Trinamic TMCM-101 User manual

TMCM-101
One Axis Closed Loop Controller / Driver Module
3A / 28.5V
Manual
Version: 1.08
June 24th, 2009
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20 357 Hamburg, Germany
http://www.trinamic.com

TMCM-101 Manual V1.08 2
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
Contents
1Features........................................................................................................................................................................................3
2Life support policy ....................................................................................................................................................................4
3Technical Data ............................................................................................................................................................................5
4Electrical and Mechanical Interfacing ..................................................................................................................................5
4.1 Dimensions.........................................................................................................................................................................5
4.2 Pin Assignments ...............................................................................................................................................................6
5Operational Ratings ..................................................................................................................................................................7
6Functional Description .............................................................................................................................................................7
6.1 System Architecture .........................................................................................................................................................8
6.1.1 Microcontroller ............................................................................................................................................................8
6.1.2 TMCL EEPROM...............................................................................................................................................................8
6.1.3 TMC428 Motion Controller........................................................................................................................................8
6.1.4 Stepper Motor Drivers ...............................................................................................................................................8
6.1.5 Incremental encoder interface................................................................................................................................8
6.2 Power supply requirements ..........................................................................................................................................9
6.3 Motor Connection .......................................................................................................................................................... 10
6.4 Encoder interface ........................................................................................................................................................... 11
6.5 Host Communication .................................................................................................................................................... 12
6.5.1 CAN 2.0b..................................................................................................................................................................... 12
6.5.2 RS-232 and RS-422................................................................................................................................................... 12
6.5.3 RS-485.......................................................................................................................................................................... 12
6.6 StallGuard™ - Sensorless Motor Stall Detection .................................................................................................. 13
6.6.1 StallGuard adjusting tool ...................................................................................................................................... 13
6.6.2 StallGuard profiler ................................................................................................................................................... 14
6.7 Reference switches........................................................................................................................................................ 15
6.7.1 Left and right limit switches................................................................................................................................ 15
6.7.2 Triple Switch Configuration.................................................................................................................................. 15
6.7.3 One Limit Switch for circular systems .............................................................................................................. 16
6.8 Port Expansion................................................................................................................................................................ 16
6.9 Miscellaneous Connections......................................................................................................................................... 17
6.10 Resetting the module................................................................................................................................................... 17
6.11 Firmware update............................................................................................................................................................ 17
7Putting the TMCM-101 into operation .............................................................................................................................. 18
8Calculating Velocity and Acceleration .............................................................................................................................. 19
9Software.................................................................................................................................................................................... 20
10 Revision History ...................................................................................................................................................................... 21
10.1 Documentation Revision ............................................................................................................................................. 21
10.2 Firmware Revision......................................................................................................................................................... 21
11 References ................................................................................................................................................................................ 21

TMCM-101 Manual V1.08 3
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
1Features
The TMCM-101 is a single axis 2-phase stepper motor controller and driver module. The build in encoder feedback
makes it an optimum solution for high reliability drives. It is equipped with a CAN interface and a serial interface
that can be used as an RS232, RS422 or RS485 interface by adding an appropriate line driver/level shifter. The
module also has two stop switch inputs (stop left and stop right), eight general purpose digital outputs and seven
general purpose inputs where each one can be used either as a digital input or as an analogue input.
An interface for incremental encoders (with A, B and N channel) allows exact position control and closed loop
operation. Furthermore, using the Trinamic StallGuard feature overload or obstruction of the motor can be
detected.
The TMCM-101 can be programmed using the Trinamic Motion Control Language (TMCL) which allows to control the
module by a host or to run stand alone, executing a TMCL program that is stored in the 16kByte EEPROM on the
module (the EEPROM can store up to 2047 TMCL commands).
All inputs and outputs of the module are provided on an 68 pin connector with 2mm pitch. The size of the board
is very compact (80 x 70mm).
Applications
Controller board for control of one two-phase bipolar motor
Versatile possibilities of applications in stand alone or pc controlled mode
Electrical Data
Up to 3A coil current RMS (4.2A peak)
7V to 28.5 V motor supply voltage
5V DC logic power supply
Supported motors
two-phase bipolar motors with 1A to 3A coil current
incremental encoder (2 or 3 channel)
Interface
RS-232, RS-485 or CAN 2.0b host interface
Classical analog interface for drivers
Inputs for reference and stop switches, general purpose analog and digital I/Os
Highlights
64 times microstepping
Memory for 2048 TMCL commands
Automatic shaped ramp generation in Hardware
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Closed loop for highly dependable drives
StallGuardTM option for sensorless motor stall detection
Software
Stand-alone operation using TMCL or remote controlled operation
PC-based application development software TMCL-IDE included
Optional simple to use ASCII protocol
Other
68 pin connector carries all signals (2*34 pins, 2mm pitch)
RoHS compliant latest from 1 July 2006
Size: 80x70mm²
Order code
Description
TMCM-101 (-option)
1-axis controller /driver 3A / 28.5V
Option
-H
horizontal pin connector (standard)
-V
vertical pin connector (on request)
Table 1.1: Order codes

