TMCM-1240 TRINAMIC | Alldatasheet
Document overview
- Manufacturer or author: Provided By alldatasheet.com(free datasheet download site)
- PDF pages: 28
Technical content
Datasheet sections
- 1 Features
- 2 Order Codes
- 3 Mechanical and Electrical Interfacing
- 3.1 Size of board
- 3.2 Board mounting considerations
- 4 Connectors
- 4.1 Power Supply Input Connector
- 4.2 Motor Connector
- 4.3 RS485 + CAN Connector
- 4.4 USB Connector
- 4.5 I/O Connector
- 5 On-Board LEDs
- 6 Reset to Factory Defaults
- 7 I/Os
- 7.1 Analog input IN0
- 7.2 Digital inputs IN1 and IN2
- 7.3 HOME/STOP_L/STOP_R switch inputs
- 7.4 External incremental encoder input
- 7.5 Step/Direction inputs
- 8 Communication
- 8.1 RS485
- 8.2 CAN
- 9 Motor driver current
- 10 Functional Description
- 11 Operational Ratings and Characteristics
- 12 Abbreviations used in this Manual
- 13 Figures Index
- 14 Tables Index
- 15 Supplemental Directives
- 15.1 Producer Information
- 15.2 Copyright
- 15.3 Trademark Designations and Symbols
- 15.4 Target User
- 15.5 Disclaimer: Life Support Systems
- 15.6 Disclaimer: Intended Use
- 15.7 Collateral Documents & Tools
- 16 Revision History
- 16.1 Hardware Revision
- 16.2 Document Revision
Features
- Single axis controller/driver for 2-phase bipolar stepper motor
- Linear and sixPoint ™ ramps
- +10. . . 30V DC supply voltage
- Up to 2A RMS motor current
- RS485, CAN & USB interface
- integrated sensOstep encoder and support for external encoder
- S/D interface
- multi-purpose inputs and outputs
Applications
- Laboratory Automation
- Manufacturing
- Semiconductor Handling
- Robotics
- Factory Automation
- Test & Measurement
- Life Science
- Biotechnology
- Liquid Handling Simpli/uniFB01ed Block Diagram 10… 30V DC Microcontroller EEPROM I/Os Step Motor RS485 MOSFET Driver Stage Energy Efficient Driver TMC262 Motion Controller d Pre-Driver USB CAN DC/DC Encoder TMCM-1240 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com Read entire documentation.
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 3 / 28
1 Features
The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with up- to 2A RMS (2.8A peak) motor coil current. It supports linear ramps and unique sixPoint ™ramps. It offers on-board sensOstep encoder and in addition, support for connection of external (incremental A/B) en- coder. For driver-only applications, the TMCM-1240 offers optically isolated Step/Direction inputs. When using the on-board motion controller the optically isolated inputs are used for connection of end-switches. The standard version of the TMCM-1240 offers one analog input (0..10V range), two digital inputs and one open-drain output (100mA load max.) For communication in addition to USB (Micro-USB connector), RS485 and CAN serial interfaces are available. USB is intended mainly for /uniFB01rmware updates and param- eter settings - supporting USB-powered operation (just the digital part) for easy data tranfer between PC and TMCM-1240 module. With CANopen /uniFB01rmware CANopen protocol is supported via the CAN interface. Motion Controller
- Motion pro/uniFB01le calculation in real-time
- On the /uniFB02y alteration of motor parameters (e.g. position, velocity, acceleration)
- Linear and unique sixPoint ™ramp in hardware
- Encoder interface and Reference / Stop switch inputs Driver
- Motor current: up to 2A RMS (2.2A RMS max. / 3.1A peak, programmable in software)
- Supply voltage: +24V DC (+10. . . +30V DC)
- 256 microsteps per fullstep
- spreadCycle™highly dynamic current control chopper
- stealthChop™for quiet operation and smooth motion
- programmable Step/Dir interface for driver-only applications with microstep interpolation Encoder
- integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation) for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5 encoder steps)
- support for external A/B incremental encoder in addition / as an alternative for the integrated en- coder
- programmable encoder scaling and support for motor stop on encoder deviation Interfaces
- RS485 interface (up-to 1Mbit/s)
- CAN interface (up-to 1Mbit/s)
- USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)
- Step/Dir input (optically isolated)
- Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)
- 2 general purpose digital inputs ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 4 / 28
- Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)
- 1 analog input (0..10V nom. input range)
- HOME switch input (shared with analog input) Mechanical data
- Board size: 37mm x 37mm, height 11mm max. without mating connectors
- 2 mounting holes for M3 screws Software
