TMCM-1140-CABLE

TMCM-1140 TRINAMIC | Alldatasheet

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MODULE FOR STEPPER MOTORS MODULE TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com Hardware Version V1.3 HARDWARE MANUAL + + TMCM-1140 + + UNIQUE FEATURES: 1-Axis Stepper Controller / Driver

2 A / 24 V

sensOstep™ Encoder USB, RS485, and CAN

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 2 www.trinamic.com Table of Contents

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 3 www.trinamic.com

1 Features

The TMCM-1140 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 and has been designed for coil currents up to 2 A RMS and 24 V DC supply voltage. With its high energy efficiency from TRINAMIC’s coolStep ™ technology cost for power consumption is kept down . The TMCL™ firmware allows for both, standalone operation and direct mode. MAIN CHARACTERISTICS Motion controller ­ 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 Bipolar stepper motor driver ­ Up to 256 microsteps per full step ­ High-efficient operation, low power dissipation ­ Dynamic current control ­ Integrated protection ­ stallGuard2 feature for stall detection ­ coolStep feature for reduced power consumption and heat dissipation Encoder ­ sensOstep magnetic encoder (1024 increments per rotation) e.g. for step -loss detection under all operating conditions and positioning supervision Interfaces ­ RS485 2-wire communication interface ­ CAN 2.0B communication interface ­ USB full speed (12Mbit/s) device interface ­ 4 multipurpose inputs: - 3x general-purpose digital inputs (Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input) - 1x dedicated analog input ­ 2 general purpose outputs - 1x open-drain 1A max. - 1x +5V supply output (can be switched on/off in software) Software ­ TMCL: standalone operation or remote controlled operation, program memory (non volatile) for up to 2048 TMCL commands, and PC-based application development software TMCL-IDE available for free. Electrical and mechanical data ­ Supply voltage: +24 V DC nominal (9… 28 V DC) ­ Motor current: up to 2 A RMS / 2.8 A peak (programmable) Refer to separate TMCL Firmware Manual, too.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 5 www.trinamic.com

2 Order Codes

Order code Description Size (mm3) TMCM-1140-option Single axis bipolar stepper motor controller / driver electronics with integrated sensOstep encoder and coolStep feature 37 x 37 x 11.5 Table 2.1 Order codes The following options are available: Firmware option Description Order code example: -TMCL Module pre-programmed with TMCL firmware TMCM-1140-TMCL -CANopen Module pre-prgrammed with CANopen firmware TMCM-1140-CANopen Table 2.2 Firmware options A cable loom set is available for this module: Order code Description TMCM-1140-CABLE Cable loom for TMCM-1140: ­ 1x cable for power and communication connector (length 200mm) - 1x cable for multipurpose In/Out connector (length 200mm) - 1x cable for motor connector (length 200mm) - 1x USB type A connector to mini-USB type B connector cable (length 1.5m) Table 2.3 Cable loom order codes Please note that the TMCM -1140 is available with NEMA17 stepper motors, too. Refer to the PD-1140 documents for more information about these products.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 6 www.trinamic.com

3 Mechanical and Electrical Interfacing

3.1 Dimensions and Mounting Holes

The dimensions of the contro ller/driver board are approx. 37 mm x 37 mm x 11.5 mm in order to fit on the back of a 42 mm stepper motor. Maximum component height (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. 2xM3 Figure 3.1 Dimensions of TMCM-1140 and position of mounting holes

3.2 Board mounting considerations

The TMCM-1140 offers two metal plated mounting holes. Both mounting holes are connected to system and signal ground (same as power supply ground). In order to minimize distortion o f signals and radiation of HF signals (improve EMC compatibility) especially in sensitive / noisy environments it is important to ensure a solid ground connection within the system. In order to support this, it is recommended to connect both mounting holes of the board in addition to the supply ground connection to system power supply ground. Nevertheless, this might not always be an option e.g. in case the metal system chassis / TMCM-1140 mounting plate is already connected to earth and a direct connection between supply ground (secondary side) and mains supply earth (primary side) is not desired / not an option. In this case plastic (e.g. made of nylon) spacers / distance bolts and screws should be used.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 7 www.trinamic.com

