Trinamic PANdrive PD013-42 User manual

PANdrive PD013-42
and
TMCM-013 and TMCM-013-LA
Manual
STEPPER motor controller/driver module
1A RMS (1.5A peak) / 30V
with RS485 and step-/ direction interface
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg, Germany
Phone [phone] – 0
FAX: [phone] – 60
http://www.trinamic.com
[email protected]

TMCM-013 Manual (V1.14 / January 17th, 2006) 2
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1Features ........................................................................................................................................... 4
2Life support policy ............................................................................................................................ 5
3Outer Description ............................................................................................................................. 6
3.1 Pinning ...................................................................................................................................... 6
3.2 Dimensions ............................................................................................................................... 7
3.3 Connectors................................................................................................................................ 7
4Operational Ratings.......................................................................................................................... 8
4.1 Step, Direction and Disable Inputs............................................................................................ 9
5Getting Started ............................................................................................................................... 10
5.1 Assembly of Parts ................................................................................................................... 10
5.2 Motor ....................................................................................................................................... 10
5.2.1 Motor Choice...................................................................................................................... 10
5.2.1.1 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM)............................................. 11
5.2.1.2 Chopper Mode 2 (PHASE) ....................................................................................... 11
5.2.2 Motor Contact..................................................................................................................... 13
5.3 Connections for Step-Direction-Mode..................................................................................... 13
5.4 Connections for RS485-Mode................................................................................................. 14
6Functional Description.................................................................................................................... 15
6.1 Disable .................................................................................................................................... 15
6.2 RS485 Control Interface .........................................................................................................15
6.2.1 RS485 Commands............................................................................................................. 16
6.2.1.1 Example for test move:............................................................................................. 17
6.2.1.2 Motor Current (C) ..................................................................................................... 17
6.2.1.3 StallGuard (G) .......................................................................................................... 17
6.2.1.4 Limit Switch (L) ......................................................................................................... 18
6.2.1.5 I/Os Readout (Q) ...................................................................................................... 18
6.2.1.6 Baud Rate (U)........................................................................................................... 18
6.2.1.7 Store Parameters to EEPROM (W).......................................................................... 19
6.2.1.8 Microstep Resolution (Z) .......................................................................................... 19
6.2.2 Chopper Modes ................................................................................................................. 19
6.2.2.1 Chopper Mode 0 (SPI) / Default Mode ..................................................................... 19
6.2.2.2 Chopper Mode 1 (PWM)........................................................................................... 20
6.2.2.3 Chopper Mode 2 (PHASE) ....................................................................................... 20
6.3 Step-Direction ......................................................................................................................... 21
6.3.1 Direction ............................................................................................................................. 21
6.3.2 Step.................................................................................................................................... 22
6.4 Reset to factory default ........................................................................................................... 22
6.5 Option: Pseudo DC-Motor mode............................................................................................. 23
6.5.1 Changes required for DC motor mode operation............................................................... 23
6.5.2 Parameterizing with RS485 ............................................................................................... 24
6.5.3 Motion Control.................................................................................................................... 24
7Revision History ............................................................................................................................. 25
7.1 Documentation Revision ......................................................................................................... 25
7.2 Firmware Revision .................................................................................................................. 25
8References ..................................................................................................................................... 26

