Trinamic PANDrive PD-109-57 User manual

PANDrive PD-109-57
57mm / NEMA-23 Stepper Motor Mechatronic
Module
TMCM-109-57 Electronics Manual
Version: 1.10
October 17th, 2007
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20 357 Hamburg, Germany
http://www.trinamic.com

PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 2
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Contents
1Features........................................................................................................................................................................... 4
2Life support policy....................................................................................................................................................... 5
3Electrical and Mechanical Interfacing..................................................................................................................... 6
3.1 Dimensions........................................................................................................................................................... 6
3.1.1 PCB Dimensions........................................................................................................................................ 6
3.1.2 PANDrive Dimensions ............................................................................................................................. 7
3.2 Connectors ............................................................................................................................................................ 7
3.3 Connecting the Module..................................................................................................................................... 8
3.3.1 Connector 1: Power Supply, RS485, Step/Direction........................................................................ 8
3.3.2 Connector 2: RS232 and additional I/O ............................................................................................. 9
3.4 Connecting the Motor (Connector 3 and 4) ................................................................................................ 9
4Operational Ratings................................................................................................................................................... 10
4.1 Step, Direction and Disable Inputs ............................................................................................................. 11
5Functional Description.............................................................................................................................................. 12
5.1 System Architecture ......................................................................................................................................... 12
5.1.1 Microcontroller (µC) ............................................................................................................................... 12
5.1.2 TMCL EEPROM........................................................................................................................................... 12
5.1.3 TMC428 Motion Controller ................................................................................................................... 12
5.1.4 TMC249 Motor Driver............................................................................................................................. 12
5.2 Power Supply Requirements ......................................................................................................................... 13
5.3 Disable ................................................................................................................................................................. 13
5.4 Communication Interface – RS232 and RS485 ......................................................................................... 13
5.5 Motor Current setting ...................................................................................................................................... 14
5.6 Microstep Resolution ....................................................................................................................................... 14
5.7 Optimum motor settings................................................................................................................................ 15
5.8 Step / Direction Interface ............................................................................................................................... 15
5.8.1 Direction Input........................................................................................................................................ 15
5.8.2 Step Input................................................................................................................................................. 15
5.9 Reference Switches .......................................................................................................................................... 16
5.10 StallGuard™ - Sensorless Motor Stall Detection ..................................................................................... 16
5.11 Environment Temperature Considerations................................................................................................ 16
5.12 LEDs 17
5.13 Firmware update............................................................................................................................................... 17
5.14 Resetting the module...................................................................................................................................... 17
6Putting the TMCM-109 into Operation.................................................................................................................. 18
7TMCM-109 Operational Description ....................................................................................................................... 19
7.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency .............................. 19
8Software........................................................................................................................................................................ 20
9Revision History.......................................................................................................................................................... 21
9.1 Documentation Revision................................................................................................................................. 21
9.2 Firmware Revision............................................................................................................................................ 21
10 References .................................................................................................................................................................... 21

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List of Figures
Figure 3.1: Dimensions of base PCB ............................................................................................................................... 6
Figure 3.2 Front view of PANDrive.................................................................................................................................. 7
Figure 3.3 Side and rear view of PANDrive (108mm refers to PD3 motor)......................................................... 7
Figure 3.4: The TMCM-109 module and its connectors.............................................................................................. 8
Figure 4.1: Step, Direction and Disable Inputs .......................................................................................................... 11
Figure 4.2: Example for Step, Direction and Disable inputs................................................................................... 11
Figure 5.1: Main parts of the TMCM-109....................................................................................................................... 12
Figure 5.2: Step and Direction Signal ........................................................................................................................... 16
List of Tables
Table 1.1: Order codes......................................................................................................................................................... 4
Table 3.1: Connector 1......................................................................................................................................................... 8
Table 3.2: Connector 2......................................................................................................................................................... 9
Table 4.1: Operational Ratings ........................................................................................................................................ 10
Table 5.1: Motor Current Examples ................................................................................................................................ 14
Table 5.2: Microstep resolution setting ........................................................................................................................ 14
Table 5.3: Optimum motor settings .............................................................................................................................. 15
Table 5.4: LEDs..................................................................................................................................................................... 17
Table 7.1: TMC428 Velocity parameters ........................................................................................................................ 19
Table 9.1: Documentation Revisions ............................................................................................................................. 21
Table 9.2: Firmware Revisions......................................................................................................................................... 21

PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 4
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
1 Features
The PANdrive PD-109-57 is a full mechatronic solution including a 57mm flange motor. It is
based on the TMCM-109-57 electronics and offers RS232, RS485 or step/direction interface. The
power supply, interface and the multi purpose I/Os can be connected via two pluggable screw
terminal connectors. The TMCM-109-57 comes with the PC based software development
environment TMCL-IDE for the Trinamic Motion Control Language (TMCL). Using predefined TMCL
high level commands like „move to position“ or „constant rotation“ a rapid and fast
development of motion control applications is guaranteed. Communication traffic is kept very
low since all time critical operations, e.g. ramp calculation are performed onboard. The TMCL
program can be stored in the on-board EEPROM for stand-alone operation. The firmware of the
module can be updated via the serial interface. With the StallGuard™ (pat. pend.) feature it is
possible to detect motor overload or motor stall.
Applications
• decentralized mechatronic drive with integrated intelligence
• high-precision drives with high dynamics and torque
Electrical data
• 18V to 55V motor supply voltage for highest motor dynamics
• up to 3.5A RMS nominal motor current
Motor data
• all PANdrive Motors optimized for 3.0A RMS motor current
• please also refer to the motor datasheet
Interface
• RS232, RS485 and step / direction (please request for CAN version)
• 2 inputs for reference and stop switches
• 1 general purpose input and 1 output
Features
• up to 64 times microstepping
• memory for 2048 TMCL commands
• automatic ramp generation in hardware
• on the fly alteration of motion parameters (e.g. position, velocity, acceleration)
• StallGuard™ for sensorless motor stall detection
• optically isolated inputs for step, direction and disable
• dynamic current control
Software
• stand-alone operation using TMCL or remote controlled operation
• PC-based application development software TMCL-IDE included
Other
• Pluggable screw terminal connectors for all external signals
• RoHS compliant latest from 1 July 2006
Order code Description Dimensions [mm³]
PD1-109-57 (-option) PANdrive 0.47Nm 71 x 57 x 57
PD2-109-57 (-option) PANdrive 0.98Nm 85 x 57 x 57
PD3-109-57 (-option) PANdrive 1.63Nm 108 x 57 x 57
Option Host interface
RS RS232 and 485 interface plus step / direction
CAN CAN interface (please ask for availability)
Table 1.1: Order codes

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Copyright © 2006, 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 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.

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Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
3 Electrical and Mechanical Interfacing
3.1 Dimensions
3.1.1 PCB Dimensions
Height: 22mm (allow for a minimum additional 3mm distance to the motor, 4-5mm are
recommended)
Four mounting holes in QMOT motor configuration (M3).
86.0 mm
57.2 mm 50.0 mm
5.0 mm 30.0 mm28.0 mm 23.0 mm
3.6 mm
49.0 mm 4.1 mm
TMCM-109-57
Mouning
holes
Figure 3.1: Dimensions of base PCB

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Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
3.1.2 PANDrive Dimensions
Attention: Please refer to latest QSH5718 motor manual for actual and exact motor dimensions.
Figure 3.2 Front view of PANDrive
Figure 3.3 Side and rear view of PANDrive (108mm refers to PD3 motor)
3.2 Connectors
The connectors onboard of the module are 10 and a 12 pin female connector from RIACON:
Type 183, RM 3.5mm
Fitting male connectors with screw terminals are: RIACON Type 169, RM 3.5mm.
Please refer to www.riaconnect.com for more detailed information.

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Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
3.3 Connecting the Module
The TMCM-109 module consists of two PCBs: the CPU board and the base board. All the connectors
can be found on the base board. They are shown in Figure 3.4.
Attention: Never plug in the board in reverse direction!
Terminal 1
Connector 1
Connector 2
Terminal 1
Connector 3
Connector 4
Figure 3.4: The TMCM-109 module and its connectors
3.3.1 Connector 1: Power Supply, RS485, Step/Direction
Use this connector to connect the module to the power supply. The connector also provides pins for
RS485 and Step/Direction signals. To use the RS485 interface, it has to be enabled via the interface
selection input (please see connector 2 pinning). The polarity of the shutdown input can be
configured using TMCL (please see the TMCL Reference and Programming Manual for details). Please
note that the shutdown input, the step input and the direction input are connected to photo
couplers. The ground line of all three photo couplers is connected to terminal 5.
Terminal Name Function
1 GPO0 General purpose output 0 (same as connector 2, terminal 5)
(open collector, max. 250mA, max. 40V, 1K pullup to 5V integrated)
2 Shutdown Shutdown input (positive optocoupler input, polarity set via SW, SGP 80)
3 Step In / GPI1 Step input / General purpose input 1 (positive optocoupler input)
4 Dir In / GPI2 Direction input / General purpose input 2 (positive optocoupler input)
5 OC_GND Optocoupler ground
6 RS485- RS485-
7 RS485+ RS485+
8 RS485- RS485- (same as terminal 6)
9 RS485+ RS485+ (same as terminal 7)
10 GND Ground
11 GND Ground
12 +VM +18..55V DC power supply
Table 3.1: Connector 1

