Trinamic IDX User manual

IDX (IDX and IDX 7505)
Manual
STEPPER motor controller/driver modules
IDX: 3.5A RMS (5A peak) / 48V
IDX 7505: 5.0A RMS (7A peak) / 75V
with RS485 and step-/ direction interface
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D –20357 Hamburg, Germany
http://www.trinamic.com

IDX Manual (V1.15 / September 26th, 2008) 2
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1Features........................................................................................................................................................................... 4
2Life support policy....................................................................................................................................................... 5
3Electrical and Mechanical Interfacing..................................................................................................................... 6
3.1 Pinning................................................................................................................................................................... 6
3.2 Dimensions ........................................................................................................................................................... 7
3.3 Connectors ............................................................................................................................................................ 7
4Operational Ratings..................................................................................................................................................... 8
4.1 Practical maximum motor current ratings................................................................................................... 9
4.2 Step, Direction and Disable Inputs ............................................................................................................. 10
5Getting Started............................................................................................................................................................ 11
5.1 Motor .................................................................................................................................................................... 11
5.1.1 Motor Choice............................................................................................................................................ 11
5.1.1.1 Motor velocity ............................................................................................................................. 11
5.1.1.2 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM)..................................................... 11
5.1.1.3 Chopper Mode 2 (PHASE)......................................................................................................... 12
5.2 Connecting Motor and Power Supply......................................................................................................... 14
5.3 Power Supply Requirements ......................................................................................................................... 14
5.3.1 EMV considerations................................................................................................................................ 15
5.4 Connections for Step / Direction- Mode..................................................................................................... 15
5.5 Connections for RS485 Interface .................................................................................................................. 15
5.5.1 Interface installation ............................................................................................................................. 15
5.5.2 Control with terminal program.......................................................................................................... 16
5.6 Functional Description..................................................................................................................................... 17
5.7 Disable Function ............................................................................................................................................... 17
5.8 RS485 Control Interface .................................................................................................................................. 17
5.8.1 RS485 Commands................................................................................................................................... 18
5.8.1.1 Examples for test move ........................................................................................................... 19
5.8.1.2 Motor Current (C) ....................................................................................................................... 19
5.8.1.3 Failure Readout (E) .................................................................................................................... 19
5.8.1.4 StallGuard (G) .............................................................................................................................. 20
5.8.1.5 Limit Switch (L)........................................................................................................................... 20
5.8.1.6 Output setting (O)...................................................................................................................... 21
5.8.1.7 I/Os Readout (Q)......................................................................................................................... 21
5.8.1.8 Baud Rate (U) .............................................................................................................................. 21
5.8.1.9 Velocity Mode (V) ....................................................................................................................... 22
5.8.1.10 Store Parameters to EEPROM (W).......................................................................................... 22
5.8.1.11 Microstep Resolution (Z) .......................................................................................................... 23
5.8.2 Chopper Modes ....................................................................................................................................... 23
5.8.2.1 Chopper Mode 0 (SPI) / Default Mode................................................................................. 23
5.8.2.2 Chopper Mode 1 (PWM) ........................................................................................................... 24
5.8.2.3 Chopper Mode 2 (PHASE)......................................................................................................... 24
5.8.2.4 Chopper mode 3 (Phase and SPI)......................................................................................... 25
5.8.2.5 Chopper mode 4 (PWM and SPI) .......................................................................................... 25
5.9 Step / Direction.................................................................................................................................................. 26
5.9.1 Direction.................................................................................................................................................... 26
5.9.2 Step ............................................................................................................................................................ 27
5.10 Reset to factory default................................................................................................................................... 27
5.11 Firmware Update............................................................................................................................................... 28
5.12 Option: Pseudo DC-Motor mode (not supported by software yet).................................................... 29
5.12.1 Setting up the module ......................................................................................................................... 29
5.12.2 Parameterizing with RS485.................................................................................................................. 29
5.12.3 Motion Control ........................................................................................................................................ 29
6Revision History.......................................................................................................................................................... 30
6.1 Documentation Revision................................................................................................................................. 30
6.2 Firmware Revision............................................................................................................................................ 30

