TMCM-KAMINO-AP23_技术文档

MODULE

Module for Stepper Motors

TMCM-1070 Hardware Manual

Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

TMCM-1070 is an easy to use stepper motor driver module. The module is controlled via a step and

direction interface. One conﬁguration pin selects the current control mode between stealthChop™

for absolute silent motor control and spreadCycle™ for high speed. A TTL UART interface allows

for more advanced conﬁguration and permanent parameter storage via TMCL™-IDE.

Features

• Supply Voltage +9 to +24V DC

• Step and direction interface

• microPlyer™ to 256µ-steps

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

• UART conﬁguration interface

Applications

• Lab-Automation

• Manufacturing

• Robotics

• Factory Automation

• CNC

• Laboratory Automation

Simpliﬁed Block Diagram

TMCL

Memory

9...24V

SPI

Step

cDriver

SPI

UART

µC

with

stealthChop

Motor

STEP/DIR

EN

CHOP

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation;

Especially the supplemental directives on page 21.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

2 / 23

Contents

1

Features

3

1.1 General Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 TRINAMIC’s Unique Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 stealthChop™ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 spreadCycle™ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3

4

5

2

3

Order Codes

6

Mechanical and Electrical Interfacing

7

8

3.1 TMCM-1070 Dimensions and Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Mounting Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Top Hat Rail Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4

5

6

Connectors and LEDs

9

4.1 Motor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9

4.2 I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.3 TTL UART Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4.4 Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Functional Description

12

5.1 Typical Application Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

5.2 Optically Isolated Inputs with Common Anode Input . . . . . . . . . . . . . . . . . . . . . . . . 13

5.3 Optically Isolated Inputs with Common Cathode Input . . . . . . . . . . . . . . . . . . . . . . . 14

5.4 Thermal Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Operational Ratings and Characteristics

16

6.1 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

6.2 Electrical Characteristics (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . . 16

6.3 I/O Ratings (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

6.4 Functional Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6.5 Other Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7

8

9

Abbreviations used in this Manual

Figures Index

18

19

20

21

Tables Index

10 Supplemental Directives

10.1 Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

10.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

10.3 Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

10.4 Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

10.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

10.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

10.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

11 Revision History

23

11.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

11.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

3 / 23

1 Features

TMCM-1070 is an easy to use stepper driver unit with state of the art feature set. It is highly integrated

and oﬀers a convenient handling. TMCM-1070 can be used with a simple step and direction interface and

can be conﬁgured using a TTL UART interface. stallGuard2 and coolStep can be conﬁgured via TTL UART

interface and are disabled by default.

1.1 General Features

Main Characteristics

• Supply Voltage +9V to +24V DC

• 1.0A RMS phase current (ca. 1.4A peak phase current)

• Highest micro step resolution, up to 256 micro steps per full step

•

microPlyer

™ microstep interpolator for obtaining increased smoothness of microstepping over a low

frequency STEP/DIR interface

• With housing and motor mounted

• Permanent onboard parameter storage

• Simple step & direction mode

• Noiseless stealthChop™ chopper mode for slow to medium velocities

• High performance spreadCycle™ chopper mode

• High-precision sensorless load measurement with stallGuard2™

• Automatic current scaling algorithm coolStep™ to save energy and keep your drive cool

Optically Isolated Inputs

• Step & direction interface with up to 45kHz input frequency

• Enable input to power-on/-oﬀ driver H-bridges

• Mode select input to switch between the two chopper modes

TTL UART Interface

• TTL-level UART interface for parameter conﬁguration

• Interface speed 9600-115200 bps (default 9600 bps)

• TMCL-based protocol for online conﬁguration and permanent parameter settings

• Bootloader for ﬁrmware updates

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

4 / 23

1.2 TRINAMIC’s Unique Features

1.2.1 stealthChop™

stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage

mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop

operated stepper motor applications are very suitable for indoor or home use. The motor operates

absolutely free of vibration at low velocities. With stealthChop, the motor current is applied by driving

a certain eﬀective voltage into the coil, using a voltage mode PWM. There are no more conﬁgurations

required except for the regulation of the PWM voltage to yield the motor target current.

