PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24)
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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
6.4
Hall sensor only operation w/o encoder
The module can be used without an encoder. In this case, set the encoder resolution parameter (SGP
250) to the hall sensor resolution, i.e. 3 times the number of motor poles. Example: For a 4 pole
motor set the encoder resolution to 12. To avoid oscillations in positioning mode, the algorithm in
this mode stops regulation, as soon as the target distance is below the setting as determined by
“MVP target reached distance”. Adapt this setting to your needs. Switch the module to hall sensor
based commutation permanently in order to skip encoder initialization procedure in this configuration.
Please be aware, that the hall sensor resolution is very low, when compared to an encoder, and thus,
the PID regulator parameterization values have to be set much higher than the default setting.
Without encoder, the velocity measurement is not available. You may want to set a lower value than
the default for the “PWM Hysteresis” setting to get a softer response upon target reaching.
6.5
Stop switch
For positioning applications, typically some kind of global initialization is required. This can either be
done via a central unit operating the motor via its bus interface, or a reference switch can be
connected to the stop input (pull down to 0V at reference point). The position counter can be
automatically cleared when this point is reached. Be careful not to apply a voltage different from GND
to this digital input!
6.6
General functions (explore using the Windows based
demo software)
The TMCM-170 module can either be remote controlled via the PC demonstration software or a user
specific program. The function of the standalone mode can be modified by the user by writing
initialization values to the on-board EEPROM, e.g. a maximum rotation velocity, motor current limit
and rotation direction.
For more detailed software information refer to the TMCM-170 Module
–
Reference and
Programming Manual.
6.7
Temperature, current and voltage monitoring functions
LED output
Action
Meaning
Current limit
Blink
The current limit LED blinks upon under voltage switch off
Current limit
On / Flicker
Motor PWM is reduced due to exceeding the set motor current limit
or overvoltage threshold is exceeded
Temperature
warning
Blink
The power stage on the module has exceeded a critical temperature
of 85°C. (Pre-warning)
Temperature
warning
On
The power stage on the module has exceeded a critical temperature
of 115°C. The motor becomes switched off, until temperature falls
below 105°C. The measurement is correct to about +/-10°C
Table 6.1: LED outputs