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
List of Figures
Figure 3.1: Pinning of TMCM-013 and TMCM-013-LA ........................................................................... 6
Figure 3.2: Dimensions for TMCM-013 ................................................................................................... 7
Figure 3.3: Dimensions for TMCM-013LA............................................................................................... 7
Figure 4.1: Step, Direction and Disable Inputs........................................................................................ 9
Figure 5.1: Assembly of parts................................................................................................................ 10
Figure 5.2: Maximum Supply Voltage regarding Motor Current and Inductivity.................................... 12
Figure 5.3: Motor contacts..................................................................................................................... 13
Figure 5.4: Contacts for Step-Direction ................................................................................................. 13
Figure 5.5: Contacts for RS485............................................................................................................. 14
Figure 6.1: Step-Direction signals and motor reactions ........................................................................ 21
Figure 6.2: Step and Direction Signal.................................................................................................... 22
Figure 6.3: Reset to factory default ....................................................................................................... 22
Figure 6.3: Layout Changes for act like DC-Motor option ..................................................................... 23
List of Tables
Table 1.1: Order codes............................................................................................................................ 4
Table 3.1: Pinning of TMCM-013 and TMCM-013-LA............................................................................. 6
Table 4.1: Operational Ratings................................................................................................................ 8
Table 5.1: Maximum Supply Voltage regarding Motor Current and Inductivity..................................... 11
Table 6.1: RS485 Commands ............................................................................................................... 16
Table 6.2: Motor Current Examples ...................................................................................................... 17
Table 6.3: StallGuard............................................................................................................................. 17
Table 6.4: Limit switch ........................................................................................................................... 18
Table 6.5: I/Os Readout ........................................................................................................................ 18
Table 6.6: Baud rate .............................................................................................................................. 18
Table 6.7: Adjusting of Microstep Resolution ........................................................................................ 19
Table 6.8: External signals and motor reactions ................................................................................... 21
Table 7.1: Documentation Revisions..................................................................................................... 25
Table 7.2: Firmware Revisions.............................................................................................................. 25

TMCM-013 Manual (V1.14 / January 17th, 2006) 4
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
1 Features
The PD-013-42 is a mechatronic stepper motor module with step-/direction interface plus remote
configuration access. It is based on the TMCM-013-42 one axis stepper motor controller and driver for
integration directly on a NEMA-17 motor. The TMCM-013-LA supports NEMA-17 linear actuators. With
up to 1.5 A coil current it operates from a single 7 to 30V power supply. It provides step/direction, RS-
485 and an optional pseudo DC interface for remote control. Up to 256 micro steps are available for
either high accuracy or high speed. It integrates velocity and torque control as well as positioning
mode. An update of the firmware is possible via the serial interface. The system features sensorless
stall detection (StallGuardTM).
Applications
• Mechatronic step-/ direction stepper driver for general decentralized applications
• Robotics
• Remote diagnostics / feedback allows for high-reliability drives
Motor type
• Coil current from 300mA to 1A RMS (1.5A peak)
• 7V to 30V nominal supply voltage
PANdrive Motor data
• all PANdrive motors optimized for 1A RMS coil current
• please refer to motor data sheet for detailed motor information
Highlights
• Remote controlled diagnostics and parameterization (RS485)
• Reference move and turn CW / CCW via RS485
• Stand-alone operation, adjusted via RS485
• Fully protected drive
• Digital selection of motor current and standby current
• Local reference move using sensorless StallGuard feature or reference switch
• All setup parameters are stored in internal EEPROM, no bus system required in end application
• Micro step resolution can be changed to get high accuracy or high speed with the possibility to
combine both
• Different chopper modes allow best adaptation to application / motor
• Many adjustment possibilities make this module the solution for a great field of demands
Other
• pluggable JST connectors
• RoHS compliant latest from 1 July 2006
Order code Description Dimensions [mm³]
PD1-013-42 PANdrive 0.27Nm 53 x 42 x 42
PD2-013-42 PANdrive 0.35Nm 59 x 42 x 42
PD3-013-42 PANdrive 0.49Nm 69 x 42 x 42
TMCM-013 Electronics module 14 x 42 x 42
TMCM-013-LA Electronics module 14 x 42 x 50
Table 1.1: Order codes

TMCM-013 Manual (V1.14 / January 17th, 2006) 5
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
2 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 2005
Information given in this data sheet is believed to be
accurate and reliable. However no responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result form its use.
Specifications subject to change without notice.