Figure 1: Motor coil sine wave current using stealthChop (measured with current probe)

1.2.2 spreadCycle™

The spreadCycle chopper is a high-precision, hysteresis-based, and simple to use chopper mode, which

automatically determines the optimum length for the fast-decay phase. Several parameters are available to

optimize the chopper to the application. spreadCycle oﬀers optimal zero crossing performance compared

to other current controlled chopper algorithms and thereby allows for highest smoothness. The true target

current is powered into the motor coils.

Figure 2: spreadCycle principle

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

5 / 23

1.3 stallGuard2

stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor coils. It

can be used for stall detection as well as other uses at loads below those which stall the motor. The

stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings.

At maximum motor load, the value reaches zero or is near zero. This is the most energy-eﬃcient point of

operation for the motor.

ꢈꢉꢂꢊꢊꢋꢌꢂꢍꢃꢎ

ꢀꢁꢂꢃ ꢄꢅꢆꢇ

ꢏꢐꢑꢉꢑꢂꢊ ꢈꢉꢂꢊꢊꢋꢌꢂꢍꢃꢎ ꢒꢓꢋꢔ ꢕꢂꢊꢌꢖꢗ ꢘꢙꢙꢚ

ꢛꢂꢜꢝ ꢊꢁꢂꢃ

ꢈꢉꢂꢊꢊꢋꢌꢂꢍꢃꢎ ꢒꢓꢋꢔ ꢕꢂꢊꢌꢖꢗ ꢙ

ꢛꢂꢜꢑꢆꢌꢆ ꢊꢁꢂꢃ ꢍꢖꢂꢞꢟꢖꢃꢝ

ꢛꢁꢉꢁꢍ ꢞꢊꢁꢈꢖ ꢉꢁ ꢈꢉꢂꢊꢊꢝ

ꢛꢁꢉꢁꢍ ꢈꢉꢂꢊꢊꢈ

Figure 3: stallGuard2 Load Measurement as a Function of Load

1.4 coolStep

coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2.

coolStep adapts the required current to the load. Energy consumption can be reduced by as much as 75%.

coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a

high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%,

even a constant-load application allows signiﬁcant energy savings because coolStep automatically enables

torque reserve when required. Reducing power consumption keeps the system cooler, increases motor

life, and allows for cost reduction.

ꢀꢁꢊ

ꢋꢌꢌꢍꢎꢍꢏꢐꢎꢑ ꢛꢍꢕꢜ ꢎꢔꢔꢓꢝꢕꢏꢞ

ꢀꢁꢉ

ꢀꢁꢈ

ꢀꢁꢇ

ꢀꢁꢆ

ꢀꢁꢅ

ꢀꢁꢄ

ꢀꢁꢃ

ꢀꢁꢂ

ꢀ

ꢋꢌꢌꢍꢎꢍꢏꢐꢎꢑ ꢛꢍꢕꢜ ꢆꢀv ꢕꢔꢟꢠꢡꢏ ꢟꢏꢢꢏꢟꢣꢏ

ꢋꢌꢌꢍꢎꢍꢏꢐꢎꢑ

ꢀ

ꢆꢀ

ꢂꢀꢀ

ꢂꢆꢀ

ꢃꢀꢀ

ꢃꢆꢀ

ꢄꢀꢀ

ꢄꢆꢀ

ꢒꢏꢓꢔꢎꢍꢕꢑ ꢖꢗꢘꢙꢚ

Figure 4: Energy Eﬃciency Example with coolStep

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

6 / 23

2 Order Codes

Order Code Description

Size (LxWxH)

TMCM-1070 Controller/Driver Module without motor, +24V DC, TTL UART 42mm x 42mm x 12mm

interface, S/D interface, Enable, Mode Select

Table 1: Order codes modules

Order Code

Description

TMCM-1070-CABLE

Cable loom for TMCM-1070. Contains:

• 1x cable loom for motor connector with 4-pin JST PH female connector

• 1x cable loom for I/O connector with 9-in JST PH female connector

TMCM-KAMINO-CLIP

Self-Adhesive top hat rail mounting clip for TMCM-1070 base module (not

available with PANdrive versions PD42-x-1070)

TMCM-KAMINO-AP23 Aluminum adapter plate kit for mounting of TMCM-1070 base module to

NEMA23 size motors (not available with PANdrive versions PD42-x-1070)

TMCM-KAMINO-AP24 Aluminum adapter plate kit for mounting of TMCM-1070 base module to

NEMA24 size motors (not available with PANdrive versions PD42-x-1070)

Table 2: Order codes cable loom

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

7 / 23

3 Mechanical and Electrical Interfacing

3.1 TMCM-1070 Dimensions and Weight

The dimensions of the TMCM-1070 are approximately 42mm x 42mm x 12mm. There are two mounting

holes for M3 screws for mounting the TMCM-1070 to a NEMA17 stepper motor (screw/thread length

depends on motor size).

