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modules for stepper motors modules trinamic mot ion control gmbh & co. kg hamburg, germany www.trinamic.com hardware version v 1. 3 hardware manual + + tmcm - 1141 + + u nique f eatures 1 - a xis s tepper c ontroller / d river 24 v dc up - to 1.1 a / 2a rms usb, rs485, and s/d interface
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 2 www.trinamic.com table of c ontents 1 features ................................ ................................ ................................ ................................ ................................ ........... 3 2 order codes ................................ ................................ ................................ ................................ ................................ ... 5 3 mechanical and electrical interfacing ................................ ................................ ................................ ..................... 6 3.1 dimensions and mounting holes ................................ ................................ ................................ ................... 6 3.2 connectors of tmcm - 1141 ................................ ................................ ................................ ................................ . 7 3.2.1 power and rs485 connector ................................ ................................ ................................ ..................... 8 3.2.2 mini - usb connector ................................ ................................ ................................ ................................ .... 10 3.2.3 multipurpose i/o connector ................................ ................................ ................................ ..................... 11 3.2.4 step/direction connector ................................ ................................ ................................ .......................... 15 3.2.5 motor connector ................................ ................................ ................................ ................................ .......... 16 4 motor driver current ................................ ................................ ................................ ................................ .................. 17 5 reset to factory defaults ................................ ................................ ................................ ................................ ......... 20 6 on - board led ................................ ................................ ................................ ................................ .............................. 20 7 operational ratings ................................ ................................ ................................ ................................ ................... 21 8 functional description ................................ ................................ ................................ ................................ .............. 23 9 tmcm - 1141 operational description ................................ ................................ ................................ ..................... 24 9.1 calculation: velocity and acceleration vs. microstep and fullstep frequency ................................ 24 10 life support policy ................................ ................................ ................................ ................................ ..................... 26 11 revision history ................................ ................................ ................................ ................................ .......................... 27 11.1 document revision ................................ ................................ ................................ ................................ ........... 27 11.2 hardware revision ................................ ................................ ................................ ................................ ............ 27 12 references ................................ ................................ ................................ ................................ ................................ .... 28
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 3 www.trinamic.com 1 features the tmcm - 114 1 is a single axis 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 nema 17 (42 mm flange size) stepper motors a nd has been de signed for coil currents up to 1.1 a rms rms (low current range, programmable) or 2a rms (high current range, programmable, new additional range since hardware version 1.3) and 24v dc supply voltage . with its h igh energy efficiency from trinamics coolstep ? technology cost for power consum ption is kept down . the tmcl? firmware supports remote control (direct mode) and standalone operation (with tmcl progr am being executed on the tmcm - 114 1 itself). m ain c haracteristics m otion controller - motion profile calculation in real - time - on the fly a lteration of motor parameters (e.g. position, velocity, acceleration) - high performance microcontroller for overall system control and serial communication protocol handling b ipolar stepper motor driver - up to 256 microsteps per full step - high - efficient o pe ration, low power dissipation - dynamic current control - integrated protection - stallguard2 feature for stall detection - coolstep feature for reduced power consumption and heat dissipation interfaces - rs485 2 - wire communication interface - usb full speed (12mbit/ s) device interface - step/direction/enable interface (optically isolated) for external control of driver circuit - 4 multipurpose inputs: - 3x general - purpose digital inputs (alternate functions: stop_l / stop_r / home switch inputs) - 1x dedicated analog input - 2 general purpose outputs - 2x open - drain 100 ma max. software - tmcl: standalone operation or remote controlled operation, program memory (non volatile) for up to 1024 tmcl commands, and pc - based application development software tmcl - ide available for free. electrical and mechanical data - supply v oltage: +24 v dc nominal (9 28 v dc) - motor current: up to 1.1 a rms / 1.6 a peak ( low current range, programmable) or 2a rms / 2.8a peak (high current range, programmable, new additional range since hardware version 1.3) refer to separate tmcl firmware m anual , too .