TMCM-013 Manual (V1.14 / January 17th, 2006) 6
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3 Outer Description
3.1 Pinning
TMCM-013
TMCM-013LA
Motor connection
OA1 OA2 OB1 OB2
Pin 16
Pin 15
Pin 14
Pin 13
Pin 12
Pin 11
Pin 10
Pin 09
Pin 08
Pin 07
Pin 06
Pin 05
Pin 04
Pin 03
Pin 02
Pin 01
RS485B
RS485A
GND
REF B
+5V
REF A
GND
GPI
GPO
Alert
Step
Direction
Disable
GND
VS = 7...28V
Motor connection
OA1 OA2 OB1 OB2
U = 5...24V
common
Figure 3.1: Pinning of TMCM-013 and TMCM-013-LA
Pin Number Function
VS 1 Positive power supply voltage
GND 2 GND, power
VCOM 3 Reference voltage for step-direction inputs. Positive optocoupler supply.
Required for negative logic.
Disable 4 Tie to GND to shut down motor power, leave open or at VCOM otherwise
Direction 5 Tie to GND to inverse motor direction, leave open or at VCOM otherwise
Step 6 Step signal, optically isolated (Cathode of optocoupler)
Alert 7 Alert output
GPO 8 General Purpose Output
GPI 9 General Purpose Input
GND 10 GND reference
REF A 11 Reference Signal A
+5V 12 Constant +5V output, reference
REF B 13 Reference Signal B
GND 14 GND for RS485
RS485A 15 RS485 remote control access A, TTL input
RS485B 16 RS485 remote control access B, TTL input
OA1, OA2 Connections for motor coil A
OB1, OB2 Connections for motor coil B
Table 3.1: Pinning of TMCM-013 and TMCM-013-LA

TMCM-013 Manual (V1.14 / January 17th, 2006) 7
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.2 Dimensions
42mm*42mm*14mm (Height is measured by the highest part on PCB, be aware that the connectors
are upright). The mounting holes and the center hole for TMCM-013 are 3.2mm. The center hole of
the TMCM-013-42 is 6.0mm and of the TMCM-013LA 12.5mm.
TMCM-013
36.5 mm
42 mm
5.5 mm
42 mm
36.5 mm
36.5 mm
21.0 mm
21.0 mm
Figure 3.2: Dimensions for TMCM-013
TMCM-013LA
5.4 mm
44.6 mm
36.4 mm
12.5mm
20.9 mm
20.9 mm
36.4 mm
50.0 mm
41.8 mm
Figure 3.3: Dimensions for TMCM-013LA
3.3 Connectors
Both connectors are crimp connectors series B4B-PH-SM3-TB, PH-connector.
Motor: 4 pin connector
Control: 16 pin connector

TMCM-013 Manual (V1.14 / January 17th, 2006) 8
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
4 Operational Ratings
The operational ratings show the intended / the characteristic range for the values and should be used
as design values. In no case shall the maximum values be exceeded.
Symbol Parameter Min Typ Max Unit
VSPower supply voltage for operation 7 12 .. 24 30 V
ICOIL Motor coil current for sine wave
peak (chopper regulated,
adjustable via software)
440..1500 mA
IMC Continuous motor current (RMS) 300 .. 1000 1000 mA
fCHOP Motor chopper frequency (actual
frequency depends on operation
mode)
20 / 36 kHz
ISPower supply current << ICOIL 1.4 * ICOIL A
VISO Isolation voltage of optocoupler ± 42 ±100 V
VCOM Supply voltage for step, direction
and disable; (inputs have negative
logic)
5 .. 24 27 V
VOPTON Voltage at disable, step and
Direction input for optocoupler on
(signal active)
-3 0..22 25 V
VOPTOFF Voltage at disable, step and
direction input for optocoupler off
(signal inactive)
4..24 27 V
IOPT Optocoupler current (internally
regulated)
25 50 mA
fSTEP Step frequency 350 kHz
tDELAY Direction hold time after step
Impulse active (falling) edge
0,7 µs
tSETUP set up time before step Impulse 2,0 µs
VGPI Analog input voltage on GPI -2 0 .. 28 28 V
TENV Environment temperature for
operation
-25 70 °C
Table 4.1: Operational Ratings