3.3 Connectors of TMCM-1140

The controller/driver board of the TMCM-1140 offers four connectors including the motor connector which is used for attaching the motor coils to the electronics. The power and communication connector is used for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface. USB Motor Multi-purpose I/O Power and Communication Figure 3.2 Overview connectors Label Connector type Mating connector type Power and Communication Connector CI0106P1VK0-LF CVIlux CI01 series, 6 pins, 2mm pitch Connector housing CVIlux: CI01065000-A Contacts CVIlux: CI01T011PE0-A or Connector housing JST: PHR-6 Contacts JST: SPH-002T-P0.5S Wire: 0.22mm2 Multipurpose I/O Connector CI0108P1VK0-LF CVIlux CI01 series, 8 pins, 2mm pitch Connector housing CVIlux: CI01085000-A Contacts CVIlux: CI01T011PE0-A or Connector housing JST: PHR-8 Contacts JST: SPH-002T-P0.5S Wire: 0.22mm2 Motor Connector CI0104P1VK0-LF CVIlux CI01 series, 4 pins, 2mm pitch Connector housing CVIlux: CI01045000-A Contacts CVIlux: CI01T011PE0-A or Connector housing JST: PHR-4 Contacts JST: SPH-002T-P0.5S Wire: 0.22mm2 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

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 8 www.trinamic.com

3.3.1 Power and Communication Connector

A 6pin CVIlux CI0106P1VK0-LF 2mm pitch single row connector is used for power supply, RS485 and CAN Note: CAN interface will be de -activated in case USB is connected due to internal sharing of hardware resources. Pin Label Direction Description

1 GND Power (GND) System and signal ground

2 VDD Power (Supply) VDD (+9V…+28V)

3 RS485+ Bidirectional RS485 interface, diff. signal (non-inverting) 4 RS485- Bidirectional RS485 interface, diff. signal (inverting) 5 CAN_H Bidirectional CAN interface, diff. signal (non-inverting) 6 CAN_L Bidirectional CAN interface, diff. signal (inverting) Table 3.2 Connector for power supply and interfaces

3.3.1.1 Power Supply

For proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the TMCM -1140 includes about 40µF/35V of supply filter capacitors. These are ceramic capacitors which have been selected for high reliabilit y and long life time. The module includes a 28V suppressor diode for over-voltage protection. CAUTION! Add external power supply capacitors! It is recommended to connect an electrolytic capacitor of significant size (e.g. at least 470µF/35V) to the power supply lines next to the TMCM-1140! 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 f rom 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. Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always disconnect power supply before connecting / disconnecting the motor. Keep the power supply voltage below the upper limit of 28V! Otherwise the driver electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. Please see also chapter 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.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 9 www.trinamic.com

3.3.1.2 RS485

For remote control and communication with a host system the TMCM-1140 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 sho uld 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. c:> node node n - 1 node n Host Slave Slave Slave RS485 termination resistor (120 Ohm) termination resistor (120 Ohm) keep distance as short as possible Figure 3.3: 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-1140 does not integrate any termi nation resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 3. NUMBER 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-1140 units (hardware V1.2: SN65HVD3082ED, since hardware V1.3: 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: usually it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum supported 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 -1140 hardware V1.2 is 115200 bit/s and 1Mbit/s since hardware V1.3. Factory default is 9600 bit/s. Please see separate TMCM -

1140 TMCL firmware manual for information regarding other possible commu nication speeds

below the upper limit in hardware. 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):

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 10 www.trinamic.com node n - 1 node n Slave Slave termination resistor (120R) +5V GND pull-up (680R) pull-down (680R) RS485- / RS485B termination resistor (220R) RS485+ / RS485A 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): node n - 1 node n Slave Slave termination resistor (220R) +5V GND pull-up (390R) pull-down (390R) RS485- / RS485B RS485+ / RS485Atermination resistor (220R) +5V GND pull-up (390R) pull-down (390R) Figure 3.5: Bus lines with resistor (Bias) network at both ends Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485 with bias network at one end of the bus).

3.3.1.3 CAN

For remote control and communication with a host system the TMCM-1140 provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken into account when setting up a CAN network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closel y 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. c:> node node n - 1 node n Host Slave Slave Slave CAN termination resistor (120 Ohm) termination resistor (120 Ohm) keep distance as short as possible Figure 3.6 CAN bus structure

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 11 www.trinamic.com 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 te rminated at both ends . The TMCM-1140 does not integrate any termination resistor. Therefore, 120 Ohm termination resistor s at both ends of the bus have to be added externally. 3. NUMBER OF NODES: The bus transceiver used on the TMCM-1140 units (TJA1050T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bu s highly depend on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).

