HARDWARE MANUAL
Contents
1. Table 4 4 Output Shutdown connector supply voltage supply voltage supply voltage e g 24V e g 24V e g 24V galvanic isolation diode integrated on board A freewheeling ro nes opto coupler Figure 4 5 Possible circuits for GPO Ulogic Ulogic C Figure 4 6 Internal circuit of the outputs www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 14 4 3 5 Input Connector A 2mm pitch 6 pin connector is used for connecting general purpose inputs home and stop switches to the unit Mating connector housing PHR 6 Mating connector contacts SPH 002T P0 5S Description General purpose input 24V compatible General purpose input 24V compatible Left stop switch input 24V compatible programmable internal pull up 1k to 5V Right stop switch input 24V compatible programmable internal pull up 1k to 5V Home switch input 24V compatible programmable internal pull up 1k to 5V Pin Label 1 INO 2 IN_1 l 3 STOP_L 1 6 4 STOP_R 5 HOME 6 GND Module ground system and signal ground Table 4 5 Input Stop Home switch connector 24V GPI gt Figure 4 7 Possible circuit for GPI 22k0 100nF GND GND GND Figure 4 8 Internal circuit of the inputs www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 15 4 3 5 1 Left and Rig2. 2013 JUL 26 3 Order Codes Cables are not included Add the appropriate cable loom to your order if required Order code Description Dimensions mm TMCM 1180 option TMCM 1180 with coolStep sensOstep 85 9 x 85 9 x 21 5 PD86 3 1180 option PD86 3 1180 with coolStep sensOstep 7 0 Nm 85 9 x 85 9 x 118 5 Table 3 1 PANdrive or module order codes Option Firmware TMCL TMCL firmware CANopen CANopen firmware Table 3 2 Options for order codes Component part Description TMCM 1180 CABLE Cable loom for module and PANdrive Table 3 3 Order codes for component parts www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 4 Mechanical and Electrical Interfacing 4 1 TMCM 1180 Dimensions and Mounting Holes The dimensions of the controller driver board TMCM 1180 are approx 86mm x 86mm in order to fit to the back side of the 86mm stepper motor The TMCM 1180 is 21 5mm high without matching connectors There are four mounting holes for M4 screws e 85 9 gt 4 67 45 4 55 lt 8 ae OT JT y 2 R5 9 aA M4 TMCM 1180 i AL 18 45 85 9 35 72 67 45 voy a55 x 13 94 18 45 a 72 81 35 Figure 4 1 Dimensions of TMCM 1180 and mounting holes www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26
3. 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 on f CLK Omax 2 pulse_ div ramp_ div 29 This results in acceleration in fullsteps of a Gusts with af acceleration in fullsteps www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 24 EXAMPLE Signal value a 16 MHz velocity 1000 a_max 1000 pulse div 1 ramp_div 1 usrs 6 msf eo MEE 0708 he 2 2048 32 122070 31 AU 1907 34Hz 16Mhz 1 an gt me iga S 119 21 eze ii af 5 1 863 2 S Calculation of the number of rotations A stepper motor has e g 72 fullsteps per rotation _ IF 1907 34 _ 56 40 fullsteps per rotation 72 fsf 60 _ 1907 34 60 _ 589 46 gt fullsteps per rotation 72 www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 25 9 TMCL TMCL the TRINAMIC Motion Control Language is described in separate documentations which refer to the specific products e g TMCM 1180 TMCL Firmware Manual The manuals are provided on www trinamic com Please refer to these source for updated data sheets and application notes 10 CANopen The TMCM 1180 module should also be used with the CANopen protocol in future versions For this purpose a special CANopen firmware is under development Please cont
4. 1 01 2011 MAR 21 SD New front page minor changes 1 02 2011 JUN 08 SD Minor changes 1 03 2011 DEC 02 SD Order codes new minor changes 1 04 2012 DEC 15 SD Changes related to the design Connector description updated mle POAAADIROS an Chapter 4 3 1 updated Table 12 1 Document revision 12 2 Hardware Revision Version Date Description 1 00 2010 OCT 29 Pre series version 1 10 2011 MAR 03 Series version Table 12 2 Hardware revision 13 References TMCM 1180 PD86 1180 TMCL TMCL IDE QSH8618 TMCM 1180 and PD86 1180 TMCL Firmware Manual TMCL IDE User Manual QSH8618 Manual Please refer to www trinamic com www trinamic com