TMCM-013 Manual (V1.14 / January 17th, 2006) 9
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
4.1 Step, Direction and Disable Inputs
The inputs disable, dir and step are electrically isolated from the module. Their functional voltages
VOPTON and VOPTOFF are directly depending on VCOM. To decouple the difference between VOPTOFF and
VCOM has to be less than 1.0V and to interconnect the difference between VCOM and VOPTON has to
exceed 3.5V.
VOPTOFF and VOPTON must not exceed VCOM.
VCOM - VOPTOFF < 1.0V
VCOM - VOPTON >= 3.5V
U
COM
5..24V
Disable
Dir
Step
C
E
A
C
C
E
A
C
C
E
A
C
GND
µC
A: Anode
C: Cathode
C: Collector
E: Emitter
+5V
Figure 4.1: Step, Direction and Disable Inputs
Examples:
V
OPTOFF
V
OPTON
V
STEP
= 0V 1.5V 4.0V 5V
undefined
20V19.0V16.5V
V
OPTON
V
OPTOFF
undefined
V
COM
= 5V
V
COM
= 20V
V
STEP
= 0V

TMCM-013 Manual (V1.14 / January 17th, 2006) 10
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5 Getting Started
5.1 Assembly of Parts
TMCM-013
screw
+
=>
MOTOR
screw off
screw off
cable contact
distance bolt
MOTOR
TMCM-013
screw distance bolt
MOTOR
TMCM-013
Figure 5.1: Assembly of parts
We recommend a minimum distance between the TMCM-013 and motor of 5mm. The module can be
directly attached to the motor backbell with an electrical insulation spacer. Appropriate cooling might
be necessary if the motor itself gets very hot.
5.2 Motor
Do not connect or disconnect the motor while power on. Damage to the module
may occur.
5.2.1 Motor Choice
Care has to be taken concerning the selection of motor and supply voltage. In the different chopper
modes different criteria apply. Modes 0 and 1 are quite insensitive to the motor choice, while Mode 2
is very sensitive, because it uses a different motor current regulation scheme. This chapter gives
some mathematical information on the motor choice, but you can skip it if you want to experiment with
a given motor. Normally, best results will be achieved when operating the given motor in a range of 50
to 100% of nominal motor current (see motor data sheet). Mode 2 and mode 1 are mainly intended for
slow, smooth and very exact movements, due to the high microstepping resolution. For dynamic
operation choose mode 0.

TMCM-013 Manual (V1.14 / January 17th, 2006) 11
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5.2.1.1 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM)
In these two modes the maximum supply voltage (VS) of the motor must not exceed 22-25 times the
nominal motor voltage (VN), regarding the multiplication of ICOIL, MAX and RMOTOR. A higher value would
lead to an excess of motor rating.
The minimum supply voltage has to be above two times the nominal motor voltage.
MOTORMAX,COILN
NSN
RIV
V25...22VV2
⋅=
⋅≤≤⋅
5.2.1.2 Chopper Mode 2 (PHASE)
In Table 5.1 and Figure 5.2 examples of maximum supply voltages VSregarding the current ICOIL and
inductivity L of your motor are specified.
For further information, including a formula and description how to calculate the maximum voltage for
your setup, refer to 6.2.2.3
ICOIL (RMS) L (min.) VS(max.)
800 mH 24 V
600 mH 18 V
400 mH 12 V
1000 mA
233 mH 7 V
1150 mH 24 V
860 mH 18 V
570 mH 12 V
700 mA
333 mH 7 V
1600 mH 24 V
1200 mH 18 V
800 mH 12 V
500 mA
466 mH 7 V
2300 mH 24 V
1720 mH 18 V
1150 mH 12 V
350 mA
666 mH 7 V
Table 5.1: Maximum Supply Voltage regarding Motor Current and Inductivity

TMCM-013 Manual (V1.14 / January 17th, 2006) 12
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
0
500
1000
1500
2000
350 450 550 650 750 850 950
ICOIL /mA
L /mH
VS = 24V VS = 18V VS = 12V VS = 7V
Figure 5.2: Maximum Supply Voltage regarding Motor Current and Inductivity
Any combination of motor coil current and inductivity witch is above the curve for maximum supply
voltage (VS) is possible to drive the motor in this mode. Check your motor statistics, please.