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3.3.2 Connector 2: RS232 and additional I/O
The RS232 interface and all other inputs and outputs of the module can be connected here. These are
the limit switches, a general purpose input and a general purpose output. The limit switch inputs are
equipped with internal pull-up resistors, so they have to be connected to GND via normally closed
switches, if enabled via software. The general purpose input can either be used as a digital TTL input
or as an analogue input with a voltage range of either 0..5V or 0..10V. This voltage range is
selectable by software. The general purpose output is an open collector output for a maximum
current of 250mA. Freewheeling diodes connected to the supply voltage are also included so that e.g.
a 24V relay or a coil can be connected directly. The pin assignment of this connector is as follows:
Terminal Name Function
1 GND Ground
2 IF select Interface selection:
Leave open to use RS232, connect to ground to use RS485.
3 TXD RS232 TxD (output)
4 RXD RS232 RxD (input)
5 GPO0 General purpose output 0 (same as connector 1, terminal 1)
(open collector, max. 250mA, max. 40V, 1K pullup to 5V integrated)
6 GPI0 General purpose input 0 (max. 5V)
7 StopR Right limit switch input (integrated 10K pullup to 5V)
8 StopL Left limit switch input (integrated 10K pullup to 5V)
9 +5V +5V output (max. 150mA)
Can be used to supply 5V fan or optical switches.
10 GND Ground
Table 3.2: Connector 2
3.4 Connecting the Motor (Connector 3 and 4)
Normally, the TMCM-109 module comes mounted on a suitable stepper motor. Should you have a
module without a motor you can connect a two phase bipolar stepper motor yourself. To connect the
motor there are two screw terminals adjacent to a cable feed through hole on the board. Connect
one coil of the motor to one of the connectors and the other coil to the other connector. Please
always make sure that the module is disconnected from the power supply before connecting or
disconnecting a motor. Connecting or disconnecting a motor while the module is powered can
damage the module!
Connect one motor coil to connector 3 and the other motor coil to connector 4. The direction of the
motor shaft can be reversed by changing the polarity of one coil.
Do not connect or disconnect the motor while power on. Damage to the module
may occur.

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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 18 24 ... 48 1) 55
1) V
ICOIL Motor coil current for sine wave
peak (chopper re
g
ulated, ad
j
ustable
via software)
0 2.1 … 5.0 5.0 A
Continuous motor current (RMS)
recommended for supply volta
g
es
up to 36 V
0 1.5 ... 3.5 3.5 A
IMC
Continuous motor current (RMS),
recommended for supply volta
g
es
exceeding 36 V
0 1.5 … 3.0 3.5
2) A
fCHOP Motor chopper frequency 36.8 kHz
ISPower supply current << ICOIL 1.4 * ICOIL A
U+5V +5V output (max. 150mA load) 4.8 5.0 5.2 V
VISO Isolation voltage of optocoupler ± 42 ±100 V
VOPTON Si
g
nal active volta
g
e at enable, step
and direction input (optocoupler on)
4 5 ... 24 27 V
IOPTON Si
g
nal current for optocoupler
(internally limited) (meas. at 24V)
11 15 18 mA
VOPTOFF Si
g
nal inactive volta
g
e at enable,
step and direction input
(optocoupler off)
-1 0 1.5 V
fStep Step frequency 350 kHz
tdelay Direction hold time after step
impulse active (falling) edge
0.7 µs
tsetup setup time before step impulse 2.0 µs
VINPROT Input volta
g
e for StopL, StopR, GPI0
(internal protection, DC)
-24 24 V
VANA GPI0 analo
g
measurement ran
g
e
(20k voltage divider in high range)
0 ... 5
0 … 10
V
VSTOPLO StopL, StopR low level input 0 0.9 V
VSTOPHI StopL, StopR hi
g
h level input
(integrated 10k pullup to +5V)
1.9 5 V
Environment temperature at rated
current (no cooling)
-40 +40 °C
TENV
Environment temperature at 80 % of
rated current or 50% duty cycle
(no cooling)
-40 +60 °C
Table 4.1: Operational Ratings
1) Attention: First samples (until Oct. 05) are limited to a maximum of 38V supply voltage
2) Forced cooling might be required