IDX Manual (V1.15 / September 26th, 2008) 3
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
List of Figures
Figure 3.1: Pinning of IDX.................................................................................................................................................. 6
Figure 3.2: Dimensions........................................................................................................................................................ 7
Figure 3.3: Base Plate Dimensions .................................................................................................................................. 7
Figure 4.1: Step, Direction and Disable Inputs .......................................................................................................... 10
Figure 5.1: Maximum voltage regarding motor current and inductivity ............................................................ 13
Figure 5.2: Connecting Motor and Power Supply ..................................................................................................... 14
Figure 5.3: Contacts for Step-Direction......................................................................................................................... 15
Figure 5.4: Contacts for RS485 with an adapter ........................................................................................................ 15
Figure 5.5 : Connection settings for RS485................................................................................................................. 16
Figure 5.6: Main parts of the TMCM-IDX....................................................................................................................... 17
Figure 5.7: GPO wiring scheme ...................................................................................................................................... 21
Figure 5.8: Step-Direction signals and motor reactions .......................................................................................... 26
Figure 5.9: Step and Direction Signal ........................................................................................................................... 27
Figure 5.10: Reset to factory default ............................................................................................................................. 27
Figure 5.11: Firmware update tool ................................................................................................................................ 28
Figure 5.12: GPI wiring scheme...................................................................................................................................... 29
Figure 5.13: Layout Changes for DC-Motor option.................................................................................................... 29
List of Tables
Table 1.1: Order codes......................................................................................................................................................... 4
Table 3.1: Power and Motor Pinning .............................................................................................................................. 6
Table 3.2: Controls Pinning ................................................................................................................................................ 6
Table 4.1: Operational Ratings (Orange: Different values for IDX 7505)............................................................... 8
Table 4.2.1: Practical motor current limitations for IDX 7505.................................................................................. 9
Table 5.1: Maximum voltage regarding motor current and inductivity .............................................................. 12
Table 5.2: RS485 Commands............................................................................................................................................ 18
Table 5.3: Motor Current Examples for IDX ................................................................................................................. 19
Table 5.4: Failure readout in SPI mode........................................................................................................................ 19
Table 5.5: StallGuard .......................................................................................................................................................... 20
Table 5.6: Limit switch....................................................................................................................................................... 20
Table 5.7: Output adjustment.......................................................................................................................................... 21
Table 5.8: I/Os Readout ..................................................................................................................................................... 21
Table 5.9: Baud rate ........................................................................................................................................................... 21
Table 5.10: Adjustment of Microstep Resolution....................................................................................................... 23
Table 5.11: Chopper mode 3 switching velocities .................................................................................................... 25
Table 5.12: External signals and motor reactions ..................................................................................................... 26
Table 6.1: Documentation Revisions ............................................................................................................................. 30
Table 6.2: Firmware Revisions......................................................................................................................................... 30

IDX Manual (V1.15 / September 26th, 2008) 4
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
1Features
The TRINAMIC IDX is a small and rugged step / direction stepper motor driver system with a supply
voltage of up to 50V and up to 3.5A RMS motor coil current (up to 75V and up to 5A RMS for
IDX 7505). It can be controlled via an RS-485 interface. Up to 256 micro steps are supported for either
high accuracy or high speed. An update of the firmware is possible via the serial interface. The system
features sensorless stall detection (StallGuardTM) and full protection. The module is fully protected and
comes with a stand-alone reference search feature.
The motor, switches and power supply can be connected easily with screw terminal connectors.
The housing is based on a thick aluminum plate which is used as a heatsink.
Applications
Step-/ Direction stepper driver for industrial applications
Robotics
Remote diagnostics / feedback allows for high-reliability drives
Centralized motor driver mounted in switchboard
Decentralized motor driver mounted near motor
Motor type
Coil current from 500mA to 3.5A RMS (5A peak) (IDX)
Coil current from 500mA to 5.0A RMS (7A peak) (IDX 7505)
12V to 50V nominal supply voltage (or any value in between) (IDX)
12V to 75V nominal supply voltage (or any value in between) (IDX 7505)
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
Order code
Description
IDX
48V, 3.5A IDX module
IDX 7505
75V, 5A IDX module
Table 1.1: Order codes

IDX Manual (V1.15 / September 26th, 2008) 5
Copyright © 2005-2008, 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 2008
Information given in this data sheet is believed to be
accurate and reliable. However no responsibility is
assumed for the consequences of its use or for any
infringement of patents or other rights of third
parties, which may result from its use.
Specifications are subject to change without notice.

