TMCM-3110 Hardware Manual Datasheet by Trinamic Motion Control GmbH

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stallGuardTi A TRINAMIC MOTION CONTROL
MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Hardware Version V1.1
HARDWARE MANUAL
+ + TMCM-3110
+ +
3-Axis Stepper
Controller / Driver
2.8 A / 48 V
USB, RS485, and CAN
Step/Dir Interface
Encoder Interface
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 2
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Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 Dimensions ........................................................................................................................................................... 6
3.2 Considerations for Mounting ........................................................................................................................... 6
3.3 Connectors ............................................................................................................................................................. 7
3.3.1 Power Connector ........................................................................................................................................... 8
3.3.2 Motor Connector 0, 1, 2 ............................................................................................................................... 8
3.3.3 S/D IN Connector ........................................................................................................................................... 9
3.3.4 Reference Switch Connector 0, 1, 2 ......................................................................................................... 9
3.3.5 I/O Connectors 0, 1 ..................................................................................................................................... 10
3.3.6 Encoder Connector 0, 1, 2 ......................................................................................................................... 11
3.3.7 CAN Connector ............................................................................................................................................. 12
3.3.8 RS485 Connector .......................................................................................................................................... 12
3.3.9 USB Connector ............................................................................................................................................. 12
3.4 Power Supply ..................................................................................................................................................... 13
3.5 Communication .................................................................................................................................................. 14
3.5.1 RS485 .............................................................................................................................................................. 14
3.5.2 CAN .................................................................................................................................................................. 16
3.5.3 USB .................................................................................................................................................................. 17
3.6 Inputs and Outputs .......................................................................................................................................... 18
3.6.1 Reference Switch Inputs ........................................................................................................................... 18
3.6.2 General Purpose Inputs............................................................................................................................. 18
3.6.3 General Purpose Outputs .......................................................................................................................... 19
3.6.4 Encoder Inputs ............................................................................................................................................. 20
3.6.5 Step/Dir Inputs ............................................................................................................................................. 21
4 Motor driver current .................................................................................................................................................. 22
5 Onboard LEDs .............................................................................................................................................................. 24
6 Reset to Factory Defaults ......................................................................................................................................... 25
7 Operational Ratings ................................................................................................................................................... 26
8 Functional Description .............................................................................................................................................. 28
9 Operational Description............................................................................................................................................ 29
9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 29
10 Life Support Policy ..................................................................................................................................................... 31
11 Revision History .......................................................................................................................................................... 32
11.1 Document Revision ........................................................................................................................................... 32
11.2 Hardware Revision ............................................................................................................................................ 32
12 References .................................................................................................................................................................... 32
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 3
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1 Features
The TMCM-3110 is a compact 3-axes stepper motor controller/driver module for 2-phase bipolar stepper
motors. It is highly integrated, offers a convenient handling and can be used in many decentralized
applications. The TMCM-3110 supports up to 3 bipolar stepper motors with up to 2.8A RMS coil current and
supply voltages up to +48V DC nominal. There are separate motor and reference/end switch connectors as
well as incremental encoder (a/b/n) connectors for each motor. Communication can take place via RS485,
CAN, or USB interfaces. The module offers 8 general purpose inputs and 8 general purpose outputs for
various application possibilities. 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
Interfaces
- Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)
- Up to 8 multi-purpose outputs (Open-drain, incl. 2 outputs for currents up to 1A)
- Inputs for 3 incremental encoders (differential and TTL / open-drain)
- S/D in for all three axes (as alternative to on-board motion controller)
- RS485 communication interface (9pin D-SUB male)
- CAN 2.0B communication interface (9pin D-SUB male)
- USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector)
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)
Electrical data
- Supply voltage: +10V… +48V DC
- Motor current: up to 2.8A RMS (programmable) per axis
Safety features
- Integrated protection: overtemperature/undervoltage
Mechanical data
- Board size: 130mm x 100mm, height 30mm max.
- 4 mounting holes for M3 screws
Please see separate TMCM-3110 TMCL Firmware Manual for additional information
WW
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 4
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TRINAMICS UNIQUE FEATURES EASY TO USE WITH TMCL
stallGuard2 stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range of
load, velocity, and current settings. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be reduced
by as much as 75%. coolStep allows substantial energy savings, especially for motors
which see varying loads or operate at a high duty cycle. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 1.2 Energy efficiency example with coolStep
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 5
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2 Order Codes
Order code
Description
Size [mm3]
TMCM-3110-option
3-axes bipolar stepper motor controller/driver module with
encoder interface
130 x 100 x 30
Table 2.1 TMCM-3110 order codes
The following options are available:
Firmware option
Description
Order code example:
-TMCL
Module pre-programmed with TMCL firmware
TMCM-3110-TMCL
-CANopen
Module pre-programmed with CANopen firmware
TMCM-3110-CANopen
Table 2.2 TMCM-3110 firmware options
A cable loom set is available for this module:
Order code
TMCM-3110-CABLE
Table 2.4 Cable loom order code
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 6
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3 Mechanical and Electrical Interfacing
3.1 Dimensions
The board with the controller/driver electronics has an overall size of 130mm x 100mm. It has four
mounting holes for M3 screws (3.2mm diameter). Maximum board height (without mating connectors and
cable looms) is about 30mm (approx. 26mm above printed circuit board level).