5. Life Support POMNCY wxssctc cccesteccetecasie conecetrece de nee nee ee a ee coe eee 26 12 Revision Historica AA EE 217 12 1 Docliment Revisa At 27 12 2 Hardware REVISION A ae eee eee 27 ER ee a Net ee ht neki cle A bes AN 27 www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 3 2 Features The PD86 1180 is a full mechatronic solution with state of the arte feature set It is highly integrated and offers a convenient handling The PD86 1180 consists of a NEMA 34 flange size 86mm stepper motor controller driver electronics and integrated encoder The TMCM 1180 is an intelligent stepper motor controller driver module featuring the new outstanding coolStep technology for sensorless load dependent current control This allows energy efficient motor operation With the advanced stallGuard2 feature the load of the motor can be detected with high resolution The module is designed to be mounted directly on an 86mm flange QMot stepper motor MAIN CHARACTERISTICS Electrical data Supply voltage 24V DC or 48V DC nominal Motor current up to 5 54 RMS programmable PANdrive motor Two phase bipolar stepper motor with up to 5 5A RMS nom coil current Holding torque 7Nm Encoder Integrated sensOstep magnetic encoder max 256 increments per rotation e g for step loss detection under all operating conditions and positioning Integrated motion controller Motion profile calculation in real time
6. N 60 Ambient Temperature C 20 50 Temp Rise rated current 2 phase on mesos Table 4 1 Motor specifications of QSH8618 96 55 700 www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 8 4 2 3 Torque Figure of QSH8618 96 55 700 The torque figure details the motor torque characteristics for full step operation in order to allow simple comparison For full step operation there are always a number of resonance points with less torque which are not depicted These will be minimized by microstep operation Testing conditions 48V 5 5A e Full step Torque Nm 6 5 LA 4 3 2 1 o 100 1000 10000 Speed Pps Figure 4 3 QSH8618 96 55 700 speed vs torque characteristics www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 9 4 3 Connectors of TMCM 1180 The controller driver board of the PD86 1180 offers eight connectors including the motor connector which is used internally for attaching the motor coils to the electronics In addition to the power connector there are two connectors for serial communication one for mini USB and one for RS232 RS485 CAN and two connectors for additional input and output signals Further there is one connector for Step Direction and another for the encoder The output connector offers two general purpose outputs one power supply voltage output and one hardware shu
7. TMC428 429 motion controller 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 inputs for stop switches left and right and home switch general purpose inputs and 2 general purpose outputs USB RS232 RS485 and CAN 2 0B up to 1Mbit s communication interfaces Safety features Shutdown input The driver will be disabled in hardware as long as this pin is left open or shorted to ground Separate supply voltage inputs for driver and digital logic driver supply voltage may be switched off externally while supply for digital logic and therefore digital logic remains active Software Available with TMCLTM or CANopen Standalone TMCL operation or remote controlled operation Program memory non volatile for up to 2048 TMCL commands PC based application development software TMCL IDE available for free CANopen CiA 301 CiA 402 homing mode profile position mode and velocity mode supported Please see separate TMCL and CANopen Firmware Manuals for additional information www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05