IDX Manual (V1.15 / September 26th, 2008) 6
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
3Electrical and Mechanical Interfacing
3.1 Pinning
Power
&
Motor
Controls
OB2
OB1
OA2
OA1
GND
+VS
Common
Disable
Dir
Step
+5V
RefA
RefB
GND
GPI
GPO
RS485A
RS485B
RS485A
RS485B
IDX
Figure 3.1: Pinning of IDX
Pin
Number
Function
OB1, OB2
1, 2
Connections for motor coil B
OA1, OA2
3, 4
Connections for motor coil A
GND
5
GND, power
+VS
6
Positive power supply voltage
Table 3.1: Power and Motor Pinning
Pin
Number
Function
RS485 -
1, 3
RS485 remote control access -, TTL input
RS485 +
2, 4
RS485 remote control access +, TTL input
GPO
5
General Purpose Output, for wiring scheme see Figure 5.7
GPI
6
General Purpose Input, for wiring scheme see Figure 5.12
GND
7
GND reference
REF B
8
Reference signal B (integrated 3.9 K pull up resistor to +5V)
REF A
9
Reference signal A (integrated 3.9 K pull up resistor to +5V)
+5V
10
Constant +5V output, reference
Step
11
Opto-decoupled input (negative terminal):
Each impulse causes one motor microstep
Direction
12
Opto-decoupled input (negative terminal):
Polarity determines motor direction
Disable
13
Opto-decoupled input (negative terminal):
Tie to opto-coupler negative supply voltage to disable motor driver
Common
14
5…24V, Opto-coupler positive supply voltage
Table 3.2: Controls Pinning

IDX Manual (V1.15 / September 26th, 2008) 7
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
3.2 Dimensions
63.5mm
63.5mm
18.5mm
29.5mm
34mm
3mm
Figure 3.2: Dimensions
7mm
12mm
6.5mm
4mm
4.5mm
63.5mm
29.5mm
2.5mm
63.0mm
Figure 3.3: Base Plate Dimensions
3.3 Connectors
Both connectors are RIA connectors.
Power and motor: 6 pin connector RM 5.0 (07_06_RM5)
Control: Two 4 pin and one 6 pin connectors RM 3.5, (2x 166_04_RM3.5, 1x 166_06_RM35)

IDX Manual (V1.15 / September 26th, 2008) 8
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
4Operational 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
VS
Power supply voltage (IDX)
12 ... 48
58.5
V
VS
Power supply voltage (IDX 7505)
12 ... 75
78.5
V
ICOIL
Motor coil current for sine wave peak
(chopper reg., software adjustable) (IDX)
0.7 … 4.3
5
A
ICOIL
Motor peak coil current (IDX 7505)
0.7 … 6.4
7.1
A
IMC
Nominal RMS motor current (IDX)
0.5 ... 3
3.5
A
IMC
Nominal motor current (IDX 7505)
0.5 ... 4.5
5
A
fCHOP
Motor chopper frequency (actual
frequency depends on operation mode)
20 or 36
kHz
tSLP
Coil output slope
300
ns
IS
Power 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
30
V
VOPTON
Signal active voltage at disable, step and
direction input (optocoupler on,
measured from UCOM to input)
3.5
4.5 .. 24
30
V
VOPTOFF
Signal inactive voltage at disable, step
and direction input (optocoupler off,
measured from UCOM to input)
-5.5
0
2
V
IOPT
Optocoupler current (internally regulated)
4
8
mA
tSTEPLO
Step impulse low time (optocoupler on)
0.7
µs
tSTEPHI
Step impulse high time (optocoupler off)
2.0
µs
tDIRSETUP
Direction setup time to rising edge of
step input
0
µs
tDIRHOLD
Direction hold time after rising edge of
step input
3.0
µs
VREF
Input low voltage on REFA / REFB
-2
0
0.8
V
VREF
Input high voltage on REFA / REFB
2.4
5
30
V
VGPI
Input voltage on GPI
-2
0 ... 5
30
V
VGPO
Output voltage on GPO (open collector)
-1
100
V
IGPO
Output current on GPO (open collector)
-150
mA
TENV
Environment temperature
-25
70
°C
TC
Temperature of case back (cooling plate)
-25
85
°C
Table 4.1: Operational Ratings (Orange: Different values for IDX 7505)

