standard 9 pin male D SUB connector Only three pins of this connector are used The pin assignment of these three pins is according to CiA Draft Recommendation Part 1 cabling and connector pin assignment Pin Label Direction Description 1 r 2 CAN_L Bi directional Differential CAN bus signal inverting 3 GND Power GND Signal and system ground Bo A g y g oWo 5 6 7 CAN_H Bi directional Differential CAN bus signal non inverting 8 9 Table 3 10 CAN connector 3 3 8 RS485 Connector An RS485 interface is available via a 9 pin male D SUB connector Pin Label Direction Description 1 p 2 RS485 Bi directional Differential RS485 bus signal inverting 3 GND Power GND Signal a
29. n the system Thus it is recommended to connect all four mounting holes in addition to the supply ground connection to system power supply ground Nevertheless this might not always be an option for instance the metal system chassis or TMCM 3110 mounting plate is already connected to earth and a direct connection between supply ground secondary side and mains supply earth primary side is not desired In such a case TRINAMIC recommends to use plastic e g made of nylon spacers or distance bolts www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 7 3 3 Connectors The TMCM 3110 has 16 connectors altogether There are three separate connectors for each motor three for corresponding reference switches and three for encoder inputs Further the board has two I O connectors one S D IN connector one power connector and three connectors for communication mini USB RS485 and CAN Power connector I O connector 0 I O connector 1 o d Jdo a Motor 0 Motor 1 Y BEEEEEED G5 Encoder connectors Figure 3 2 TMCM 3110 connectors CONNECTOR TYPES AND MATING CONNECTOR TYPES CAN connector Mini USB connector Motor 2 S D IN connector 2 Reference 1 switch connectors 0 Ee a y RS485 connector 1 0 connectors 0 1 S D IN connector USB connector RS485 connector CAN connector Encoder connectors JST B10B P
30. nd system ground O AS A g y g ao 5 pA 6 7 RS485 Bi directional Differential RS485 bus signal non inverting 8 9 Table 3 11 RS485 connector 3 3 9 USB Connector A USB interface is available via a Mini USB connector This module supports USB 2 0 Full Speed 12Mbit s connections Attention On board digital core logic mainly processor and EEPROM will be powered via USB in case no other supply is connected Use this to set parameters and download TMCL programs or perform firmware updates with the module connected via USB only or inside the machine while the machine is powered off Pin Label Direction Description 1 VBUS Power 5V 5V supply from Host input Y 2 D Bi directional USB Data sl 3 D Bi directional USB Data 4 ID Connected to signal and system ground 5 GND Power GND Signal and System ground Table 3 12 USB connector www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 13 3 4 Power Supply For proper operation care has to be taken with regard to power supply concept and design The board offers around 1400uF 63V electrolytic buffer capacitors and additionally around 28uF 63V ceramic capacitors for supply voltage filtering It is important that the power supply voltage Vormyer and Vorea is kept below the upper limit of 52 8V DC 48V 10 Otherwise the on board electronics will seriously be damaged Es
31. pecially when the selected operating voltage is near the upper limit a regulated power supply is highly recommended Voriver 3 x TMC262 MOSFETs stepper driver Power connector SMBJ48A GND GND Vorerrat Supply of other circuits via on board regulators 5V on encoder connector 0 2 5V on reference switch connector 0 2 SMBJ48 A Vorerraa on I O connector 0 1 GND GND Figure 3 5 TMCM 3110 power supply concept CAUTION Add external power supply capacitors The module contains a number of capacitors for power supply filtering Nevertheless depending on operation and selected motors the resulting capacity might be not large enough for proper supply buffering Rule of thumb buffer capacity should be around 1000F per 1A power supply current located not far away from the module between power supply wires Please note upper supply voltage limit must not be exceeded not even for a short period of time In this context it should be taken into account that the module will transfer energy from the motor back into the supply rail when the motor is working as generator e g during de acceleration or brake conditions In case the power supply capacitors are not sufficient for limiting power supply rising additional measures have to be considered e g suppressor diodes brake resistor Do not connect or disconnect motor during operation Motor cable and motor inductivity might lead to voltage spikes when the mo