- TMCL™remote (direct mode) and standalone operation (memory for up to 1024 TMCL ™commands), fully supported by TMCL-IDE (PC based integrated development environment). Please see TMCM-
1240 TMCL /uniFB01rmware manual for more details
- CANopen /uniFB01rmware with CANopen standard protocol stack for the CAN interface. Please see TMCM- 1240 CANopen /uniFB01rmware manual for more details. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 5 / 28
2 Order Codes
The standard version of the TMCM-1240 is pre-programmed with either TRINAMIC TMCL ™ /uniFB01rmware or CANopen /uniFB01rmware. On request a version with 3 analog inputs (0..10V) is available instead of one analog and two digital in- puts on the I/O connector of the TMCM-1240. As this is an assembly version with different components concerning these inputs, only all mechanical data and all other electrical data are the same. Order Code Description Size (LxWxH) TMCM-1240-TMCL 1-axis bipolar stepper motor controller/driver, up- to 2A RMS motor current, 24V nom. supply, in- tegrated sensOstep encoder, S/D input, ext. En- coder input, 1 analog input, 4 digital inputs, 1 OD output, CAN, RS485 and USB interfaces 37mm x 37mm x 11mm TMCM-1240-CANopen 1-axis bipolar stepper motor controller/driver, up- to 2A RMS motor current, 24V nom. supply, in- tegrated sensOstep encoder, S/D input, ext. En- coder input, 1 analog input, 4 digital inputs, 1 OD output, CAN, RS485 and USB interfaces 37mm x 37mm x 11mm TMCM-1240-3A-TMCL 1-axis bipolar stepper motor controller/driver, up- to 2A RMS motor current, 24V nom. supply, in- tegrated sensOstep encoder, S/D input, 3 analog inputs, 2 digital inputs, 1 OD output, CAN, RS485 and USB interfaces 37mm x 37mm x 11mm Table 1: TMCM-1240 Order Code A cable loom set is available for this module: Order Code Description TMCM-1240-CABLE Cable loom for TMCM-1240:
- 1x cable loom for power supply connector (cable length 200mm, 4pin JST PH connector at one end, open wires at the other end)
- 1x cable loom for RS485 + CAN connector (cable length 200mm, 5pin JST PH connector at one end, open wires at the other end)
- 1x cable loom for motor connector (cable length 200mm, 4pin JST PH connector at one end, open wires at the other end)
- 1x cable loom for I/O connector (cable length 200mm, 8pin JST PH connector at one end, open wires at the other end)
- 1x Micro-USB cable Table 2: TMCM-1240 Cable Loom The TMCM-1240 is also available as motor mounted version together with NEMA17 / 42mm /uniFB02ange size stepper motor. Please refer to PD42-x-1240 PANdrive hardware manual for further details. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 6 / 28
3 Mechanical and Electrical Interfacing
3.1 Size of board
The board with the controller/driver electronics has an overall size of 37mm x 37mm x 11mm without mating connectors. Maximum component height (height above PCB level) without mating connectors is around 7mm above PCB level and 2.5 mm below PCB level. There are two mounting holes (3.2mm diameter) for M3 screws for mounting to a NEMA17 stepper motor. Figure 1: Board dimensions, position of mounting holes and position (pin 1) of connectors (all values in mm)
3.2 Board mounting considerations
The TMCM-1240 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 of signals and radia- tion 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-1240 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. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 7 / 28
4 Connectors
The TMCM-1240 offers /uniFB01ve connectors altogehter. There is one motor and one power supply connector - both with four pins - and two interface connectors - one with /uniFB01ve pins for RS485 and CAN and a dedicated micro-USB connector. All other inputs and outputs are concentrated on one 8 pin connector. NOTICE Start with power supply OFF and do not connect or disconnect motor dur- ing operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might ex- ceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. USB Motor Power RS 485 CAN I O Figure 2: TMCM-1240 connectors Connector Types and Mating Connectors Connector Connector type on-board Mating connector type Power JST B4B-PH-K-S (JST PH series, 4pins, 2mm pitch) Connector housing: JST PHR-4 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 Motor JST B4B-PH-K-S (JST PH series, 4pins, 2mm pitch) Connector housing: JST PHR-4 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 RS485+CAN JST B5B-PH-K-S (JST PH series, 5pins, 2mm pitch) Connector housing: JST PHR-5 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 USB USB-micro B female connector USB-micro B male connector I/O JST B8B-PH-K-S (JST PH series, 8pins, 2mm pitch) Connector housing: JST PHR-8 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 Table 3: Connector Types and Mating Connectors of the TMCM-1240 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 8 / 28