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4.1 Step, Direction and Disable Inputs
In the standard firmware of the TMCM-109 these inputs are used as general purpose inputs.
Movements are controlled by TMCL motion commands and no step direction operation is possible. To
activate the step direction feature of the TMCM-109 install the extra firmware TMCM109_StepDir.hex
(please refer to chapter 5.13). It is available on TechLibCD and www.trinamic.com.
The inputs disable, dir and step are electrically isolated from the module. Their functional voltages
VOPTON and VOPTOFF are directly depending on the input voltages (VSTEP, VDIR and VDISABLE). For off-state the
input voltage has to be less than 1.5V (VOPTOFF) and for on-state it has to exceed 4.0V (VOPTON).
V
STEP
5..24V
C
E
A
C
C
E
A
C
C
E
A
C
GND
µC
A: Anode
C: Cathode
C: Collector
E: Emitter
+5V
V
DIR
5..24V
V
DISABLE
5..24V
OPTO_GND
Figure 4.1: Step, Direction and Disable Inputs
Logic level:
27V4.0V1.5V
V
OPTOFF
V
OPTON
undefined
V
STEP
OPTO_GND
Figure 4.2: Example for Step, Direction and Disable inputs

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5 Functional Description
In Figure 5.1 the main parts oft the TMCM-109 module are shown. The module mainly consists of the
µC, a TMC428 motion controller, a TMC249 stepper motor driver, the TMCL program memory (EEPROM)
and the host interfaces (RS232 and RS485).
TMCM-109
Step/Dir/Disable
REF-
Switches
2
TMC428
high power
Driver
TMC249
MOSFET
Driver
Stage
TMCL
EEPROM
RS-232
RS-485
5V Power Supply
18..55V DC
I/Os
Step
Motor
Opto
isolation
µC
+5V
Host
Figure 5.1: Main parts of the TMCM-109
5.1 System Architecture
The TMCM-109 integrates a microcontroller with the TMCL (Trinamic Motion Control Language)
operating system. The motion control real-time tasks are realized by the TMC428.
5.1.1 Microcontroller (µC)
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, while an additional EEPROM
memory holds the user TMCL programs.
The TMCL operating system can be updated only via the host interfaces. Please use the latest version
of the TMCL IDE to do this.
5.1.2 TMCL EEPROM
To store TMCL programs for stand alone operation the TMCM-109 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to
2047 TMCL commands.
5.1.3 TMC428 Motion Controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-
stepper-motors (on this module, only one motor can be used). 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.
5.1.4 TMC249 Motor Driver
The stepper motor driver used on the TMCM-109 module is the TMC249 chip. This driver is very
dependable, because it provides a variety of protection and diagnostic features, which even can be
read out by the user software. Its 16x up to 32x microstepping gives a quiet and precise motor
operation. A maximum coil current of 5.0A is supported by this driver IC together with the high
performance MOSFETs the module is equipped with.

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5.2 Power Supply Requirements
The TMCM-109 is equipped with a switching voltage regulator that generates the 5V supply voltage for
the digital components of the module from the motor power supply. So only one supply voltage is
needed for the module. The power supply voltage can be 18..55V DC. Please note that there is no
protection against reverse polarity or too high voltage. The power supply typically should be within a
range of 24 to 48V to achieve highest motor performance. 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 (2200µF 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 2200µF or
larger additional filtering capacitor located near to the motor driver unit.
5.3 Disable
The disable input works as an emergency shutdown. The polarity can be configured using TMCL
(please see the TMCL Reference and Programming Manual for details).
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 abruptly or loose track otherwise.
VOPTON open wire VOPTOFF
polarity 1 polarity 2
5.4 Communication Interface – RS232 and RS485
The communication between the host and the module takes place via its host interface. This can be
either RS232 or RS485. The module is equipped with both interfaces, but only one interface can be
used at a time. All interfaces integrated on the module are ready-to-use, so there are no external
drivers or level shifters necessary. To select RS232, leave open the interface selection pin, for RS485
pull it to ground. Please see chapter 3.3 for the pin assignments of the interfaces.
Interface selection pin
(connector 2, terminal 2)
Selected communication
interface
open wire RS232
pulled to ground RS485
Communication with the TMCM-109 module is done using TMCL commands. Refer to TMCL manual for
detailed information (10 References). When using the RS485 interface, the devices can be daisy-
chained. Bus termination resistors in the range of 100 Ohms are typically required at each of the two
ends of the cables.