8. connected to the EEPROM TMCL memory the TMC428 429 motion controller the TMC262A PC power driver with its energy efficient coolStep feature the external MOSFET driver stage the QSH8618 stepper motor and the integrated sensOstep encoder Alternatively it is possible to connect an external encoder Nominal supply voltages are 24VDC or 48VDC TMCL Memory PD86 1180 Stop Switches Alternative Motion Controller Power Driver add e 4 with I Os coolStep Step yam Dir 18 55V DC Figure 7 1 Main parts of the PD86 1180 7 1 System Architecture The TMCM 1180 integrates a microcontroller with the TMCL Trinamic Motion Control Language operating system The motion control real time tasks are realized by the TMC428 429 7 11 Microcontroller On this module the Atmel AT91SAM7X256 is used to run the TMCL operating system and to control the TMC428 429 The CPU has 256KB flash memory and a 64KB RAM The microcontroller runs the TMCL Trinamic Motion Control Language operating system which makes it possible to execute TMCL commands that are sent to the module from the host via the RS232 RS485 USB or CAN interface The microcontroller interprets the TMCL commands and controls the TMC428 429 which executes the motion commands In addition it is connected with the encoder interface and processes the inputs The flash ROM of the microcon
9. with step direction signals as well as by serial SPI motor current mechanical load stallGuard2 reading current setting CS motor current reduction area y upper limit SEMAX SEMIN 1 SEMIN Ye or Ya CS lower limit E motor current increment area ios O maximum load stall pdssible load angle optimized load angle optimized load angle optimized slow current reduction due to reduced motor load Figure 7 2 Motor current control via coolStep adapts motor current to motor load The coolStep current regulator allows to control the reaction of the driver to increasing gt or decreasing load The internal regulator uses two thresholds to determine the minimum and the maximum load angle for optimum motor operation The current increment speed and the current decrement speed can be adapted to the application Additionally the lower current limit can be set in relation to the upper current limit set NS by the current scale parameter CS Step ogee nee 7 15 sensOstep Encoder The sensOstep encoder used in this unit is based on a magnetic angular position encoder system with low resolution It consists of a small magnet positioned at the back end of a stepper motor axis and a Hall sensor IC with integrated digital signal processing e g for automatic gain control temperature compensation etc placed above the magnet on the back side of a motor mounted printed circuit board The en
10. 6 4 2 PD86 1180 Dimensions and Motor Specifications The PD86 1180 includes the TMCM 1180 stepper motor controller driver electronic module a magnetic encoder based on sensOstep technology and an 86mm flange size bipolar hybrid stepper motor 4 2 1 Dimensions of PD86 3 1180 22 5 Max gt 73 0240 055 i 69 5 0 2 gt 85 9 gt 73 02t0 05 400 min Figure 4 2 PD86 3 1180 dimensions www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 4 2 2 Motor Specifications of QSH8618 96 55 700 Specifications Units QSH8618 96 55 700 Wiring Rated Voltage V 2 56 Rated Phase Current nominal A 5 5 Phase Resistance at 20 C Q 0 45 Phase Inductance typ mH 4 5 Holding Torque typ Nm 7 0 Detent Torque Nm Rotor Inertia gcm 2700 Weight Mass Kg 2 8 Insulation Class B Insulation Resistance Q 100M Dialectic Strength for one VAC 500 minute Connection Wires N 4 Max applicable Voltage V 140 Step Angle T 1 8 Step angle Accuracy 5 Flange Size max mm 85 85 Motor Length max mm 96 Axis Diameter mm 12 7 Axis Length visible part typ mm 31 75 Axis D cut 1 1mm depth mm 25 0 Shaft Radial Play 450g load mm 0 02 Shaft Axial Play 450g load mm 0 08 Maximum Radial Force 20 mm from front flange n 520 Maximum Axial Force
11. CIO104P1VKO LF or CVIlux CIO1 series 4 pins 2mm pitch Connector housing JST PHR 4 Contacts JST SPH 002T P0 5S Wire 0 22mm Connector housing CVIlux CIO1055000 A Contacts CVIlux CI01T011PE0 A CIO105P1VKO LF or CVIlux CIO1 series 5 pins 2mm pitch Connector housing JST PHR 5 Contacts JST SPH 002T P0 5S Wire 0 22mm Connector housing CVIlux CIO1045000 A Contacts CVIlux CI01T011PE0 A CIO104P1VKO LF or CVIlux CIO1 series 4 pins 2mm pitch Connector housing JST PHR 4 Contacts JST SPH 002T PO 5S Wire 0 22mm Inputs Outputs Encoder Step Dir Table 4 2 Connectors and mating connectors contacts and applicable wire 4 3 1 Power Connector This module offers separate power