TMCM-101 Manual V1.08 4
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
2Life 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 2006
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-101 Manual V1.08 5
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
3Technical Data
Size: 80 x 70mm
Supply voltage: +5V DC (core), +7..28V DC (motor)
Host interface: Serial (RS232, RS422 or RS458), CAN
Connector type: 2x34 pins, 2mm pitch
Stepper motor type: two phase bi-polar
Maximum coil current (RMS): 3A (can be set by software)
Microcontroller: AT90CAN128
Motion controller: TMC428
Motor driver: TMC249, with SI7501 MOSFETs
Microsteps: max. 64
TMCL program memory: 16kByte EEPROM (2047 TMCL commands)
4Electrical and Mechanical Interfacing
4.1 Dimensions
Note: all dimensions in mm
5.5
1.5 (PCB)
C
C
5.5
2.4
2.20mm
77.80mm
68.75mm
37.85mm
35.85mm
2.75mm
4.00mm
80.00mm
R1.10mm (2x)
44.50mm
9.30mm
77.30mm
4.00mm
Figure 4.1: Dimensions
The size of the module 80x70mm, similar as the other Trinamic motion control modules (80x50). It also uses the
same connector.
Connector type: 2x34 pins, 2mm pitch

TMCM-101 Manual V1.08 6
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
4.2 Pin Assignments
The module is equipped with a 68 pin connector (two rows of 34 pins each) with 2mm pitch. (There is a special
Trinamic document about mating connectors). Figure 4.2 shows how to locate pin 1. The following table shows all
pin assignments:
Pin
Signal name
See
section
Pin
Signal name
See
section
1
Motor A1
6.3
2
Motor A1
6.3
3
Motor A1
4
Motor A1
5
Motor A2
6
Motor A2
7
Motor A2
8
Motor A2
9
Motor B1
10
Motor B1
11
Motor B1
12
Motor B1
13
Motor B2
14
Motor B2
15
Motor B2
16
Motor B2
17
GND
6.2
18
GND
6.2
19
GND
20
GND
21
GND
22
GND
23
7..28.5V DC
24
7..28.5V DC
25
7..28.5V DC
26
7..28.5V DC
27
7..28.5V DC
28
7..28.5V DC
29
GND
30
GND
31
Address bit 0
6.9
32
not connected
---
33
Address bit 1
34
Reset (low active,internally pulled up)
6.9
35
Address bit 2
6.9
36
PDI (leave open, for Trinamic only)
---
37
Right stop switch (internally pulled high)
6.7
38
PDO (leave open, for Trinamic only)
---
39
Left stop switch (internally pulled high)
6.7
40
SCK (leave open, for Trinamic only)
---
41
Encoder Channel A
6.4
42
Alarm output
6.9
43
Encoder Channel B
44
Shutdown input
6.9
45
Encoder Channel N
6.4
46
General purpose output 0
6.8
47
General purpose input 7
6.8
48
General purpose output 1
49
General purpose input 6
50
General purpose output 2
51
General purpose input 5
52
General purpose output 3
53
leave open (Temperature sensor on input 4)
6.9
54
General purpose output 4
55
General purpose input 3
6.8
56
General purpose output 5
57
General purpose input 2
58
General purpose output 6
59
General purpose input 1
60
General purpose output 7
61
General purpose input 0
62
RS485 direction (H=send, L=receive)
6.5.3
63
CAN high
6.5.1
64
Serial RxD (RS232 / RS422 / RS485)
6.5.2
65
CAN low
6.5.1
66
Serial TxD (RS232 / RS422 / RS485)
6.5.2
67
+5V DC (± 10%)
6.2
68
+5V DC (± 10%)
6.2
Table 4.1: Pinout 68-pin connector
Please note that these pin assignments are not compatible with the other TMCM modules, so this module can not
be used with the TMCM Evaluation board.
Signals with higher current are assigned to more than one pin. For those signals all pins must be used. Otherwise
the connector may get damaged by too high current on a pin. So, always use all GND, +24V, +5V and motor pins.
PCB
1
268
67
Figure 4.2: Locating the pins

