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module for stepper motors module trinamic motion con trol gmbh & co. kg hamburg, germany www.trinamic.com hardware version v1.4 hardware manual + + tmcm - 1021 + + u nique f eatures : 1 - axis stepper controller / driver 24v dc up - to 0.7a rms / 1.4a rms rs485 interface sensostep? encoder
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 2 www.trinamic.com table of c ontents 1 features ................................ ................................ ................................ ................................ ................................ ........... 3 2 order codes ................................ ................................ ................................ ................................ ................................ ... 5 3 mechanical and electrical interfacing ................................ ................................ ................................ ..................... 6 3.1 size of board ................................ ................................ ................................ ................................ ........................ 6 3.1.1 board mounting considerations ................................ ................................ ................................ ............... 6 3.2 connectors ................................ ................................ ................................ ................................ ............................. 7 3.2.1 power, communication and i/o connector ................................ ................................ .......................... 8 3.2.2 digital inputs in_0 and in_1 ................................ ................................ ................................ ................... 11 3.2.3 inputs in_2, in_3, digital outputs out_0, out_1 ................................ ................................ ............. 12 3.2.4 motor connector ................................ ................................ ................................ ................................ .......... 13 4 motor driver current ................................ ................................ ................................ ................................ .................. 14 5 reset to factory defaults ................................ ................................ ................................ ................................ ......... 16 6 on - board led ................................ ................................ ................................ ................................ ............................... 16 7 operational ratings ................................ ................................ ................................ ................................ ................... 17 8 functional description ................................ ................................ ................................ ................................ .............. 19 9 life support policy ................................ ................................ ................................ ................................ ..................... 20 10 revision history ................................ ................................ ................................ ................................ .......................... 21 10.1 document revision ................................ ................................ ................................ ................................ ........... 21 10.2 hardware revisions ................................ ................................ ................................ ................................ .......... 21 11 references ................................ ................................ ................................ ................................ ................................ .... 22
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 3 www.trinamic.com 1 feature s the tmcm - 1021 is a single axi s controller/driver module for 2 - phase bipolar stepper motors with state of the art feature set. it is highly integrated, offers a convenient handling and can be used in many decentralized applications. the module can be mounted on the back of nema11 (28 mm flange size) and has been designed for coil currents up to 0.7a rms (low current range , programmable ) or 1.4a rms (high current range , programmable, new additional range since hardware version 1.4 ) and 24v dc supply voltage . with its h igh energy efficienc y from trinamics coolstep ? technology cost for power consumption is kept down . the tmcl? firmware supports remote control (direct mode) and standalone operation (with tmcl program being executed on the tmcm - 1021 itself) . m ain c haracteristics highlights - 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 - for p osition movement applications, where larger motors do not fit and higher torques are not required 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 f eature for reduced power consumption and heat dissipation encoder - sensostep magnetic encoder (max. 1024 increments per rotation) e.g. for step - loss detection under all operating conditions and positioning supervision interfaces - up to 4 multi - purpose inpu ts (2 shared with general purpose outputs) - 2 general purpose outputs - rs485 2 - wire communication interface software - tmcl: standalone operation or remote controlled operation , program memo ry (non volatile) for up to 876 tmcl commands , and pc - based applic ation development software tmcl - ide available for free . electrical and mechanical data - supply voltage: +24v dc nominal (9 28 v dc max. ) - motor current: up to 0.7 a rms ( low current range, programmable) or 1.4a rms (high current range , programmable, new addi tional range since hardware version 1.4 ) please r efer to se parate tmcl firmware manual, also .