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5.5 Motor Current setting
The motor current can be set in a range of 0 to 255, using the TMCL software (inst. 5: SAP, type 6:
max. current). 255 corresponds to the module’s maximum ICOIL setting.
Setting ICOIL,PP ICOIL,RMS
255 5.0A 3.54A
216 4.2A 3.0A
180 3.5A 2.5A
144 2.8A 2.0A
108 2.1A 1.5A
72 1.4A 1.0A
0 0A 0A
Table 5.1: Motor Current Examples
5.6 Microstep Resolution
The microstep resolution can be set using TMCL software. The default setting is 64 microsteps which
is the highest resolution.
To set the microstep resolution with TMCL use instruction 5: SAP, type 140: microstep resolution. You
can find the appropriate value in Table 5.2.
Value microsteps
0 Do not use: for fullstep please
see “fullstep threshold”
1 Halfstep (not recommended)
2 4
3 8
4 16
5 32
6 64
Table 5.2: Microstep resolution setting
Despite the possibility to set up to 64 microsteps, the motor physically will be positioned to a
maximum of about 24 Microsteps, when operated in 32 or 64 microstep setting.

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5.7 Optimum motor settings
Following settings apply best for highest motor velocities with smooth motor behavior at low
velocities. Mixed decay should be switched on constantly. Microstep resolution is 4 (TMCL), this is 16
times microstepping. The pulse divisor is set to 3.
QSH5718
-41-30-047 -55-30-098 -79-30-163
Optimum Motor Settings
Motor
voltage Unit
PD1 PD2 PD3
TMCL value 220 204 204
Motor current (RMS) A 3 2.8 2.8
TMCL value 620 240 180Maximum microstep velocity =
Fullstep threshold RPS 5.913 2.289 1.717
TMCL value 1450 580 400
Maximum fullstep velocity
24 V
RPS 13.828 5.531 3.815
TMCL value 800 410 280Maximum microstep velocity =
Fullstep threshold RPS 7.629 3.910 2.670
TMCL value 2040 1000 810
Maximum fullstep velocity
48 V
RPS 19.455 9.537 7.725
Table 5.3: Optimum motor settings
5.8 Step / Direction Interface
In the standard firmware of the TMCM-109 the step and direction input are used as general purpose
inputs. Movements are controlled by TMCL motion commands and no step direction operation is
possible. To activate the step direction feature of the TMCM-109 install the extra firmware
TMCM109_StepDir.hex (please refer to chapter 5.13). It is available on TechLibCD and
www.trinamic.com.
Parameters like SAP 6 – max. current, 7 – standby current and 140 – microstep resolution can still be
set via the TMCL-IDE. Although most motion commands of TMCL like ROR or MVP are operational it is
not recommended to use them with the step / direction firmware.
5.8.1 Direction Input
The direction signal changes the motors rotation from clockwise (CW) to counterclockwise (CCW) and
vice versa. A change in the direction signal has to be aligned to the step pulse in order to specify the
direction of each step (please refer to setup -/ hold times).
VOPTON GND open wire
motor CW motor CCW
5.8.2 Step Input
The step signal directly influences the velocity and acceleration of the motor. The velocity depends on
the frequency, the acceleration on the frequency’s change per time.
Frequency: The maximum step input frequency is 350 kHz. The minimum logic ”0” time is 0.7 µs and
the minimum logic “1” time is 2.0 µs.

