Trinamic PANdrive PD-111-56 User manual

PANdrive PD-111-56
and
TMCM-111-56
56mm / NEMA-23 Stepper Motor Mechatronic Module
TMCM-110-42 Electronics Manual
Version: 1.22
October 30th, 2007
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D - 20357 Hamburg, Germany
http://www.trinamic.com

TMCM-111-56 Manual 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 TMCM-111-56 dimensions........................................................................................................................6
3.1.2 PD-111-56 motor information................................................................................................................7
3.2 Connectors.............................................................................................................................................................8
3.3 Connecting the module.....................................................................................................................................8
3.3.1 Screw connector X1: Power supply / motor connector.................................................................8
3.3.2 Connector X2: Additional I/O.................................................................................................................9
3.3.3 Connector X3: RS232, RS485 Interface and Step/Direction ...........................................................9
3.3.4 Connector X4: IIC Interface................................................................................................................. 10
3.3.5 Connector X5: ISP Connector.............................................................................................................. 10
3.3.6 Jumpers J1, J2, J3 and J4...................................................................................................................... 10
3.3.7 Resistor array R1 .................................................................................................................................... 10
4Operational Ratings................................................................................................................................................... 11
5Functional Description ............................................................................................................................................. 12
5.1 System Architecture ......................................................................................................................................... 12
5.1.1 Microcontroller........................................................................................................................................ 12
5.1.2 EEPROM ..................................................................................................................................................... 12
5.1.3 TMC428 Motion Controller ................................................................................................................... 12
5.1.4 TMC249 Motor Driver............................................................................................................................. 13
5.2 Power Supply..................................................................................................................................................... 13
5.3 Communication Interface............................................................................................................................... 13
5.4 Reference Switches .......................................................................................................................................... 13
5.5 StallGuard™ - Sensorless Motor Stall Detection......................................................................................14
5.6 Thermal protection feature.............................................................................................................................14
5.7 Motor current setting .......................................................................................................................................14
5.8 Continuous Current restrictions ................................................................................................................... 15
6Putting the TMCM-111 into Operation ................................................................................................................. 16
7TMCM-111 Operational Description....................................................................................................................... 17
7.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency.............................. 17
8Software ....................................................................................................................................................................... 18
9Revision History ......................................................................................................................................................... 19
9.1 Documentation Revision ................................................................................................................................ 19
9.2 Firmware Revision............................................................................................................................................ 19
10 References.................................................................................................................................................................... 19

TMCM-111-56 Manual 3
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
List of Figures
Figure 3.1: Mounting holes / dimensions of TMCM-111-56 .......................................................................................6
Figure 3.2: The TMCM-111-42 module ..............................................................................................................................8
Figure 5.1: Application Environment............................................................................................................................. 12
List of Tables
Table 1.1: Order codes..........................................................................................................................................................4
Table 3.1: ConnectorX1 – Power supply / motor connector .....................................................................................8
Table 3.2: Connector X2 – Additional I/O .......................................................................................................................9
Table 3.3: Connector X3 – Interfaces ...............................................................................................................................9
Table 3.4: Connector X4 – Interface I²C ....................................................................................................................... 10
Table 4.1: Operational Ratings........................................................................................................................................ 11
Table 5.1: Motor Current Examples.................................................................................................................................14
Table 5.2: Continuous current restrictions .................................................................................................................. 15
Table 7.1: TMC428 Velocity parameters........................................................................................................................ 17
Table 9.1: Documentation Revisions............................................................................................................................. 19
Table 9.2: Firmware Revisions ........................................................................................................................................ 19

