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mechatronic drive with stepper motor pandrive trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com hardware version v1.1 hardware manual + + tmcm - 1180 pd86 - 1180 1 - a xis stepper controller / d river 5.5a rms / 24 or 48 v dc usb, rs232, rs485 , and can + +
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 2 www.trinamic.com table of c ontents 2 features ................................ ................................ ................................ ................................ ................................ ........... 3 3 order codes ................................ ................................ ................................ ................................ ................................ ... 4 4 mechanical and electrical interfacing ................................ ................................ ................................ ..................... 5 4.1 tmcm - 1180 dimensions and mounting holes ................................ ................................ ............................. 5 4.2 pd86 - 1180 dimensions and motor specifications ................................ ................................ ...................... 6 4.2.1 dimensions of pd86 - 3 - 1180 ................................ ................................ ................................ ........................ 6 4.2.2 motor specifications of qsh8618 - 96 - 55 - 700 ................................ ................................ ........................... 7 4.2.3 torque figure of qsh8618 - 96 - 55 - 700 ................................ ................................ ................................ ....... 8 4.3 connectors of tmcm - 1180 ................................ ................................ ................................ ................................ . 9 4.3.1 power connector ................................ ................................ ................................ ................................ ......... 10 4.3.2 serial communication connector ................................ ................................ ................................ ........... 12 4.3.3 usb connector ................................ ................................ ................................ ................................ .............. 12 4.3.4 output connector ................................ ................................ ................................ ................................ ........ 13 4.3.5 input connector ................................ ................................ ................................ ................................ ........... 14 4.3.6 step/direction connector ................................ ................................ ................................ .......................... 16 4.3.7 encoder connector ................................ ................................ ................................ ................................ ...... 17 4.3.8 motor connector and specifications ................................ ................................ ................................ ...... 18 5 jumpers ................................ ................................ ................................ ................................ ................................ ......... 19 5.1 rs485 bus termination ................................ ................................ ................................ ................................ .... 19 5.2 can bus termination ................................ ................................ ................................ ................................ ........ 19 6 operational ratings ................................ ................................ ................................ ................................ ................... 20 7 functional description ................................ ................................ ................................ ................................ .............. 21 7.1 system architecture ................................ ................................ ................................ ................................ .......... 21 7.1.1 microcontroller ................................ ................................ ................................ ................................ ............. 21 7.1.2 eeprom ................................ ................................ ................................ ................................ ........................... 21 7.1.3 motion controller ................................ ................................ ................................ ................................ ........ 21 7.1.4 stepper motor driver ................................ ................................ ................................ ................................ .. 22 7.1.5 sensostep encoder ................................ ................................ ................................ ................................ ...... 22 8 tmcm - 1180 operational description ................................ ................................ ................................ ..................... 23 8.1 calculation: velocity and acceleration vs. microstep and fullstep frequency ................................ 23 9 tmcl ................................ ................................ ................................ ................................ ................................ ............... 25 10 canopen ................................ ................................ ................................ ................................ ................................ ....... 25 11 life support policy ................................ ................................ ................................ ................................ ..................... 26 12 revision history ................................ ................................ ................................ ................................ .......................... 27 12.1 document revision ................................ ................................ ................................ ................................ ........... 27 12.2 hardware revision ................................ ................................ ................................ ................................ ............ 27 13 references ................................ ................................ ................................ ................................ ................................ ..... 27
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 3 www.trinamic.com 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 c urrent 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 a n 86mm flange qmot stepper motor. m ain c hara cteristics electrical data - supply voltage: +24v dc or +48v dc nominal - motor current: up to 5.5a rms (programmable) pandrive motor - two phase bipolar stepper motor with up to 5.5a rms nom. coil current - holding torque: 7nm e ncoder - integrated sensostep mag netic 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 (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 inpu ts 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 C driver supply voltage may be switched off externally while supply for digital logic and therefore digital logic remains active software - available with tmcl ? or canopen - standalone tmcl operation or remote controlled op eration - p rogr am 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 m anuals for additional information
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 4 www.trinamic.com 3 order c odes cables are not included. add the appropriate cable loom to your order if required. order code description dimensions [mm3] tmcm - 1180 ( - option) tmcm - 1180 with coolstep, sensostep 85.9 x 85.9 x 21.5 pd86 - 3 - 1180 ( - option) pd86 - 3 - 1 180 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
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 5 www.trinamic.com 4 mechanical and electrical i nterfacing 4.1 tmcm - 1180 d imensions and m ounting h oles the dimensions of the controller/ driver board ( tmcm - 1180 ) are approx. 86mm x 86 mm 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 . figure 4 . 1 dimensions of tmcm - 1180 and mounting holes 8 5 . 9 8 5 . 9 6 7 . 4 5 7 2 7 2 1 3 . 9 1 3 . 9 2 8 2 8 6 7 . 4 5 4 . 5 5 1 8 . 4 5 1 8 . 4 5 4 . 5 5 r 5 . 9 8 1 . 3 5 8 1 . 3 5 t m c m - 1 1 8 0 m 4
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 6 www.trinamic.com 4.2 pd86 - 1180 d imensions and motor s pecifications 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 figure 4 . 2 pd 86 - 3 - 1180 dimensions 9 6 8 . 3 8 7 3 . 0 2 0 . 0 5 1 . 5 2 2 2 . 5 m a x 1 . 4 8 5 . 8 5 4 . 1 1 7 3 1 . 7 5 1 2 5 1 . 1 1 1 . 6 1 2 . 7 8 5 . 9 8 5 . 9 6 9 . 5 0 . 2 6 9 . 5 0 . 2 4 0 0 m i n . 4 x ? 5 . 5 7 3 . 0 2 0 . 0 5 1 2 . 7 1 1 . 6
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 7 www.trinamic.com 4.2.2 motor s pecifications 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 20c 2 2700 weight (mass) kg 2.8 insulation class b insulation resistance 20 +50 table 4 . 1 motor specifications of qsh8618 - 96 - 55 - 700
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 8 www.trinamic.com 4.2.3 torque f igure of qsh8618 - 96 - 55 - 700 the torque figure details the motor torque characteristics for full step operation in order to a llow simple comparison. for f ull step operation there are always a number of resonance points (with less torque) which are not depicted. these will be minimized by microstep operation. figure 4 . 3 qsh8618 - 96 - 55 - 700 speed vs. torque characteristics 0 1 2 3 4 5 6 100 1000 10000 torque [nm] speed [pps] testing conditions: 48v; 5,5a full step