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Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Extern VOPTON GND VOPTOFF
Intern HIGH LOW
step pulse
direction
0.7µs min
2.0µs min 2.0µs min
0.7µs min
same minimum times as above
Figure 5.2: Step and Direction Signal
5.9 Reference Switches
Two digital reference / stop switch inputs are provided (StopL= stop left and StopR = stop right). They
are used as an absolute position reference for homing and to set a hardware limit for the motion
range. The inputs have internal pullup resistors. Either opto-switches or mechanical switched with
normally closed contact can be used. The 5V output can be used as an supply for opto-switches.
5.10 StallGuard™ - Sensorless Motor Stall Detection
The integrated StallGuard™ feature gives a simple means to detect mechanical blocking of the motor.
This can be used for precise absolute referencing, when no reference switch is available. 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 too high. Just activate
StallGuard and then let the traveler run against a mechanical obstacle that is placed at the end of the
operation area. When the motor has stopped it is definitely at the end of its way, and this point can
be used as the reference position.
Please see the TMCL Reference and Programming Manual on how to activate the StallGuard feature.
The TMCL IDE also has some tools which let you try out and adjust the StallGuard function in an easy
way. This is also described in the TMCL Reference and Programming Manual.
Mixed decay should be switched off when StallGuard operational in order to get usable results.
5.11 Environment Temperature Considerations
As the power dissipation of the MOSFETs is very low, no heat sink or cooling fan is needed, unless
environment temperature is raised and the module continuously is operated at a high current.
When the output bridge temperature reaches a critical value, the output current is reduced by 20%. If
the temperature still rises higher, the outputs become switched off. The coils are automatically
switched on again when the temperature is within the limits again. An optional cooling fan can be
mounted to cope with higher environment temperatures, when problems are perceived. The 5V power
supply output can be used to operate a small fan.

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Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
5.12LEDs
The TMCM-109 module is equipped with four LEDs that show the actual state of the module:
LED Function
POWER Shows that the module is powered
CPU_OK Flashes during normal operation. After resetting the configuration EEPROM it may
take some seconds before the LED starts flashin
g
a
g
ain. When the operatin
g
system
is being downloaded to the module the LED lights steadily.
ERROR On when the temperature of the MOSFETs is
g
ettin
g
too hi
g
h. The LED is off durin
g
normal operation
OUT_0 Shows the state of the general purpose output
Table 5.4: LEDs
5.13 Firmware update
Use the “Install OS” function of the TMCL-IDE. It is located in the “Setup” menu.
5.14 Resetting the module
The reset to factory default values can be done using the TMCL IDE. Select “Setup”, “Configure
module”, the “Other” tab and then “Restore Factory Default”.
If problems with the communication occur the reset procedure of
the TMCM-109 (PanDrive) is as follows:
1. Turn off the power.
2. Link pins 1 and 3 of the programming connector (as shown in the
picture on the right) by hardwire.
3. Turn the power on and wait until the LED on the module flashes
fast (much faster than normally).
4. Turn the power off.
5. Remove the link between the pins.
6. Turn the power on and wait until the LED flashes normally (this
can take some seconds).
All settings are now restored to factory default, and the module can be used again normally.

PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 18
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
6 Putting the TMCM-109 into Operation
On the basis of a small example it is shown step by step how the TMCM-109 is set into operation.
Users who are already familiar with TMCL and other Trinamic modules may skip this chapter.
Example: The following application is to be implemented on the TMCM-109 module using the TMCL-
IDE Software development environment.
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-109 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-109 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

PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 19
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
7 TMCM-109 Operational Description
7.1 Calculation: Velocity and Acceleration vs. Microstep- and
Fullstep Frequency
The values of the parameters sent to the TMC428 do not have typical motor values, like rotations per
second as velocity. But these values can be calculated from the TMC428 parameters, as shown in this
document. The parameters for the TMC428 are:
Parameter Description Range
fCLK Clock frequency 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 hi
g
her 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 7.1: TMC428 Velocity parameters
The microstep-frequency of the stepper motor is calculated with
3220482
][
][ _⋅⋅
⋅
=divpulse
CLK velocityHzf
Hzusf 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
Hzusf
Hzfsf 2
][
][ =with fsf: fullstep-frequency
The change in the pulse rate per time unit (microstep frequency change per second – the acceleration
a) is given by
29__
max
2
2++
⋅
=divrampdivpulse
CLK af
a
This results in an acceleration in fullsteps of:
usrs
a
af 2 =with af: acceleration in fullsteps

PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007) 20
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Example:
f_CLK = 16 MHz on the TMCM-109 module
velocity = 1000
a_max = 1000
pulse_div = 1
ramp_div = 1
usrs = 6
Hz
MHz
msf 3125.122070
3220482
100016
1=
⋅⋅
⋅
=
HzHzfsf 35.1907
2
3125.122070
][ 6==
s
MHz
Mhz
a208.119
2
1000)16(
2911
2
=
⋅
=++
s
MHz
s
MHz
af 863,1
2
208.119
6==
If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is:
49.26
72
35.1907 ===
rotationperfullsteps
fsf
RPS
458.1589
72
6035.190760 =
⋅
=
⋅
=
rotationperfullsteps
fsf
RPM
8 Software
TMCL, the Trinamic Motion Control Language is used to send commands from the host to the TMCM-
109 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 a 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.