4.1 Power Supply Input Connector
The TMCM-1240 offers one 4pin JST PH series power supply input connector. In addition to main power supply input and related ground connection this connector offers a separate logic supply input with the option to keep the on-board logic alive while the driver stage is switched off. It is not necesary to connect the logic supply input in case separate supplies are not required as the main power supply input will always supply power to the driver stage and the logic part. The power supply input connector offers a driver enable input. This input has to be connected to any voltage above 3.5V up-to max. supply voltage of 30V in order to enable the driver stage. Leaving this pin unconnected or connected to ground (voltage below 2.4V) will disable the driver stage regardless of any settings in software. This input may be connected to main power supply input permanently in case an enable input in hardware is not required. Power Supply Connector Pin Assigment Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2 VMAIN Power (input) Main power supply input for the driver and on-board logic
- . . 30V 3 Enable Digital input Driver enable input. A voltage above 3.5V is required here in order to enable the on-board stepper motor driver. This in- put maybe connected to main power supply input in order to enable the driver stage (+24V tolerant input).
4 VLOGIC Power (input) Optional separate power supply input for the on-board logic
- . . 30V Table 4: Power Supply Connector Pin Assignment NOTICE 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 / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. NOTICE Take care of polarity, wrong polarity can destroy the board! NOTICE Connect Enable pinto voltage >3.5V in order to enable motor movements!
4.2 Motor Connector
A second 4pin JST PH series connector is available for connection of a 2-phase bipolar stepper motor. Motor Connector Pin Assignment Pin Label Direction Description
1 B1 out Pin 1 of motor coil B
2 B2 out Pin 2 of motor coil B
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 9 / 28 Pin Label Direction Description
3 A1 out Pin 1 of motor coil A
4 A2 out Pin 2 of motor coil A
Table 5: Motor Connector Pin Assignment NOTICE 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 / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. NOTICE Do not mix-up power supply and motor connectors!
4.3 RS485 + CAN Connector
For serial communication the TMCM-1240 offers selection between RS485, CAN and USB interfaces. While the USB interface is available for con/uniFB01guration and service of the board, mainly (e.g. parameter settings, /uniFB01rmware updates) a 5-pin JST PH series connector offers 2-wire RS485 and CAN interfaces for in system communication. NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are not available at the same time. As soon as USB is physically attached to a host or hub the CAN interface will be switched off. RS485 + CAN Connector Pin Assignment Pin Label Direction Description 2 RS485+ Bidirectional RS485 interface, diff. signal (non-inverting) 3 RS485- Bidirectional RS485 interface, diff. signal (inverting) 4 CAN_H Bidirectional CAN interface, diff. signal (non-inverting) 5 CAN_L Bidirectional CAN interface, diff. signal (inverting) Table 6: RS485 + CAN Connector Pin Assignment
4.4 USB Connector
For serial communication the TMCM-1240 offers selection between RS485, CAN and USB interfaces. The USB interface via on-board micro-USB connector (type B) is available for con/uniFB01guration and service of the board, mainly (e.g. parameter settings, /uniFB01rmware updates). The USB device interface supports full speed (12Mbit/s) communication and supports bus powered and self-powered operation. During bus-powered operation the low voltage logic part of the board will be powered, only. This includes the microcontroller and the non-volatile memory and therefore allows parameter settings and /uniFB01rmware updates of the board ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 10 / 28 using a standard USB cable, only. Of course, for any motor movement main supply via supply input connector is required. NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are not available at the same time. As soon as USB is physically attached to a host or hub the CAN interface will be switched off. USB Connector Pin Assignment Pin Label Direction Description 1 VBUS Power (+5V) USB +5V nom. power supply input 2 D- Bidirectional USB interface, diff. signal (inverting) 3 D+ Bidirectional USB interface, diff. signal (inverting)