130
100
125
5
95
5
5
4x M3 screws
for mounting
Figure 3.1 Board dimensions and position of mounting holes (all values in mm).
3.2 Considerations for Mounting
The TMCM-3110 has four metal plated mounting holes. These mounting holes are connected to the system
and signal ground (which is the same as the power supply ground). In order to minimize distortion of
signals and radiation of HF signals (improve EMC compatibility) especially in sensitive and/or noisy
environments it is important to ensure a solid ground connection within the system. Thus, it is
recommended to connect all four mounting holes in addition to the supply ground connection to system
power supply ground.
Nevertheless, this might not always be an option: for instance, the metal system chassis or TMCM-3110
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. In such a case, TRINAMIC recommends to use
plastic (e.g. made of nylon) spacers or distance bolts.
L) ISIIIIII .‘ ‘6 r .I'ol'
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 7
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3.3 Connectors
The TMCM-3110 has 16 connectors altogether. There are three separate connectors for each motor, three for
corresponding reference switches, and three for encoder inputs. Further, the board has two I/O connectors,
one S/D IN connector, one power connector and three connectors for communication (mini-USB, RS485,
and CAN).
1
59
6
RS485 connector
Mini-USB connector
CAN connector
1
59
6
14
Motor 0
1
3
Power connector
14
Motor 1
14
Reference
switch
connectors
0
1
4
1
4
1
4
1
2
Encoder connectors
1 8
0
1 8
1
1 8
2
I/O connector 0
I/O connector 1
1
10
1
10
1
10
S/D IN connector
Motor 2
Figure 3.2 TMCM-3110 connectors
CONNECTOR TYPES AND MATING CONNECTOR TYPES
Label
Connector type
Mating connector type
Power
connector
JST B3P-VH
(JST VH series, 3pins, 3.96mm pitch)
Connector housing: JST VHR-3N
Contacts: JST SVH-21T-P1.1
Wire: 0.83mm2, AWG 18
Motor
connectors
JST B4B-EH-A
(JST EH series, 4pins, 2.5mm pitch)
Connector housing: JST EHR-4
Contacts: JST SEH-001T-P0.6
Wire: 0.33mm2, AWG 22
Reference
Switch
connectors
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
I/O connectors
0 + 1
JST B10B-PH-K-S
(JST PH series, 10pins, 2mm pitch)
Connector housing: JST PHR-10
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
S/D IN
connector
JST B10B-PH-K-S
(JST PH series, 10pins, 2mm pitch)
Connector housing: JST PHR-10
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
USB connector
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
RS485
connector
Tyco electronics 3-1634218-2
D-SUB socket with 4-40 female
screwlocks
Any standard D-SUB female 9-pin
CAN connector
Tyco electronics 3-1634218-2
D-SUB socket with 4-40 female
screwlocks
Any standard D-SUB female 9-pin
Encoder
connectors
JST B8B-PH-K-S
(JST PH series, 8 pins, 2mm pitch)
Connector housing: JST PHR-8
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Table 3.1 Connectors and mating connectors, contacts and applicable wire
00 Vows»
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3.3.1 Power Connector
The module offers a single power connector with the option for separate supply for driver electronics and
digital controller part. A single supply voltage is sufficient. All further voltages required, e.g., for the digital
components are generated on-board.
1
3
Pin
Label
Direction
Description
1
GND
Power (GND)
Common system supply and signal ground
2
VDRIVER
Power
(supply input)
Stepper driver supply voltage. Without this voltage, the
stepper driver part and therefore any motor connected
will not be energized.
3
VDIGITAL
Power
(supply input)
Supply voltage for everything else apart from the
stepper motor driver ICs. An on-board voltage regulator
will generate the necessary voltages for the digital
circuits from this supply.
This pin can be left unconnected. In this case a diode
between VDRIVER and VDIGITAL will ensure the supply of the
digital parts.
Note:
It is expected that VDIGITAL and VDRIVER are connected to
the same power supply output when both pins are
used. Otherwise ensure that VDIGITAL is always equal or
higher than VDRIVER when connected (due to the diode).