supply inputs for digital logic pin 2 and driver power stage pin 1 Both supply inputs use common ground connections pin 3 and 4 This way power supply for the driver stage may be switched off while still maintaining position and status information when keeping digital logic supply active U priver SUPPLY ONLY In case power supply is provided to the power section only an internal diode will distribute power to the logic section also So when separate power supplies are not required it is possible to just use pin 1 and 4 for powering the module Pin Label Description Module driver stage power supply input E ore nom 48V DC rr 2 U Optional separate digital logic power supply input eu 4 o
12. MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1 1 HARDWARE MANUAL TMCM 1180 PD86 1180 1 Axis Stepper Controller Driver 5 5A RMS 24 or 48V DC USB RS232 RS485 and CAN coolStep stallGuard2 A TRINAMIC Motion Control GmbH amp Co KG Hamburg Germany www trinamic com MOTION CONTROL TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 Table of Contents Be 2 A A O cas 3 30 Order Codes inicio ie 4 4 Mechanical and Electrical Interfactyng s sscsecccsssecessecssecseecessecsseenssesecseseseeseneeseuesssasseseseeaeensaeseeteteassneneaeeesies 5 4 1 TMCM 1180 Dimensions and Mounting Holes ccecsesecsssecessesesesessesesesecessceeseesesesesesesesseeeseseeeeeasseeeaees 5 4 2 PD86 1180 Dimensions and Motor Specifications cccccsssssssssssscscscsssssssssssssssssscscscscscsesesseesessesssesesescsees 6 4 2 1 Dimensions of PD86 3 1180 eccecesecsecessesesessesecessesesscsesecsesessesesceesesesscaeseesaeseeeaesesasaesesesseseeasaeeesasaeees 6 4 2 2 Motor Specifications of QSH8618 96 55 700 ceesessssssesesssssssssessssssssssssescscscsssessssseesesesesesessacsesesesess 7 4 2 3 Torque Figure of QSH8618 96 55 700 sssecscsesecessesesessesesesseseseesesesseseseesesesesseseessesessseeesesseeeesaeeeeetaeees 8 4 3 Connectors of TMEMTA Oia a nieve nie aed alle aaa cad 9 AL Power Cone td 10 4 3 2 Serial Communication COMME CHL esscecessesece
13. act TRINAMIC if you are interested in this option www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 11 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 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 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 TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 27 12 Revision History 12 1 Document Revision Author Version Date GE G ran Eggers Description SD Sonja Dwersteg 0 90 2009 AUG 04 GE Initial version 0 91 2009 NOV 11 GE New hardware included 1 00 2010 JUN 28 SD New engineering detail drawings Functional and operational descriptions added
14. board and totally erratic behavior of the module Use compressed air for cleaning the module if necessary www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 18 4 3 8 Motor Connector and Specifications A 3 96mm pitch 4 pin connector is used for motor connection Both motor coil windings bipolar stepper motor are connected to this connector Mating connector housing VHR 4N Mating connector contacts BVH 21T P1 1 AA Pin Label Description J 1 OA1 Motor coil A a 2 OA2 Motor coil A i Fe 3 081 Motor coil B 4 OB2 Motor coil B Table 4 8 Connector for motor www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 19 5 Jumpers Most settings of the board are done through the software Nevertheless a few jumpers are available for configuration ad uf CAN bus e termination F t RS485 bus Y termination Figure 5 1 RS485 and CAN bus termination 5 1 RS485 Bus Termination The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface When this jumper is closed the resistor will be placed between the two differential bus lines RS485 and RS485 5 2 CAN Bus Termination The board includes a 120 Ohm resistor for proper bus termination of the CAN interface When this jumper is closed the resistor will be placed between the two differential bus lines CAN_H and CAN_L www trinamic c