3.3.2 Multipurpose I/O Connector

An 8pin CVIlux CI0108P1VK0-LF 2mm pitch single row connector is available for all multipurpose inputs and outputs. Pin Label Direction Description

2 VDD Power (Supply) VDD, connected to VDD pin of the power and

3 OUT_0 Output Open-drain output (max. 1A) Integrated freewheeling diode to VDD 4 OUT_1 Output +5V supply output (max. 100mA) Can be switched on/off in software

5 IN_0 Input

Dedicated analog input, Input voltage range: 0..+10V Resolution: 12bit (0..4095) IN_1, STOP_L, ENC_A Input General purpose digital input (+24V compatible) Alternate function 1: left stop switch input Alternate function 2: external incremental encoder channel A input IN_2, STOP_R, ENC_B Input General purpose digital input (+24V compatible) Alternate function 1: right stop switch input Alternate function 2: external incremental encoder channel B input IN_3, HOME, ENC_N Input General purpose digital input (+24V compatible) Alternate function 1: home switch input Alternate function 2: external incremental encoder index / zero channel input Table 3.3 Multipurpose I/O connector Note: - All inputs have resistor based voltage input dividers with protection diodes. These resistors also ensure a valid GND level when left unconnected. - For all digital inputs (IN_1, IN_2, IN_3) a 2k2 pull-up resistor to +5V can be activated (default setting with all more recent TMCL firmware versions). Then these inputs have a default (unconnected) logic level of 1 and an external switch to GND can be connected. This might be especially interesting in case these inputs are used as STOP_L / STOP_R and HOME switch inputs (alternate function 1) or as encoder input for an external incremental A/B/N encoder with open- collector outputs (pull-ups are not necessary for encoder with push-pull outputs).

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3.3.2.1 Digital Inputs IN_1, IN_2, IN_3

The eight pin connector of the TMCM-1140 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 resistors. 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 more detailed information). +3.3VIN_1, IN_2, IN_3 microcontroller (all) and TMC429 (STOP_L, STOP_R) 15k 22k 33pF GND GND GND common switch for all three digital inputs (programmable in software) 2k2 +5V Figure 3.7 General purpose inputs (simplified input circuit) The three digital inputs have alternate functionality depending on configuration in software. The following functions are available: Label (pin) Default function Alternate function 1 Alternate function 2 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 functionality in hardware) TMCL: GAP 11, 0 // get digital value of STOP_L input ENC_A - external incremental encoder input channel A, connected to processor encoder counter 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 (supporting right stop switch functionality in hardware) TMCL: GAP 10, 0 // get digital value of STOP_R input ENC_B - external incremental encoder input channel B, connected to processor encoder counter 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 ENC_N - external incremental encoder input index / zero channel, connected to processor interrupt input Table 3.4 Multipurpose inputs / alternate functions

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 13 www.trinamic.com - All three digital inputs are connected to the on -board processor and can be used as general purpose digital inputs (default). - In order to us e 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 values using the GAP commands as listed in the table above is possible at any time. Please see separate TMCL firmware manual for additional information. - External encoder: an external incremental A/B/N encoder can be connected to the TMCM-1140 and used in addition or as an alternative to the internal sensOstep™ encoder. Using TMCL the encoder counter value for this second encoder can be read out via TMCL command GAP 216, 0 (see separate TMCL firmware manual for mor e details) . Factory default scaling of the encoder counter is 1:1 - that is, after one encoder rotation the encoder counter will be incremented / decremented by the number of encoder ticks (encoder lines x 4). When using an external encoder connect encoder channel A to IN_1, channel B to IN_2, the N or zero channel to IN_3 (optional), encoder ground to module supply ground (e.g. Pin 1 of the Multipurpose I/O connector) and the +5V supply input of the encoder to OUT_1 (all on the Multipurpose I/O connector). Please note that in order to supply the encoder with +5V the output OUT_1 has to be activated first using SIO 1, 2, 1 (see also chapter 3.3.2.3).