32. rent lt lt 3x Icom 1 4x 3x A Icon Tenv Environmental temperature at maximum 30 40 C current all six axes no forced cooling Table 7 1 General operational ratings of the module OPERATIONAL RATINGS OF THE REFERENCE SWITCH INPUTS Symbol Parameter Min Typ Max Unit VREF UR Input voltage for reference switch inputs 0 0 24 27 V REF_L REF_R VREF LIR L Low level voltage for reference switch 0 1 1 V inputs REF_L REF_R Iker uR H High level voltage for reference switch 2 9 27 V inputs REF_L REF_R Table 7 2 Operational ratings of the reference switch inputs OPERATIONAL RATINGS OF THE GENERAL PURPOSE I OS Symbol Parameter Min Typ Max Unit Vout 0 7 Voltage at open collector output 0 WorerraL V Tour 0 1 2141516 Output sink current for OUT_0 1 2 and 100 mA OUT_4 5 6 Tour 317 Output sink current for OUT_3 and OUT_7 1 A Vin 17213151617 Input voltage for general purpose digital 0 0 24 27 V inputs IN_1 2 3 and IN_5 6 7 Vin 1411213151617 L Low level voltage for general purpose 0 1 1 V digital inputs IN_1 2 3 and IN_5 6 7 Vin 1 2 3 51617 4 High level voltage for general purpose 2 9 27 V digital inputs IN_1 2 3 and IN_5 6 7 Varn 014 Full scale input voltage range for analog 0 10 V Table 7 3 Operational ratings of the general purpose I Os voltage inputs www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 OPERATIONAL RATINGS OF THE S D INPUTS 27
33. sssscscscscscsssssssssesssesssesescscscssssssesssssesesescscseseseseesssessseseacscsees 18 3 6 2 General Purpose Input lili ariadna dnd 18 3 6 3 General Purpose Outputs ccssssssssscsssesssssssssscscscsescscsssssesesssesesesescscssessusuesesescsescscacacsesessessseseseseacaceees 19 3 64 EncoderInputs tiscc cccvtlenan egos iaiien AAA an lee eee LE 20 3 6 5 AAA 21 4 Motor driver da a an aie 22 bi On boatd EDS O OS 24 6 Reset to Factory Default rd 25 77 Operational Ratings visir AA A 26 8 Functional Desc pd A tia 28 9 Operational Di ii sctenteret Ac tended veielond etd eaten ahi betel iN 29 9 1 Calculation Velocity and Acceleration vs Microstep and Fullstep Frequency cccccseseeeseeeees 29 10 Life Support Policiaca dsd 31 TI Revision Historica A AA a eR 32 LLL DOCUMENT REVISO NA Rew A Blt ese RES 32 V2 NAAA A 32 U2 RETEEN CES hifi shat ete acs E E tee Nested nck he chet ete th Bee sean attest bee a ATA 32 www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 3 1 Features The TMCM 3110 is a compact 3 axes stepper motor controller driver module for 2 phase bipolar stepper motors It is highly integrated offers a convenient handling and can be used in many decentralized applications The TMCM 3110 supports up to 3 bipolar stepper motors with up to 2 8A RMS coil current and supply voltages up to 48V DC nominal There are separate motor and reference end switch connectors as well as incremental en
34. th 8 inputs altogether including two dedicated analog inputs All inputs offer the same basic input protection circuit The dedicated analog inputs have 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 IN_3 3 3V IN_7 10k microcontroller 22k 1nF GND GND GND Figure 3 10 General purpose digital input circuit With TMCL firmware command GIO lt n gt o can be used to read out the status of the digital input lt n gt See TMCL Firmware Manual command GIO for more details www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 19 AIN_O 3 3V AIN_4 22k microcontroller 10k 1nF GND GND GND Figure 3 11 General purpose analog input circuit With TMCL firmware command GIO lt n gt 1 can be used to read out the analog digital converted value of the analog input lt n gt See TMCL Firmware Manual command GIO for more details The function of the inputs might differ depending on firmware version 3 6 3 General Purpose Outputs The TMCM 3110 offers two I O connectors with 8 outputs altogether All 16 outputs are open drain outputs and a freewheeling diode to Voce is already integrated Note Two outputs offer more powerful MOSFET driver transistors supporting currents up to 1A All other outputs have been designed for currents up to 1
35. tor 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 www trinamic com TMCM 3110 V1 1 Hardware Manual Rev 1 02 2014 12 11 14 3 5 Communication 3 5 1 RS485 For remote control and communication with a host system the TMCM 3110 provides a two wire RS485 bus interface To select a modules address the TMCM 3110 is equipped with dip switches with digits from 1 to 8 Anyhow the switches use the binary digit system Thus node addresses from 1 to 255 can be set THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING All DIP switches off RS485 address is taken from the on board non volatile memory EEPROM Factory default value for the module address is 1 At least one DIP switch on the 8 DIP switches define the RS485 address The address is specified as binary 8bit value DIP switches 1 8 specify bit 1 8 of the address 3 h al J i TT Tt Figure 3 6 Dip switch for address selection Note Per default all dip switches are off and the module address taken from the EEPROM is 1 Per default the host address is 2 Do not use equal addresses for the host and the TMCM 3110 For remote control and communication with a host system the TMCM 3110 provides a two wire RS485 bus interface For proper operation the

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