15. coder offers a resolutions of 8 bit 256 steps per revolution which is completely sufficient for detecting step losses with a standard 1 8 stepper motors www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 23 8 TMCM 1180 Operational Description 8 1 Calculation Velocity and Acceleration vs Microstep and Fullstep Frequency The values of the parameters sent to the TMC428 429 do not have typical motor values like rotations per second as velocity But these values can be calculated from the TMC428 429 parameters as shown in this section PARAMETERS FOR THE TMC428 429 Signal Description Range far clock frequency 16 MHz velocity 0 2047 a_max maximum acceleration 0 2047 Divider for the velocity The higher the value is the less pulse_div_ is 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 Usrs microstep resolution microsteps per fullstep 2 0 7 Table 8 1 TMC428 429 velocity parameters The microstep frequency of the stepper motor is calculated with Serr LZ velocity Q pulse_div p 2048 x 32 usf Hz with usf microstep 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 fsf Hz one
16. dominant high CAN_L CAN_L bus line dominant low GND Module ground system and signal ground RS485 RS485 non inverted bus signal CO NI ON UT RB Ww Po RS485 RS485 inverted bus signal Table 3 3 Connector for serial communication 4 3 3 USB Connector A 5 pin mini USB connector is available on board might depend on assembly option Pin Label Description 1 VBUS 5V power 2 D Data 3 D Data 4 ID Not connected 5 GND ground Table 3 4 Mini USB connector www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 13 4 3 4 Output Connector A 2mm pitch 4 pin connector is used for connecting the two general purpose outputs and the driver stage hardware shutdown input pin to the unit In order to enable the motor driver stage connect Shutdown pin 2 to U pin 1 Pin Label Description 1 re Module digital logic power supply connected to real pin 2 of power supply connector Shutdown input has to be connected to power y Ml gt IShutdown supply e g pin 1 of this connector in order to r 4 enable driver Connecting this input to ground or leaving it unconnected will disable driver stage Open collector output with integrated freewheeling diode 24V compatible Open collector output with integrated freewheeling diode 24V compatible 3 OUT_O 4 OUT_1
17. ht Limit Switches The TMCM 1180 can be configured so that a motor has a left and a right limit switch Figure 4 9 The motor stops when the traveler has reached one of the limit switches REF_L_x REF_R_x left stop right stop switch Port QA switch traveler Figure 4 9 Left and right limit switches 4 3 5 2 Triple Switch Configuration It is possible to program a tolerance range around the reference switch position This is useful for a triple switch configuration as outlined in Figure 4 10 In that configuration two switches are used as automatic stop switches and one additional switch is used as the reference switch between the left stop switch and the right stop switch The left stop switch and the reference switch are wired together The center switch travel switch allows for a monitoring of the axis in order to detect a step loss REF_L_x REF_R_x reference right stop switch A A AAA switch traveler Figure 4 10 Limit switch and reference switch 4 3 5 3 One Limit Switch for Circular Systems If a circular system is used Figure 4 11 only one reference switch is necessary because there are no end points in such a system REF_L_x ref switch N lt gt Figure 4 11 One reference switch www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 16 4 3 6 Step Direction Connector A 2mm pitch 4 pin connector is used for connecting the Step Dir interface Descri
18. ne nom 48V DC 3 GND Module ground power supply and signal ground 4 GND Module ground power supply and signal ground Table 4 3 Connector for power supply To ensure reliable operation of the unit the power supply has to have a sufficient output capacitor and the supply cables should have a low resistance so that the chopper operation does not lead to an increased power supply ripple directly at the unit Power supply ripple due to the chopper operation should be kept at a maximum of a few 100mV www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 11 HINTS FOR POWER SUPPLY keep power supply cables as short as possible use large diameters for power supply cables CAUTION Add external power supply capacitors It is recommended to connect an electrolytic capacitor of significant size e g 4700 pF 63 V to the power supply lines next to the PD 1180 especially if the distance to the power supply is large i e more than 2 3m In larger systems a zener diode circuitry might be required in order to limit the maximum voltage when the motor is operated at high velocities Rule of thumb for size of electrolytic capacitor c 1000 X IsuppLY 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 addi