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 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 s tall the motor. the stallguard2 measurement value changes linearly over a wide range of load, velocity, and current settings. at maximum motor load, the value goes to zero or near to zero. this is the most energy - efficient point of operation for the motor. 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 - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 5 www.trinamic.com 2 order c odes order code description s ize (mm 3 ) tmcm - 114 1 - option single axis bipolar stepper motor controller / driver electronics with coolstep feature 37 x 37 x 11.5 table 2 . 1 order codes the foll owing options are available: firmware option description order code example: - tmcl module pre - programmed with tmcl firmware tmcm - 11 41 - tmcl table 2 .2 f irmware options a cable loom set is available for this module: order code descripti on tmcm - 1141 - cable cable loom for tmcm - 1141: - 1x cable loom for power and rs485 connector (length 200mm) 1x cable loom for multi - purpose i/o connector (length 200mm) - 1x cable loom for s/d connector (length 200mm) - 1x cable loom for motor connector (length 2 00mm) - 1x usb type a connector to mini - usb type b connector cable (length 1.5m) table 2 . 3 cable loom order code s please note that the tmcm - 11 41 is available with nema17 stepper motors, too. r efer to the pd - 1141 documents for more informat ion about these products.
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 6 www.trinamic.com 3 mechanical and electrical i nterfacing 3.1 d imensions and mounting holes the dimensions of the contro ller/driver board are approx. 37 mm x 37 mm x 11.5 mm i n order to fit on the back of a 42 mm stepper motor. maximum component heigh t (height above pcb level) without mating connectors is around 8 mm above pcb level and 2 mm below pcb level. there are two mounting holes for m3 screws for mounting to a nema17 stepper motor. f igure 3 . 1 d imensions of tmcm - 1141 and position of mounting holes 3 4 2 x m 3 3 7 3 4 3 7 3 3
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 7 www.trinamic.com 3.2 connector s of tmcm - 11 4 1 the tmcm - 1141 controller/driver board offers five connectors including the motor connector which is used for attaching the motor coils to the electro nics. further, there is a connector for power and for the rs485 interface. the usb interface and the step/direction interface have their own connectors . t he 8pin multipurpose i/o connector offers four multipurpose inputs and two general purpose outputs. figure 3 . 2 overview connectors label connector type mating connector type power and rs485 connector 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 multi - purpose i/o connector ci0108p1vk0 - lf cvilux ci01 series, 8 pins, 2mm pitch connector housing cvilux: ci01085000 - a contacts cvil ux: ci01t011pe0 - a or connector housing jst: phr - 8 contacts jst: sph - 002t - p0.5s wire: 0.22mm 2 step/direction connector 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 motor connector 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 - 002 t - p0.5s wire: 0.22mm 2 mini - usb connector molex 500075 - 1517 mini usb type b vertical receptacle any standard mini - usb plug table 3 . 1 connectors and mating connectors, contacts and applicable wire m o t o r 1 4 1 5 p o w e r a n d r s 4 8 5 1 8 m u l t i - p u r p o s e i / o s t e p / d i r e c t i o n u s b 1 4
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 8 www.trinamic.com 3.2.1 power and r s485 connector a 5pin single row connector is used for power supply and rs485 serial communication. pin label direction description 1 gnd power (gnd) system and signal ground 2 vdd power (supply) vdd (+9 v +28 v) 3 gnd power (gnd) system and signal ground 4 rs485+ bidirectional rs485 interface, diff. signal (non - inverting) 5 rs485 - bidirectional rs485 interface, diff. signal (inverting) table 3 . 2 conn ector for power supply and rs485 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 - 1141 includes about 40f/35v of supply filter capacitors. these are ceramic capacito rs which have been selected for high reliability and long lif e time. the module includes a 24 v suppressor diode for over - voltage protection. c aution ! add external power supply capacitors! it is recommended to connect an electrolytic capaci tor of signif icant size (e.g. 100 0f/35v) to the power supply lines next to the tmcm - 1141 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 wh en 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 ceramic - only filter capacitors may cause stability problems with some switching power supplies. 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. please see also chapter 7 (operating values). there is no reverse polarity protection! the module will short any reversed supply voltage due to internal diodes of the driver transistors. 5 1