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 9 www.trinamic.com 4.3 connector s of tmcm - 1 180 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 min i - 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 powe r supply voltage output, and one hardware shutdown 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. figure 4 . 4 overview connectors label connector type mating connector type power jst b4p - vh jst vh series, 4 pins, 3.9 6 mm pitch connector housing jst: vhr - 4n contacts jst: bvh - 21t - p1.1 motor jst b4p - vh jst vh series, 4 pins, 3.9 6 mm pitch connector housing jst: vhr - 4n contacts jst: bvh - 21t - p1.1 mini - usb molex 500075 - 1517 mini usb type b vertical receptacle any standard mini - usb plug serial communication ci0108p1vk0 - lf cvilux ci01 series, 8 pins, 2mm pitch connector housing cvilux: ci01085000 - a contacts cvilux: ci01t011pe0 - a or connector housing jst: phr - 8 contacts jst: sph - 002t - p0.5s wire: 0.22mm 2 m o t o r u s b p o w e r s e r i a l c o m m u n i c a t i o n i n p u t o u t p u t s t e p / d i r e n c o d e r 1 1 1 1 1 1 1
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 10 www.trinamic.com label connector type mating connector type inputs ci0106p1vk0 - lf cvilux ci01 series, 6 pins, 2mm pitch connector housing cvilux: ci01065000 - a contacts cvilux: ci01t011pe0 - a or connector housing jst: phr - 6 contacts jst: sph - 002t - p0.5s wire: 0.22mm 2 outputs ci0104p1vk0 - lf cvilux ci01 series, 4 pins, 2mm pitch connector housing cvilux: ci01045000 - a contacts cvilux: ci01t011pe0 - a or connector housing jst: phr - 4 contacts jst: sph - 002t - p0.5s wire: 0.22mm 2 encoder ci010 5 p1vk0 - lf cvilux ci01 series, 5 pins, 2mm pitch connector housing cvilux: ci010 5 5000 - a contacts cvilux: ci01t011pe0 - a or connector housing jst: phr - 5 contacts jst: sph - 002t - p0.5s wire: 0.22mm 2 step/dir ci0104 p1vk0 - lf cvilux ci01 series, 4 pins, 2mm pitch connector housing cvilux: ci010 4 5000 - a contacts cvilux: ci01t011pe0 - a or connector housing jst: phr - 4 contacts jst: sph - 002t - p0.5s wire: 0.22mm 2 table 4 . 2 connectors and mating connectors, contacts and applicable wire 4.3.1 power c onnector this module offers separate power supply inputs for digital log ic (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 a nd status information when keeping digital logic supply active. +u d river 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 re quired it is possible to just use pin 1 and 4 for powering the module. pin label description 1 +u driver module + driver stage power supply input ( nom. +48 v dc ) 2 +u logic (optional) separate digital logic power supply input ( 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. p ower supply ripple due to the chopper operation should be kept at a maximum of a few 100mv. 1 4
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 11 www.trinamic.com h ints for power suppl y - keep power supply cables as short as possible - use large diameters for power supply cables c aution ! add external power supply capacitors! it is recommended to connect an electrolytic capacitor of significant size (e.g. 4 7 00 f / 63 v) to the power supply lines next to the pd - 1 1 8 0 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: 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 cerami c - 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 whi le 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 55 v! 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 t ransistors.
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 12 www.trinamic.com 4.3.2 serial communication c onnector a 2mm pitch 8 pin connector is used for serial communication. with this connector the module supports rs232, rs485 and can communication. pin label description 1 rs232_txd rs232 transmit data 2 rs232_rxd rs232 receive data 3 gnd module ground (system and signal ground) 4 can_h can_h bus line (dominant high) 5 can_l can_l bus line (dominant low) 6 gnd module ground (system and signal ground) 7 rs485+ rs485 non - inverted bus signal 8 rs485 - rs485 inverted bus signal table 3 . 3 connector for serial communication 4.3.3 usb c onnector 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 C table 3 . 4 mini usb connector 1 8 1 5
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 13 www.trinamic.com 4.3.4 output c onnector 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 logic (pin 1)! pin label description 1 +u logic module digital logic power supply C C table 4 . 4 output / /shutdown connector figure 4 . 5 possible circuits for gpo figure 4 . 6 internal circuit of the outputs 4 1 g p o f r e e w h e e l i n g d i o d e i n t e g r a t e d o n - b o a r d g p o g p o g a l v a n i c i s o l a t i o n o p t o - c o u p l e r s u p p l y v o l t a g e e . g . + 2 4 v s u p p l y v o l t a g e e . g . + 2 4 v s u p p l y v o l t a g e e . g . + 2 4 v g n d 1 k 0 0 g n d o u t _ 0 1 k 0 0 o u t _ 1 + u l o g i c + u l o g i c o u t _ 0 o u t _ 1