IDX Manual (V1.15 / September 26th, 2008) 9
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
4.1 Practical maximum motor current ratings
The IDX 7505 (IDX) uses eight high power 80V (60V) transistors with low internal on resistance of
only 15mOhm (24mOhm) to drive the motor. Due to this, power loss is just a few watts at maximum
current. In order to avoid EMV problems and to keep electromagnetic emission low, the transistors
are switched smoothly on and off with 300ns transitions. On the other hand, this produces dynamic
losses and thus additional power dissipation. The resulting power dissipation has to be cooled away
by air convection and via the metal base plate, in order to keep transistor and board temperature well
below 125°C (Integrated thermal limit). This especially becomes a limiting point for the IDX7505,
because of its high voltage capability. The following table gives some examples for the current
capability in a typical mounting situation, where the module is mounted to a metal base plate (heat
sink with fins, overall dimensions 100*50*15mm³). In this situation the base plate was always kept at
maximum 60°C. However, the actual motor type and velocity setting also influences power dissipation
of the module.
Chopper
mode
Supply
voltage
Maximum
ICOIL RMS
for continuous operation
Maximum duty
cycle for full
current
0, 1
75V
3.5A
50%
0, 1
70V
4A
60%
0, 1
60V
4.5A
80%
0, 1
≤50V
5A
100%
2
15V … 75V
4A *)
n/a
Table 4.2.1: Practical motor current limitations for IDX 7505
*) This limit is due to the higher current ripple in chopper mode 2, which allows a maximum of 75%
to 90% of the maximum current setting. It is not a thermal limit.

IDX Manual (V1.15 / September 26th, 2008) 10
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
4.2 Step, Direction and Disable Inputs
The inputs disable, dir and step are electrically isolated from the module. The inputs are related to
VCOM. In a typical application, UCOM shall be tied to the positive supply voltage of the master and the
inputs are driven by open collector or push / pull outputs. VOPTOFF and VOPTON must not exceed VCOM to
avoid reverse polarity for the opto couplers.
OFF: VCOM - VIN < 1.0V
ON: VCOM - VIN >= 3.5V
UCOM
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:
VOPTOFF VOPTON
VSTEP = 0V 1.5V 4.0V 5V
undefined
20V19.0V16.5V
VOPTON VOPTOFF undefined
VCOM = 5V
VCOM = 20V
VSTEP = 0V

IDX Manual (V1.15 / September 26th, 2008) 11
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5Getting Started
5.1 Motor
Attention: Do not connect or disconnect the motor while power on. Damage to the module may
occur.
Attention: A too high motor current setting can damage you motor! If in doubt, start with a low
current setting and check motor temperature. If the motor heats up very quickly, check all settings.
The motor shall never reach a temperature above 100°C under any circumstances. Some stepper
motors need contact to metallic parts to allow continuous operation. Mind the default settings, when
you operate in step / direction mode the first time! You can store your own settings in the module
permanently.
5.1.1 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 most
dynamic operation choose mode 0, or the combined modes 3 and 4 which use mode 1 or 2 for slow
movements and switch to mode 0 at a defined velocity.
5.1.1.1 Motor velocity
Whenever it is desired to maximize the motor velocity in a given application, it is important to
understand limitations due to supply voltage and motor inductivity. Please consult your motor data
sheet for this, as well as the choice of the chopper mode. Chopper mode 0 allows maximum motor
velocity.
5.1.1.2 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