4 ID Input connected to GND (via 100k resistor)
5 GND Power (GND) Common system supply and signal ground
Table 7: USB Connector Pin Assignment
4.5 I/O Connector
The TMCM-1240 offers several inputs (two of them optically isolated) and one digital (open-drain) output. The inputs include support for stop switches (left and right), home switch, step/direction, incremental A/B channel encoder and analog (0. . . +10V) input. All this functionality is available via one 8pin JST PH series I/O connector. I/O Connector Pin Assignment Pin Label Direction Description 2 IN0/HOME Input Analog input (0. . . +10V) HOME switch input +24V tolerant, programmable (separate) pull-up to +5V
3 IN1/ENC_A Input General purpose digital input
Incremental encoder input channel A +24V tolerant, programmable pull-up (for IN1/IN2 together) to +5V
4 IN2/ENC_B Input General purpose digital input
Incremental encoder input channel B +24V tolerant, programmable pull-up (for IN1/IN2 together) to +5V
5 STOP_L/STEP Input STOP left switch input
input optically isolated, +24V compatible
6 STOP_R/DIR Input STOP right switch input
input optically isolated, +24V compatible ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 11 / 28 Pin Label Direction Description
7 ISO_COM Power Common positive (+24V_ISO) or negative (GND_ISO) isolated
supply input for optically isolated inputs 8 OUT0 Output (OD) Open-Drain output. Output will be pulled low when activated. Voltages up-to logic supply input level (or main supply input in case separate logic supply is not used) are supported here. Max. continuous pull-down current: 100mA Table 8: I/O Connector Pin Assignment All pins marked light green offer functional isolation towards main supply input. In case this is not required ISO_COM may be connected to main ground or supply input, of course. The opto-couppler used are AC types. This way, either high side switches or low side switches for both inputs are supported.
5 On-Board LEDs
The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the /uniFB01rmware version. With standard TMCL /uniFB01rmware the green LED should be /uniFB02ashing slowly during operation and the red LED should be off. When there is no valid /uniFB01rmware programmed into the board or during /uniFB01rmware update the red and green LEDs are permanently switched on. During reset to factory default values the green LED will be /uniFB02ashing fast. With CANopen /uniFB01rmware both LEDs are switched on/off//uniFB02ashing according to standard de/uniFB01ntion. Green LED Red LED Figure 3: TMCM-1240 LEDs
6 Reset to Factory Defaults
It is possible to reset all settings in /uniFB01rmware for the TMCM-1240 to factory defaults without establishing a working communication connection. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got lost. For this procedure two pads on the bottom side of the module have to be shorted (electrically connected with each other) during power-on. Please perform the following steps: 1. Switch power supply OFF (and disconnect USB cable if applicable) 2. Short CLK and DIO pads of programming pads on bottom of pcb (see /uniFB01gure 4) ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 12 / 28 3. Switch power supply ON again (or connect USB again if applicable) 4. Wait until the on-board red and green LEDs start /uniFB02ashing fast (this might take a while) 5. Switch power supply OFF again (and disconnect USB cable if applicable) 6. Remove short between pads 7. After switching power supply ON again (and / or connecting USB cable) all permanent settings have been restored to factroy defaults Short these two pads Figure 4: Reset to factory default settings ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 13 / 28
7 I/Os
The I/O connector (8pin JST PH series) offers one analog input, two non-isolated digital inputs with inte- grated pull-ups (programmable) and two optically isolated inputs. All inputs can be used for different purposes explained in more detail in the following subsections.
7.1 Analog input IN0
ages above +10V saturation takes place but, up-to 30V higher voltages are tolerated without destroying the input. For analog to digital conversion the integrated ADC of the on-board microcontroller is used. Resolution of this converter is 12bit (0..4095). 100nF 10k 22k 2k2 +3V3 microcontroller microcontrollerIN0 +5V TMCM-1240 pull-up disabled V0..10V Figure 5: Analog input IN0 The analog input can be used as digital input, also. There is an integrated pull-up to +5V which can be switched on of off in software. When using this input as anlog input the pull-up should be usually switched off.