TMCM-111-56 Manual 4
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
1 Features
The PANdrive PD-111-56 is a full mechatronic solution including a 56mm flange motor. It is based on the
TMCM-111-56 electronics. The TMCM-111-56 is an intelligent stepper motor controller and driver module to be
mounted directly on a 56mm flange motor (mechanical adaptation required). This triple-PCB module converts
the motor into a compact mechatronic device with bus oriented or stand-alone control. The motor, switches,
interface and multi purpose I/Os can be connected with small pluggable connectors.
The PD-111 / TMCM-111 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.
The unit can be controlled via an RS-232, RS-485, I²C or CAN interface, with step / direction option.
Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed
on board. 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 feature it is possible to detect
motor overload or motor stall.
Electrical data
•up to 5A coil current RMS (7.1A peak)
•15V to 36V motor supply voltage
•supports two phase bipolar motors with 2A to 5A RMS coil current
Interface
•RS232, RS485, I²C or CAN 2.0b host interface
•Step-/Direction interface upon request
•2 inputs for reference and stop switches
•1 general purpose input and 1 output
Features
•up to 64 times microstepping for high accuracy
•high current for highly dynamic drive
•memory for 2048 TMCL commands
•automatic ramp generation in hardware
•on the fly alteration of motor parameters (e.g. position, velocity, acceleration)
•StallGuardTM for sensorless motor stall detection
•full step frequencies up to 20kHz
•dynamic current control
•TRINAMIC driver technology: No heat sink required, low power dissipation.
Software
•stand-alone operation using TMCL or remote controlled operation
•PC-based application development software TMCL-IDE included
Other
•pluggable JST connectors / screw connectors
•RoHS compliant latest from 1 July 2006
•Diameter: 56mm (3 stacked PCBs)
Order code Description
PD-111-56 1-axis Motion control module including motor
TMCM-111-56 (-option) 1-axis Motion control module
TMCM-111-56-CABLE Cable loom for TMCM-111-56
Option Host interface
485 With I²C, RS232, RS485, Step/DIR interface
CAN With I²C, RS232, CAN, Step/DIR interface
Table 1.1: Order codes

TMCM-111-56 Manual 5
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.

TMCM-111-56 Manual 6
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
3 Electrical and Mechanical Interfacing
3.1 Dimensions
3.1.1 TMCM-111-56 dimensions
The overall height of the TMCM-111-56 is 31mm. Beware that connectors on the upper PCB are upright.
The bottom PCB shall be brought into thermal contact to a metallic surface using a non-conducting gap-pad,
in order to cool the driver transistors.
Sideview
Diameter: 55mm
All dimensions in millimeters
Eight sinked M3 holes for
mount on NEMA23 motors
on mounting plate
Topview
51,00
4,50
38,50
55,00
3,20
41,00
Circuit board
64,00
32,00 49,00
32,00
49,00
3,20
Housing with upright
D_Sub connector
20,80
8,00
51,00
37,00
ca. 3,00
3,00
64,00
43,00
Figure 3.1: Mounting holes / dimensions of TMCM-111-56

TMCM-111-56 Manual 7
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
3.1.2 PD-111-56 motor information
The cable length is optimized for mounting with TMCM-111-56. Motor and TMCM-111-56 are mounted using
adapter plate, see 3.1.1.
Figure 3.2: PD-111-56 motor dimensions (in inch)
Conversion inch to mm, mm are calculated and all terms from Figure 3.2 apply
2.25 1.86 1.500 0.20 0.220 0.118 0.27 3.03 0.308 0.20 0.06 inch
57.15 47.22 38.1 5.08 5.588 3.00 6.86 76.96 7.823 5.08 1.52 mm
Table 3.1: PD-111-56 motor dimensions converted from inch to mm
Figure 3.3: PD-111-56 motor torque

TMCM-111-56 Manual 8
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
3.2 Connectors
Connector type JST 2mm PH series, the following plugs fit for:
•Additional I/O connector: PHR-8
•Interface connector RS232, RC485 or CAN and Step/DIR: PHR-8
•I²C connector: PHR-5
3.3 Connecting the module
Caveat:
•Please always be sure that the boards are connected together correctly before connecting the
power supply.
•Never connect or disconnect a motor when the module is powered, as this may damage the
module. Also, the motor driver is not protected against short circuits to ground.
•Please do not mix up the additional I/O connector (X2) and the interface connector (X3).
1
1
11
X1
X2
X3
X4
J1
J3
J2
J4
R1
Figure 3.4: The TMCM-111-42 module
3.3.1 Screw connector X1: Power supply / motor connector
Use this screw connector to connect the power and motor. The pin assignment of this connector is as
follows:
Pin Function
1 +15..36V
2 GND
3 OA1
4 OA2
5 OB1
6 OB2
Table 3.2: ConnectorX1 – Power supply / motor connector