Table 3.2 Power connector
3.3.2 Motor Connector 0, 1, 2
For each stepper motor axis a separate connector is used.
4
1
Pin
Label
Description
1
OA1
Motor coil A
2
OA2
Motor coil A-
3
OB1
Motor coil B
4
OB2
Motor coil B-
Table 3.3 Motor connectors 0, 1, 2
M
A
green
B
blue
red
black
Figure 3.3 Example: how to connect a QSH5718 stepper motor
TMCM-3110
QSH5718 motor
Motor connector pin
Cable colour
Coil
Description
1
Black
A
Motor coil A pin 1
2
Green
A-
Motor coil A pin 2
3
Red
B
Motor coil B pin 1
4
Blue
B-
Motor coil B pin 2
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 9
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3.3.3 S/D IN Connector
The module offers one common connector for external Step/Direction input for all three axes. This way, an
external motion controller instead of the on-board one might be used together with the three on-board
stepper motor driver stages.
1
10
Pin
Label
Direction
Description
1
GND
Power (GND)
GND
2
S_0
Input
Step signal input for motor 0 (+24V compatible)
3
D_0
Input
Direction signal input for motor 0 (+24V compatible)
4
E_0
Input
Enable signal input for motor 0 (+24V compatible)
5
S_1
Input
Step signal input for motor 1 (+24V compatible)
6
D_1
Input
Direction signal input for motor 1 (+24V compatible)
7
E_1
Input
Enable signal input for motor 1 (+24V compatible)
8
S_2
Input
Step signal input for motor 2 (+24V compatible)
9
D_2
Input
Direction signal input for motor 2 (+24V compatible)
10
E_2
Input
Enable signal input for motor 2 (+24V compatible)
Table 3.4 S/D IN connector
3.3.4 Reference Switch Connector 0, 1, 2
For each stepper motor axis a separate reference/limit switch input connector is available.
14
Pin
Label
Direction
Description
1
GND
Power (GND)
Signal and system ground
2
+5V
Power (Supply
output)
+5V output for external circuit
3
REF_L
Input
Input for reference / limit switch left, integrated pull-up
to +5V
4
REF_R
Input
Input for reference / limit switch right, integrated pull-
up to +5V
Table 3.5 Reference switch connectors 0, 1, 2
mm mm mm mm mm mam
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3.3.5 I/O Connectors 0, 1
The module offers two I/O connectors. The number and type of inputs, outputs and supply is the same for
both connectors. Therefore, if only half of the inputs / outputs etc. is required it will be sufficient to use
just one of the two connectors and reduce/simplify cabling.
I/O CONNECTOR 0
1
10
Pin
Label
Direction
Description
1
GND
Power (GND)
GND
2
VDIGITAL
Power
(supply output)
Connected to VDIGITAL of Power connector
3
AIN_0
Input
Dedicated analog input,
input voltage range: 0… +10V,
resolution: 12bit (0… 4095)
4
IN_1
Input
Digital input (+24V compatible)
Home switch input for motor 0
5
IN_2
Input
Digital input (+24V compatible)
Home switch input for motor 1
6
IN_3
Input
Digital input (+24V compatible)
Home switch input for motor 2
7
OUT_0
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode
8
OUT_1
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode to Vdigital
9
OUT_2
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode to Vdigital
10
OUT_3
Output
Open-drain output (max. 1A)
Integrated freewheeling diode to Vdigital
Table 3.6 I/O connector 0
I/O CONNECTOR 1
1
10
Pin
Label
Direction
Description
1
GND
Power (GND)
GND
2
VDIGITAL
Power
(supply output)
Connected to VDIGITAL of Power connector
3
AIN_4
Input
Dedicated analog input,
input voltage range: 0… +10V,
resolution: 12bit (0… 4095)
4
IN_5
Input
Digital input (+24V compatible)
5
IN_6
Input
Digital input (+24V compatible)
6
IN_7
Input
Digital input (+24V compatible)
7
OUT_4
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode
8
OUT_5
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode to Vdigital
9
OUT_6
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode to Vdigital
10
OUT_7
Output
Open-drain output (max. 1A)
Integrated freewheeling diode to Vdigital
Table 3.7 I/O connector 1
0 an ll an I] an -L,|
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3.3.6 Encoder Connector 0, 1, 2
For each stepper motor axis a separate encoder input connector is available. Encoders with incremental
output signals either differential (RS422 signals) or single ended (TTL or open collector signals) with or
without zero/index channel are supported. For encoders with +5V supply the required +5V output is also
available via this connector (max. 100mA per connector).