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 9 www.trinamic.com 3.2.1.2 rs485 for remote control and communication with a host system the tmcm - 1141 provides a two wire rs485 bus int erface. 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 bu s itself should be as short as possible. basically, it should be short compared to the length of the bus. figure 3 .3 : bus structure 2. bus termination : especially for longer busses and/or multiple nodes connec ted to the bus and/or high communication speeds, the bus should be properly terminated at both ends. the tmcm - 1141 does not integrate any termination resistor. therefore, 120 ohm termination resistors at both ends of the bus have to be added externally. 3. n umber of nodes : the 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 - 114 1 units ( hardware v1.2: sn65hvd3082ed , since hardware v1.3: sn65hvd1781d) have a significantl y reduced bus load and allow a maximum of 255 units to be connected to a single rs485 bus using tmcl firmware . please note: usually it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum suppor ted communication speed at the same time. instead, a compromise has to be found between bus cable length, communication speed and number of nodes. 4. communication speed: the maximum rs485 communication speed supported by the tmcm - 1141 is 115200 bit/s for ha rdware version 1.2 and 1mbit/s for hardware version 1.3. factory default is 9600 bit/s. please see separate tmcm - 1141 tmcl firmware manual for information regarding other possible communication speeds. 5. no floating bus lines: avoid floating bus lines whil e 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 re sistor 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): 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 - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 10 www.trinamic.com figure 3.4 : bus lines with resistor (bias) network on one side, only or add resistor (bias) network at both ends of the bus (like profibus? termination): figure 3.5 : bus lines with resistor (bias) network at both e nds 3.2.2 mini - usb connector a 5pin mini - usb connector is available on - board for serial communication (as alternative to the rs485 interface). this module supports usb 2.0 full - speed (12mbit/s) connections. pin label direction desc ription 1 vbus power (supply input) +5v supply from host 2 d - bidirectional usb data C table 3 .3 connector for usb for remote control and communication with a host system the tmcm - 1141 provides a usb 2.0 full - speed (12mbit/s) device interface (mini - usb connector) . as soon as a usb host is connected the module will accept commands via usb. usb b us p owered o peration m ode the tmcm - 1141 support s both, usb self powered operation (when an external power is supplied via the power supply connector) and usb bus powered operation, (no external power supply via power supply connector). 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 ) 1 5
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 11 www.trinamic.com during usb b us powered operation the o n - board digital core logic will be powered , only . the d igital core logic consists of the microcontroller itself and also the eeprom. the usb bus powered operation mode has been implemented to enable configuration , parameter settin g s, read - out s , firmware updates , etc. by just connecting a n usb cable between module and host pc. no additional cabling or external devices ( e.g. power supply ) are required. please note that the module might draw current from the usb +5v bus supply even i n usb self powered operation depending on the voltage level of this supply. motor movements are not possible during usb bus powered operation! apply power to the power connector (usb self powered operation) in order to be able to move the motor. 3.2.3 multipur pose i/o connector an 8pin 2mm pitch single row connector is available for all multipurpose inputs and outputs. pin label direction description 1 gnd power (gnd) system and signal ground 2 vdd power (supply) vdd, connected to vdd pin of the power and rs485 connector 3 out_0 output open - drain output (max. 100 ma) integrated freewheeling diode to vdd 4 out_1 output open - drain output (max. 100 ma) integrated freewheeling diode to vdd 5 in_ 0 input dedicated analog input, input voltage range: 0 +10v resolution: 12bit (0 4095) v compatible) alternate function: left stop switch input 7 in_ 2 input general purpose digital input (+24 v compatible) alternate function : right stop switch input 8 in_ 3 input general purpose digital input (+24 v compatible) alternate function: home switch input table 3 .4 multipurpose i/o connector note : - all inputs have resistor based voltage input dividers with p rotection diodes. these resistors also ensure a valid gnd level when left unconnected . - for all digital inputs (in_1, in_2, in_3) a 1k pull - up resistor to +5v can be activated. in this case these inputs have a default (unconnected) logic level of 1 and an e xternal switch to gnd can be connected. this might be especially interesting in ca se these inputs are used as stop_l / stop_r and home switch inputs (alternate function). 3.2.3.1 digital inputs in_ 1 , in_ 2 , in_ 3 the eight pin connector of the tmcm - 1141 provides three multi purpose digital inputs in_1, in_2 and in_ 3 . all three inputs accept up to +24v (nom.) input signals and offer the same input circuit with voltage resistor dividers, limiting diodes against over - and under - voltage and programmable 2k2 pull - up res istors. the pull - ups can be switched on or off for all three inputs at once in software. with tmcl firmware command sio 0, 0, 0 will switch - off the pull - ups and command sio 0, 0, 1 will switch them on (see separate tmcl firmware manual, command sio for m ore detailed information) . 8 1