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 4 www.trinamic.com trinamic s u nique f eatures C e asy to u se 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 wi de 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. figure 1 . 1 stallguard2 load measurement sg as a function of load coolstep ? coolstep is a load - adaptive automatic current scaling based on the 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 enable s torque reserve when required. reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost. figure 1 . 2 energy efficiency example with coo lstep l o a d [ n m ] s t a l l g u a r d 2 i n i t i a l s t a l l g u a r d 2 ( s g ) v a l u e : 1 0 0 % m a x . l o a d s t a l l g u a r d 2 ( s g ) v a l u e : 0 m a x i m u m l o a d r e a c h e d . m o t o r c l o s e t o s t a l l . m o t o r s t a l l s 0 0 , 1 0 , 2 0 , 3 0 , 4 0 , 5 0 , 6 0 , 7 0 , 8 0 , 9 0 5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 0 e f f i c i e n c y v e l o c i t y [ r p m ] e f f i c i e n c y w i t h c o o l s t e p e f f i c i e n c y w i t h 5 0 % t o r q u e r e s e r v e
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 5 www.trinamic.com 2 order c odes order code description size of unit tmcm - 1021 single axis b ipolar stepper motor controller/ driver electronics with integrated encoder electronics 28mm x 28mm table 2 . 1 order codes a cable loom set is available for this module: order code description tmcm - 1021 - cable cable loom for tmcm - 1021 - 1x c able loom for power , communication and i/o connector (cable length approx. 200mm) - 1 x cable loom for motor connector (cable length ca. 200mm) table 2 . 2 cable loom o rder code
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 6 www.trinamic.com 3 m echanical and e lectrical i nterfacing 3.1 size of b oard the board with the controller/driver electronics has a n overall size of 28mm x 28mm in order to fit on the back side of a nema11 (28mm flange size) stepper motor. the printed circ uit board outline is marked green in the following figure: figure 3 . 1 board dimensions and position of mounting holes maximum board height (without mating connectors and cable l ooms) is about 10mm (approx. 6mm above printed circuit board level). 3.1.1 board mounting considerations the board offers two mounting holes for m2.5 screws ( both holes with 2.6mm diameter). b oth mounting holes are isolated. nevertheless, it is highly recommended to electrically connect any metal screws used for mounting to supply ground (either directly or via resistor) in order to prevent any electr ostatic discharge ( esd ) across the isolation barrier. this is especially recommended in case the board is mounted to the backsi de of a motor. since hardware version 1.4 a second high current range for motor currents up - to 1.4a rms is available. this makes it possible to support nema11 motors with typical standard coil currents up - to 0.7a rms using the low current range and with t he same hardware also nema17 bipolar stepper motors with coil currents up - to 1.4a rms using the high current range. example for setup with tmcm - 1021_v14 mounted to back side of nema17 motor (with sensostep? encoder): figure 3.2: tmcm - 1021 v14 mounted to back side of nema17 bipolar stepper motor p c b o u t l i n e 2 5 . 5 m m r 2 . 5 m m 2 7 m m 2 7 m m 2 5 . 5 m m 2 8 m m 2 8 m m 2 8 m m x 2 8 m m m o t o r b a c k b e l l r 2 m m r 1 . 3 m m
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 7 www.trinamic.com 3.2 connector s the tmcm - 1021 has two connectors, a n 8 - pin power , communication and i/o ( input/output ) connector and a 4 - p in motor connector (used to connect the attached motor). figure 3 . 3 tmcm - 1021 connectors overview of connector and mating connector types: label connector type mati ng connector type s power , communication and i/o ci01 08 p1vk0 - lf cvilux ci01 series , 8pins, 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 motor ci 01 04 p1vk0 - 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 table 3 . 1 connectors and mating connector s , contacts and applicable wire m o t o r p o w e r / c o m m u n i c a t i o n / i / o s 1 8 1 4
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 8 www.trinamic.com 3.2.1 power , c ommunication and i/o c onnector an 8 - pin, 2mm pitch single row conn ector is used for power supply, rs485 serial communication and additional multi - purpose inputs and outputs . pin label direction description 1 gnd power (gnd) gnd 2 vdd power (supply) vdd , typ. +24v (+9v+28v +24v compatible, internal 20k pull - down resistor alternate function 1: s tep input , +24v compatible, internal 20k pull - down resistor . ple ase note: the bandwidth of the low - pass (noise rejection) filter at the input is 16khz ( - 3db) which will limit the upp er step frequency alternate function 2: l eft stop switch , +24v compatible, internal 20k pull - down resistor 6 in_1 input general purpose d igital input, +24v compatible, internal 20k pull - down resistor alternate function 1: d irection input , +24v compatible, internal 20k pull - down resistor ple ase note: the bandwidth of the low - pass (noise rejection) filter at the