8
1
Pin
Label
Direction
Description
1
GND
Power (GND)
Signal and system ground
2
+5V
Power
(supply output)
+5V output for external circuit (max. 100mA)
3
A+
Input
Encoder channel A+ input
(differential, non-inverting)
4
A-
Input
Encoder channel A- input
(differential, inverting)
5
B+
Input
Encoder channel B+ input
(differential, non-inverting)
6
B-
Input
Encoder channel B- input
(differential, inverting)
7
N+
Input
Encoder zero / index channel input
(differential, non-inverting)
8
N-
Input
Encoder zero / index channel input
(differential, inverting)
Table 3.8 Encoder connector 0, 1, 2
DIFFERENTIAL ENCODER SIGNALS
For differential encoder signals connect all differential signals (A+ and A-, B+ and B- and opt. N+ and N-) to
the respective connector input pins. Usually, onboard line termination should be also installed for
differential signals (close all three jumpers for 120R line termination of the respective differential encoder
input):
Place jumpers for
proper temrination
Figure 3.4 Encoder input termination
SINGLE ENDED ENCODERS
For single ended encoders (TTL or open collector signals) connect the encoder signals A, B and optional N
to the positive/non-inverting differential inputs of the encoder connector A+ / B+ / N+.
The following connections should be made:
Encoder signals
Encoder connectors 0, 1, 2
Pin
Label
Description
A
3
A+
Encoder channel A+ input (differential, non-inverting)
B
5
B+
Encoder channel B+ input (differential, non-inverting)
N/I (optional)
7
N+
Encoder zero / index channel input (differential, non-inverting)
Table 3.9 Encoder signals for single ended encoders
Pins A-, B-, N- of the encoder connector may be left unconnected.
Please refer to encoder manufacturer data sheet for correct
interface settings, also.
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3.3.7 CAN Connector
A CAN 2.0B interface is available via a standard 9-pin male D-SUB connector. Only three pins of this
connector are used. The pin assignment of these three pins is according to CiA Draft Recommendation Part
1: cabling and connector pin assignment.
5
16
9
Pin
Label
Direction
Description
1
2
CAN_L
Bi-directional
Differential CAN bus signal (inverting)
3
GND
Power (GND)
Signal and system ground
4
5
6
7
CAN_H
Bi-directional
Differential CAN bus signal (non-inverting)
8
9
Table 3.10 CAN connector
3.3.8 RS485 Connector
An RS485 interface is available via a 9-pin male D-SUB connector.
5
16
9
Pin
Label
Direction
Description
1
2
RS485-
Bi-directional
Differential RS485 bus signal (inverting)
3
GND
Power (GND)
Signal and system ground
4
5
6
7
RS485+
Bi-directional
Differential RS485 bus signal (non-inverting)
8
9
Table 3.11 RS485 connector
3.3.9 USB Connector
A USB interface is available via a Mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s)
connections.
Attention
On-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other
supply is connected. Use this to set parameters and download TMCL programs or perform firmware
updates with the module connected via USB only or inside the machine while the machine is powered off.
1
5
Pin
Label
Direction
Description
1
VBUS
Power (+5V
input)
+5V supply from Host
2
D-
Bi-directional
USB Data -
3
D+
Bi-directional
USB Data +
4
ID
Connected to signal and system ground
5
GND
Power (GND)
Signal and System ground
Table 3.12 USB connector
%: I: I:E f CD CD
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3.4 Power Supply
For proper operation care has to be taken with regard to power supply concept and design. The board
offers around 1400uF / 63V electrolytic buffer capacitors and additionally around 28uF / 63V ceramic
capacitors for supply voltage filtering.
It is important that the power supply voltage (VDRIVER and VDIGITAL) is kept below the upper limit of 52.8V DC
(48V + 10%). Otherwise the on-board electronics will seriously be damaged! Especially, when the selected
operating voltage is near the upper limit, a regulated power supply is highly recommended.
Power
connector
VDIGITAL
VDRIVER
SMBJ48A 3x470µF
GND GND
GND
47µF
GND
SK 36A
SMBJ48 A
GND
6x4.7µF
Supply of other circuits via on-board
regulators
+5V on encoder connector 0-2
+5V on reference switch connector 0-2
VDIGITAL on I/O connector 0+1
3 x TMC262 + MOSFETs
(stepper driver)
Figure 3.5 TMCM-3110 power supply concept
CAUTION!
Add external power supply capacitors!
