Trinamic TMCM-1210 Hardware Manual Download

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TMCM-1210 Hardware Manual (V0.93 / 2019-FEB-13)

Revision History

11.1

Document revision

Version Date

Author

Description

0.90

2016-APR-14 GE

Initial version

0.91

2017-SEP-04

Typos corrected

0.92

2019-JAN-30

Description motor connector (chapter 4.3) corrected

0.93

2019-FEB-13

Current setting table (chapter 5) corrected / updated (with measurement
results)

Table 11.1: Document revision

11.2

Hardware revision

Version

Date

Description

TMCM-1210_V10

2014-DEC-17

Initial version

TMCM-1210_V11

2015-JUN-25



External digital input connected to REFL/REFR of TMC2130.
/RESET input of processor not connected (used for
programming, only)



/CS and SCK connection between processor and TMC2130
corrected (signals exchanged)



Footprint of protection diode for external digital input
corrected

Table 11.2: Hardware revision

References

[JST]

JST connector

http://www.jst.com

[TMC2130]

TMC2130 datasheet

Manual available on

http://www.trinamic.com

[TMCL-IDE]

TMCL-IDE User Manual

Manual available on

http://www.trinamic.com

Summary of Contents for TMCM-1210

Page 1: ...TORS MODULES TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com Hardware Version V 1 10 HARDWARE MANUAL TMCM 1210 1 Axis stepper controller driver max 0 6A RMS 24V DC STOP HOME switch input hall sensor RS485 ...

Page 2: ...nsions and Mounting Holes 6 4 2 Board mounting considerations 6 4 3 Connectors 7 4 3 1 Power RS485 HOME connector 8 4 3 2 Motor connector 9 4 4 Power supply 9 4 5 RS485 10 5 Motor driver current 12 6 On Board LEDs 13 7 Reset to Factory Default Values 13 8 EMC considerations 14 9 Operational Ratings 15 10 Functional Description 16 11 Revision History 17 11 1 Document revision 17 11 2 Hardware revis...

Page 3: ...uipment intended to support or sustain life and whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control GmbH Co KG 2015 2019 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 fo...

Page 4: ...unication protocol handling Bipolar stepper motor driver Up to 256 microsteps per full step Highly integrated and highly efficient operation Dynamic current control stallGuard2 feature for stall detection Interfaces RS485 2 wire communication interface Digital input IN0 24V compatible can be used as reference switch or left and or right stop switch input also On board hall sensor Absolute sensor w...

Page 5: ...scription Size of unit TMCM 1210 1 Axis stepper controller driver 0 6A RMS 24V DC 20mm x 20mm x 9mm A cable loom set is available for this module also Order code Description TMCM 1210 CABLE Cable loom for TMCM 1210 Contains see chapter 4 3 also 1x cable loom for Power RS485 and HOME connector 1x cable loom for Motor connector Table 3 2 Cable loom order code ...

Page 6: ...onnectors is around 6mm above PCB level and 2 mm below PCB level There are two mounting holes for M2 screws for mounting to a NEMA8 stepper motor 20mm 18mm 2mm PCB 20mm 2mm 18mm 2 1mm 2x Figure 4 1 Dimensions of TMCM 1210 and position of mounting holes with comparison of size 4 2 Board mounting considerations The TMCM 1210 offers two metal plated mounting holes Both mounting holes are connected to...

Page 7: ...OME connector HOME 5 RS485 RS485 3 4 VDD GND 1 2 IN0 STOP_L STOP_R Motor connector OA1 OA2 3 4 OB1 OB2 1 2 Figure 4 2 Overview connectors Overview of connectors and mating connectors types Label Connector type Mating connector type Power RS485 HOME connector 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 Motor connector JST ...

Page 8: ...ME switch input GAP 9 0 home switch status STOP_L STOP_R input GAP 10 0 right limit switch status GAP 11 0 left limit switch status General purpose digital input 0 IN0 GIO 0 0 IN0 Table 4 2 Power RS485 IN0 connector Please note RS485 there is no line termination etc on board Please ensure proper RS485 cabling and line termination HOME digital input IN0 input offers pull down resistor input series ...

Page 9: ...size e g 470µF 35V to the power supply lines next to the TMCM 1210 Rule of thumb for size of electrolytic capacitor c 1000 μF A ISUPPLY In addition to power stabilization buffer and filtering this added capacitor will also reduce any voltage spikes which might otherwise occur from a combination of high inductance power supply wires and the ceramic capacitors In addition it will limit slew rate of ...

Page 10: ...s up to 32 nodes to be connected to a single bus The bus transceiver used on the TMCM 1210 unit SN65HVD3085E has 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 s...

Page 11: ...work 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 RS485A termination resistor 220R 5V GND pull up 390R pull down 390R Figure 4 8 Bus lines with resistor Bias network at both ends Certain RS485 interface converters available for PCs already i...

Page 12: ...alue with GAP instead of SAP Please see separate TMCM 1210 firmware manual for further information Motor current IRMS A Resulting motor current based on motor current setting Motor current setting in software TMCL Motor current ICOIL_PEAK A Motor current ICOIL_RMS A 0 7 0 06 0 04 8 15 0 08 0 06 16 23 0 10 0 07 24 31 0 13 0 09 32 39 0 15 0 11 40 47 0 18 0 13 48 55 0 21 0 15 56 63 0 24 0 17 64 71 0 ...

Page 13: ...RMWARE Status Label Description Heartbeat Run This green LED flashes slowly during operation GREEN LED Figure 6 1 On board LED 7 Reset to Factory Default Values In order to reset all settings e g incl address and RS485 baud rate to factory default values please follow instruction sequence below 1 Switch OFF power supply 2 Short programming pads on bottom of PCB as shown in figure 7 1 3 Switch ON p...

Page 14: ...M 1210 motor and power connected with the motor running slowly at maximum current 0 7A RMS and 24V supply voltage without additional external filters Figure 8 1 Setup with TMCM 1210 and attached motor motor rotating slowly 0 7A RMS 24V supply stand alone mode using on board TMCL autostart program Figure 8 2 measurement results example Please note that these measurement results using a bare TMCM 12...

Page 15: ...TENV Environment temperature at rated current 0 6A RMS and rated voltage 24V no forced cooling required 30 40 C Table 9 1 General operational ratings of module OPERATIONAL RATINGS OF HOME SWITCH Symbol Parameter Min Typ Max Unit VHOME Input voltage for HOME STOP_L STOP_R IN0 0 30 V VHOME_LOW Low level voltage for HOME STOP_L STOP_R IN0 digital input 0 2 V VHOME_HIGH High level voltage for HOME STO...

Page 16: ...roller part of TMC2130 which calculates ramps and speed profiles internally by hardware driver part of TMC2130 with stallGuard2 and its energy efficient coolStep feature and stealthChop for extremely quiet operation hall sensor based encoder which delivers position feedback at low speed few 100rpm max can be used for reference search e g after power up 7 28 5V DC ARM Cortex M0 TM microcontroller T...

Page 17: ... 1 Document revision 11 2Hardware revision Version Date Description TMCM 1210_V10 2014 DEC 17 Initial version TMCM 1210_V11 2015 JUN 25 External digital input connected to REFL REFR of TMC2130 RESET input of processor not connected used for programming only CS and SCK connection between processor and TMC2130 corrected signals exchanged Footprint of protection diode for external digital input corre...

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