input is 16khz ( - 3db) alternate function 2: ri ght stop switch , +24v compatible, internal 20k pull - down resistor 7 out_0 / in_2 outp ut / input open drain output with freewheeling diode (max. 100ma) p lease note: there is a 20k pull - down resistor of the input connected in parallel alternate function 1: general purpose digital input, +24v compatible, internal 20k pull - down resistor alternate function 2: home switch , +24v compatible, internal 20k pull - down resistor 8 out_1 / in_3 output / input open drain output with freewheeling diode (max. 100ma) please note: there is a 20k pull - down resistor of the input connected in parallel alternate function 1: digital input, +24v compatible , internal 20k pull - down resistor alternate function 2: analog input , 0..6.6v range, +24v survival, internal 20k pull - down resistor table 3 . 2 8pin p ower , communication and i/o connector
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 9 www.trinamic.com 3.2.1.1 power supply for proper operation care has to be taken with regard to power supply concept and design. due to space restrictions the tmcm - 1021 includes just about 20 f/35v (v1.2) resp. 3 0f/35v (v1.4) of supply filter capacitors. these are ceram ic capacitors which have been selected for high reliability and long lif e time. the module includes a 24 v suppressor diode for over - voltage protection. please take the following measures into account in order to avoid serious damage of the device: add external power supply capacitors! it is recommended to connect an electrolytic capacitor of significant size (e.g. 470f/35v) to the power supply lines next to the tmcm - 1021! rule of thumb for size of electrolytic capacitor: keep the power supply voltage below the upper limit of 28 v! otherwise the dri ver electronics will seriously be damaged! especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. p lease see also chapter 7 , operating values . there is no reve rse polarity protection! the module will short any reversed supply voltage due to internal diodes of the driver transistors. 3.2.1.2 rs485 for remote control and communication with a host system the tmcm - 1021 provides a two wire rs485 bus interface. for proper operation the following items should be taken into account when setting up an rs485 network: 1. bus structure : the network topology should follow a bus structure as closely as possible. that is, the connection between each node and the bus itself should be as short as possible. basically, it should be short compared to the length of the bus. figure 3 . 4 : 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 - 1021 does not integrate any termination resistor. therefore, 120 ohm termination resistors at both ends of the bus have to be added externally. c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e r s 4 8 5 t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 10 www.trinamic.com 3. number of nodes : t he rs485 electrical interface standard (eia - 485) allows up to 32 nodes to be connected to a single bus. the bus transceiver s used on the tmcm - 1021 units ( hardware v1.2: sn65hvd3082ed , since hardware v1.4: sn65hvd1781d) have a significantly reduced bus load and allow a maximum of 255 units to be connected to a single rs485 bus using tmcl firmware . please note: usu ally it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum supported communication sp eed at the same time. instead, a compromise has to be found between bus cable length, co mmunication speed and number of nodes. 4. communication speed: the maximum rs485 communication speed supported by the tmcm - 1021 is 115200 bit/s (fw version 1.29 with tmcm - 1021 hardware version 1.2 and 1.4). factory default is 9600 bit/s. please see separate tmcm - 1021 tmcl firmware manual for information regardi ng other possible communication speeds below 115200 bit/s . 5. 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): figure 3. 5 : bus lines with re sistor (bias) network on one side, onl y or add resistor (bias) network at both ends of the bus ( like pro fibus? termination): figure 3. 6 : bus lines with resistor (bias) network at both ends n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 1 2 0 r ) + 5 v g n d p u l l - u p ( 6 8 0 r ) p u l l - d o w n ( 6 8 0 r ) r s 4 8 5 - / r s 4 8 5 b t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) r s 4 8 5 + / r s 4 8 5 a n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) + 5 v g n d p u l l - u p ( 3 9 0 r ) p u l l - d o w n ( 3 9 0 r ) r s 4 8 5 - / r s 4 8 5 b r s 4 8 5 + / r s 4 8 5 a t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) + 5 v g n d p u l l - u p ( 3 9 0 r ) p u l l - d o w n ( 3 9 0 r )