42mm

Figure 5: TMCM-1070 top view mechanical dimensions

Order Code L in mm Weight in g

TMCM-1070 12 ±0,2 ≈ 32

Table 3: TMCM-1070 length and weight

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

8 / 23

3.2 Mounting Considerations

TMCM-1070 is designed to be mountable on the back of a NEMA17 motor. Alternatively it can be mounted

standalone.

Thermal Considerations

NOTICE

If not mounted to a motor take care for a proper cooling. The electronics have an

overtemperature shutdown, nevertheless damage to electronics or system can

be caused by excessive temperature.

3.2.1 Top Hat Rail Mounting

To mount the drive on a top hat rail, TRINAMIC oﬀers a ﬁtting top hat rail clip. The order code is provided

in table 2.

Figure 6: TMCM-1070 top hat rail mounting clip example with module

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

9 / 23

4 Connectors and LEDs

Figure 7: TMCM-1070 connectors (pin 1 highlighted in red)

4.1 Motor Connector

Pin no. Pin name Description

1

2

3

4

A1

A2

B1

B2

Motor phase A pin 1

Motor phase A pin 2

Motor phase B pin 1

Motor phase B pin 2

Table 4: Motor connector pinning

Do not connect or disconnect motor during operation! Motor cable and mo-

tor inductivity might lead to voltage spikes when the motor is (dis)connected

while energized. These voltage spikes might exceed voltage limits of the driver

MOSFETs and might permanently damage them. Therefore, always switch oﬀ or

disconnect power supply before (dis)connecting the motor.

NOTICE

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

10 / 23

4.2 I/O Connector

Pin no. Pin name Description

1

2

3

4

5

6

7

GND

V+

Supply ground connection, also used for USB serial converter ground connection

Supply voltage (V DD) +9V to +28V DC

DIR

Optically isolated direction input of S/D interface

Optically isolated step input of S/D interface

Optically isolated enable input of motor driver H-bridges

Optically isolated chopper mode selection input

STEP

EN

CHOP

COMM

Opto-coupler common anode or cathode, connect to ground or VCCIO (3.3V to

24V)

8

9

RXD

TXD

TTL-level UART receive line, use with USB serial converter TXD line to connect to

PC

TTL-level UART transmit line, use with USB serial converter RXD line to connect to

PC

Table 5: I/O connector pinning

Supply Voltage Buﬀering / Add External Power Supply Capacitors

A suﬃciently buﬀered power supply or an external electrolyte capacitor

connected between V+ and GND is recommended for stable operation.

It is recommended to connect an electrolytic capacitor of signiﬁcant size to the

power supply lines next to the TMCM-1070.

NOTICE

Rule of thumb for size of electrolytic capacitor: C = 1000^µF∗ I_{SUP P LY}

A

The PD42-1070 comes with approximately 40 F of onboard ceramic capacitors.

µ

There is no reverse polarity protection on the supply input!

The module will short any reversed supply voltage and board electronics will get

damaged.

NOTICE

Power Up Sequence

The TMCM-1070 must be powered up with disabled driver stage only. Depending

on your conﬁguration the EN input should be logically OFF. For example, if COMM

input is connected to 3.3V to 24V, the EN input must be 0V. If common ground or

0V level is connected to COMM input, the EN input must have high level.

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

11 / 23

4.3 TTL UART Connection

To connect via the TTL UART interface to a host PC, we suggest using a USB serial converter from TTL-UART

(5V) to USB interface.

Communication with the host PC, for example when using TRINAMIC’s TMCL-IDE, is done via the Virtual

COM port installed by the converter driver.