TMCM-101 Manual V1.08 7
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
5Operational 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
V+5V
+5V DC input (max. 200mA required)
4.75
5.0
5.25
V
VS
Power supply +7..28V DC
7
24
28.5
V
VINPROT
Input voltage for StopL, StopR, GPI0
(internal protection diodes)
-0.5
0 … 5
V+5V+0.5
V
VANA
INx analog measurement range
0 ... 5
V
VINLO
INx, StopL, StopR low level input
0
0.9
V
VINHI
INx, StopL, StopR high level input
(integrated 10k pullup to +5V for Stop)
2
5
V
IOUTI
OUTx max +/- output current (CMOS
output) (sum for all outputs max. 50mA)
+/-20
mA
TENV
Environment temperature at rated current
(no cooling)
-40
+45
°C
Environment temperature at 80% of
rated current or 50% duty cycle
(no forced cooling required)
-40
+70
°C
Table 5.1: Operational Ratings
6Functional Description
In Figure 6.1 the main parts oft the TMCM-101 module are shown. The module mainly consists of a TMC428 motion
controller, the TMCL program memory (EEPROM), the host interfaces (RS-232, RS-485 and CAN), the TMC249 high
power driver and an encoder interface.
TMCM-101
UART
5V DC
7..28.5V DC
ABN
CAN programmable
Motion
Controller
with TMC428
high power
Driver
TMC249
Encoder
Encoder
Interface
Step
Motor
RS-232
or
RS-485
TMCL
Memory
MOSFET
Driver
Stage
Figure 6.1: Main parts of the TMCM-101

TMCM-101 Manual V1.08 8
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
6.1 System Architecture
The TMCM-101 integrates a microcontroller with the TMCL (Trinamic Motion Control Language) operating system.
The motion control real-time tasks are realized by the TMC428.
6.1.1 Microcontroller
On this module, the Atmel AT90CAN128 is used to run the TMCL operating system and to control the TMC428. The
CPU has 128Kbyte flash memory, 4 Kbyte RAM and 4Kbyte EEPROM. The microcontroller runs the TMCL (Trinamic
Motion Control Language) operating system which makes it possible to execute TMCL commands that are sent to
the module from the host via the interface. The microcontroller interprets the TMCL commands and controls the
TMC428 which executes the motion commands.
The flash ROM of the microcontroller holds the TMCL operating system and the EEPROM memory of the
microcontroller is used to permanently store configuration data.
The TMCL operating system can be updated via the serial interface (RS232 or RS422). Please use the latest version
of the TMCL IDE to do this.
6.1.2 TMCL EEPROM
To store TMCL programs for stand alone operation the TMCM-101 module is equipped with a 16kByte EEPROM
attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048 TMCL commands.
6.1.3 TMC428 Motion Controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper-motors.
Motion parameters like speed or acceleration are sent to the TMC428 via SPI by the microcontroller. Calculation of
ramps and speed profiles are done internally by hardware based on the target motion parameters.
6.1.4 Stepper Motor Drivers
The stepper motor driver used on the TMCM-101 module is the TMC249 chip together with SI7501 MOSFETs and an
extension for up to 64 microsteps. This driver circuit is very easy to use. It can control the currents for the two
phases of the stepper motors. 64x microstepping and a maximum coil current of 3A RMS is possible.
The power dissipation of the TMC249 chip and the MOSFETs is very low so that the temperature of the MOSFETs
normally does not exceed 125°C. Depending on the ambient temperature a cooling fan may be needed. The coils
will be switched off automatically when the temperature or the current exceeds the limits and are automatically
switched on again when the values are within the limits again.
6.1.5 Incremental encoder interface
The encoder interface of the TMCM-101 module allows to connect two channel incremental encoders with an
optional null channel. The signal of the encoder must have TTL (+5V) level.