19. om TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 20 6 Operational Ratings The operational ratings shown below should be used as design values In no case should the maximum values been exceeded during operation Symbol Parameter Min Typ Max Unit Upriver U Logic Power supply voltage for operation 18 24 or 48 55 V DC Icon peak Motor coil current for sine wave peak 0 7 8 A chopper regulated adjustable via software learn RS Continuous motor current RMS 0 5 5 A rar Power supply current lt lt Icon 1 4 Toon A Va Environment temperature at rated 20 50 C current no forced cooling required Table 6 1 General operational ratings of the module The controller driver electronics has been tested inside a climate chamber running at full current 5 54 RMS for 30min without air convection at 50 C environmental temperature The motor might heat up well above 50 C when running at full current without proper cooling This might substantially increase the environmental temperature for the electronics When using the coolStep operation mode the actual current might be substantially less than programmed max current producing and temperature www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 21 7 Functional Description In figure 7 1 the main parts of the PD86 1180 are shown The PANdrive mainly consists of the pC
20. ption Common supply opto coupler 5V 24V Enable signal Step signal Pin Label y 1 OC_COM AnS 2 OC_EN y 3 OC_STEP 4 OC_DIR Direction signal Table 4 6 Step Dir connector Teonst 8mA Figure 4 12 Internal circuit of the Step Dir interface www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 17 4 3 7 Encoder Connector A 2mm pitch 5 pin connector is used for connecting the Encoder Mating connector housing PHR 5 Mating connector contacts SPH 002T P0 5S Description Encoder A channel Encoder B channel Encoder N channel Power and signal ground Pin Label S 1 ENC_A 2 ENC_B 1 5 3 ENC_N 4 GND 5 5V_output 5V output for encoder power supply max 100mA Table 4 7 Encoder connector 5V 5V un nn co co g nN n nN GND 100pF GND GND Figure 4 13 Internal circuit of encoder interface 5V 5V co co co co GND GND ENCA ENC B ENC_N Keep the electronics free of metal particles The encoder uses a magnet at the end of the motor axis in order to monitor position The magnet naturally attracts especially tiny metal particles These particles might be held on the top side of the PCB and even worse start moving in accordance with the rotating magnetic field as soon as the motor starts moving This might lead to shorts of electronic contacts wires on the
21. sseseseesesesessesecseseseesesesesseseseeseseeeeseseeeeseseeesaeeeeeseeeeensaeeeeees 12 4323 USB CONNECT nansa Series torent ene tient a eae teste en tne ate aes 12 ABA Output COMME cor pic 13 435 Input CONAN A a dado 14 43 6 Step Direction C nnectot isni aieia ee aeaea e atere paiia iai 16 43 7 Encoder Connectors ad 17 4 3 8 Motor Connector and Specifications ccscscssscssssssssssssssssssesescscscsssssssssssssscscsesssssssssessessseseseacseseseseesess 18 BY JUPAP ers Secesinscssohsdlaisigesess E AE E A 19 5 1 RS485 B s TENIAN ii A a iia 19 5 2 CAN Bus Termination iia A ad 19 6 gt Operational Randstad eo ea do atra os a 20 To Functional Desc id 21 7 1 System Architect a rea a a aaa E a aa aa Aaa a asia nadie aA Sara SEESE Sar eR cadens 21 LAA Microcontroller anaa E nidad aaa a A aaaea ae aa naaa a aeaa E aaa Laaa 21 Le EEPRO Mic a AAA E E a aiii 21 A AR A II A 21 7 14 Stepper Motor Driver u cccssssssssscsesssssssssssssssssscscscssssssssssssssssssssesesescscscsssssessssssesesesesescscsesesssssseseseseacacseesss 22 y EST EI Encod erisiccte cc ce eth ee inthe ee en eee 22 8 TMCM 1180 Operational Description cesesssscscsssesssssssessssssssesescsescssssssssssssesesesesescscscsesesessessseseacscsessssseseseeseseees 23 8 1 Calculation Velocity and Acceleration vs Microstep and Fullstep Frequency u ssscseseseseseseseees 23 ME A A ad tadas 25 10 CANOp Na a ae ccd a Se bn ee bie ae ee elo te ee at 25 TL