TMCM-013 Manual (V1.14 / January 17th, 2006) 13
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5.2.2 Motor Contact
TMCM-013
OB2
OB1
OA2
OA1
Figure 5.3: Motor contacts
5.3 Connections for Step-Direction-Mode
The step-direction-mode is enabled if the acceleration command is set to 0 (default) using the RS485.
5 ... 28 V
GND
GND
GND
Disable
Common
0 V
rotation off on
Step
Common
0 V
Velocity Deceleration Acceleration
const.
Dir
Common
0 V
rotating direction
Dir
Common
Disable
Step
PWR 7...28 V
TMCM-013
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Figure 5.4: Contacts for Step-Direction
The maximum step frequency is 350 kHz.

TMCM-013 Manual (V1.14 / January 17th, 2006) 14
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5.4 Connections for RS485-Mode
The RS485-Mode is enabled if the acceleration command differs from 0.
TMCM-013
Pin 1
PWR 7...28 V
Pin 2
Pin 14
Pin 15
Pin 16
GND
optional
Example:
Current: AC 50
Acceleration: AA 400
Velocity: AV 50000
Other direction: AV -50000
Stop: AV 0
B
A
RS 485
Interface
Terminal
Figure 5.5: Contacts for RS485

TMCM-013 Manual (V1.14 / January 17th, 2006) 15
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6 Functional Description
The TMCL-013 module has three different modes to control a stepper motor: step-direction, RS485
and pseudo DC-mode. With the RS485 it is possible to change parameters and save them to the
EEPROM of the module to have all options in any mode. Therefore there are different settings like
microstep resolution possible in step-direction mode also.
6.1 Disable
Description: The disable works as an emergency shutdown. Connected to ground all power to the
motor will shut down independent of the current settings.
It is in the users responsibility to stop the step impulses or set the velocity to zero before enabling the
motor again, because it would start abrupt otherwise.
Function Table:
VOPTON open wire VOPTOFF
motor disabled motor enabled
6.2 RS485 Control Interface
The RS485 interface can control all functions of the TMCM-013. It is possible to change parameters,
with this interface which are also valid in the other modes like max. velocity or acceleration. The
parameters can be written to the EEPROM to obtain the changes after a restart.
A Reset to factory default is possible. Default address byte is “A” and default baud rate is 9600 baud.

TMCM-013 Manual (V1.14 / January 17th, 2006) 16
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1 RS485 Commands
For RS485 commands write the address byte (default is A) first, followed by an command from the
following list. A small command letter provides the actual setting.
Command Function Description Range Factory
Default
A, a Acceleration Acceleration: v = 28.96 * a 0
C, c Set Motor
Current
Motor current in percentage of maximum
current
(0..100% * 1500mA). Refer to 6.2.1.2
0..100 20
G, g StallGuard
In mode 0 (SPI) the StallGuard feature is
functional. ‘g’ provides the actual StallGuard
value, not the setting. Refer 6.2.1.3
-7..0..+7 0
L Limit switch Used to switch on and off reference run
values. Refer byte -
M, m Select Mode Select chopper mode: 0:SPI, 1:PWM,
2:PHASE (default) 0, 1, 2 2
N Alarm if (n mod 256) > 0 -> ALARM = 0, else
ALARM = 1 0..256 0
O Set Output if G > 0 -> GPO = 0 (LED on),
if G = 0 -> GPO = 1 (LED off) 0..256 0
P Set Position Set position without moving the motor 32 bit 0
Q Read I/Os
Provides out of the I/O the values of the
ports GPI, REF_A, REF_B, GPO and
ALARM. Refer to 6.2.1.5
- -
R Read Current
Position Provides the current position of the motor 32 bit -
S Changes
address byte
Capital letter followed by the command ‘S’
makes this letter the new address byte A
T, t RS485-
Timeout Sets the RS485-Timeout
U, u Set baud rate Sets baud rate for RS485 communication.
Refer to 6.2.1.6 0…7 0
V, v Velocity for
Rotation
Velocity for rotation / reference run
v = n * 0.149157 usteps/s 0
W
Store
parameters to
EEPROM
Stores settings to EEPROM to restart with
the same performance. Refer 6.2.1.7 - -
X Version
number
Provides version number of implemented
Software
Y, y Standby
current
Sets 0..100% of maximum current after 1
second motor inactivity. For no standby
current use the same value as for “Set motor
current”.
0..100 20
Z, z Microstep
Resolution
Divides the maximum microstep resolution
(0: max; 4: min). Refer to 6.2.1.8, Table 6.7 0..4 0
Table 6.1: RS485 Commands
Examples:
1. S Select SPI Mode:
AM 0 ⇒ENTER
2. Read out the actual mode
Am ⇒ENTER ⇒CR (carriage return)
3. Change Microstep resolution ¼ of max. resolution
AZ 2 ⇒ENTER