TMCM-101 Manual V1.08 9
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
6.2 Power supply requirements
Two different power supplies have to be provided for the TMCM-101: +5VDC for the controller part and +7..28.5VDC
for the motor supply. Please connect all listed pins for the power supply inputs and ground in parallel. Refer to 4.2
Pin Assignments.
Pin
Function
67, 68
+5V DC (+/- 5%), Imax=50mA power supply
29, 30
Ground
23 to 28
+7..28.5V DC motor power supply
17 to 22
Ground
Table 6.1: Pinning of Power supply
It is recommended to use capacitors of some 1000µF and a choke close to the module for the motor supply. This
ensures a stable power supply and minimizes noise injected into the power supply cables. The choke especially
becomes necessary with larger distributed systems using a common power supply.
TMCM-101
V_Motor
(7...34V)
GND
+C (>1000µF)
L+
Power Supply
keep distance short
local +5V
regulator
supply for further modules on
same base board
Figure 6.2: Power supply requirements for TMCM-101
Especially with bus controlled systems (e.g. CAN or RS485) it is important to ensure a stable ground potential of all
modules. The stepper driver modules draw peak currents of some Ampere from the power supply. It has to be
made sure, that this current does not cause a substantial voltage difference on the interface lines between the
module and the master, as disturbed transmissions could result.
The following hints help avoiding transmission problems in larger systems. Not all hints have to be followed:
Use power supply filter capacitors of some 1000µF on the base board for each module in order to take over
current spikes. A choke in the positive power supply line will prevent current spikes from changing the GND
potential of the base board, especially when a central power supply is used.
Optionally use an isolated power supply for the TMCM-Modules (no earth connection on the power supply, in
case the CAN master is not optically decoupled)
Do not supply modules with the same power supply which are mounted in a distance of more than a few
meters.
For modules working on the same power supply (especially the same power supply as the master) use a
straight and thick, low-resistive GND connection.
Use a local +5V regulator on each base-board.

TMCM-101 Manual V1.08 10
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
TMCM-101
V_Motor
(7...34V)
GND
+CL+
Power Supply
keep distance short
TMCM-101
V_Motor
(7...34V)
GND
+CL
keep distance short
keep distance below a few meters with a single power supply
CAN high
CAN low
CAN high
CAN low
Do not supply modules with the
same power supply which are
mounted in a distance of more
than a few meters.
For modules working on the
same power supply (especially
the same power supply as the
master) use a straight and thick,
low-resistive GND connection.
other devices
on CAN bus
(incl. Master)
CAN high
CAN low
V_Motor
(7...34V)
GND
+CL
CAN_GND
CAN_GND
CAN_GND
Figure 6.3: Power supply requirements for TMC-Modules in a bus system
For large systems, an optically decoupled CAN bus for each number of nodes, e.g. for each base board with a
number of TMCM-101 modules may make sense, especially when a centralized power supply is to be used. Be
aware that different ground potentials of the CAN sender (e.g. a PC) and the power supply may damage the
modules. Please make sure that the GND lines of the CAN sender and the module(s) and power supplies are
connected by a cable.
6.3 Motor Connection
Warning: Never connect or disconnect the motors while the TMCM-101 Module is switched
on. Doing this will destroy the driver ICs!
The TMCM-101 controls a single 2-phase stepper motors. The connections between the motor and the 68-pin
connector must be done as shown in Table 6.2.
Pin Number
Direction
Name
Motor Numbers and Coils
1 to 4
Out
Motor A1
Motor #0, Coil A1
5 to 8
Out
Motor A2
Motor #0, Coil A2
9 to 12
Out
Motor B1
Motor #0, Coil B1
13 to 16
Out
Motor B2
Motor #0, Coil B2
Table 6.2: Pinout for Motor Connections

TMCM-101 Manual V1.08 11
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
6.4 Encoder interface
An incremental encoder with TTL (5V) outputs can be connected to the pins 41 (channel A), 43 (channel B) and 45
(optional null channel). The encoder counter can be read by software and can be used to control the exact
positioning of the motor. This also makes closed loop operation possible.
The Encoder channel N is for nulling of the encoder counter. It can be selected as high or as low active, and it is
automatically checked in parallel to the Encoder channel A and B inputs, to give an exact reference. It has to be
determined by the user, which potential of the encoder A and B inputs correspond to the zero position. This
depends on the actual encoder type used.
To read out or to change the position value of the encoder, axis parameter #209 is used. So, to read out the
position of encoder 0 (the only one) use GAP 209, 0. The position values can also be changed using command
SAP 209, 0, <n> , with n = ± 0,1,2,…
To change the encoder settings of an encoder, axis parameter #210 is used:
Please note that the pre-scaler values can only be set and not read back or stored to EEPROM (it has to be
initialized after every power down). To change the pre-scaler of encoder 0 use SAP 210, 0, <p>
To select a pre-scaler, the following values can be used for <p>:
Value for
<p>
Resulting pre-
scaler
SAP command for motor 0
SAP 210, M0, <p>
Resulting steps per rotation
for a 400 line (1600 quadrate
count) encoder
64
0.125
SAP 210, M0, 64
200
128
0.25
SAP 210, M0, 128
400
256
0.5
SAP 210, M0, 256
800
512
1
SAP 210, M0, 512
1600
1024
2
SAP 210, M0, 1024
3200
2048
4
SAP 210, M0, 2048
6400
4096
8
SAP 210, M0, 4096
12800
8192
16
SAP 210, M0, 8192
25600
16384
32
SAP 210, M0, 16384
51200
32768
64
SAP 210, M0, 32768
102400
Table 6.3: TMCL –Pre-scaler values
Formula for resulting steps per rotation:
StepsPerRotation = LinesOfEncoder * 4 * PreScaler
There are some special functions that can also be configured using these values. To select these functions just add
the following values to <p>:
Adder for
<p>
SAP command for motor 0
SAP 210, M0, <p>
1
Encoder Channel A polarity for Null channel event (0=negative, 1=positive)
2
Encoder Channel B polarity for Null channel event (0=negative, 1=positive)
4
Clear encoder with next null channel event
16
Encoder Channel N polarity for encoder clearing (0=negative, 1=positive)
Table 6.4: Special encoder functions
Add up both values <p> from this tables to get the required value for the SAP210 command. The resulting pre-
scaler is Value/512. Other pre-scaler values are possible, also.
Automatic motor stop on deviation error is also usable. This can be set using axis parameter 212
(maximum deviation). This function is turned off when the maximum deviation is set to 0.