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 14 www.trinamic.com 4.3.5 input c onnector a 2mm pitch 6 pin connector is used for conne cting general purpose inputs, home and stop switches to the unit . mating connector housing: phr - 6 mating connector contacts: sph - 002t - p0.5s pin label description 1 in_0 general purpose input, +24v compatible 2 in_1 general purpose input, +24v compatible 3 stop _ l left stop switch input, +24v compatible, programmable internal pull - up (1k to +5v) 4 stop _ r right stop switch input, +24v compatible, programmable internal pull - up (1k to +5v) 5 home home switch input, +24v compatible, programmable internal pull - up (1k to +5v) 6 gnd module ground (system and signal ground) table 4 . 5 input / stop / home switch connector figure 4 . 7 possible circuit for gpi figure 4 . 8 internal circuit of the inputs 1 6 + 2 4 v g p i i n _ 0 / 1 2 2 k o 1 0 k o g n d + 3 . 3 v g n d i n _ 0 / 1 1 0 0 n f g n d
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 15 www.trinamic.com 4.3.5.1 left and right limit s witches 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. figure 4 . 9 left and right limit switches 4.3.5.2 triple switch c onfiguration 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 additiona l 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 st ep loss. figure 4 . 10 limit switch and reference switch 4.3.5.3 one limit switch for circular s ystems 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. figure 4 . 11 one reference switch l e f t s t o p s w i t c h r i g h t s t o p s w i t c h r e f _ l _ x r e f _ r _ x m o t o r t r a v e l e r l e f t s t o p s w i t c h m o t o r t r a v e l e r r e f _ l _ x r i g h t s t o p s w i t c h r e f _ r _ x r e f e r e n c e s w i t c h m o t o r r e f s w i t c h r e f _ l _ x e c c e n t r i c
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 16 www.trinamic.com 4.3.6 step/dir ection c onnector a 2mm pitch 4 pin connector is used for connecting the step/dir interface. pin label description 1 oc_com common supply / opto - coupler (+5v .. +24v) 2 oc_en enable signal 3 oc_step step signal 4 oc_dir direction signal table 4 . 6 step/dir connector figure 4 . 12 internal circuit of the step/dir interface 4 1 c e a k e n d i r s t e p o c _ c o m o c _ e n o c _ d i r o c _ s t e p g n d + 3 . 3 v 4 k 7 5 4 k 7 5 4 k 7 5 g n d i c o n s t = 8 m a i c o n s t = 8 m a
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 17 www.trinamic.com 4.3.7 encoder c onnector a 2mm pitch 5 pin connector is used for connecting the encoder. mating connector housing: phr - 5 mating connector contacts: sph - 002t - p0.5s pin label description 1 enc_a encoder a - channel 2 enc_b encoder b - channel 3 enc_n encoder n - channel 4 gnd power and signal ground 5 +5v_output +5v output for encoder power supply (max. 100ma) table 4 . 7 encoder connector figure 4 . 13 internal circuit of encoder interface 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 C start moving in accordance with the rotating magnetic field as soon as the motor starts moving. this might l ead to shorts of electronic contacts / wires on the board and totally erratic behavior of the module! use compressed air for cleaning the module if necessary. 1 5 1 0 0 p f g n d g n d 2 k 2 2 k 2 2 k 2 0 . 1 a 2 k 2 2 k 2 2 k 2 + 5 v + 5 v + 5 v + 5 v g n d g n d g n d 1 1 1 1 1 e n c _ a e n c _ b e n c _ n
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 18 www.trinamic.com 4.3.8 motor c onnector and s pecifications a 3.96mm pitch 4 pin connector is used for motor connection . both motor coil windings (bipolar stepper motor) are connected t o this connector. mating connector housing: vhr - 4 n mating connector contacts: bvh - 21t - p1.1 pin label description 1 oa1 motor coil a 2 oa2 motor coil a 3 ob1 motor coil b 4 ob2 motor coil b table 4 . 8 connector for motor 1 4
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 19 www.trinamic.com 5 jumpers most settings of the board are done through the software. nevertheless, a few jumpers are available for configuration. figure 5 . 1 rs485 and can bus termination 5.1 rs485 bus t ermination 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 t ermination 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 betwe en the two differential bus lines can_h and can_l. c a n b u s t e r m i n a t i o n r s 4 8 5 b u s t e r m i n a t i o n
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 20 www.trinamic.com 6 operational r atings 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 +u driver / +u logic power supply voltage for operation 18 24 or 48 55 v dc i coil_peak motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 7.8 a i coil_rms continuous motor current ( rms ) 0 5.5 a i supply power supply current << i coil 1.4 * i coil a t env environment temperature at rated current (no forced cooling required) - 20 +5 0 *) c table 6 . 1 general operational ratings of the module *) the co ntroller driver electronics has been tested inside a climate chamber running at full current (5.5a rms) for 30min without air convection at 50c environmental temperature. the m otor might heat up well above 50c when running at full current without proper cooling. this might substanti ally 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 .
