TMCM-110-42 Manual 2
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Contents
1 Features ........................................................................................................................................... 3
2 Life support policy............................................................................................................................. 4
3 Electrical and Mechanical Interfacing............................................................................................... 5
3.1 Dimensions................................................................................................................................ 5
3.2 Connectors ................................................................................................................................ 5
3.3 Connecting the module ............................................................................................................. 5
3.3.1 Connector 1: Power supply and host interface .................................................................... 6
3.3.2 Connector 2: Motor connector ............................................................................................. 6
3.3.3 Connector 3: Additional I/O.................................................................................................. 7
3.3.4 ISP Connector...................................................................................................................... 7
3.4 Activity LED ............................................................................................................................... 7
4 Operational Ratings.......................................................................................................................... 8
5 Functional Description...................................................................................................................... 9
5.1 System Architecture .................................................................................................................. 9
5.1.1 Microcontroller...................................................................................................................... 9
5.1.2 EEPROM.............................................................................................................................. 9
5.1.3 TMC428 Motion Controller................................................................................................... 9
5.1.4 TMC246 Motor Driver......................................................................................................... 10
5.2 Power Supply .......................................................................................................................... 10
5.3 Communication Interface ........................................................................................................ 10
5.4 Reference Switches ................................................................................................................ 10
5.5 StallGuard™ - Sensorless Motor Stall Detection.................................................................... 11
5.6 Motor current setting ............................................................................................................... 11
6 Putting the TMCM-110 into Operation............................................................................................ 12
7 TMCM-110 Operational Description............................................................................................... 13
7.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency ..................... 13
8 Software ......................................................................................................................................... 15
9 Revision History.............................................................................................................................. 16
9.1 Documentation Revision ......................................................................................................... 16
9.2 Firmware Revision .................................................................................................................. 16
10 References ..................................................................................................................................... 17
List of Figures
Figure 3.1: Mounting holes (all dimensions in millimeters)......................................................................5
Figure 3.2: The TMCM-110-42 module ................................................................................................... 6
Figure 5.1: Application Environment........................................................................................................ 9
List of Tables
Table 1.1: Order codes............................................................................................................................ 3
Table 3.1: Connector 1 ............................................................................................................................ 6
Table 3.2: Connector 2 ............................................................................................................................ 6
Table 3.3: Connector 3 ............................................................................................................................ 7
Table 4.1: Operational Ratings................................................................................................................ 8
Table 5.1: Motor Current Examples....................................................................................................... 11
Table 7.1: TMC428 Velocity parameters ............................................................................................... 13
Table 9.1: Documentation Revisions..................................................................................................... 16
Table 9.2: Firmware Revisions .............................................................................................................. 16