TMCM-101 Manual V1.08 12
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
6.5 Host Communication
Communication to a host takes place via one or more of the onboard interfaces. The module provides a wide
range of different interfaces, like CAN, RS-232, RS-422 and RS-485. The following chapters explain how the
interfaces are connected with the 68-pin connector.
The TMCL protocol is used for the communication between the module and a host. Please see the TMCL Reference
and Programming manual for further information. The TMCL-IDE can be used to put the module into operation and
to develop TMCL programs that can run on the TMCL-101 in stand alone mode.
To use the serial interface a level shifter / line driver must be connected to the pins RxD (pin 64) and TxD (pin 66).
For RS485 drivers a direction signal is provided on pin 62.
When connecting a single TMCM-101 module to an RS232 level shifter or to an RS485 line driver an additional pull-
up resistor should be connected to the TxD pin (66) of the module.
6.5.1 CAN 2.0b
The module is equipped with a CAN line driver (PCA 82C250) so that no additional components are needed to use
the CAN interface. The CAN interface is compatible with the CAN 2.0b standard.
Pin Number
Direction
Name
Limits
Description
63
InOut
CAN -
-8…+18V
CAN Input / Output
65
InOut
CAN +
-8…+18V
CAN Input / Output
Table 6.5: Pinout for CAN Connection
6.5.2 RS-232 and RS-422
Pin Number
Direction
Name
Limits
Description
64
In
RxD
TTL
RS-232 Receive Data
66
Out
TxD
TTL
RS-232 Transmit Data
Table 6.6: Pinout for RS-232 Connection
Note: The RS-232 must be operated with TTL-Levels (0V, 5V), since there is no level shifter onboard!
When the RS232 interface is in receive mode the TxD pin will be tri-stated. This feature can be used to connect
multiple TMCM-101 modules to only one RS422 line driver, just by connecting all TxD pins and all RxD pins of the
modules to the same input and output pins of the RS422 diver.
6.5.3 RS-485
Pin Number
Direction
Name
Limits
Description
62
Out
RS485_DIR
TTL
Driver / Receiver enable for RS-485 Transceiver.
0: Receiver enable
1: Driver enable (send)
64
In
RxD
TTL
RS-485 Receive Data
66
Out
TxD
TTL
RS-485 Transmit Data
Table 6.7: Pinout for RS-485 Connection
Note: The TMCM-101 Module does not contain any RS-485 transceivers!