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 21 www.trinamic.com 7 functional d escription in figure 7 .1 the main parts of the pd86 - 1180 are shown. the pandrive mainly consists of the c (connected to the eeprom tmcl memory), the tmc428/429 motion controller, the tmc 262 a - pc power driver with its energy efficient coolstep feature, the external mosfet driver stage , the qsh8618 stepper motor, and the integrat ed sensostep encoder. alternatively it is possible to connect an external encoder. nominal supply voltages are 24vdc or 48vdc. figure 7 . 1 main parts of the pd86 - 1180 7.1 system a rchitecture 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 tmc42 8/429 . 7.1.1 microcontroller on this module, the atmel at91sam7x256 is used to run the tmcl operating system and to control the tmc 428/ 429 . the cpu has 256kb flash memory and a 64kb ram. th e microcontroller runs the tmcl (trinamic motion control language) operating system which ma kes it possible to execute tmcl commands that are sent to the module from the host via the rs232, rs485, usb, or can interface. the micr ocontroller interprets the tmcl commands and controls the tmc 428/ 429 which executes the motion commands. in addition it is connected with the encoder interface and processes the inputs. the flash rom of the microcontroller 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 st and - alone operation the tmcm - 1180 module is equipped with a 16kbyte eeprom attached to the microcontro ller. the eeprom can store tmcl program s consisting of up to 2048 tmcl commands. the eeprom is also used to store configuration data. 7.1.3 motion c ontroller the tmc 428/ 429 is a high - performance stepper motor control ic and can control up to three 2 - phase - stepper - moto rs. motion parameters like speed or acc eleration are sent to the tmc 428/ 429 via spi by the microcontroller. calculation of ramps and speed profiles are done internally by hardware based on the target motion parameters. 1 8 5 5 v d c c t m c l ? m e m o r y m o t i o n c o n t r o l l e r c a n r s 2 3 2 4 a d d . i / o s s t e p m o t o r u s b s t e p / d i r r s 4 8 5 m o s f e t d r i v e r s t a g e e n e r g y e f f i c i e n t d r i v e r t m c 2 6 2 p o w e r d r i v e r w i t h c o o l s t e p ? e x t e r n a l e n c o d e r s e n s o s t e p ? e n c o d e r a b n a l t e r n a t i v e : s t o p s w i t c h e s + 5 v a b n p d 8 6 - 1 1 8 0 t m c m - 1 1 8 0
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 22 www.trinamic.com 7.1.4 stepper motor d river the tmc 262 a - pc is a n 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 tm c262 power driver for pandrives with qsh8618 motors. its unique high resolution senso r less load detection stallguard2 is used for a special integrated load dependent current control feature called coolstep . the ability to read out the load and det e ct an overload makes the tmc262 an optimum choice for drives where a high re liability is desi red. the tmc262 can be driven with step/direction s ig nals as well as by serial spi?. 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 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 spee d 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 by the current scale parameter cs. 7.1.5 sensostep e ncoder the sensostep encoder used in this unit is based on a magnetic angular position e ncoder 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, te mperature compensation etc.) placed above the magnet on the back side of a motor mounted printed circuit board. the encoder offers a resolutions of 8 b it (256 steps) per revolution which is completely sufficient for detecting step losses with a standard 1 .8 stepper motors. s t a l l g u a r d 2 r e a d i n g 0 = m a x i m u m l o a d m o t o r c u r r e n t i n c r e m e n t a r e a m o t o r c u r r e n t r e d u c t i o n a r e a s t a l l p o s s i b l e s e m i n s e m a x + s e m i n + 1 z e i t m o t o r c u r r e n t c u r r e n t s e t t i n g c s ( u p p e r l i m i t ) ? o r ? c s ( l o w e r l i m i t ) m e c h a n i c a l l o a d c u r r e n t i n c r e m e n t d u e t o i n c r e a s e d l o a d s l o w c u r r e n t r e d u c t i o n d u e t o r e d u c e d m o t o r l o a d l o a d a n g l e o p t i m i z e d l o a d a n g l e o p t i m i z e d l o a d a n g l e o p t i m i z e d