The module contains a number of capacitors for power supply filtering. Nevertheless,
depending on operation and selected motors the resulting capacity might be not large
enough for proper supply buffering. Rule of thumb: buffer capacity should be around
1000µF per 1A power supply current located not far away from the module between
power supply wires. Please note: upper supply voltage limit must not be exceeded
not even for a short period of time! In this context it should be taken into account that
the module will transfer energy from the motor back into the supply rail when the
motor is working as generator e.g. during de-acceleration or brake conditions. In case
the power supply capacitors are not sufficient for limiting power supply rising,
additional measures have to be considered (e.g. suppressor diodes, brake resistor).
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.
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3.5 Communication
3.5.1 RS485
For remote control and communication with a host system the TMCM-3110 provides a two wire RS485 bus
interface. To select a modules’ address, the TMCM-3110 is equipped with dip switches with digits from 1 to
8. Anyhow, the switches use the binary digit system. Thus, node addresses from 1 to 255 can be set.
THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING
- All DIP switches off: RS485 address is taken from the on-board non-volatile memory (EEPROM). Factory
default value for the module address is 1.
- At least one DIP switch on: the 8 DIP switches define the RS485 address. The address is specified as
binary 8bit value DIP switches 1… 8 specify bit 1… 8 of the address
Figure 3.6 Dip switch for address selection
Note
- Per default, all dip switches are off and the module address taken from the EEPROM is 1. Per default,
the host address is 2.
- Do not use equal addresses for the host and the TMCM-3110!
For remote control and communication with a host system the TMCM-3110 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
1
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-3110 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 standard (EIA-485) allows up to 32 nodes to be connected to a single
bus. The bus transceiver used on the TMCM-3110 (SN65HVD1781D) has a significantly reduced bus
load and allows 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
E: % 9a
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 15
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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-3110 is 1Mbit/s. Factory default
is 9600 bit/s. Please see separate TMCM-6110 TMCL firmware manual for information regarding
other possible communication speeds.
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):
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+ / RS485A
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
Figure 3.5: Bus lines with resistor (Bias) network at both ends
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 16
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3.5.2 CAN
For remote control and communication with a host system the TMCM-3110 provides a CAN bus interface.
To select a modules’ address, the TMCM-3110 is equipped with dip switches with digits from 1 to 8.
Anyhow, the switches use the binary digit system. Thus, node addresses from 1 to 255 can be set.
THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING
- All DIP switches off: CAN address is taken from the on-board non-volatile memory (EEPROM). Factory
default value for the module address is 1.
- At least one DIP switch on: the 8 DIP switches define the CAN address. The address is specified as
binary 8bit value DIP switches 1… 8 specify bit 1… 8 of the address.
Figure 3.7 Dip switch for address selection
Note
- Per default, all dip switches are off and the module address taken from the EEPROM is 1. Per default,
the host address is 2.
- Do not use equal addresses for the host and the TMCM-3110!
For proper operation the following items should be taken into account when setting up a CAN network:
6. 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
1
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 3.8 CAN bus structure
7. 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-3110 does
not integrate any termination resistor. Therefore, 120 termination resistors at both ends of the
bus have to be added externally.
8. NUMBER OF NODES:
The bus transceiver used on the TMCM-3110 units (TJA1050T) supports at least 110 nodes under
optimum conditions. Practically achievable number of nodes per CAN bus highly depends on bus
length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 17
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3.5.3 USB
For remote control and communication with a host system the TMCM-3110 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. The CAN interface will be de-activated then.
The TMCM-3110 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).
USB BUS POWERED OPERATION MODE
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 comprehends 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 an 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 self powered
operation depending on the voltage level of this supply.
Motor movements are not possible in this operation mode. Therefore, connect the power connector and
change to USB self powered operation mode.
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 18
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3.6 Inputs and Outputs
3.6.1 Reference Switch Inputs
The three reference switch connectors one for each stepper motor axis offer two reference switch
inputs each, REF_L and REF_R. Both inputs have the same input circuit with voltage resistor dividers,
limiting diodes against over- and under-voltage and programmable 2k2 pull-ups to +5V. The programmable
pull-ups can be switched on or off together for all three axes.
+3.3V
REF_L
REF_R
TMC429
10k
22k
1nF
GND GND GND
2k2
+5V
Figure 3.9 Reference switch input circuit (simplified diagram)
With TMCL firmware commands GAP 10, 0 and GAP 11, 0 can be used to read out the status of the
reference switch inputs. See TMCL Firmware Manual chapter 5 about Axis parameters and Reference search
for more details.
3.6.2 General Purpose Inputs
The TMCM-3110 offers two I/O connectors with 8 inputs altogether including two dedicated analog inputs.
All inputs offer the same basic input protection circuit. The dedicated analog inputs have different input
voltage dividers in order to support a full scale input voltage range of 0…+10V. The other digital inputs
have been designed in order to be able to accept +5V and +24V signal levels.