TMCM-101 Manual V1.08 13
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
6.6 StallGuard™ - Sensorless Motor Stall Detection
The TMCM-101 modules are equipped with StallGuard. The StallGuard option makes it possible to detect if the
mechanical load on a stepper motor is too high or if the traveler has been obstructed. The load value can be read
using a TMCL command or the module can be programmed so that the motor will be stopped automatically when
it has been obstructed or the load has been to high.
StallGuard can also be used for finding the reference position without the need for a reference switch: Just activate
StallGuard and then let the traveler run against a mechanical obstacle that is placed at the end of the way. When
the motor has stopped it is definitely at the end of its way, and this point can be used as the reference position.
To use StallGuard in an actual application, some manual tests should be done first, because the StallGuard level
depends upon the motor velocities and on the occurrence of resonances.
Mixed decay should be switched off when StallGuard is turned on in order to get usable results.
Value
Description
0
StallGuard function is deactivated (default)
1..7
Motor stops when StallGuard value is reached
Table 6.8: StallGuard parameter SAP 205
To activate the StallGuard feature use the TMCL-command SAP 205 and set the StallGuard threshold value
according to Table 6.8. The actual load value is given by GAP 206. The TMCL IDE has some tools which let you try
out and adjust the StallGuard function in an easy way. They can be found at “StallGuard” in the “Setup”-menu and
are described in the following chapters.
6.6.1 StallGuard adjusting tool
The StallGuard adjusting tool helps to find the necessary motor parameters when
StallGuard is to be used. This function can only be used when a module is connected
that features StallGuard. This is checked when the StallGuard adjusting tool is selected
in the “Setup” menu. After this has been successfully checked the StallGuard adjusting
tool is displayed.
First, select the axis that is to be used in the “Motor” area.
Now you can enter a velocity and an acceleration value in the “Drive” area and then
click “Rotate Left” or “Rotate Right”. Clicking one of these button will send the
necessary commands to the module so that the motor starts running. The red bar in
the “StallGuard” area on the right side of the windows displays the actual load value.
Use the slider to set the StallGuard threshold value. If the load value reaches this value
the motor stops. Clicking the “Stop” button also stops the motor.
All commands necessary to set the values entered in this dialogue are displayed in the
“Commands” area at the bottom of the window. There, they can be selected, copied
and pasted into the TMCL editor.
Figure 6.4: StallGuard adjusting tool

TMCM-101 Manual V1.08 14
Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
6.6.2 StallGuard profiler
The StallGuard profiler is a utility that helps you find the best parameters for using stall detection. It scans
through given velocities and shows which velocities are the best ones. Similar to the StallGuard adjusting tool it
can only be used together with a module that supports StallGuard. This is checked right after the StallGuard
profiler has been selected in the “Setup” menu. After this has been successfully checked the StallGuard profiler
window will be shown.
First, select the axis that is to be used. Then, enter the “Start velocity” and
the “End velocity”. The start velocity is used at the beginning of the profile
recording. The recording ends when the end velocity has been reached.
Start velocity and end velocity must not be equal. After you have entered
these parameters, click the “Start” button to start the StallGuard profile
recording. Depending on the range between start and end velocity this can
take several minutes, as the load value for every velocity value is measured
ten times. The “Actual velocity” value shows the velocity that is currently
being tested and so tells you the progress of the profile recording. You can
also abort a profile recording by clicking the “Abort” button.
The result can also be exported to Excel or to a text file by using the
“Export” button.
Figure 6.5: The StallGuard Profiler
6.6.2.1 The result of the StallGuard profiler
The result is shown as a graphic in the StallGuard profiler window. After the profile recording has finished you can
scroll through the profile graphic using the scroll bar below it. The scale on the vertical axis shows the load value:
a higher value means a higher load. The scale on the horizontal axis is the velocity scale. The colour of each line
shows the standard deviation of the ten load values that have been measured for the velocity at that point. This is
an indicator for the vibration of the motor at the given velocity. There are three colours used:
Green: The standard deviation is very low or zero. This means that there is effectively no vibration at this
velocity.
Yellow: This colour means that there might be some low vibration at this velocity.
Red: The red colour means that there is high vibration at that velocity.
6.6.2.2 Interpreting the result
In order to make effective use of the StallGuard feature you should choose a velocity where the load value is as
low as possible and where the colour is green. The very best velocity values are those where the load value is
zero (areas that do not show any green, yellow or red line). Velocities shown in yellow can also be used, but with
care as they might cause problems (maybe the motor stops even if it is not stalled).
Velocities shown in red should not be chosen. Because of vibration the load value is often unpredictable and so
not usable to produce good results when using stall detection.
As it is very seldom that exactly the same result is produced when recording a profile with the same parameters a
second time, always two or more profiles should be recorded and compared against each other.

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6.7 Reference switches
With reference switches, an interval for the movement of the motor or the zero point can be defined. Also a step
loss of the system can be detected, e.g. due to overloading or manual interaction, by using a travel-switch.
The polarity of the stop switch inputs is software selectable (by default, the stop switch inputs must be low to let
the motor run and high to stop the motor). They an also be completely de-activated by software.
Pin Number
Direction
Name
Limits
Description
37
In
STOPR
TTL
Right reference switch input for Motor #0
39
In
STOPL
TTL
Left reference switch input for Motor #0
Table 6.9: Pinout reference switches
Note: 10k pullup resistors for reference switches are included on the module.
6.7.1 Left and right limit switches
The TMCM-101 can be configured so that a motor has a left and a right limit switch (Figure 6.6). The motor then
stops when the traveler has reached one of the limit switches.
left stop
switch right stop switch
REF_L_x REF_R_x
motor
traveler
Figure 6.6: Left and right limit switches
6.7.2 Triple Switch Configuration
It is possible to program a tolerance range around the reference switch position. This is useful for a triple switch
configuration, as outlined in Figure 6.7. In that configuration two switches are used as automatic stop switches,
and one additional switch is used as the reference switch between the left stop switch and the right stop switch.
The left stop switch and the reference switch are wired together. The center switch (travel switch) allows for a
monitoring of the axis in order to detect a step loss.
left stop
switch
motor
traveler
REF_L_x
right stop
switch
REF_R_x
reference
switch
Figure 6.7: Limit switch and reference switch