3.3.2.2 Analog Input IN_0

The eight pin connector of the TMCM-1140 provides one dedicated analog input IN_0 . This dedicated internal analog-to-digital converter of the microcontroller of 12bit (0… 4095). The input is protected against higher voltages up to +24 V using voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below). +3.3V IN_0 ADC input (microcontroller) 22k 10k 100nF GND GND GND Figure 3.8 General purpose inputs (simplified input circuit) With TMCL firmware 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).

3.3.2.3 Outputs OUT_0, OUT_1

The eight pin connector of the TMCM-1140 offers two general purpose outputs OUT_0 and OUT_1. OUT_0 is an open -drain output capable of switching (sinking) up to 1A. The output of the N -channel MOSFET transistors is connected to a freewheeling diode for protection against voltage spikes especially from inductive loads (relais etc.) above supply voltage (see figure below). OUT_0 should not be connected to any voltage above supply voltage of the module due to the internal freewheeling diode.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 14 www.trinamic.com VDD microcontroller GND Figure 3.9 General purpose output OUT_0 (simplified circuit) With TMCL firmware OUT_0 can be switched on (OUT_0 pulled low) using command SIO 0, 2, 1 and off again (OUT_0 floating) using command SIO 0, 2, 0 (this is also the factory default setting of this output). In case a floating output is not desired in the application an external resistor to e.g. supply voltage may be added. In contrast OUT_ 1 is able to supply +5V ( sourcing 100mA max.) to an external load. An integr ated P- channel MOSFET allows switching on / off this +5V supply in software (see figure belo w). This output might be used in order to supply +5V to an external encoder circuit. Please note that the +5V supply has to be activated explicitly in software. +5V microcontroller GND OUT_0 GND 100pF 10k Figure 3.10 General purpose output OUT_1 (simplified circuit) With TMCL firmware OUT_1 can be switched on (supply +5V to external circuit) using command SIO 1, 2, 1 and off (output pulled low via 10k pull-down resistor) using command SIO 1, 2, 0 (this is also the factory default setting of this output).

3.3.3 Motor Connector

As motor connector a 4pin CVIlux CI01 04P1VK0-LF 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 electronics. 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 3.5 Motor connector Example for connecting the QSH4218 NEMA 17 / 42mm stepper motors: TMCM-1140 QS4218 Motor

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 15 www.trinamic.com MA black green B blue red 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

3.3.4 Mini-USB Connector

A 5pin mini-USB connector is available on -board for serial communication (as alternative to the CAN and RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections. CAN interface will be de-activated as soon as USB is connected due to internal sharing of hardware resources. Pin Label Direction Description

1 VBUS Power

(supply input) +5V supply from host

2 D- Bidirectional USB Data –

3 D+ Bidirectional USB Data +

4 ID Power (GND) Connected to signal and system ground

5 GND Power (GND) Connected to signal and system ground

Table 3.6 Connector for USB For remote control and communication with a host system the TMCM -1140 provides a USB 2.0 full -speed (12Mbit/s) interface (mini -USB connector). As soon as a USB -Host is connected the module will accept commands via USB. USB BUS POWERED OPERATION MODE The TMCM-1140 supports 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). On-board digital core logic will be powered via USB in case no other supply is connected (USB bus powered operation). The digital core logic includes the microcontroller itself and also the EEPROM. The USB bus powered operation mode has been implemented to enable configuration , parameter settings, read-outs, 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 in USB se lf powered operation depending on the voltage level of this supply. Motor movements are not possible in this mode. Therefore, always connect a power supply to the Power and Communication Connector for motor movements.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 16 www.trinamic.com