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 11 www.trinamic.com certain rs485 interface converters available for pcs already include these additional resistors (e.g. usb - 2 - 485 with bias network at one e nd of the bus ). 3.2.1.3 digit al inputs in_0 and in_1 the eight pin connector of the tmcm - 1021 provides four general purpose inputs in_0, in_1, in_2 and in_3. the first two inputs have dedicated connector pins while the other two share pins with two general purpos e outputs. all four inputs are protected using voltage resistor dividers together with limiting diodes against voltages below 0v (gnd) and above +3.3v dc. input circuit of the first two inputs in_0 and in_1 is shown below: figure 3 .7 general purpose inputs in_0 and in_1 the two inp uts have alternate function s depending on configuration in software. the following functions are available: label (connector pin) default f unction alternate function 1 alternate function 2 in_0 ( 7 ) digital input +24v compatible, internal 20k pull - down resistor step signal input (connected to stepper motor driver step input) +24v compatible, internal 20k pull - down resistor . ple ase note: the bandwidth o f the lo w - pass rc ( 10k / 1nf ) filter at the input is 16khz ( - 3db) which will limit the upp er step frequency left stop switch +24v compatible, internal 20k pull - down resistor in_1 ( 8 ) digital input +24v compatible, internal 20k pull - down resistor direction signal input (connected to stepper motor driver direction input) +24v compatible, internal 20k pull - down resistor . ple ase note: the bandwidth o f the lo w - pass rc ( 10k / 1nf ) filter at the input is 16khz ( - 3db) right stop switch +24v compatible, internal 20k pull - down resistor table 3 . 3 mu lti purpose inputs / alternate functions all four inputs are connected to the on - board processor and can be used as general purpose digital inputs. u sing the alternate function 1 of in_0 and in_1 it is possible to control the on - board stepper motor driver with the help of an external stepper motor controller using step and direction signals (please see separate tmcl firmware manual / axis parameter 254 for more details how to enable this mode) . for the step and + 3 . 3 v i n _ 0 , i n _ 1 m i c r o c o n t r o l l e r a n d s t e p p e r m o t o r d r i v e r 1 0 k 1 0 k 1 n f g n d g n d g n d
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 12 www.trinamic.com direction signals the signal levels are the s ame as for the general purpose digital inputs. please note that the low - pass filter (for noise rejection) at the inputs offers a bandwidth of 16khz ( - 3db) . in_3 can be used as analog input, also. a 12bit analog to digital converter integrated in the micr ocontroller will convert any analog input voltage between 0 and +6.6v to a digital value between 0 and 4095 then. 3.2.1.4 inputs in_2, in_3, digital outputs out_0, out_1 the eight pin connector of the tmcm - 1021 provides two general purpose outputs. these two outputs are open - drain outputs and can sink up to 100ma each. both outputs out_0 and out_1 share pins with two of the four inputs (in_2 resp. in_3). the inputs are protected using voltage resistor dividers together with limiting diodes against voltage s below 0v (gnd) and above +3.3v dc. the circuit of the two outputs and the two inputs connected in parallel to the inputs is shown below: figure 3 .8 general purpose outputs out_0, out_1 and input s in_2, in_3 c onnected in parallel the outputs of the n - channel mosfet transistors (open - drain) are connected to freewheeling diodes each for protection against voltage spikes especially from inductive loads (relais etc.). please take into account the 20k (2x 10k in s eries) resistance to ground (transistor not active) of the input voltage divider (figure 4.8) when designing the external load circuit. since hardware version 1.4 the gate inputs of the mosfets are pulled - low during power - up and while the processor migh t be still in reset / output pins not initialized. this way, the outputs will not briefly switch on at power - up. the two outputs out_0 / out_1 and inputs in_2 / in_3 have alternate functions depending on configuration in software: label (connector pin) default f unction alternate function 1 alternate function 2 out_0 / in_ 2 (5) open drain output with freewheeling diode (max. 100ma) p lease note: there is a 20k pull - down resistor of the input connected in parallel alternate function 1: general purpose digital input, +24v compatible, internal 20k pull - down resistor alternate function 2: home switch , +24v compatible, internal 20k pull - down resistor v d d o u t _ 0 / i n _ 2 o u t _ 1 / i n _ 3 m i c r o c o n t r o l l e r g n d + 3 . 3 v m i c r o c o n t r o l l e r 1 0 k 1 0 k 1 n f g n d g n d g n d 1 k g n d s i n c e v 1 . 4
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 13 www.trinamic.com label (connector pin) default f unction alternate function 1 alternate function 2 out_1 / in_ 3 (6) open drain output with freewheeling diode (max. 100ma) p lease note: there is a 20k pull - down resistor of the input connected in parallel alternate function 1: digital input, +24v compatible , internal 20k pull - down resistor alternate function 2: analog input , 0..6.6v range, +24v survival, internal 20k pull - down resistor table 3 . 4 mu lti purpose outputs / inputs / alternate functions do not apply any voltage above supply voltage to inputs in_2 and in_3 . due to the freewheeling diodes of the out p uts connected in parallel they will be sh orted to power supply input voltage . for hardware version 1.2: do not connect eith er in_2 or in_3 directly to a low resistance supply voltage (e.g. directly to any power supply voltage) . as the output transistors connected in parallel might briefly switch - on during power - up they might be damaged / destroyed if the current through the transistors to ground exceeds 100ma . 