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1.1 Example for test move:
• Different accelerations and velocity
AA 500, AV 50000, AV –50000 ⇒try other AA 0…8000, AV 0…400000
• Max. current – test of torque
AA 500, AV 50000, AC 200 ⇒test torque ⇒AC 20 ⇒test torque
• Read and set position
AV 0, AR, “Send CR only”, AP 0, AR, “Send CR only”, AA 500, AV 50000, AR, “Send CR only”
6.2.1.2 Motor Current (C)
The Motor current can be set by the user. To do this use the RS485 command “AC” in addition with
following values. For chopper mode 2, the maximum setting is about 80% to 90% - at higher settings,
motor microstep behaviour may become harsh. The actual maximum depends upon the actual motor.
This is due to some internal restrictions.
AC ICOIL,PP ICOIL,RMS % to max.
ICOIL
100 1.50A 1.06A 100% *)
80 1.20A 0.85A 75%
66 1.00A 0.71A 66%
50 0.75A 0.53A 50%
33 0.50A 0.35A 33%
20 0.30A 0.21A 25%
0 0.00A 0.00A 0%
Table 6.2: Motor Current Examples
*) Not possible for chopper mode 2.
6.2.1.3 StallGuard (G)
The StallGuard feature is available in the default mode 0 (SPI) only. It is a sensorless load
measurement and stall-detection. Overload is indicated before steps are lost. The small command ‘g’
provides the actual StallGuard value of the motor so easy calibration is possible.
Value Description
-7..-1 Motor stops when StallGuard value is reached and position is set zero
(useful for reference run).
0 StallGuard function is deactivated (default)
1..7 Motor stops when StallGuard value is reached and position is not set zero.
Table 6.3: StallGuard

TMCM-013 Manual (V1.14 / January 17th, 2006) 18
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1.4 Limit Switch (L)
The parameter ‘L’ defines the different reference entrances of the module. The motor stops when the
defined position is reached.
Bit Motor stops at
0 REF_B = 0
1 REF_A = 0
2 GPI = 0
3 REF_B = 1
4 REF_A = 1
5 GPI = 1
6 0: soft stop, 1: hard stop
7 0: sets position zero
1: sets position not to zero
Table 6.4: Limit switch
To activate a reference switch set the appropriate bit to 1. When motor stops the position counter is
set to zero.
Example:
AL 8 ⇒ENTER : Activates REF_B = 1. When destination reached motor stops and position counter is
set to zero.
6.2.1.5 I/Os Readout (Q)
Command:
AQ ⇒ENTER ⇒CR (carriage return)
Bit 7 6 5 4 3 2 1 0
Port 0 0 0 GPI REF_A REF_B GPO ALARM
Table 6.5: I/Os Readout
6.2.1.6 Baud Rate (U)
The parameter ‘U’ changes the baud rate of the module for RS485 communication.
Parameter U Baud rate
0 9600 baud
1 14400 baud
2 19200 baud
3 28800 baud
4 38400 baud
5 57600 baud
6 76800 baud
7 115200 baud
Table 6.6: Baud rate