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6.7.3 One Limit Switch for circular systems
If a circular system is used (Figure 6.8), only one reference switch is necessary, because there are no end-points in
such a system.
motor
ref switch
REF_L_x
eccentric
Figure 6.8: One reference switch
6.8 Port Expansion
For further expansion and adaptation to user requirements the module provides a port expansion for the
microcontroller. The expansion includes eight TTL input pins and eight TTL output pins, which are accessible via
the 68-pin connector. The outputs can drive up to 20mA. Each of these inputs can either be used as a digital input
(TTL) or as an analogue input (0..+5V, 10 bit accuracy). Please note that all these I/Os are not protected!
Pin Number
Direction
Name
Limits
Description
47
In
INP_7
TTL
Port expansion Pin 7, input
49
In
INP_6
TTL
Port expansion Pin 6, input
51
In
INP_5
TTL
Port expansion Pin 5, input
53
In
INP_4
TTL
leave open (Temperature sensor on input 4)
55
In
INP_3
TTL
Port expansion Pin 3, input
57
In
INP_2
TTL
Port expansion Pin 2, input
59
In
INP_1
TTL
Port expansion Pin 1, input
61
In
INP_0
TTL
Port expansion Pin 0, input
46
Out
Out_0
TTL
Port expansion Pin 0, output
48
Out
Out_1
TTL
Port expansion Pin 1, output
50
Out
Out_2
TTL
Port expansion Pin 2, output
52
Out
Out_3
TTL
Port expansion Pin 3, output
54
Out
Out_4
TTL
Port expansion Pin 4, output
56
Out
Out_5
TTL
Port expansion Pin 5, output
58
Out
Out_6
TTL
Port expansion Pin 6, output
60
Out
Out_7
TTL
Port expansion Pin 7, output
Table 6.10: Pinout port expansion

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6.9 Miscellaneous Connections
Pin Number
Direction
Name
Limits
Description
31, 33, 35
Out
Modul_SelX
TTL
Module address setting
34
In
Reset
TTL
Reset (low active, internally pulled high)
42
Out
Alarm
TTL
Alarm, active high
44
In
Shutdown
TTL
Shutdown, active high
53
In
INP_4
TTL
Temperature sensor on input 4
Table 6.11: Miscellaneous Connections
The shutdown input (pin 44) can be used for emergency stop functions (e.g. to connect an emergency stop switch).
Its functionality can be selected by software. The alarm output (pin 42) can be used to signal errors like driver
overheat. Its functionality is determined by software.
The address pins (pins 31, 33, 35) have no function when pulled to ground. Otherwise they define the lower three
bit of the module address. Thus multiple TMCM-101 can be used easily in a backplane All these pins are not
protected.
The module address is set by software via the TMCL-IDE in the “Setup/Configure Module” menu. Please refer to
[TMCL]. The standard address is “1”.
6.10Resetting the module
All settings of the module can be reset to factory default values by hardware. To do this, turn off the power, short
the pins 38 and 40 of the connector, and then turn on the power. The LED on the module then flashes very fast.
Then turn off the power, remove the link between the pins 38 and 40 and turn on the power again. Wait until the
LED flashes normally. All settings are then at their factory default values.
6.11 Firmware update
By using the function “Install OS” from the “Setup” menu you can update the firmware of a module. First, load the
new firmware file (which must be in Intel-HEX format) by clicking the “Load” button. The file is then checked if it is
a TMCL firmware file, and its device type and version number will be displayed. Then, click the “Start” button to
program the new firmware into the module. Please make sure that there will be no power cut or cut of the serial
connection during the programming process. The program checks if the device type in the firmware file and the
device type of the module are identical. An error message will be displayed if this should not be the case. If
everything is okay, the new firmware will be programmed into the module and verified afterwards. The
programming progress is shown by the status bar.
Fig. 6.1: Firmware update in progress
If you click the “Clear EEPROM” button, all settings stored in the EEPROM of the module will be erased. If you then
power the module off and on again, all settings will be restored to their factory defaults.