3.2.2 motor c onnector a 4 - pin, 2mm pitch single row connector is used for connecting the four motor wires to the elec tronics. pin label direction description 1 ob2 output pin 2 of motor coil b 2 ob1 output pin 1 of motor coil b 3 oa2 output pin 2 of motor coil a 4 oa1 output pin 1 of motor coil a table 3 . 4 motor connector do not connect or disconnect motor during operation! motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected while energized. these voltage spikes might exceed voltage limits of the driver mosfets and might permanently damage them. therefore, always disconnect power supply before connecting / disconnecting the motor. for hardware version 1.4: please note the additional high current range for motor currents up - to 1.4a rms! setting motor current too high might lead to excessive power dissipation inside the motor , overheating and even perman en t dama ge of the motor . therefore, make sure the motor current is properly set. a lso with hardware version 1.2 the low current range is set as default. example for connecting a motor. tmcm - 1021 qsh2818 motor motor connector pin cable colour coil description 1 blue b - motor coil b pin 2 2 red b mo tor coil b pin 1 3 green a - motor coil a pin 2 4 black a motor coil a pin 1 m black green r e d b l u e a b
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 14 www.trinamic.com 4 motor driver current the on - board stepper motor driver operate s current controlled. the driver current may be programmed in software in two ranges ( low current rang e up - to 0.7a rms and high current range up - to 1.4a rms) with 32 effective scaling steps in hardware for each range. please note: the high current range is available with hardware revision v1.4 , only C not with hardware revision v1.2! explanation of different col umns in table below: motor current setting in software (tmcl) 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 tmcl commands: sap 6, 0 , // set run current sap 7, 0 , // set standby current ( read - out value with gap instead of sap . p lease see separate tmcm - 1021 firmware manual for further information) range setting in software (tmcl) this is the value for tmcl axis paramete r 179 (vsense). this value defines the current range. this value can be set using the following tmcl command: sap 179, 0 , // = 0 high current range // = 1 low current range for either 0 (high current range) or 1 (low current range) is supported (see table) since hardware revision v1.4. for earlier hardware revisions (incl. v1.2) this parameter is set to the fixed value 1 (low current range). gap instead of sap . p lease see separate tmcm - 1021 firmw are manual for further information) motor current i rms [a] resulting motor current based on range and motor current setting motor current setting in software (tmcl) range setting in software (tmcl ) current scaling step (cs) motor current i coil_peak [a] motor current i coil_ rms [a] 0..7 1 0 0. 034 0.024 8..15 1 1 0.069 0.049 16..23 1 2 0.103 0.073 24..31 1 3 0.138 0.097 32..39 1 4 0.172 0.122 40..47 1 5 0.206 0.146 48..55 1 6 0. 241 0.170 56..63 1 7 0.275 0.194 64..71 1 8 0.309 0.219 72..79 1 9 0.344 0.243 80..87 1 10 0.378 0.267 88..95 1 11 0.413 0.292 96..103 1 12 0.447 0.316 104..111 1 13 0.481 0.340 112..119 1 14 0.516 0.365 120..127 1 15 0.550 0.389 128..135 1 16 0. 584 0.413 136..143 1 17 0.619 0.438
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 15 www.trinamic.com motor current setting in software (tmcl) range setting in software (tmcl ) current scaling step (cs) motor current i coil_peak [a] motor current i coil_ rms [a] 144..151 1 18 0.653 0.462 152. .159 1 19 0.688 0.486 160..167 1 20 0.722 0.510 168..175 1 21 0.756 0.535 176..183 1 22 0.791 0.559 184..191 1 23 0.825 0.583 192..199 1 24 0.859 0.608 200..207 1 25 0.894 0.632 208..215 1 26 0.928 0.656 216..223 1 27 0.963 0.681 224..231 1 28 0.9 97 0.705 232..239 1 29 1.031 0.729 240..247 1 30 1.066 0.754 248..255 1 31 1.100 0.778 0..7 0 0 0.064 0.045 8..15 0 1 0.127 0,090 16..23 0 2 0.191 0.135 24..31 0 3 0.254 0.180 32..39 0 4 0.318 0.225 40..47 0 5 0.381 0.270 48..55 0 6 0.445 0.315 56..63 0 7 0.508 0.359 64..71 0 8 0.572 0.404 72..79 0 9 0.635 0.449 80..87 0 10 0.699 0.494 88..95 0 11 0.763 0.539 96..103 0 12 0.826 0.584 104..111 0 13 0.890 0.629 112..119 0 14 0.953 0.674 120..127 0 15 1.017 0.719 128..135 0 16 1.080 0.764 136..143 0 17 1.144 0.809 144..151 0 18 1.207 0.854 152..159 0 19 1.271 0.899 160..167 0 20 1.334 0.944 168..175 0 21 1.398 0.988 176..183 0 22 1.461 1.033 184..191 0 23 1.525 1.078 192..199 0 24 1.589 1.123 200..207 0 25 1.652 1.168 208..215 0 26 1.716 1.213 216..223 0 27 1.779 1.258 224..231 0 28 1.843 1.303 232..239 0 29 1.906 1.348 240..247 0 30 1.970 1.393 248..255 0 31 2.033 1.438 in addition to the settings in the table the motor current may be switched off completely (free - wheeli ng) using axis parameter 204 (see tmcm - 1021 firmware manual).