+3.3V
IN_1
IN_2
IN_3
IN_5
IN_6
IN_7
microcontroller
10k
22k
1nF
GND GND GND
Figure 3.10 General purpose digital input circuit
With TMCL firmware command GIO <n>, 0 can be used to read out the status of the digital input <n>.
See TMCL Firmware Manual command GIO for more details.
ananananan
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 19
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+3.3V
AIN_0
AIN_4
microcontroller
22k
10k
1nF
GND GND GND
Figure 3.11 General purpose analog input circuit
With TMCL firmware command GIO <n>, 1 can be used to read out the analog / digital converted value
of the analog input <n>. See TMCL Firmware Manual command GIO for more details.
The function of the inputs might differ depending on firmware version.
3.6.3 General Purpose Outputs
The TMCM-3110 offers two I/O connectors with 8 outputs altogether. All 16 outputs are open-drain outputs
and a freewheeling diode (to VDIGTAL) is already integrated.
Note
- Two outputs offer more powerful MOSFET driver transistors supporting currents up to 1A. All other
outputs have been designed for currents up to 100mA.
- If VDIGITAL connection of the I/O connectors is used for supply of substantial current to any external
circuit, please make sure to connect VDIGTIAL in addition to VDRIVER of the power supply connector.
VDIGITAL
OUT_0,
OUT_1,
OUT_2,
OUT_3,
OUT_4,
OUT_5,
OUT_6,
OUT_7
microcontroller
GND
Figure 3.12 General purpose output (open-drain with freewheeling diode)
With TMCL firmware command SIO <n>, 2, 1 can be used to set / pull-down the output <n>. See TMCL
Firmware Manual command SIO for more details.
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 20
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3.6.4 Encoder Inputs
The TMCM-3110 offers three connectors for incremental a/b/n encoders. Encoders with or without index/
null/zero channel are supported. Differential signals, push-pull (TTL) or open-collector are accepted. For
differential signals on-board termination resistors can be activated via jumpers.
Encoder input circuit for each encoder channel:
A+
microcontroller
470R
+5V
A-
B+
470R
470R
B-
N+
N-
47k
47k
47k
3k3 2k2
+5V
GND
120R
120R
120R
Termination
jumper
microcontroller
microcontroller
Figure 3.13 Encoder input circuit
The termination jumpers three jumpers per encoder input channel are located close to the encoder
connector:
Termination jumpers
for encoder input 0
Encoder connectors
18
018
118
2
Termination jumpers
for encoder input 1
Termination jumpers
for encoder input 2
Figure 3.14 Termination jumper for differential encoder signals (jumper shown open / no termination)
For activation of line termination for differential encoder signals, jumpers have to be closed (see chapter
3.3.6).
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 21
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3.6.5 Step/Dir Inputs
The TMCM-3110 offers an external Step/Dir IN connector. This way, an external motion controller can be
used to directly control the three on-board stepper drivers via Step/Direction instead of the on-board
motion controller.
The external Step/Dir inputs offer input protection and accept +5V up to +24V compatible input signals. An
on-board multiplexer allows selection of the external Step/Dir input via software.
+3.3V
S/D/E_0
S/D/E_1
S/D/E_2
10k
22k
33pF
GND GND GND
Mux
S/D/E from internal
motion controller
microcontroller
TMC262 + MOSFETs
(stepper driver)
Figure 3.15 Step/Dir In connector input circuit
Icon pm Icon ms
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 22
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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 2.8A 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-3110 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
0.132
0.093
8..15
1
0.264
0.187
16..23
2
0.397
0.280
24..31
3
0.529
0.374
32..39
4
0.661
0.467
40..47
5
0.793
0.561
48..55
6
0.925
0.654
56..63
7
1.058
0.748
64..71
8
1.190
0.841
72..79
9
1.322
0.935
80..87
10
1.454
1.028
88..95
11
1.587
1.122
96..103
12
1.719
1.215
104..111
13
1.851
1.309
112..119
14
1.983
1.402
120..127
15
2.115
1.496
128..135
16
2.248
1.589
136..143
17
2.380
1.683
144..151
18
2.512
1.776
152..159
19
2.644
1.870
160..167
20
2.776
1.963
168..175
21
2.909
2.057
176..183
22
3.041
2.150
184..191
23
3.173
2.244
192..199
24
3.305
2.337
200..207
25
3.438
2.431
208..215
26
3.570
2.524
216..223
27
3.702
2.618
224..231
28
3.834
2.711
232..239
29
3.966
2.805
240..247
30
4.099
2.898
248..255
31
4.231
2.992
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 23
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In addition to the settings in the table the motor current may be switched off completely (free-wheeling)
using axis parameter 204 (see TMCM-3110 firmware manual).