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 12 www.trinamic.com figure 3 . 6 general purpose inputs (simplified input circuit) the three digital inputs have alternate functionality depending on configuration in software. the following functions a re available: label (pin) default function alternate function 1 in_ 1 (6) general purpose digital input tmcl: gio 1, 0 // get digital value of input in_1 stop_l - left stop switch input connected to processor and tmc429 ref input (supporting left stop f unctionality in hardware) tmcl: gap 11, 0 // get digital value of stop_l input in_ 2 (7) general purpose digital input tmcl: gio 2, 0 // get digital value of input in_2 stop_r - right stop switch input connected to processor and tmc429 ref input (support ing right stop switch functionality in hardware) tmcl: gap 10, 0 // get digital value of stop_r input in_ 3 (8) general purpose digital input tmcl: gio 3 , 0 // get digital value of input in_3 home - home switch input (connected to processor) tmcl: gap 9 , 0 // get digital value of home input table 3 .5 multipurpose inputs / alternate functions - all three digital inputs are connected to the on - board processor and can be used as general purpose digital inputs . - in order to use in_1 and in_2 as stop_l and stop_r inputs, this function has to be enabled explicitly in software (factory default: switched off). with tmcl firmware the stop switch functionality can be enabled using sap 12, 0, 0 (stop_r / right limit switch) and sap 13, 0, 0 (stop_l / left limit switch). as the names already indicate: the status of the left limit switch (stop_l) will be significant during motor left turns and the status of the right limit switch during motor right turns (positive direction), only. reading out input va lues using the gap commands as listed in the table above is possible at any time. please see separate tmcl firmware manual for additional information. + 3 . 3 v i n _ 1 i n _ 2 i n _ 3 m i c r o c o n t r o l l e r ( a l l ) a n d t m c 4 2 9 ( i n _ 0 , i n _ 1 ) 1 0 k 2 2 k 1 n f g n d g n d g n d c o m m o n s w i t c h f o r a l l t h r e e d i g i t a l i n p u t s 1 k + 5 v
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 13 www.trinamic.com 3.2.3.2 analog input in_0 the eight pin connector of the tmcm - 1141 provi des one dedicated analog input in_0 . t his dedicated analog input offers a full scale input range of 0 +10v (0..+10.56v nom.) with a resolution of the internal analog - to - digital converter of the microcontroller of 12 bit (0 4095). the input is protected against higher voltages up - to +24 v us ing voltage resistor dividers together with limiting diodes against voltages below 0 v (gnd) and above +3.3 v dc (see figure below). figure 3 . 7 general purpose inputs (simplified input circuit) with tmcl fir mware the analog value of this input may be read using command gio 0, 1 . the command will return the raw value of the 12bit analog - to - digital converter between 0 .. 4095. it is also possible to read the digital value of this input using tmcl command gio 0, 0 . the trip point (between 0 and 1) will be at approx. +5v input voltage (half the analog input range). 3.2.3.3 outputs out_0, out_1 the eight pin connector of the tmcm - 1141 offers two general purpose outputs out_0 and out_1. these two outputs are open - drain out puts and can sink up to 100 ma each. the outputs of the n - channel mosfet transistors are connected to freewheeling diodes each for protection against voltage spikes especially from inductive loads (relais etc.) above supply voltage (see figure below). out _0 and out_1 should not be connected to any voltage above supply voltage of the module due to the internal freewheeling diodes . figure 3 . 8 general purpose outputs + 3 . 3 v i n _ 0 a d c i n p u t ( m i c r o c o n t r o l l e r ) 2 2 k 1 0 k 1 0 n f g n d g n d g n d v d d m i c r o c o n t r o l l e r g n d g n d 1 0 k s i n c e v 1 . 3
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 14 www.trinamic.com since hardware version 1.3 the gate inputs of the mosfets are pulled - low during power - up and while the processor is still in reset / output pins not initialized. this way, the outputs will not briefly switch on at power - up. with tmcl firmware out_0 can be switched on (out_0 pulled low) using comma nd sio 0, 2, 1 and off again (out_0 floating) using command sio 0, 2, 0 . quite similar out_1 can be switched on (out_1 pulled low) using command sio 1 , 2, 1 and off again (out_1 floating) using command sio 1 , 2, 0 . factory default setting for both outputs is off (floating). in case a floating output is not desired in the application an external resistor to e.g. supply voltage may be added.