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 16 www.trinamic.com 5 reset to factory defaults it is possible to reset the tmcm - 1021 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 (see figure 5 . 1 ) . please perform the following steps: 1. power sup ply off and usb cable disconnected 2. short two pads as marked in figure 5 . 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 tak e a while) 5. power - off board (disconnect usb cable) 6. remove short between pads 7. after switching on power - supply / connecting usb cable all permanent settings have been restored to factory defaults figure 5 . 1 reset to factory default settings 6 on - board led the board offers one led in order to indicate board status. the function of the led is dependent on the firmware version. with standard tmcl firmware the green led flashes s lowly dur ing operation. when there is no valid firmware programmed into the board or during firmware update the green led is permanently on. figure 6 . 1 o n - board led s h o r t t h e s e t w o p a d s o n t h e b o t t o m o f t h e p c b g r e e n l e d
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 17 www.trinamic.com 7 operational r ating s 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! symbol parameter min typ max unit vdd power supply voltage for operation 9 12 24 coi l_ peak_l motor coil current for sine wave peak ( low range setting, chopper regulated, adjustable via software) 0 1 a i coil_rms _l continuous motor current ( rms ) ( low current range setting, chopper regulated, adjustable via software) 0 0.7 a i coil_peak_ h *) motor coil current for sine wave peak ( high current range setting, chopper regulated, adjustable via software) 0 2 *) a i coil_rms_h *) continuous motor current ( rms ) ( high current range setting, chopper regulated, adjustable via software) 0 1.4 *) a i dd power supply current << i coil 1.4 * i coil a t env environment temperature at rated current (no forced cooling required) - 35 +60 c table 7 . 1 gen eral operational ratings of module *) high current range avai lable as new additional range with hardware revision v1.4 C not with hardware revision v1.2 symbol parameter min typ max unit v out_0/1 voltage at open collector output 0 +vdd v i out_0/1 output sink current 100 ma v in_digital 0/1/2/3 input voltage f or in_0, in_1, in_2, in_3 when used as digital input 0 +vdd v v in_digital_l 0/1/2/3 low level voltage for in_0 , in_1 , in_2 and in_3 when used as digital input 0 1.2 v v in_digital_l 0/1/2/3 high level voltage for in_0, in_1, in_2 and in_3 when used as digital input 4 +vdd v v in_analog 3 measurement rang e for in_3 when used as analog input 0 +6.6 v table 7 . 2 op erational ratings of multi - purpose i/os
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 18 www.trinamic.com symbol parameter min typ max unit n rs485 number of nodes connected to singl e rs485 network 255 f rs485 maximum bit rate supported on rs485 connection 9600 115200 bit/s table 7 . 3 operational ratings of rs485 interface
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 19 www.trinamic.com 8 functional d escription the tmcm - 1021 is a highly integrated controller/ driver module which can be controlled via rs485 interface. communication traffic is kept low sin ce all time critical operations ( e.g. ramp calculati ons) are performed on board. the n ominal supply voltage of the unit is 24v dc . the module is desi gned 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 the serial interface . in figure 8 . 1 the main parts of the module are sho wn: - the microprocessor, which runs the tmcl operating system (connected to tmcl memory), - the power driver with its energy efficient coolstep feature, - the mosfet driver stage, and - the sensostep encoder with resolutions of 10bit (1024 steps) per revolutio n . figure 8 . 1 main parts of tmcm - 1021 the tmcm - 1021 comes with the pc based software development environment tmcl - ide for the trinamic motion control language (tmcl). using p redefined tmcl high level commands like move to position a rapid and fast development of motion control applications is guaranteed. please refer to the tmcm - 1021 firmware manual for more information about tmcl commands. 9 2 8 v d c t m c l ? m e m o r y 4 a d d . i / o s s t e p m o t o 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 t m c 2 6 2 w i t h c o o l s t e p ? s e n s o s t e p ? e n c o d e r s p i t m c m - 1 0 2 1 s / d s p i i 2 c c
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 20 www.trinamic.com 9 life support p olicy trinamic mot ion control gmbh & co. kg does not authorize or warrant any of its products for use in life support systems, without the specific written consent of trinamic motion control gmbh & co. kg. life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. ? trinamic motion control gm bh & co. kg 2013 - 2014 informat ion 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. specifica tions are subject to change without notice. all trademarks used are property of their respective owners.