More information on the TMCL-IDE and the latest release can be found here: www.trinamic.com

The converter cable must be connected to pins 1, 8, and 9 (GND, RXD, TXD) of the I/O connector.

Note

Default Baud Rates

The default baud rate is 9600 bps.

In bootloader mode, the baud rate is 115200 bps.

USB to UART converter

Info

For example, the TTL-232R-5V from FTDI is working with the module and has

been tested. More information on this converter is available on the FTDI website:

www.ftdichip.com

5V TTL UART Level

NOTICE

The TTL UART interface works with 5V level. Take special care when selecting a

converter cable for USB connection.

4.4 Status LEDs

The TMCM-1070 has one green status LED. See ﬁgure 7 for its location.

State

Description

Blinking

MCU active, normal operation

Permanent on Bootloader mode

Oﬀ Power Oﬀ

Table 6: LED state description

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

12 / 23

5 Functional Description

5.1 Typical Application Wiring

Wire the TMCM-1070 as shown in the following ﬁgures.

• Connect the the power supply to V+ and GND.

• Connect the Step and Direction signals to your motion controller.

• At power up time, the EN input must be low (= driver stage disabled)!

•

Optional: Connect UART to a TTL UART interface with 5V logic levels. To conﬁgure your TMCM-1070

connect start the TMCL-IDE and use the parameterization tools. For detailed instructions refer to the

TMCM-1070-ﬁrmware-manual.

Note

The TTL UART interface is not optically isolated. It has and requires 5V level

signals.

Nevertheless, it provides basic ESD and rail-to-rail signal line protection for the

TMCM-1070.

Figure 8: Typical application scenario with 5V inputs

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

13 / 23

5.2 Optically Isolated Inputs with Common Anode Input

The control inputs of the TMCM-1070 are optically isolated (not the TTL UART interface). All optocouplers

share one common anode (COMM) input as shown in the ﬁgure above.

Figure 9: Inputs with common anode input with 3.3V to 5V

The typical voltage at COMM input is 5V. Nevertheless, 3.3V or voltages higher than 5V can also be used as

long as the current is through the optocouplers’ emitter is between 5mA to 20mA. For 3.3V operation the

controller must be carefully selected with respect to its I/O ports, its actual output voltage, and the series

resistor of the I/O ports. The user must make sure that the current through the optocouplers’ emitter is

between 5mA to 20mA.

Note

Step pulse width

Width of the step pulses should be between 2

µs and 4µs, for maximum step

frequency.

With a larger step pulse width, for example 50% duty cycle coming from a fre-

quency generator, the maximum input frequency will be lower at ca. 9kHz..

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

14 / 23

Figure 10: Inputs with common anode input with >5V to 24V

The series resistors in the TMCM-1070 are 270mOhms. For operation with voltages higher than 5V an

additional external resistor R_externalis required per input to limit the current. See Table 7 as reference for

additional external resistor values.

COMM Voltage (V) Value of R_external(Ω)

3.3

5

-

9

300

500

700

1K5

12

15

24

Table 7: Additional resistor reference values

Note

R_externalSelection

Take care when selecting an additional external resistor. The resistor type must

have a ﬁtting power rating. This depends on the voltage used at COMM input.

5.3 Optically Isolated Inputs with Common Cathode Input

The optocouplers inside TMCM-1070 are bidirectional types (AC/DC). Thus, COMM can also be used as

common cathode connection.

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

15 / 23

5.4 Thermal Behavior

The default conﬁguration parameters of the TMCM-1070 are set to the speciﬁed maximum current of 1A

rms / 1.4A peak, which is the maximum motor phase current speciﬁed for the stepper motor options given

in Table ??.

Typically, at this nominal current setting the stepper motor and the driver electronics will get hot. Continu-

ous operation at maximum current is not guaranteed without cooling the motor since the stepper driver

will switch oﬀ due to its internal over-temperature protection until temperature falls below the threshold.

Note

Operation with Maximum Current Setting For table-top testing and applica-

tion bring-up the current should be reduced or the coolStep feature should be

conﬁgured to keep heating on a reasonable level. Especially, when there is no

other cooling option for the motor.

For proper and continuous operation at maximum current, the motor ﬂange

must be mounted to the applications mechanical interface with good contact.