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 24
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5 Onboard LEDs
The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on
firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation
and the red LED should be off. Please see separate TMCM-3110 TMCL firmware manual for additional
information.
If there is no valid firmware programmed into the board or during firmware update, the red and green
LEDs are permanently on.
Green LED
Red LED
Figure 5.1 On-board LEDs
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 25
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6 Reset to Factory Defaults
It is possible to reset the TMCM-3110 module 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.
PERFORM THE FOLLOWING STEPS:
1. Power supply off and USB cable disconnected.
2. Short two pads as marked in Figure 6.1.
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 and connecting USB cable all permanent settings have been
restored to factory defaults.
Short these two pins (DIO and CLK)
Figure 6.1 Reset pins (bottom view of module)
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 26
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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.
GENERAL OPERATIONAL RATINGS OF THE MODULE
Symbol
Parameter
Min
Typ
Max
Unit
VDRIVER
Power supply voltage for driver
9
24 ... 48
52.8
V
VDIGITAL
Power supply voltage for controller
(option, can be left unconnected)
VDRIVER
V
VUSB
Power supply via USB connector
5
V
IUSB
Current withdrawn from USB supply
when USB bus powered (no other supply
connected)
130
mA
I+5V
Current at +5V output for supply of
external circuits (e.g. encoder, reference /
limit switches) all +5V outputs together
400
mA
ICOIL
Motor coil current for sine wave peak
(chopper regulated, adjustable via
software)
0
4
A
IMC
Continuous motor current (RMS)
0
2.8
A
IS
Power supply current
<< 3x ICOIL
1.4x 3x
ICOIL
A
TENV
Environmental temperature at maximum
current (all six axes, no forced cooling)
-30
+40
°C
Table 7.1 General operational ratings of the module
OPERATIONAL RATINGS OF THE REFERENCE SWITCH INPUTS
Symbol
Parameter
Min
Typ
Max
Unit
VREF_L/R
Input voltage for reference switch inputs
REF_L / REF_R
0
0 .. 24
27
V
VREF_L/R_L
Low level voltage for reference switch
inputs REF_L / REF_R
0
1.1
V
IREF_L/R_H
High level voltage for reference switch
inputs REF_L / REF_R
2.9
27
V
Table 7.2 Operational ratings of the reference switch inputs
OPERATIONAL RATINGS OF THE GENERAL PURPOSE I/OS
Symbol
Parameter
Min
Typ
Max
Unit
VOUT_0..7
Voltage at open collector output
0
VDIGITAL
V
IOUT_0/1/2/4/5/6
Output sink current for OUT_0/1/2 and
OUT_4/5/6
100
mA
IOUT_3/7
Output sink current for OUT_3 and OUT_7
1
A
VIN_ 1/2/3/5/6/7
Input voltage for general purpose digital
inputs IN_1/2/3 and IN_5/6/7
0
0 .. 24
27
V
VIN_1/1/2/3/5/6/7_L
Low level voltage for general purpose
digital inputs IN_1/2/3 and IN_5/6/7
0
1.1
V
VIN_1/2/3/5/6/7_H
High level voltage for general purpose
digital inputs IN_1/2/3 and IN_5/6/7
2.9
27
V
VAIN_0/4
Full scale input voltage range for analog
voltage inputs
0
10
V
Table 7.3 Operational ratings of the general purpose I/Os
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 27
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OPERATIONAL RATINGS OF THE S/D INPUTS
Symbol
Parameter
Min
Typ
Max
Unit
VS/D/E_0/1/2
Input voltage for step inputs S_0/1/2,
direction inputs D_0/1/2 and enable
inputs E_0/1/2
0
0 .. 24
27
V
VS/D/E_0/1/2_L
Low level voltage for step inputs
S_0/1/2, direction inputs D_0/1/2 and
enable inputs E_0/1/2
0
1.1
V
VS/D/E_0/1/2_H
High level voltage for step inputs
S_0/1/2, direction inputs D_0/1/2 and
enable inputs E_0/1/2
2.9
27
V
Table 7.4 Operational ratings of the S/D inputs
OPERATIONAL RATINGS OF THE ENCODER INPUTS 0/1/2
Symbol
Parameter
Min
Typ
Max
Unit
VA+/A-/B+/B-/N+/N-
Voltage at encoder signal inputs
-0.3
+5.5
V
Table 7.5 Operational ratings of the encoder inputs 0/1/2
OPERATIONAL RATINGS OF THE RS485 INTERFACE
Symbol
Parameter
Min
Typ
Max
Unit
NRS485*)
Number of nodes connected to single
RS485 network
320
1/tRS485*)
Maximum signaling rate
1
Mbps
Table 7.6 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
1/tCAN*)
Maximum signaling rate
1
Mbps
Table 7.7 Operational ratings of the RS485 interface
*) Please note: maximum signaling rate and maximum number of nodes will not be achieved at the same
time (for both serial bus interfaces - RS485 and CAN). With increasing number of nodes per bus and
increasing bus length the maximum data rate usually has to be reduced. Maximum number of nodes per
bus and maximum signaling rate might be limited by firmware (with TMCL max. 255 nodes), also.