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 15 www.trinamic.com 3.2.4 step/direction connector a 4pin 2mm pitch single row connector is available for the step/dir interface. this interfa ce can be used for connecting an external motion controller to the on - board driver stage instead of the integrated motion controller. all three step/dir/enable signals are optically isolated. therefore, an additional supply input (common) is available whi ch has to be connected to a supply voltage between +5 v and +24 v for proper operation. pin label direction description 1 common power (supply input) power supply input for the three step / direction / enable signals. accepts voltages between +5v and +24v nom. 2 /enable in put enable input (function depends on firmware) 3 step input step pulse input (connected to step input of tmc262 driver ic) 4 direction input direction input (connected to direction input of tmc262 driver ic) table 3 .6 : step/directio n connector 3.2.4.1 step / direction / enable inputs the inputs step / direction / enable are electrically (optically) isolated from the power supply and all other signals of the tmcm - 1141 module. these inputs have one common reference input common (see figure 3 . ). the common input should be connected to a positive supply voltage between +5v and +24v. step / direction / enable signals might be driven either by open - collector / open - drain outputs or by push - pull outputs. in case of push - pu ll outputs the common supply voltage should be equal / similar to the high signal voltage level of the push - pull drivers (otherwise the leds will not be turned off during signal high - level) . there is no need to add external resistors in line with the enab le, step or direction inputs. the internal current sources (figure 3.8) will adjust the current through the leds of the optical isolation to approx. 8ma for signal input voltages between nom. +5v and +24v. figure 3 . 9 step/dir/enable inputs 4 1 8 m a 8 m a 8 m a + 3 . 3 v g n d e n a b l e d i r e c t i o n s t e p c o m m o n ( 5 . . 2 4 v ) m i c r o c o n t r o l l e r t m c 2 6 2 t m c 2 6 2
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 16 www.trinamic.com 3.2.5 motor connector as motor connector a 4pin 2mm pitch single row connector is available. the motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electro nics. 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 .7 motor conne ctor 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 1.3: please note the additional high current range for motor currents up - to 2a rms! setting motor current too high might lead to excessive power dissipation inside the motor , overheating and even permanent damage of the motor . therefore, make sure the motor current is properly set . also with hardware version 1.3 the low current range is set as default. tmcm - 1 141 qs4218 motor motor connector pin cable color coil description 1 red b motor coil b pin 1 2 blue b - motor coil b pin 2 3 green a - motor coil a pin 2 4 black a motor coil a pin 1 4 1 m a b l a c k g r e e n b b l u e r e d
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 17 www.trinamic.com 4 motor driver current the on - board s tepper motor driver operates current controlled. the driver current may be programmed in software in two ran ges (low current range up - to 1.1 a rms and high current range up - to 2 a rms) with 32 effective scaling steps in hardware for each range. please not e: the high current range is available with hardware revision v1.3, only and should not be activated / used with hardware revision v1.2! the high current range should not be used with motor currents above 2a rms C this will violate specification of the mod ule - please note limitations at the end of this chapter! explanation of different columns 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 - 114 1 firmware manual for furthe r information) range setting in software (tmcl) this is the value for tmcl axis parameter 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 v1.3. for hardwa re revision v1.2 this par ameter should not be changed to any value other than 1 (low gap instead of sap . p lease see separate tmcm - 114 1 firmware manual for further information) motor current i rms [a] resulting motor current based on range and motor current setting motor current setting in softwar e (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 0.0 52 0.036 8..15 1 1 0. 103 0.073 16..23 1 2 0. 155 0.109 24..31 1 3 0. 206 0.146 32..39 1 4 0. 258 0.182 40..47 1 5 0. 309 0.219 48..55 1 6 0. 361 0.255 56..63 1 7 0. 413 0.292 64..71 1 8 0. 464 0.328 72..79 1 9 0. 516 0.365 80..87 1 10 0. 567 0.401