IDX Manual (V1.15 / September 26th, 2008) 12
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.1.1.3 Chopper Mode 2 (PHASE)
In Table 5.1 and Figure 5.1 examples of maximum power supply voltages regarding current ICOIL and
inductivity of your motor are specified.
For further information, including a formula and description how to calculate the maximum voltage
for your setup, refer to 5.8.2.3
ICOIL (RMS)
L (min.)
VS(max.)
5.0 A
0.75 mH
75 V
0.48 mH
48 V
0.24 mH
24 V
4.0 A
0.94 mH
75 V
0.6 mH
48 V
0.3 mH
24 V
3.0 A
1.25 mH
75 V
0.8 mH
48 V
0.4 mH
24 V
2.0 A
1.875 mH
75 V
1.2 mH
48 V
0.6 mH
24 V
1.0 A
3.75 mH
75 V
2.4 mH
48 V
1.2 mH
24 V
0.5 A
7.5 mH
75 V
4.8 mH
48 V
2.4 mH
24 V
0.3 A
12.5 mH
75 V
8 mH
48 V
4 mH
24 V
Table 5.1: Maximum voltage regarding motor current and inductivity

IDX Manual (V1.15 / September 26th, 2008) 13
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
0
2
4
6
8
10
12
14
0,3 0,8 1,3 1,8 2,3 2,8 3,3 3,8 4,3 4,8
ICOIL /A
L /mH
75 V 48 V 24 V
Figure 5.1: Maximum voltage regarding motor current and inductivity
Any combination of motor coil current and inductivity which is above the curve for
maximum supply voltage (VS) is possible to drive the motor in this mode.
0
0,5
1
1,5
2
2,5
1 1,5 2 2,5 3 3,5 4 4,5 5
ICOIL /A
L /mH
Check your motor data sheet, please.
If in doubt, please start with a lower supply voltage and check motor heating when raising the
voltage.

IDX Manual (V1.15 / September 26th, 2008) 14
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.2 Connecting Motor and Power Supply
Power supply
IDX
C
keep distance
short
Figure 5.2: Connecting Motor and Power Supply
5.3 Power Supply Requirements
The power supply voltage shall be in the limits as given in the chapter 4 under operational ratings.
Please note that there is no protection against reverse polarity or too high voltage. The power supply
typically should be within a range which fits the motor requirements, as described in chapter 5.1.1.
When using supply voltages near the upper limit, a regulated power supply becomes a must. Please
ensure, that enough power filtering capacitors are provided in the system (1000µF for each ampere of
RMS motor current or more recommended), in order to absorb mechanical energy fed back by the
motor in stalling conditions. In larger systems a zener diode circuitry might be required, when motors
are operated at high velocities.
The power supply should be designed in a way, that it supplies the nominal motor voltage at the
desired maximum motor power. In no case shall the supply value exceed the upper / lower voltage
limit. To ensure reliable operation of the unit, the power supply has to have a sufficient output
capacitor and the supply cables should have a low resistance, so that the chopper operation does not
lead to an increased power supply ripple directly at the unit. Power supply ripple due to the chopper
operation should be kept at a maximum of a few 100mV.
Therefore we recommend to
a) keep power supply cables as short as possible
b) use large diameter for power supply cables
c) if the distance to the power supply is large (i.e. more than 2-3m), use a robust 4700µF (IDX
7505) or 2200µF (IDX) or similar additional filtering capacitor located near to the motor driver
unit. Choose the capacitor voltage rating fitting to the maximum operating voltage.
The overall power rating mainly depends on the motor used and on the mechanical output power, i.e.
the motor velocity and desired torque. As a thumb rule, a 42mm class motor will require a 10W (short
motor) to 20W (long motor) power supply, while a 57mm motor will require 15W to 30W, when
operated at maximum rated current and low velocities. Operation at very high velocities will increase
the power demand up to the double value.

IDX Manual (V1.15 / September 26th, 2008) 15
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.3.1 EMV considerations
Due to the small form factor of the unit, it is not completely protected against electromagnetic
emissions resulting from switching operation. If your system is subject to CE testing and shows EMV
problems, i.e. due to some parts of the housing/cabling not being shielded, provide ferrite filters for
the positive power supply line and for the motor outputs near to the unit. A 470pF to 1nF (100V)
capacitor to GND then should be added externally to each ferrite filter.
5.4 Connections for Step / Direction- Mode
The step-direction-mode is enabled if the acceleration is set to 0 (default) using the RS485 interface.
The example input signals of Figure 5.3 are schematically (see chapter 4.2 for more information):
Dir
Common
Disable
Step
PWR 12...50 V
TMCM-IDX
5 ... 24 V
Dir Common
0 V rotating direction
Disable
Common
0 V rotation on off
at Vcommon or left open
Step Common
0 V Velocity Deceleration Acceleration
const.
Figure 5.3: Contacts for Step-Direction
The maximum step frequency is 350 kHz (limited by the opto couplers).
5.5 Connections for RS485 Interface
The RS485-mode allows for configuration of motor parameters as well as remote control of the
motor.
5.5.1 Interface installation
To connect the module to a PC a RS485 interface is required, for example TRINAMIC’s new USB-2-485
or any other RS485 adapter, like the standard RS232 to RS485-converters. Input A has to be connected
to RS485A of the IDX and Input B with RS485B.
TMCM-IDX
RS-232-port
USB-port
Terminal alternative
RS232
to
RS485
4 3 2 1
USB
to
RS485
+ -
Either use a RS232 to
RS485 or alternatively
a USB to RS485 adapter
+
-
+
-
Figure 5.4: Contacts for RS485 with an adapter