22. tdown input Leaving the shutdown input open or tying it to ground will disable the motor driver stage in hardware For operation this input should be tied to the supply voltage The input connector offers two inputs for stop switches left and right one home switch input two general purpose inputs and one connection to the system or signal ground Encoder Step Dir Input Output Serial communication 1 Power USB 1 1 Motor Figure 4 4 Overview connectors Label Connector type Mating connector type Powe JST B4P VH Connector housing JST VHR 4N JST VH series 4 pins 3 96mm pitch Contacts JST BVH 21T P1 1 Matar JST B4P VH Connector housing JST VHR 4N JST VH series 4 pins 3 96mm pitch Contacts JST BVH 21T P1 1 se Molex 500075 1517 te Bee Mini USB Type B vertical receptacle A AAKE p G Connector housing CVIlux CIO1085000 A Contacts CVIlux CIO1TO11PEO A Serial CIO108P1VKO LF OF communication CVIlux CIO1 series 8 pins 2mm pitch Connector housing JST PHR 8 Contacts JST SPH 002T P0 5S Wire 0 22mm www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 10 Label Connector type Mating connector type Connector housing CVIlux CIO1065000 A Contacts CVIlux CIO1TO11PEO A CIO106P1VKO LF or CVIlux CIO1 series 6 pins 2mm pitch Connector housing JST PHR 6 Contacts JST SPH 002T PO 5S Wire 0 22mm Connector housing CVIlux CIO1045000 A Contacts CVIlux CI01T011PE0 A
23. tion 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 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 Keep the power supply voltage below the upper limit of 55V Otherwise the driver electronics will seriously be damaged Especially when the selected operating voltage is near the upper limit a regulated power supply is highly recommended Please see also chapter 6 operating values There is no reverse polarity protection The module will short any reversed supply voltage due to internal diodes of the driver transistors www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 12 4 3 2 Serial Communication Connector A 2mm pitch 8 pin connector is used for serial communication With this connector the module supports RS232 RS485 and CAN communication a 5 Label Description RS232_TxD RS232 transmit data RS232_RxD RS232 receive data GND Module ground system and signal ground CAN_H CAN_H bus line
24. troller holds the TMCL operating system The TMCL operating system can be updated via the RS232 interface or via the CAN interface Use the TMCL IDE to do this 7 1 2 EEPROM To store TMCL programs for stand alone operation the TMCM 1180 module is equipped with a 16kByte EEPROM attached to the microcontroller The EEPROM can store TMCL programs consisting of up to 2048 TMCL commands The EEPROM is also used to store configuration data 7 1 3 Motion Controller The TMC428 429 is a high performance stepper motor control IC and can control up to three 2 phase stepper motors Motion parameters like speed or acceleration are sent to the TMC428 429 via SPI by the microcontroller Calculation of ramps and speed profiles are done internally by hardware based on the target motion parameters www trinamic com TMCM 1180 and PD86 1180 Hardware Manual V1 05 2013 JUL 26 22 7 1 4 Stepper Motor Driver The TMC262A PC is an energy efficient high current high precision microstepping driver IC for bipolar stepper motors This driver on the TMCM 1180 module is a special version of the TMC262 power driver for PANdrives with QSH8618 motors Its unique high resolution sensorless load detection stallGuard2 is used for a special integrated load dependent current control feature called coolStep The ability to read out the load and detect an overload makes the TMC262 an optimum choice for drives where a high reliability is desired The TMC262 can be driven
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