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 18 www.trinamic.com motor current setting in softwar e (tmcl) range setting in software (tmcl ) current scaling step (cs) motor current i coil_peak [a] motor current i coil_ rms [a] 88..95 1 11 0. 619 0.438 96..103 1 12 0. 670 0. 474 104..111 1 13 0. 722 0.510 112..119 1 14 0. 773 0.547 120..127 1 15 0. 825 0.583 128..135 1 16 0. 877 0.620 136..143 1 17 0. 928 0.656 144..151 1 18 0. 980 0.693 152..159 1 19 1.031 0.729 160..167 1 20 1.083 0.766 168..175 1 21 1 . 134 0.802 176..183 1 22 1 . 186 0.839 184..191 1 23 1.238 0.875 192..199 1 24 1.289 0.912 200.. 207 1 25 1.341 0.948 208..215 1 26 1. 392 0.984 216..223 1 27 1.444 1.021 224..231 1 28 1.495 1.057 232..239 1 29 1.547 1.094 240..247 1 30 1.598 1.130 248..255 1 31 1.650 1.167 0..7 0 0 0.0 95 0.067 8..15 0 1 0. 191 0,135 16..23 0 2 0. 286 0.202 24. .31 0 3 0. 381 0.270 32..39 0 4 0. 477 0.337 40..47 0 5 0. 572 0.404 48..55 0 6 0. 667 0.472 56..63 0 7 0. 763 0.539 64..71 0 8 0. 858 0.607 72..79 0 9 0. 953 0.674 80..87 0 10 1 . 048 0. 741 88..95 0 11 1.144 0.809 96..103 0 12 1.239 0.876 104..111 0 13 1 .334 0.944 112..119 0 14 1.430 1.011 120..127 0 15 1.525 1.078 128..135 0 16 1. 620 1.146 136..143 0 17 1. 716 1.213 144..151 0 18 1. 811 1.281 152..159 0 19 1. 906 1.348 160..167 0 20 2.002 1.415 168..175 0 21 2.097 1.483 176..183 0 22 2.192 1.550 1 84..191 0 23 2.288 1.618 192..199 0 24 2.383 1.685 200..207 0 25 2.478 1.752 208..215 0 26 2.573 1.820 216..223 0 27 2.669 1.887 224..231 0 28 2.764 1.954 232..239 0 29 2.859 2.022 240..247 0 30 2.955 2.089 248..255 0 31 3.050 2.157
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 19 www.trinamic.com the settings marked red in the table above from the high current range (above 2a rms motor current) should not be used as they will violate specification of the module! in addition to the settings in the table the motor current may be switched off completely (free - wheeling) using axis parameter 204 (see tmcm - 114 1 firmware manual).
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 20 www.trinamic.com 5 reset to factory defaults it is possible to reset the tmcm - 1141 to factory default settings without establishing a communication link. this might be helpful in case communication paramet ers 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. now, perform the following steps: 1. power supply 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 take a while) 5. power - off board (disconnect u sb 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 setting s 6 on - board led the board offers an led in order to indicate board s tatus. the function of the led is dependent on the firmware version. with standard tmcl firmware the green led should be flashing slowly during operation. when there is no valid firmware p rogrammed into the board or during firmware update the green led is permanently on. b ehavior of led s with s tandard tmcl f irmware status label description heartbeat run this green led flashes slowly during operation. figure 6 . 1 o n - board led s h o r t t h e s e t w o p a d s g r e e n l e d
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 21 www.trinamic.com 7 operational ratings the operational ratings show the intended or the characteristic ranges and should be used as design values. in no case shall the maximum values be exceeded! g eneral operational r atings s ymbol parameter min typ max unit vdd power supply voltage for operation 9 12 24 28 v i coil_peak_l motor coil current for sine wave peak ( low range setting, chopper regulated, adjustable via software) 0 1 .6 a i coil_rms_l continuous motor current ( rms ) ( low current range setting, chopper regulated, adjustable via software) 0 1. 1 a i coil_peak_h *) motor coil current for sine wave peak ( high current range setting, chopper regulated, adjustable via software) 0 2.8*) a i coil_rms_h *) continuous motor cu rrent ( rms ) ( high current range setting, chopper regulated, adjustable via software) 0 2*) a i dd power supply current << i coil 1.4 * i coil a t env environment temperature at rated current (no forced cooling required) - 30 +4 0 c table 7 . 