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 21 www.trinamic.com 10 revision h istory 10.1 document r evision version date author description 0.90 2011 - aug - 02 ge - initial version 0.91 2011 - aug - 25 sd - information about l eft, right, and home switch added . - minor changes 0.92 2011 - nov - 10 ge - motor connector corrected and motor connection added - general purpose output circuit extended - hardware revision list updated 1.00 2012 - mar - 0 9 sd - rule of thumb for capacitor added. - desig n updated - chapter 6 ( on - board led ) new - chapter 4 ( reset to factory defaults ) new 1.01 2012 - may - 20 sd - minor changes 1.02 2013 - jul - 23 sd - connector types updated . - chapter error! reference source not found. updated. 1.03 2014 - sep - 30 ge - info rmation regarding new hardware version 1.4 added - several corrections and clarifications include d table 10 . 1 document revision 10.2 hardware r evision s version date description / modifications compared to previous versions tmcm - 1021_v1 0 *) 20 11 - jul - 11 initial version tmcm - 1021_v11 *) 2011 - aug - 18 - tmc262 clock generation switched to internal clock - encoder circuit corrected - led added tmcm - 1021_v12 **) 2011 - sep - 28 - led moved to location near 8pin connector (version 1.2 is 100% firmware compatible w ith v1.1) tmcm - 1021_v13 *) 2013 - may - 14 - mosfets: the new driver stage is more powerful (less hea t dissipation) than the one used on v1.2. the module now supports two motor current ranges (up - to 0.7a rms (same as v1.2 C tmcl command sap 6, 0, 0 255 as known from the current C - rs485 transceiver: the rs485 transceiver has been replaced
tmcm - 1021 v1.4 hardware manual (rev. 1.03 / 2014 - sep - 30) 22 www.trinamic.com version date description / modifications compared to previous versions with the sn65hvd1781 transceiver offering better fault protection ( up - to 70v fault protection) and supporting more nodes in one network (up - to 255 nodes per network with tmcl firmware). the supply voltage of the transceiver ic has been reduced to +3.3v (supported by the transceiver ic) in order to reduce power consumption . - general purpose outputs out0 / out1: the driver circuit of the open - drain output mosfets has been modified in order to ensure glitch - free power - up. that is, output mosfets will not turn briefly on while processor still in reset / not initialized. - proces sor speed: the processor crystal has been changed to 16mhz tmcm - 1021_v14 2013 - jul - 30 - o n - board voltage regulator design has been improved in order to allow processor core frequencies of 32mhz (previously 16mhz and 8mhz depending on firmware version) *): v 10, v11 and v13: prototypes only. **) v12: series product version. is replaced with v14 series product version due to eol (end - of - life) of the driver mosfets. please see pcn _1012_10_22_tmcm - 1021.pdf on our web - site, also table 10 . 2 hardware revision 11 references [tmcm - 1021] tmcm - 1021 tmcl firmware manual [qsh2818 - 32 - 07 - 006] nema11 / 28mm bipolar stepper motor [qsh2818 - 51 - 07 - 012] nema11 / 28mm bipolar stepper motor [usb - 2 - 485] usb - 2 - 485 interface converter trinamic manuals are available on http://www.trinamic.com .

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