IDX Manual (V1.15 / September 26th, 2008) 16
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.5.2 Control with terminal program
Having installed the hardware, the IDX can be controlled with any terminal program, like
HyperTerminal that comes with MS-Windows. Following steps are described for HyperTerminal but are
similar for the other terminal programs:
1. Start HyperTerminal
2. A window for a new connection opens. Fill in a name and press OK.
3. Select the appropriate COM-port and press OK.
4. Fill in the values like in Figure 5.5 and confirm with OK.
Bit rate:
Data bits:
Parity:
Stop bits:
Flow control: none
none
Figure 5.5 : Connection settings for RS485
Type into the terminal window commands like “AV 50000”, “AA 300” or “Ac” and execute each with
ENTER. Pay attention to the spaces between command and value. With standard RS485 adapters the
typed value may be echoed and lines like AAVV 5500000000 for the typed AV 50000 appear. If this
happens best is to pay no attention to the screen and just type in the commands and press ENTER.
The value sent to the module is only the typed and not the displayed. An acceleration differing from
zero is required to get velocities in RS485 mode. Setting or storing this value to the EEPROM disables
step/direction control until acceleration is set to zero again (and eventually stored) or the board is
reset to factory default.

IDX Manual (V1.15 / September 26th, 2008) 17
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.6 Functional Description
The IDX module has three different modes to control a stepper motor: step-direction, RS485 and stand
alone. 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.
TMCM-IDX
12..50V DC
12..75V DC
Step/Dir
programmable
Motion
Controller
RS-485
Driver
TMC249
5V Power Supply
Step
Motor
MOSFET
Driver
Stage
Opto
isolation
Figure 5.6: Main parts of the TMCM-IDX
5.7 Disable Function
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
5.8 RS485 Control Interface
The RS485 interface can control all functions of the IDX. 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.
This mode can only be used with an appropriate RS485 interface. Commands are sent with a terminal
program, refer 5.5.

IDX Manual (V1.15 / September 26th, 2008) 18
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.8.1 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. All values are ASCII.
Command
Function
Description
Range
Factory
Default
A, a
Acceleration
Acceleration: v = 28.96 * a
0..2500000
0
C, c
Set Motor
Current
Motor current in percentage of maximum
current
(0..100% * IDX max. current). Refer 5.8.1.2
0..100
50
E
Failure
readout
Provides failure readout. Refer 5.8.1.3
8 Bit (SPI)
1 Bit (others)
G, g
StallGuard
In mode 0 (SPI) the StallGuard feature is
functional. ‘g’ provides the actual StallGuard
value, not the setting. Refer 5.8.1.4
-7..0..+7
0
L, l
Limit switch
Used to switch on and off reference run
values. Refer 5.8.1.5
byte
-
M, m
Select Mode
Select chopper mode: 0:SPI (default), 1:PWM,
2:PHASE, 3 & 4: Combinations, Refer 5.8.2
0, 1, 2, 3, 4
0
O, o
Set Output
Output adjustments, Refer 5.8.1.6
2 bit
0
P
Set Position
Set position without moving the motor
32 bit
Q
Read I/Os
Provides out of the I/O the values of the ports
GPI, REF_A, REF_B, GPO and ALARM. Refer
5.8.1.7
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
Example: “SB” makes “B” 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 5.8.1.8
0…7
0
V, v
Velocity for
Rotation
Velocity for rotation / reference run
v = n * 0.149157 usteps/s
Additional Parameter is 0 or missing: Carriage
Return (CR) comes after acceleration phase
Additional Parameter is 1: no delay of CR
+/- 2500000,
0 or 1
0
W
Store
parameters
to EEPROM
Stores different parameters to the EEPROM to
restart with the same performance. Refer
5.8.1.9
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
Sets the maximum microstep resolution (0:
max; 6: min), Refer 5.8.1.11
0..6
0
Table 5.2: RS485 Commands