1 general operational ratings of module *) high current range available as new additional range with hardware revision v1.3 C not with hardware revision v1.2. please note: motor coil currents above 2a rms are not recommended and will violate specification of the module. o perational ratings o f multipurpose i/o s symbol parameter min typ max unit v out_0/1 voltage at open drain output 0 +vdd v i out_0/1 output sink current of open drain output 100 ma v in _1/2/3 input voltage for in_ 1 , in_ 2 , in_3 (digital inputs) 0 +vdd v v in_l 1/2/3 low level voltage for in_1, in_2 and in_3 0 1.2 v v in _h 1/2/3 high level voltage for in_1, in_2 and in_3 4 +vdd v v in_0 measurement range for analog input in_0 0 + 10 *) v table 7 . 2 operational ratings of multipurpose i/os *) approx . 0+10.56v at the analog input in_0 is translated to 0..4095 (12bit adc, raw values). above approx. +10.56v the analog input will saturate but, not being damaged (up - to vdd).
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 22 www.trinamic.com o perational ratings of rs485 interface symbol parameter min typ max unit n rs485 number of nodes connected to single rs485 network 256 f rs485 maximum bit rate supported on rs485 connection 9600 115200 1000000*) bit/s table 7 . 3 : operational ratings of rs485 interface *) hardware revision v1.2: max. 115200 bit/s , h ardware revision v1.3: max. 1mbit/s
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 23 www.trinamic.com 8 functional description the tmcm - 1141 is a highly integrated mechatronic device which can be controlled via several serial interfaces. communica tion traffic is kept low since all time critical operations, e.g. ramp calculations are performed on board. nominal supply voltage of the unit is 24v dc. the pandrive is designed for both: direct mode and standalone operation. full remote control of device with feedback is possible. the firmware of the module can be updated via any of the serial interfaces. in figure 8 . 1 the main parts of the tmcm - 1141 are shown: - the microprocessor, which runs the tmcl operating system (connecte d to tmcl memory), - the motion controller, which calculates ramps and speed profiles internally by hardware, - the power driver with stallguard2 and its energy efficient coolstep feature, and - the mosfet driver stage figure 8 . 1 main parts of the tmcm - 1141 remark: stop switches are an alternate function of two out of three digital inputs. the tmcm - 1141 comes with the pc based software development environment tmcl - ide for the trinamic motion control language (tmcm). using predefined tmcl high level commands like move to position a rapid and fast development of motion control applications is guaranteed. please refer to the tmcm - 114 1 firmware manual for more information about tmcl commands. 9 2 8 v d c r s 4 8 5 u s b c t m c l ? m e m o r y 6 i / o s s t e p m o t o r m o s f e t d r i v e r s t a g e s p i t m c m - 1 1 4 1 s p i s p i s / d t m c 4 2 9 m o t i o n c o n t r o l l e r 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 ? + 5 v s t o p s w i t c h e s s / d s / d
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 24 www.trinamic.com 9 tmcm - 11 41 operational description 9.1 calculation: velocity and acceleration vs. microstep and fullstep frequency the values of the parameters sent to the tmc429 do not have typical motor values like rotations per second as velocity. but these values can be calculate d from the tmc429 parameters as shown in this section. p arameters of tmc429 signal description range f clk clock - frequency 16 mhz velocity - 0 2047 a_max maximum acceleration 0 2047 pulse_div divider for the velocity. the higher the value is, the le ss is the maximum velocity default value = 0 0 13 ramp_div divider 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 8 (a value of 7 or 8 is internally mapped to 6 by the tmc429) table 9 . 1 tmc429 velocity parameters m icrostep f requency the microstep frequency of the stepper motor is calculated with with usf: microstep - frequency f ullstep f requency 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 a af 2 ?