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7Putting the TMCM-101 into operation
On the basis of a small example it is shown step by step how the TMCM-101 is set into operation. Users who are
already familiar with TMCL and other Trinamic modules may skip this chapter. It is assumed that all necessary
hardware connections are made properly.
Example: The following application is to be implemented on the TMCM-101 module using the TMCL-IDE Software
development environment.
A formula how “speed” is converted into a physical unit like rotations per seconds can be found in chapter 8.
The simple application is:
Move the Motor to position 150000
Wait 2 seconds
Move the Motor back to position 0
Wait 1 second
Start again with the first step
To implement this simple application on theTMCM-101 it is necessary to do the following things:
Step 1: Connect the host interface to the PC
Step 2: Connect the motor to the motor connector
Step 3: Connect the power supply voltage to the module
Step 4: Switch on the power supply. The activity LED should start to flash. This indicates the correct
configuration of the microcontroller.
Step 5: Start the TMCL-IDE Software development environment. Enter the program shown in the following
listing. A description of the TMCL commands can be found in the TMCL Reference and
Programming Manual.
Step 6: Click the “Assemble” icon to convert the TMCL program into byte code.
Then download the program to the TMCM-101 module by clicking the “Download” icon.
Step 7: Click the “Run” icon. The downloaded program will now be executed.
A detailed documentation about the TMCL operations and the TMCL IDE can be found in the TMCL Reference and
Programming Manual. The next chapter shows how the velocity and acceleration values are calculated.
//A simple example for using TMCL and the TMCL-IDE
SAP 4, 0, 100 //Set the maximum speed
Loop: MVP ABS, 0, 150000 //Move to position 150000
WAIT POS, 0, 0
WAIT TICKS, 0, 200
MVP ABS, 0, 0 //Move back to position 0
WAIT POS, 0, 0
WAIT TICKS, 0, 100
JA Loop //Infinite Loop

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8Calculating Velocity and Acceleration
The values of the parameters sent to the TMCM-101 do not have typical motor values, like rotations per second as
velocity. But these values can be calculated from the TMC-101 parameters, as shown in this document. The
parameters for the TMC-101 are:
Signal
Description
Range
fCLK
clock-frequency
0..16 MHz
velocity
-
0..2047
a_max
maximum acceleration
0..2047
pulse_div
Velocity pre-divider. The higher the value is, the less
is the maximum velocity.
Default value = 3
Can be changed in TMCL using SAP 154.
0..13
ramp_div
Acceleration pre-divider. The higher the value is, the
less is the maximum acceleration
default value = 7
Can be change in TMCL using SAP 153.
0..13
Usrs
Microstep resolution (microsteps per fullstep = 2usrs).
Can be changed in TMCL using SAP 140.
0..6
Table 8.1: TMC428 velocity parameters
The microstep-frequency of the stepper motor is calculated with
3220482velocity]Hz[f
]Hz[usf div_pulse
CLK
with usf: microstep-frequency
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be divided by the
number of microsteps per fullstep.
usrs
2]Hz[usf
]Hz[fsf
with fsf: fullstep-frequency
The change in the pulse rate per time unit (pulse frequency change per second –the acceleration a) is given by
29div_rampdiv_pulse max
2
CLK
2af
a
This results in an acceleration in fullsteps of:
usrs
2a
af
with af: acceleration in fullsteps

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Copyright © 2006-2008, TRINAMIC Motion Control GmbH & Co. KG
Example:
f_CLK = 16 MHz on the TMCM-110 module
velocity = 1000
a_max = 1000
pulse_div = 1
ramp_div = 1
usrs = 6
Hz31.122070
3220482 1000MHz16
msf 1
Hz34.1907
231.122070
]Hz[fsf 6
s
MHz
21.119
21000)Mhz16(
a2911
2
s
MHz
863.1
2s
MHz
21.119
af 6
If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is:
49.26
7234.1907 rotationperfullstepsfsf
RPS
46.1589
72 6034.1907 rotationperfullsteps 60fsf
RPM
9Software
TMCL, the Trinamic Motion Control Language is used to send commands from the host to the TMCM-101 module
and to write programs that can be stored in the EEPROM of the module so that the module can execute the TMCL
commands in stand alone mode.
TMCL is described in a separate documentation, the TMCL Reference and Programming Manual. This document also
describes the TMCL Integrated Development Environment (TMCL IDE), a program running on Windows which
allows easy development of TMCL applications.
All the manuals are provided on the TMC TechLib CD and on the web site of TRINAMIC Motion Control GmbH & Co.
KG (http://www.trinamic.com). Also the latest versions of the firmware (TMCL operating system) and PC software
(TMCL IDE) can be found there.