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

16 / 23

6 Operational Ratings and Characteristics

6.1 Absolute Maximum Ratings

Parameter

Min Max Unit

Supply voltage

+9

+28

+40

1.4

V

Working temperature

Motor coil current / sine wave peak

Continuous motor current (RMS)

-30

° C

A

1.0

A

Never Exceed the absolute maximum ratings! Stresses above those listed

under "‘Absolute Maximum Ratings"’ may cause permanent damage to the

device. This is a stress rating only and functional operation of the device at those

or any other conditions above those indicated in the operation listings of this

speciﬁcation is not implied. Exposure to maximum rating conditions for extended

periods may aﬀect device reliability.

NOTICE

Keep the power supply voltage below the upper limit of +28V! Otherwise

the board electronics will seriously be damaged! Especially, when the selected

operating voltage is near the upper limit a regulated power supply is highly

recommended.

6.2 Electrical Characteristics (Ambient Temperature 25° C)

Parameter

Symbol

Min Typ

Max

26

Unit

V

Supply voltage

V DD

9

0

24

Motor coil current / sine wave peak (chopper regu- I_COILpeak

lated, adjustable via TTL UART interface)

1.4

A

Continuous motor current (RMS)

I_COILRMS

I_DD

0

1.0

A

Power supply current

ꢀ I_COIL1.4∗I_COIL

Table 9: Electrical Characteristics

6.3 I/O Ratings (Ambient Temperature 25° C)

Parameter

Symbol

V_COMM

f_in

Min Typ Max

Unit

V

COMM input voltage

3.3

5

+V DD

45

Input frequency of optically isolated I/Os

TTL UART input voltage

TTL UART low level voltage

kHz

V

V_{T T L_IN}

5

5.5

V_{T LL}

0

1.75

V

L

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

17 / 23

TTL UART high level voltage

TTL UART output voltage

V_{T T L}

3.25

5

V

H

V_{T T L_OUT}

5

Table 10: Operational ratings of optically isolated inputs and TTL UART interface

6.4 Functional Characteristics

Parameter

Control

Description / Value

4-wire interface with Step, Direction, Enable, and Chopper Mode Switch

Step Pulse Width

The step pulse width should be between 2µs and 4µs for maximum frequency.

With a larger step pulse width, for example 50% duty cycle coming from a

frequency generator, the maximum input frequency will be lower at ca. 9kHz.

Communication

Driving Mode

2-wire TTL UART interface for conﬁguration, 9600-115200 bps (default 57600

bps)

spreadCycle and stealthChop chopper modes (selectable with CHOP input),

adaptive automatic current reduction using stallGuard2 and coolStep

Stepping Resolution Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step, default is 1/16 with internal

interpolation to 1/256

Table 11: Functional Characteristics

6.5 Other Requirements

Speciﬁcations

Description or Value

Free air

Cooling

Working environment Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting

Working temperature -30° C to +40° C

Table 12: Other Requirements and Characteristics

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

7 Abbreviations used in this Manual

Abbreviation Description

18 / 23

COMM

IDE

Common Anode or common cathode

Integrated Development Environment

Light Emmitting Diode

LED

RMS

TMCL

TTL

Root Mean Square value

TRINAMIC Motion Control Language

Transistor Transistor Logic

UART

USB

Universal Asynchronous Receiver Transmitter

Universal Serial Bus

Table 13: Abbreviations used in this Manual

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

19 / 23

8 Figures Index

1

Motor coil sine wave current using

stealthChop (measured with current

probe) . . . . . . . . . . . . . . . . . . .

spreadCycle principle . . . . . . . . . .

stallGuard2 Load Measurement as a

Function of Load . . . . . . . . . . . .

Energy Eﬃciency Example with coolStep

TMCM-1070 top view mechanical di-

mensions . . . . . . . . . . . . . . . . .

6

7

8

9

TMCM-1070 top hat rail mounting clip

example with module . . . . . . . . .

TMCM-1070 connectors (pin 1 high-

lighted in red) . . . . . . . . . . . . . .

Typical application scenario with 5V in-

puts . . . . . . . . . . . . . . . . . . . . 12

Inputs with common anode input with

3.3V to 5V . . . . . . . . . . . . . . . . 13

8

4

9

2

3

5

4

5

10 Inputs with common anode input with

7

>5V to 24V . . . . . . . . . . . . . . . . 14

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

20 / 23

9 Tables Index

1

2

3

4

5

6

7

9

Order codes modules . . . . . . . . .