7.2 Digital inputs IN1 and IN2
The TMCM-1240 offers two digital inputs IN1 and IN2 which accept signals between 0 and 30V with volt- ages above approx. 2.9V recognized as logical ’1’ and below 1V as logical ’0’. Both inputs offer intergated pull-ups to +5V which can be switched on or off in software (always together). When using the inputs with low-side switches (connected to GND), pull-ups usually should be switched on (default). In case high-side switches are used the pull-ups must be switched off. For push-pull signals the pull-ups may be either switched on or off. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 14 / 28 33pF22k 10k 2k2 +3V3 microcontroller microcontrollerIN1 IN2 +5V TMCM-1240 or pull-up enabled or pull-up disabled +5V...24V +5V Figure 6: Digital inputs IN1 and IN2
7.3 HOME/STOP_L/STOP_R switch inputs
The TMCM-1240 offers two optically isolated inputs which can be used as left (STOP_L) and right (STOP_R) stop switch inputs. When enabled in software the STOP_L switch input will stop motor movement in negative direction (step counter decreasing) while activated. Likewise the STOP_R switch input will stop motor movement in positive direction (step counter increasing) while activated. 680 6k8 2k2 +3V3 microcontroller TMCM-1240 STOP_L, STOP_R ISO_COM +24V_ISO GND_ISO or +24V_ISO GND_ISO Figure 7: Stop switch inputs A separated / isolated supply may be used for the switches - as indicated in the drawing (+24V_ISO and related GND_ISO) - but, same supply as for the TMCM-1240 can be used, also, of course.
7.4 External incremental encoder input
The TMCM-1240 offers an integrated hall-sensor based magnet encoder. In addition, an external incre- mental A/B encoder may be connected to the two digital inputs IN1 and IN2. Encoder with push-pull signals (e.g. +5V TTL) and open-drain output signals are supported (single-ended). For open-drain out- puts the internal pull-ups should be activated in software (default mode). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 15 / 28 33pF22k 10k 2k2 +3V3 microcontroller microcontrollerENC_A, ENC_B +5V TMCM-1240 or +5V pull-up enabled Figure 8: External encoder input
7.5 Step/Direction inputs
The TMCM-1240 may be used as driver with an external motion controller. In this case the Step/Direction output signals of the external motion controller may be connected to the optically isolated Step/Dir inputs of the TMCM-1240. Please note that these signals should be 24V signals. For lower voltage signals a simple small signal transistor maybe inserted as level converter. 680 6k8 2k2 +3V3 microcontroller TMCM-1240 STEP, DIR ISO_COM +24V_ISO GND_ISO Figure 9: Step/Direction input Due to limitations of the opto-isolators the maximum step frequency of these inputs is limited to around 20kHz. For higher motor speed the step interpolator of the driver stage should be activated or the mi- crostep resolution reduced (default 256 microsteps per fullstep). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 16 / 28
8 Communication
8.1 RS485
For remote control and communication with a host system the TMCM-1240 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus. c node node n node n Host Slave Slave Slave RS 485 termination resistor 120 Ohm termination resistor 120 Ohm keep distance as short as possible Figure 10: RS485 bus structure with termination resistors 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-1240 does not integrate any termination 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 stadard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-1240 units (SN65HVD1781D) offers a signi/uniFB01cantly reduced bus load compared to the standard and allows a maximum of 255 units to be connected to a single RS485 bus using standard TMCL /uniFB01rmware.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-1240 hardware is 1Mbit/s. Fac- tory default is 9600 bit/s. Please see separate TMCM-1240 TMCL /uniFB01rmware manual for information regarding other possible communication speeds below the upper hardware limit. 5. NO FLOATING BUS LINES: Avoid /uniFB02oating 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 communi- cation errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well de/uniFB01ned 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): ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 17 / 28 node n node n Slave Slave termination resistor 120 R V GND pull up 680 R pull down 680 R RS 485 RS 485 B termination resistor 120 R RS 485 + / RS 485 A Figure 11: RS485 bus lines with resistor (bias) network on one side, only Or add resistor network at both ends of the bus (like Pro/uniFB01bus™ termination): node n node n Slave Slave termination resistor 220 R V GND pull up 390 R pull down 390 R RS 485 RS 485 B RS 485 + / RS 485 A termination resistor 220 R V GND pull up 390 R pull down 390 R Figure 12: RS485 bus lines with Pro/uniFB01bus™recommended line termination
8.2 CAN
For remote control and communication with a host system the TMCM-1240 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 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. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 18 / 28 c node node n node n Host Slave Slave Slave CAN termination resistor 120 Ohm termination resistor 120 Ohm keep distance as short as possible Figure 13: CAN bus structure with termination resistors 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-1240 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 3. BUS TERMINATION: The bus transceiver used on the TMCM-1240 units (TJA1051T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).
