StepRocker TMCM-1110 Bedienungsanleitung

MODULES FOR STEPPER MOTORS MODULES

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

V 1.04

HARDWARE MANUAL

+ +

TMCM-1110 V1.1

1-axis stepper controller / driver

1A RMS / 2.8A RMS

24V DC

USB, RS485

+ +

UNIQUE FEATURES:

TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31)2

Table of contents

1Life support policy ....................................................................................................................................................... 3

2Features........................................................................................................................................................................... 4

3Order codes.................................................................................................................................................................... 5

4Mechanical and electrical interfacing ..................................................................................................................... 6

4.1 Size of board......................................................................................................................................................... 6

4.2 Connectors............................................................................................................................................................. 7

4.2.1 Power connector............................................................................................................................................ 8

4.2.2 I/O connector to S3FN41F........................................................................................................................... 8

4.2.3 Motor connector............................................................................................................................................. 8

4.2.4 Reference switch connector to TMC429 .................................................................................................. 9

4.2.5 RS485 and CAN connector .......................................................................................................................... 9

4.2.6 USB connector ..............................................................................................................................................10

4.2.7 Step/dir input connector (motor 0)........................................................................................................10

4.2.8 Step/dir output connectors (motor 1 and motor 2)..........................................................................10

4.2.9 µC programming interface........................................................................................................................11

4.3 Jumper settings ..................................................................................................................................................12

4.4 LEDs .......................................................................................................................................................................13

4.5 Communication ..................................................................................................................................................13

4.5.1 RS485...............................................................................................................................................................13

4.5.2 USB...................................................................................................................................................................14

4.5.3 CAN (retro-fit option)..................................................................................................................................15

5Functional description ..............................................................................................................................................16

5.1 Extensions of the TMCM-1110 stepRocker ..................................................................................................17

6Operational ratings ....................................................................................................................................................18

7Revision History ..........................................................................................................................................................19

7.1 Document revision ............................................................................................................................................19

7.2 Hardware revision .............................................................................................................................................19

8References.....................................................................................................................................................................19

TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31)3

1Life 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.

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.

TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31)4

2Features

The TMCM-1110 stepRocker is a single axis motor controller/driver board for 2-phase bipolar stepper motors. It

features the TRINAMIC controller/driver chain consisting of TMC429 and TMC262 in combination with a Samsung

S3FN41F processor. The Module is intended to be a fully functional development platform. A stepRocker can be

extended to a full 3-axes system using two additional boards, because the TMCM-1110 stepRocker board can be

both, master or slave.

Software wise two different approaches are possible: it is possible to use the stepRocker with the

TrinamicMotionControlLanguage TMCL™. The board comes with the preinstalled firmware. The integrated

development environment TMCL-IDE for PC can be downloaded and used free of charge. It is possible to

remote control the stepRocker or to write and download complete command sequences for standalone use.

The alternative is to write the firmware for the microcontroller using downloadable software tools and motion

control libraries (refer to www.motioncontrol-community.org).

Applications

Highly compact single axis stepper motor controller/driver board for 2-phase bipolar stepper motors

2- and 3-axis systems using additional boards as slaves

Electrical data

Supply voltage: +24V DC (+10… +30V DC)

Motor current: up to 1A RMS or 2.8A RMS (can be selected with jumpers)

Mechanical data

Board size: 85mm x 55mm, height 15mm max. without mating connectors

4 mounting holes for M3 screws

Interfaces

RS485 host interface

USB 2.0 host interface (mini-USB connector)

Step/Dir input (TTL level)

Step/Dir outputs (TTL level) for multi axis applications

3 multi-purpose inputs (can be used for ABN-encoder)

2 limit switch inputs per motor

6 multi-purpose I/Os

2 open-drain outputs

µC programming interface SWD (single wire debug / pads on PCB)

Retro-fit option: CAN 2.0B communication interface

Features

TMC429 stepper motor controller IC for on-the-fly alteration of many motion specific parameters

TMC262 advanced stepper motor driver IC with stallGuard2™and coolStep™features. Using the spreadCycle

chopper the µstep current sine wave is well formed with smooth zero crossing.