Order codes cable loom . . . . . . . .

TMCM-1070 length and weight . . . .

Motor connector pinning . . . . . . .

I/O connector pinning . . . . . . . . . 10

LED state description . . . . . . . . . . 11

Additional resistor reference values . 14

Electrical Characteristics . . . . . . . . 16

6

7

9

10 Operational ratings of optically iso-

lated inputs and TTL UART interface . 17

11 Functional Characteristics . . . . . . . 17

12 Other Requirements and Characteristics 17

13 Abbreviations used in this Manual . . 18

14 Hardware Revision . . . . . . . . . . . 23

15 Document Revision . . . . . . . . . . . 23

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

21 / 23

10 Supplemental Directives

10.1 Producer Information

10.2 Copyright

TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos,

trademarks, and resources.

TRINAMIC, Germany.

Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup

Language) must retain the above copyright notice, and the complete Datasheet User Manual docu-

mentation of this product including associated Application Notes; and a reference to other available

product-related documentation.

10.3 Trademark Designations and Symbols

Trademark designations and symbols used in this documentation indicate that a product or feature is

owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose

products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product docu-

mentation.

This Hardware Manual is a non-commercial publication that seeks to provide concise scientiﬁc and technical

user information to the target user. Thus, trademark designations and symbols are only entered in the

Short Spec of this document that introduces the product at a quick glance. The trademark designation

/symbol is also entered when the product or feature name occurs for the ﬁrst time in the document. All

trademarks and brand names used are property of their respective owners.

10.4 Target User

The documentation provided here, is for programmers and engineers only, who are equipped with the

necessary skills and have been trained to work with this type of product.

The Target User knows how to responsibly make use of this product without causing harm to himself or

others, and without causing damage to systems or devices, in which the user incorporates the product.

10.5 Disclaimer: Life Support Systems

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 failure to perform,

when properly used in accordance with instructions provided, can be reasonably expected to result in

personal injury or death.

Information given in this document is believed to be accurate and reliable. However, no 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.

10.6 Disclaimer: Intended Use

The data speciﬁed in this user manual is intended solely for the purpose of product description. No repre-

sentations or warranties, either express or implied, of merchantability, ﬁtness for a particular purpose

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

22 / 23

or of any other nature are made hereunder with respect to information/speciﬁcation or the products to

which information refers and no guarantee with respect to compliance to the intended use is given.

In particular, this also applies to the stated possible applications or areas of applications of the product.

TRINAMIC products are not designed for and must not be used in connection with any applications where

the failure of such products would reasonably be expected to result in signiﬁcant personal injury or death

(safety-Critical Applications) without TRINAMIC’s speciﬁc written consent.

TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ-

ments or in automotive applications unless speciﬁcally designated for such use by TRINAMIC. TRINAMIC

conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes

no liability for any patent and/or other trade mark rights of a third party resulting from processing or

handling of the product and/or any other use of the product.

10.7 Collateral Documents & Tools

This product documentation is related and/or associated with additional tool kits, ﬁrmware and other

items, as provided on the product page at: www.trinamic.com.

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.

TMCM-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2016-Sept-16

23 / 23

11 Revision History

11.1 Hardware Revision

Version Date

Description

1.00 09.06.2016 First Version.

Table 14: Hardware Revision

11.2 Document Revision

Version Date

Description

1.00 26.06.2016 Initial release.

Table 15: Document Revision

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com

Read entire documentation.


型号：	TMCM-KAMINO-AP23
厂家：	TRINAMIC MOTION CONTROL GMBH & CO. KG.
描述：	Step and direction interface
文件：	总23页 (文件大小：2559K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

TMCM-KAMINO-AP23 [TRINAMIC]

相关型号：

TMCM-KAMINO-AP24

TMCM-KAMINO-CLIP

TMCM-MOTOR

TMCM-SG

TMCM-SG-CAN

TMCMA0E106

TMCMA0E106KTRF

TMCMA0E106MTRF

TMCMA0E106TRF

TMCMA0E107

TMCMA0E107KTR

TMCMA0E107KTRF