4 Motor driver current

The on-board stepper motor driver operates current controlled. The driver current may be programmed in software for motor coil currents up -to 2A RMS with 32 effective scaling steps in hardware (CS in table below). 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, <value> // set run current SAP 7, 0, <value> // set standby current (read-out value with GAP instead of SAP. Please see separate TMCM-1140 firmware manual for further information) Motor current IRMS [A] Resulting motor current based on motor current setting Motor current setting in software (TMCL) Current scaling step (CS) Motor current ICOIL_PEAK [A] Motor current ICOIL_RMS [A] 0..7 0 0.092 0.065 8..15 1 0.184 0.130 16..23 2 0.276 0.195 24..31 3 0.368 0.260 32..39 4 0.460 0.326 40..47 5 0.552 0.391 48..55 6 0.645 0.456 56..63 7 0.737 0.521 64..71 8 0.829 0.586 72..79 9 0.921 0.651 80..87 10 1.013 0.716 88..95 11 1.105 0.781 96..103 12 1.197 0.846 104..111 13 1.289 0.912 112..119 14 1.381 0.977 120..127 15 1.473 1.042 128..135 16 1.565 1.107 136..143 17 1.657 1.172 144..151 18 1.749 1.237 152..159 19 1.842 1.302 160..167 20 1.934 1.367 168..175 21 2.026 1.432 176..183 22 2.118 1.497 184..191 23 2.210 1.563 192..199 24 2.302 1.628 200..207 25 2.394 1.693 208..215 26 2.486 1.758 216..223 27 2.578 1.823 224..231 28 2.670 1.888 232..239 29 2.762 1.953 240..247 30 2.854 2.018 248..255 31 2.946 2.083

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 17 www.trinamic.com In addition to the settings in the table the motor current may be switched off completely (free -wheeling) using axis parameter 204 (see TMCM-1140 firmware manual).

5 Reset to Factory Defaults

It is possible to reset the TMCM -1140 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. Please 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 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 Short these two pads Figure 5.1 Reset to factory default settings

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6 On-Board LEDs

The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation and the red LED should be off. When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on. BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE Status Label Description Heartbeat Run This green LED flashes slowly during operation. Error Error This red LED lights up if an error occurs. Green LED Red LED Figure 6.1 On-board LEDs

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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! Symbol Parameter Min Typ Max Unit VDD Power supply voltage for operation 9 12… 24 28 V ICOIL_peak Motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 2.8 A ICOIL_RMS Continuous motor current (RMS) 0 2.0 A IDD Power supply current << ICOIL 1.4 * ICOIL A TENV Environment temperature at rated current (no forced cooling required) -30 +50 °C TENV_1A Environment temperature at 1A RMS motor current / half max. current (no forced cooling required) -30 +70 °C Table 7.1 General operational ratings of module OPERATIONAL RATINGS OF MULTIPURPOSE I/OS Symbol Parameter Min Typ Max Unit VOUT_0 Voltage at open drain output OUT_0 0 +VDD V IOUT_0 Output sink current of open drain output OUT_0 1 A VOUT_1 Voltage at output OUT_1 (when switched on) +5 V IOUT_1 Output source current for OUT_1 100 mA VIN_1/2/3 Input voltage for IN_1, IN_2, IN_3 (digital inputs) 0 +VDD V VIN_L 1/2/3 Low level voltage for IN_1, IN_2 and IN_3 0 1.1 V VIN_H 1/2/3 High level voltage for IN_1, IN_2 and IN_3 3.4 +VDD V VIN_0 Measurement range for analog input IN_0 0 +10*) V Table 7.2 Operational ratings of multipurpose I/Os approx. +10.56V the analog input will saturate but, not being damaged (up-to VDD). OPERATIONAL RATINGS OF RS485 INTERFACE Symbol Parameter Min Typ Max Unit NRS485 Number of nodes connected to single RS485 network 256 fRS485 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, hardware revision V1.3: max. 1Mbit/s

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 20 www.trinamic.com OPERATIONAL RATINGS OF CAN INTERFACE Symbol Parameter Min Typ Max Unit NCAN Number of nodes connected to single RS485 network > 110 fCAN Maximum bit rate supported on CAN connection 1000 1000 kbit/s Table 7.4 Operational ratings of the CAN interface

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 21 www.trinamic.com

8 Functional Description

The TMCM-1140 is a highly integrated controller/driver module which can be controlled via several serial interfaces. Communication traffic is kept low sin ce all time critical operations (e.g. ramp calculations) are performed on board. The nominal supply voltage of the unit is 24V DC. The module is designed 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 any of the serial interfaces. In Figure 8.1 the main parts of the TMCM-1140 are shown: - the microprocessor, which runs the TMCL operating system (connected 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, - the MOSFET driver stage, and - the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution. 9… 28V DC µC TMCL™ Memory 5I/Os Step Motor RS485 MOSFET Driver Stage SPI TMCM-1140 SPIUSB SPI S/D CAN DC/DC OUT_0 +5V sensOstep™ Encoder SPI TMC429 Motion Controller Energy Efficient Driver TMC262 Power Driver TMC262 with coolStep™ +5V Stop switches S/D Figure 8.1 Main parts of the TMCM-1140 The TMCM-1140 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-1140 Firmware Manual for more information about TMCL commands.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 22 www.trinamic.com