IDX Manual (V1.15 / September 26th, 2008) 19
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
Examples:
1. Set chopper mode to SPI Mode:
AM 0 ENTER
2. Read out the actual mode
Am ENTER
5.8.1.1 Examples for test move
Different accelerations and velocities
AA 500, AV 50000, AV –50000 try other AA 100…8000, AV 0…400000
Max. current –test of torque
AA 500, AV 50000, AC 255 test torque manually AC 50 test torque
Read and set position
AR, AP 0, AR, AA 500, AV 50000, AR
5.8.1.2 Motor Current (C)
The motor current can be set by the user. To do this use the RS485 command “AC” in addition with a
percent value. To calculate the actual setting, please use the 100% values as shown in the table.
Internally the current is regulated by two independent parameters for the best module/motor
performance possible.
For chopper mode 2, the maximum setting is about 75% to 90% - at higher settings, motor microstep
behaviour may become harsh. The actual maximum depends upon the actual motor. This is to avoid
the motor coil current raising above the 100% setting at any time. Not all currents can be
continuously driven at all supply voltages / cooling circumstances. Please refer to motor current
limitations.
AC
ICOIL,PP
IDX 7505
ICOIL,RMS
IDX 7505
ICOIL,PP
IDX
ICOIL,RMS
IDX
% to max.
ICOIL
100
7.1A
5.0A
4.8A
3.4A
100% *)
75
5.3A
3.8A
3.6A
2.6A
75%
66
4.7A
3.3A
3.2A
2.2A
66%
50
3.5A
2.5A
2.4A
1.7A
50%
33
2.4A
1.7A
1.6A
1.1A
33%
25
1.8A
1.26A
1.2A
0.85A
25%
10
0.71A
0.50A
0.5A
0.35A
10%
Table 5.3: Motor Current Examples for IDX
*) Not possible for chopper mode 2.
5.8.1.3 Failure Readout (E)
The IDX provides a full driver failure analysis in SPI mode (8 Bit). The returned bit assignments are as
follows:
Bit
Name
Function
Remark
7
OT
Overtemperature
“1” = driver chip off due to overtemperature
6
OTPW
temperature prewarning
“1” = driver chip prewarning temperature exceeded
5
UV
driver undervoltage
“1” = undervoltage on VS – does not cover all cases
4
OCHS
overcurrent high side
(not available in current hardware implementation)
3
OLB
open load bridge B
Open load detection can occur at fast motion also.
2
OLA
open load bridge B
Open load detection can occur at fast motion also.
1
OCB
overcurrent bridge B low side
Short circuit detected. Please check motor wiring.
0
OCA
overcurrent bridge A low side
Short circuit detected. Please check motor wiring.
Table 5.4: Failure readout in SPI mode

IDX Manual (V1.15 / September 26th, 2008) 20
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
In the other two modes the failure analysis consists of only one bit:
1: short circuit or overtemperature
0: no failure
5.8.1.4 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 command letter ‘g’
provides the actual StallGuard value of the motor so easy calibration is possible. 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. When switching on StallGuard, the
motor operation mode is changed and microstep resolution may be worse. Thus, StallGuard should
be switched off when not in use.
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 5.5: StallGuard
The StallGuard function can also be activated when using step/direction mode. In step/direction mode
the motor will not be stopped when the StallGuard value is reached, but the general purpose output
will be controlled by the StallGuard value: when the actual load value is greater than the StallGuard
value, the GPO will be switched on, and when the actual load value is lower or equal to the
StallGuard limit, the GPO will be switched off. This can be used to signal a stall to the step/direction
controller. When the StallGuard function is de-activated (0, default) the GPO will not be changed by
StallGuard.
5.8.1.5 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 5.6: 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.