9 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 effective scaling steps in hardware. Explanation of different columns in table below: Motor current set- ting 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-1240 /uniFB01rmware manual for further information) Motor current IRMS [A] Resulting motor current based on motor current setting Motor Current Setting Motor current setting in software (TMCL) Current scaling step (CS) Motor current I COIL[A] peak Motor current I COIL[A] RMS ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 19 / 28 Motor current setting in software (TMCL) Current scaling step (CS) Motor current I COIL[A] peak Motor current I COIL[A] RMS Table 10: Available motor current settings In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-1240 /uniFB01rmware manual). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 20 / 28
10 Functional Description
The TMCM-1240 is a highly integrated single axis controller/driver module for stepper motors with up-to 2A RMS / 2.8A peak motor coil current. The TMCM-1240 can be controlled via RS485, CAN or USB serial interfaces. The TMCM-1240 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL ™). Using prede/uniFB01ned TMCL™ high level commands like move to position a rapid and fast development of motion control applications is guaranteed. Whereas the boot loader is installed during production and testing at TRINAMIC and remains usually untouched throughout the whole lifetime, the /uniFB01rmware can be updated by the user via any serial interface. Communication tra/uniFB03c is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed on-board. Full remote control of the device with feedback is possible. The /uniFB01rmware of the module can be updated via any of the serial interfaces. The TMCM-1240 module contains the following main components:
- Microcontroller (ARM Cortex-M3 ™), responsible for overall control and communication
- Highly integrated advanced stepper motor controller supporting linear and unique 6-points ramps in hardware
- Advanced stepper motor driver with stallGuard2 ™ and coolStep ™ with MOSFET driver stage (8x power N-MOSFETs for bipolar stepper motor)
- RS485, CAN and USB transceivers
- On-board voltage regulators (+5V and +3V3) required for supply of all on-board digital circuits 10… 30V DC ARM Cortex™M3TM microcontroller EEPROM 6I/Os Step Motor RS485 MOSFET Driver Stage Energy Efficient Driver TMC262 Motion Controller B Pre™Driver SPI USB SPI CAN DC/DC +5V sensOstep™ Encoder SPI +3V3 STOP_L/R, S/D, Encoder TMCM™1240 Figure 14: TMCM-1240 block diagram ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 21 / 28
11 Operational Ratings and Characteristics
NOTICE Never Exceed the absolute maximum ratings!Keep the power supply voltage below the upper limit of +30V! 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. General Operational Ratings Symbol Parameter Min Typ Max Unit VPower Power supply voltage 10 12. . . 24 30 V IPower Power supply current <<ICOIL_RMS 1.4 x I COIL_RMS A VUSB Power supply via USB connector 5 V IUSB Current withdrawn from USB supply when USB bus powered (no other supply connected) 42 mA ICOIL_PEAK Motor coil current for sine wave peak (chopper regulated, adjustable via software) ICOIL_RMS Continuous motor current ( RMS) 0 0. . . 2 2.21 A TENV Environmental temperature at rated current (no forced cooling reaquired) -30 60 °C Table 11: General operational ratings of the module Operational Ratings of the I/Os Symbol Parameter Min Typ Max Unit VOUT0 Voltage at open drain output OUT0 (switched off) 0 +VPower V IOUT0 Output sink current of open drain output OUT0 (switched on) 100 mA VIN0 Measurement range for analog input IN0 0 +102 V VIN1/2_L Low level voltage for IN1 and IN2 (digital inputs) 1 V VIN1/2_H High level voltage for IN1 and IN2 (digital inputs) 2.9 V VSTOP_L/R_ON Switch-On opto-isolated inputs (voltage between input and ISO_COM) 20-24 30 V VSTOP_L/R_OFF Switch-off opto-isolated inputs (voltage between input and ISO_COM) 0 0-16 V 1Please note: 2.2A RMS will exceed connector speci/uniFB01cation. Therefore, continuous motor current should be limited to 2A RMS max. motor current input will saturate but, not being damaged (up-to VDD). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 22 / 28 Operational Ratings of the I/Os Symbol Parameter Min Typ Max Unit fSTEP/DIR Max. frequency for step/direction opto-isolated inputs 20 kHz Table 12: Operational ratings of I/Os Operational Ratings of the RS485 Interface Symbol Parameter Min Typ Max Unit NRS485 Number of nodes connected to single RS485 network 256 fRS485 Max. speed for RS485 network 1Mbit/s Table 13: Operational ratings of the RS485 interface Operational Ratings of the CAN Interface Symbol Parameter Min Typ Max Unit NCAN Number of nodes connected to single CAN network >110 fCAN Max. speed for CAN network 1Mbit/s Table 14: Operational ratings of the CAN interface ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 23 / 28