TMCM-013 Manual (V1.14 / January 17th, 2006) 19
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1.7 Store Parameters to EEPROM (W)
This command stores different parameters to the EEPROM to restart with the same performance after
power down.
The stored parameters are:
• Current setting (C)
• Microstep resolution (Z)
• Selected Mode (M)
• RS485 parameters (U)
6.2.1.8 Microstep Resolution (Z)
The microstep resolution can be set by the user. It depends on the maximum resolution witch differs in
the three chopper modes (see 6.2.2).
The maximum resolution is divided by the parameter ‘Z’.
Microstep resolution
Parameter Z SPI PWM Phase (default)
0 max resolution 64 64 256
1 1/2 max 32 32 128
2 1/4 max 16 16 64
3 1/8 max 8 8 32
4 1/16 max 4 4 16
Table 6.7: Adjusting of Microstep Resolution
Example:
AZ 2 ⇒ENTER : Sets the microstep resolution to a quarter of the maximum resolution.
6.2.2 Chopper Modes
6.2.2.1 Chopper Mode 0 (SPI) / Default Mode
In this mode, the motor coil current is regulated on a chopper-cycle-by chopper-cycle bias. This is the
standard operation mode for most motor drivers. It brings a medium microstep resolution of 16
microsteps and typically works good with most motors and a high range of supply voltage and motor
current settings.
The maximum supply voltage (VS) of the motor must not exceed 22-25 times the nominal motor
voltage (VN), regarding the multiplication of ICOIL, MAX and RMOTOR. A higher value would lead to an
excess of motor rating.
The minimum supply voltage has to be above two times the nominal motor voltage.
MOTORMAX,COILN
NSN
RIV
V25...22VV2
⋅=
⋅≤≤⋅
It uses a chopper frequency of about 36kHz.

TMCM-013 Manual (V1.14 / January 17th, 2006) 20
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.2.2 Chopper Mode 1 (PWM)
This mode is identical to the SPI mode, but it increases the microstep resolution at low velocities /
stand still.
MOTORMAX,COILN
NSN
RIV
V25...22VV2
⋅=
⋅≤≤⋅
6.2.2.3 Chopper Mode 2 (PHASE)
This mode uses a different chopper scheme, which provides a very high microstep resolution and
smooth motor operation. Care has to be taken concerning the selection of motor and supply voltage:
The motor is chopped with 20kHz, and the coil sees a 50% duty cycle at full supply voltage when the
coil current is meant to be zero. This is only true for the average, but the motor still sees an alternating
current and thus an alternating magnetic field. Now, care has to be taken in order to keep this current
to a value which is significantly lower than the motor maximum coil current. If it is to high, the motor
has significant magnetization losses and coil power dissipation, and would get much too hot, even with
zero average current. The only possibility to limit this effect, is to operate with a comparatively low
supply voltage.
Check list:
Please take the motor inductivity L [mH] and motor rated full step coil current ICOIL [A] from the motor’s
data sheet:
Now choose a supply voltage for the module to fulfil the following comparison:
5.0I
L
s25V
COIL
S⋅≤
µ⋅
ÙLk20IV COILS ⋅⋅≤
If your parameters do not fulfil the equation, i.e. you calculate a supply voltage which is below the
modules’ operation specs or which does not fit your system requirements, try the following:
Calculate x:
[]
mHL
025.0
I
V
x
COIL
S⋅=
If x is below 0.5, everything is OK.
If x is in the range 0.5 to 1.0, try operating your motor and check if motor or driver gets too hot.
If x is above 1.0, choose one of the other chopper modes.
See also chapter 5.2.1.2 for graphical demonstration.