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 25 www.trinamic.com e xample : signal value f_ clk 16 mhz velo city 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 c alculation of the nu mber 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 - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 26 www.trinamic.com 10 life support policy 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 gm bh & 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 m otion control gmbh & co. kg 2013 , 2014 information given in this data sheet is believed to be accurate and reliable. however neither responsibility is assumed for the consequences of its use nor for any infringement of patent s or other rights of third parties, which may result from its use. specifications are subject to change without notice. all trademarks used are property of their respective owners.
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 27 www.trinamic.com 11 revision history 11.1 document revision version date author description 0.90 2011 - dec - 19 ge initial version 0.91 2011 - dec - 23 ge connector pin assignment corrected 1.00 2012 - jun - 12 sd first complete version including the following chapters: - reset to factory defaults, - leds 1.01 2012 - jul - 23 sd information about sensostep dele ted. 1.02 2012 - jul - 2 7 sd figure 3.5 (g eneral purpose inputs) corrected. 1.03 2013 - mar - 05 sd - names of inputs changed: ain_0 in_0 in_0 in_ 1 in_1 in_ 2 in_2 in_3 - names of outputs changed: out_1 = out_0 out_0 = out_1 1.04 2013 - jul - 2 3 sd - connector desc ription updated - information about power supply updated 1.05 2014 - oct - 18 ge h ardware revision 1.3 added . 1.06 2015 - jan - 09 ge - minor addition / corrections . - tmcl commands for accessing i/os added. table 11 . 1 document revision 11.2 hardware revision version date descripti on tmcm - 1041_v1 0 *) 2011 - mar - 03 initial version tmcm - 1141_v10 *) 2011 - aug - 12 - clock generation and distribution changed, 16mhz crystal instead of 8mhz, tmc429 and tmc262 running from 16mhz clock signal from processor - resistor dividers at inputs changed, mor e compact and optimized input protection circuit - support of usb powered operation tmcm - 1141_v11 *) 2011 - nov - 23 - optimization and cost reduction for board assembly after feedback from assembly house (version 1.1 is 100% firmware compatible with v1.0) tmcm - 1 141_v12 **) 2011 - dec - 12 - mounting holes connected to gnd tmcm - 1141_v13 **) 2013 - jul - 30 - stepper motor driver mosfets: the mosfets of the driver stage have been replaced. the new mosfets offer less heat dissipation than the previous / currently used ones. apar t from that the performance and settings including driver output current (incl. scaling) and output waveform are essentially the same. nevertheless, with the new v13 hardware extended motor current settings up - to 2a rms are supported, also. switching betwe en these two ranges is possible using tmcl axis parameter 179. the factory default value for this parameter is 1 (sap 179, 0, 1) for
tmcm - 1141 hard ware manual (rev. 1.06 / 2015 - jan - 09 ) 28 www.trinamic.com zero will enable the second current range. setting the max. moto r current scaling factor to 232 (tmcl command sap 6, 0, 232) will then increase motor driver output current to 2a rms during movements. please note: changing motor current will happen immediately C therefore it is recommended to first set the current scali ng value (sap 6, 0, 232 resp. sap 7, 0, 232) and then switch the range (sap 179, 0, 0). settings above 232 up - to 255 are not recommended as they might violate component specifications. - rs485 transceiver: the rs485 transceiver has been replaced with the sn 65hvd1781 transceiver offering better fault protection (up - to 70v fault protection) and supporting higher communication speeds (up - to 1mbit/s). - general purpose outputs out0 / out1: the driver circuit of the open - drain output mosfets has been modified in or der to ensure glitch - free power - up. that is, output mosfets will not turn briefly on while processor still in reset / processor outputs not initialized. - external s/d input. the circuit for the external step / dir input has been optimized for higher step fr equencies. step frequencies above 1mhz are supported under optimum conditions. table 11 . 2 hardware revision *): v10, v11 : prototypes only. **) v12: series product version. is replaced with v13 series product version due to eo l (end - of - life) of the driver mosfets. please see pcn _1013_12_27_tmcm - 1141.pdf on our web - site, also 12 references [ tmcm - 1141 tmcl] tmcm - 1141 tmcl firmware manual [tmc262] tmc262 datasheet [tmc429] tmc429 datasheet [tmcl - ide] tmcl - ide user manual [ qsh4218] qsh42 18 manual please refer to www.trinamic.com .

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