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 23 www.trinamic.com 8 tmcm - 1180 operational d escription 8.1 calculation: velocity and acceleration vs. microstep and fullstep f requency the values of t he parameters sent to the tmc 428/ 429 do not have typical motor values like rotations per second as velocity . but these values c an be calculated from the tmc 428/ 429 - parameters as shown in this section . parameters for the tmc 428/ 429 signal description range f clk clock - frequency 16 mhz velocity - 0 2047 a_max maximum acceleration 0 2047 pulse_div d ivider for the velocity. the higher the value is, the less is the maximum velocity default value = 0 0 13 ramp_div d ivider for the acceleration. the higher the value is, the less is the maximum acceleration default value = 0 0 13 usrs microstep - resolution (microsteps per fullstep = 2 usrs ) 0 7 table 8 . 1 tmc 428/ 429 velocity parameters the microstep - frequency of the stepper motor is calculated with 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. with fsf: fullstep - frequency the change in the pulse rate per time unit (pulse frequency change per second C the acceleration a ) is given by this results in acceleration in fullsteps of: with af: acceleration in fullsteps 32 2048 2 ] [ ] [ _ ? ? ? ? div pulse clk velocity hz f hz usf usrs hz usf hz fsf 2 ] [ ] [ ? 29 _ _ max 2 2 ? ? ? ? div ramp div pulse clk a f a usrs 2 a af ?
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 24 www.trinamic.com e xample s ignal value f_ clk 16 mhz velocity 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 calculation of the number of rotations: a stepper motor has e.g. 72 fullsteps per rotation. hz mhz msf 31 . 122070 32 2048 2 1000 16 1 ? ? ? ? ? hz hz fsf 34 . 1907 2 31 . 122070 ] [ 6 ? ? s mhz mhz a 21 . 119 2 1000 ) 16 ( 29 1 1 2 ? ? ? ? ? s mhz s mhz af 863 . 1 2 21 . 119 6 ? ? 49 . 26 72 34 . 1907 ? ? ? rotation per fullsteps fsf rps 46 . 1589 72 60 34 . 1907 60 ? ? ? ? ? rotation per fullsteps fsf rpm
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 25 www.trinamic.com 9 tmcl tmcl , the trinamic motion control language, is described in separate documentations, which refer to the specific products (e.g. tmcm - 1180 tm cl fir mware 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 contact trinamic if you are interested in this option.
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 26 www.trinamic.com 11 life support p olicy trinamic motion control gmbh & co. kg does not authorize or warrant any of its products for use in life support systems, without the specific written consent of trinamic motion control gmbh & co. kg. life support systems are equipment intended to support or sustain life, and whose fa ilure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. ? trinamic m otion control gmbh & 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. s pecifications are subject to change without notice. all trademarks used are property of their respective owners.
tmcm - 1180 and pd86 - 1180 hard ware manual (v1.05 / 2013 - jul - 2 6 ) 27 www.trinamic.com 12 revision h istory 12.1 document r evision version date author ge C g?ran eggers sd C sonja dwersteg description 0.9 0 2009 - aug - 0 4 ge initial version 0.91 2009 - nov - 11 ge new hardware included 1.00 2010 - jun - 2 8 sd new engineering detail drawings. f unctional and operational description s added . 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. 1.05 2013 - jul - 2 6 sd connector description updated. chapter 4.3.1 updated. table 12 . 1 document revision 12.2 hardware r evision version date description 1.0 0 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] tmcm - 1180 and pd86 - 1180 tmcl firmware manual [tmcl - ide] tmcl - ide user manual [qsh8618] qsh8618 manual please refer to www.trinamic.com .

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