Ready for dcStep™

Up to 256 microsteps per fullstep trough mircoPlyer technology

2 x end switch for all three axes.

EEPROM

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 note that the TMCM-1110 stepRocker can be used with a special TMCL™ firmware version with its source

codes in order to provide new developments, too. Here is your platform for individual TMCL™ extensions:

www.motioncontrol-community.org or www.steprocker.com.

TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31)5

3Order codes

The standard version of the stepRocker has RS485 interface and USB interface.

The module is pre-programmed with TRINAMICs TMCL™Firmware with all available features. For developing

one’s own firmware please refer to www.steprocker.com or www.motioncontrol-community.org.

Order code

Description

Size of unit [mm3]

TMCM-1110 stepRocker

The stepRocker is a 1-axes bipolar stepper motor

controller/driver module with RS485 and USB

85 x 55 x 15

Table 3.1: TMCM-1110 order codes

Order code

Description

CABLE-USB-MINI

USB-mini cable

Table 3.4: Related product

TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31)6

4Mechanical and electrical interfacing

4.1 Size of board

The board with the controller/driver electronics has an overall size of 85mm x 55mm x 15mm without mating

connectors. It offers four mounting holes for M3 screws (3.2mm diameter). All four mounting holes are

connected to the ground plane (signal and supply ground) of the module.

Ø 3.2

4 x M3

screws

Figure 4.1: Board dimensions and position of mounting holes (all values in mm).

TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31)7

4.2 Connectors

The TMCM-1110 stepRocker has nine connectors altogether. There are two screw connectors for power and

motor and two interface connectors (mini-USB and RS485). Further, the stepRocker has one connector for

reference switches for all three motors, the driver input connector (TTL level) for motor 0, two controller output

connectors (TTL level) for motors 1 and 2 and the GPIO connector, which can be used e.g. for connecting an

ABN-encoder.

Start with power supply OFF and do not disconnect the motor while the board is powered as this can

destroy the transistors!

Power

Motor

Reference

switches

Controller

Out 1

Controller

Out 2

GPIO Driver

USB

RS485

(CAN

optional)

14 1

Figure 4.2: TMCM-1110 stepRocker connectors

CONNECTORS OF TMCM-1110 STEPROCKER

Label

Connector type

Mating connector type

Power

RIA 220-02, 2 pol., 5.08mm pitch,

shrouded header

RIA 249-02, screw type terminal block,

pluggable, centerline 5.08mm pitch

Motor

RIA 183-04, 4 pol., 3.5mm pitch,

shrouded header

RIA 169-04, screw type terminal block,

pluggable, centerline 3.5mm pitch

USB

USB-mini female connector

USB-mini male connector

RS485/CAN

Low profile box header without locking

bar, type 8380, 10 pol., DIN 41651,

2.54mm pitch

Low profile IDC socket connector, 10pol.,

DIN41651, 2.54mm pitch

GPIO

Multi-pin-connector, 14 pol., 2.54mm

pitch

Female connector with 2.54mm pitch

Ref. switches

Multi-pin-connector, 7 pol., 2.54mm pitch

Female connector with 2.54mm pitch

Driver In

Multi-pin-connector, 3 pol., 2.54mm pitch

Female connector with 2.54mm pitch

Controller Out 1, 2

Multi-pin-connector, 3 pol., 2.54mm pitch

Female connector with 2.54mm pitch

Table 4.1: Connectors and mating connectors

Because of the characteristic of the TMCM-1110 stepRocker as development platform TRINAMIC offers its

internal circuit diagram here: www.steprocker.com or www.motioncontrol-community.org. Please refer to the

diagram in order to get further information about the pin assignments of µC, TMC429, and TMC262.

TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31)8

4.2.1 Power connector

Take care of the polarity, wrong polarity can destroy the board!

Label

Direction

Description

GND

Power (GND)

Common system supply and signal ground

10… 30V

Power (input)

Power supply voltage.

Table 4.2: Power connector

4.2.2 I/O connector to S3FN41F

Label

Direction

Description

GND

Power (GND)

Supply and signal ground

GND

Power (GND)

Supply and signal ground

PWMD_0

in/out