9 TMCM-1140 Operational Description

9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency The values of t he parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity. But these values c an be calculated from the TMC429 parameters as shown in this section. PARAMETERS OF TMC429 Signal Description Range fCLK 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 less 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 = 2usrs) 0… 8 Table 9.1 TMC429 velocity parameters MICROSTEP FREQUENCY The microstep frequency of the stepper motor is calculated with 3220482 ][][ _   divpulse CLK velocityHzfHzusf with usf: microstep-frequency FULLSTEP FREQUENCY To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided by the number of microsteps per fullstep. usrs HzusfHzfsf ][][  with fsf: fullstep-frequency The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a) is given by 29__ max 2   divrampdivpulse CLK afa This results in acceleration in fullsteps of: usrs aaf with af: acceleration in fullsteps

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 23 www.trinamic.com EXAMPLE Signal value f_CLK 16 MHz velocity 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 HzMHzmsf 31.122070 3220482 100016 1  HzHzfsf 34.1907 31.122070][ 6  s MHzMhza 21.119 1000)16( 2911 s MHzs MHz af 863.1 21.119 6  CALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e.g. 72 fullsteps per rotation. 49.2672 34.1907  rotationperfullsteps fsfRPS 46.158972 6034.190760  rotationperfullsteps fsfRPM

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 24 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 GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose fa ilure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. © TRINAMIC Motion Control GmbH & Co. KG 2013 – 2015 Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use. Specifications are subject to change without notice. All trademarks used are property of their respective owners.

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 25 www.trinamic.com

11.1 Document Revision

Version Date Author Description 0.90 2011-DEC-22 GE Initial version 0.91 2012-MAY-02 GE Updated for TMCM-1140_V11 pcb version 1.00 2012-JUN-12 SD First complete version including new chapters about: - reset to factory defaults, and - LEDs 1.01 2012-JUL-30 SD Internal circuit of inputs corrected. 1.02 2013-MAR-26 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 1.03 2013-JUL-23 SD - Connector types updated. - Chapter 3.3.1.1 updated. 1.04 2015-JAN-05 GE - New hardware version V13 added - Motor driver current settings added (chapter 4) - Several additions Table 11.1 Document revision

11.2 Hardware Revision

TMCM-1040_V10*) 2011-MAR-08 Initial version TMCM-1140_V11*) 2011-JUL-19 - Optimization of multipurpose I/O circuits - Clock generation and distribution changed (16MHz oscillator) TMCM-1140_V12) 2012-APR-12 - Further cost optimization incl. different sensor IC with 10bit max. resolution TMCM-1140_V13) 2013-AUG-22 - 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. Apart from that the performance and settings including driver output current and output waveform are essentially the same. - General purpose outputs OUT_0 / OUT_1: The MOSFETs used for switching these outputs on / off have been replaced. The new MOSFETs offer less heat dissipation than the previous / currently used ones. Apart from that the functionality and ratings are essentially the same. - RS485 transceiver: the RS485 transceiver has been replaced with the SN65HVD1781 transceiver offering better fault protection (up -to 70V fault protection) and supporting higher communication speeds (up- to 1Mbit/s). - In progress (coming soon): Conformal coating of

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 26 www.trinamic.com Version Date Description both sides of the PCB. Provides improved protection against humidity and dust / swarf (e.g. in case of the motor mounted versions PD42-x-1140: tiny metal parts on the PCB attracted by the encoder magnet might lead to malfunction of the unprotected device). Table 11.2 Hardware revision *): V10, V11: prototypes only. **) V12: series product version. Is replaced with V13 series product version due to EOL (end -of-life) of MOSFETs. Please see “PCN_1014_08_29_TMCM-1140.pdf” on our Web-site, also

12 References

[TMCM-1140 TMCL] TMCM-1140 TMCL Firmware Manual [TMC262] TMC262 Datasheet [TMC429] TMC429 Datasheet [TMCL-IDE] TMCL-IDE User Manual Please refer to www.trinamic.com.