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 28
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8 Functional Description
The TMCM-3110 is a highly integrated 3-axes controller and driver module with encoder inputs. It can be
controlled via CAN, RS485 or USB serial interfaces. Communication traffic is kept low since all time critical
operations, e.g. ramp calculation are performed onboard. 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 module are shown:
- the microprocessor, which runs the TMCL or CANopen operating system
- the TMCL program memory (stores up to 2048 TMCL commands)
- 1x motion controller for three axes, which calculates ramps and speed profiles by hardware
- 3x power driver with stallGuard2 and the energy efficient coolStep feature
- 3x external MOSFET driver transistors
- RS485, CAN and USB transceivers
- on-board switching and linear voltage regulators for supply of on-board digital circuits
- 3x encoder interface
Power supply
µC
TMCL
Memory
CAN
USB
8
Inputs
Motion
Controller
with TMC429
+5V
TMCM-3110
3x 2 reference
switches
8
Outputs
RS485
SPI
SPI
SPI
S/D
S/D
S/D
+5V
Motor 0
Motor 1
Motor 2
Power
Driver
TMC262
Power
Driver
TMC262
Power
Driver
TMC262
E
E
E
MOSFET
Driver
Stage
MOSFET
Driver
Stage
MOSFET
Driver
Stage
S/D In 3x encoder
inputs
ABN
Figure 8.1 TMCM-3110 block diagram
The TMCM-3110 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCL). Using predefined TMCL high level commands as move to position a rapid
and fast development of motion control applications is guaranteed.
Please refer to the TMCM-3110 Firmware Manual for more information about TMCL commands.
m
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 29
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9 Operational Description
9.1 Calculation: Velocity and Acceleration vs. Microstep and
Fullstep Frequency
The values of the parameters sent to the TMC429 do not have typical motor values like rotations per
second as velocity. But these values can 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 velocityHzf
Hzusf
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
Hzusf
Hzfsf 2
][
][
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
2
divrampdivpulse
CLK af
a
This results in acceleration in fullsteps of:
usrs
a
af 2
with af: acceleration in fullsteps
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 30
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EXAMPLE:
Signal
value
f_CLK
16 MHz
velocity
1000
a_max
1000
pulse_div
1
ramp_div
1
usrs
6
Hz
MHz
msf 31.122070
3220482
100016
1
HzHzfsf 34.1907
2
31.122070
][ 6
s
MHz
Mhz
a21.119
2
1000)16(
2911
2
s
MHz
s
MHz
af 863.1
2
21.119
6
CALCULATION OF THE NUMBER OF ROTATIONS
A stepper motor has e.g. 72 fullsteps per rotation.
49.26
72
34.1907 rotationperfullsteps
fsf
RPS
46.1589
72
6034.190760
rotationperfullsteps
fsf
RPM
Wm mm Mm, m“:
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 31
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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 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 2013 - 2014
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.
httgfllwwqutcom http://wwwm n amxcLom http://wwwm n amxcLom http://wwwm n amxcLom http://wwwm n amxcLom
TMCM-3110 V1.1 Hardware Manual (Rev. 1.02 / 2014-12-11) 32
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11 Revision History
11.1 Document Revision
Version
Date
Author
Description
0.90
2012-SEP-26
GE
Preliminary version
1.00
2013-JUN-12
SD
First complete version
1.01
2013-JUL-23
SD
Minor changes
1.02
2014-DEC-11
GE
- Home switch inputs added
- Table with motor current settings added (chapter 4)
- Minor corrections / additions
Table 11.1 Document revision
11.2 Hardware Revision
Version
Date
Description
TMCM-3110_V10
2012-MAY-25
Initial version
TMCM-3110_V11
2012-AUG-17
Few corrections and enhancement:
- Processor reset corrected
- Encoder N-channel connected to different port-pin for better
interrupt handling in software
Table 11.2 Hardware revision
12 References
[JST] JST connector
http://www.jst.com
[USB-2-485] USB-2-485 interface converter
Manual available on http://www.trinamic.com
[TMC262] TMC262 datasheet
Manual available on http://www.trinamic.com.
[TMC429] TMC429 datasheet
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