12 Abbreviations used in this Manual
IDE Integrated Development Environment LED Light Emmitting Diode RMS Root Mean Square value TMCL TRINAMIC Motion Control Language Table 15: Abbreviations used in this Manual ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 24 / 28
13 Figures Index
1 Board dimensions, position of mount-
ing holes and position (pin 1) of con- 4 Reset to factory default settings . . . 12
10 RS485 bus structure with termination
11 RS485 bus lines with resistor (bias)
12 RS485 bus lines with Pro/uniFB01bus™recommended
13 CAN bus structure with termination
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 25 / 28
14 Tables Index
3 Connector Types and Mating Connec-
4 Power Supply Connector Pin Assign-
5 Motor Connector Pin Assignment . . 9
6 RS485 + CAN Connector Pin Assignment 9
7 USB Connector Pin Assignment . . . . 10 8 I/O Connector Pin Assignment . . . . 11 10 Available motor current settings . . . 19
11 General operational ratings of the
13 Operational ratings of the RS485 inter-
14 Operational ratings of the CAN interface 22
15 Abbreviations used in this Manual . . 23 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 26 / 28
15 Supplemental Directives
15.1 Producer Information
15.2 Copyright
TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2021 TRINAMIC. All rights reserved. Electronically published by 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 documen- tation of this product including associated Application Notes; and a reference to other available product- related documentation.
15.3 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 doc- umentation. This Hardware Manual is a non-commercial publication that seeks to provide concise scienti/uniFB01c and tech- nical 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 /uniFB01rst time in the document. All trademarks and brand names used are property of their respective owners.
15.4 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.
15.5 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 speci/uniFB01c 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. Speci/uniFB01cations are subject to change without notice.
15.6 Disclaimer: Intended Use
The data speci/uniFB01ed in this user manual is intended solely for the purpose of product description. No rep- resentations or warranties, either express or implied, of merchantability, /uniFB01tness for a particular purpose ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 27 / 28 or of any other nature are made hereunder with respect to information/speci/uniFB01cation 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 signi/uniFB01cant personal injury or death (safety-Critical Applications) without TRINAMIC’s speci/uniFB01c written consent. TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ- ments or in automotive applications unless speci/uniFB01cally designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC as- sumes 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.
15.7 Collateral Documents & Tools
This product documentation is related and/or associated with additional tool kits, /uniFB01rmware and other items, as provided on the product page at: www.trinamic.com. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
TMCM-1240 Hardware Manual •Hardware Version V1.20 | Document Revision V1.21 •2020-MAY-05 28 / 28
16.1 Hardware Revision
Version Date Author Description V1.0 2017-OCT-30 GE Initial version. V1.1 2017-NOV-28 GE Minor changes: S/D support added. V1.2 2018-DEC-05 GE Driver stage MOSFETs and magnetic encoder IC replaced Table 16: Hardware Revision
16.2 Document Revision
Version Date Author Description 0.90 2017-NOV-29 GE Initial version. 1.00 2018-FEB-19 GE First release version. 1.10 2018-MAR-26 GE I/O details added. 1.11 2018-MAY-03 OK Typo corrections. 1.20 2019-MAY-24 SK Module mechanical dimensions corrected. 1.21 2020-MAY-05 OK I/O connector pin numbering corrected. Table 17: Document Revision ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com