TMCM-111-56 Manual 9
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
3.3.2 Connector X2: Additional I/O
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. The general purpose input can
either be used as a digital TTL input or as an analogue input (0..5V). The general purpose output is an open
collector output for a maximum current of 100mA. A freewheeling diode is also included so that e.g. a relay
or a coil can be connected directly. Please note that the freewheeling diode is connected to the supply
voltage and not to +5V, so when using e.g. a relay that is connected to +5V a freewheeling diode must be
connected externally.
The pin assignment of this connector is as follows:
Pin Function
1 Left limit switch input (integrated pullup to 5V)
2 Right limit switch input (integrated pullup to 5V)
3 GND (0V)
4 General purpose output (open collector, max. 100mA, freewheeling diode included)
5 VDD (same as connector X1, pin 1/2)
6 GND
7 General purpose input (Analog (0..+5V) or Digital (TTL))
8 +5V DC output (max. 20mA)
Table 3.3: Connector X2 – Additional I/O
3.3.3 Connector X3: RS232, RS485 Interface and Step/Direction
This connector provides the RS232 and the RS485 interface. Jumper J1 selects which interface is to be used:
If this jumper is open RS232 will be used. Close this jumper to use RS485. The unused interface pins should
be connected to ground to avoid failures. The pin assignment is as follows:
Pin Function
1 RS232 TxD (output)
2 RS232 RxD (input)
3 RS485 A (+) / CAN High
4 RS485 B (-) / CAN Low
5 Step/Direction Step (High)
6 Step/Direction Step (Low)
7 Step/Direction Direction (High)
8 Step/Direction Direction (Low)
Table 3.4: Connector X3 – Interfaces

TMCM-111-56 Manual 10
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
3.3.4 Connector X4: IIC Interface
The IIC interface uses this connector. The interface that is to be used is software selectable. Please see the
TMCL Reference Manual for more information about this matter.
In IIC mode, the pin assignments are as follows:
Pin Function
1 GND
2 Do not connect
3 SDA
4 SCL
5 Do not connect
Table 3.5: Connector X4 – Interface I²C
3.3.5 Connector X5: ISP Connector
The 6-way (2x3) header on the module is the connector for an Atmel ISP programmer which can be used to
program the CPU directly. This is to be done by Trinamic only. The ISP connector is not to be used by the
user. Always leave this connector open.
The only purpose where this connector can be used by the user is to reset all settings of the module to
their factory defaults. To do this, first power off the module. Then, put on a jumper that links pin 1 and pin
3 of this connector. Then, connect the power supply again. The activity LED now flashes very quickly. Now,
disconnect the power supply again and remove the jumper. When the module is now switched on again, all
settings will be restored to their factory defaults.
3.3.6 Jumpers J1, J2, J3 and J4
These three jumpers have the following functionality:
•J1: Interface selection. This jumper selects which interface is to be used when the module starts up.
When this jumper is open it will be RS232, and when it is closed it will be RS485.
•J2: CAN/RS485 termination. Close this jumper to terminate the CAN/RS485 bus with a 120 Ohms resistor.
•J3: Step/Direction termination. Close jumper to terminate the step-signal with a 120 Ohms resistor.
•J4: Step/Direction termination. Close jumper to terminate the direction-signal with a 120 Ohms resistor.
3.3.7 Resistor array R1
This resistor array allows the using of non differential Step/Direction signals. This voltage divider generates
the half potential of the Step/Direction supply voltage to the negative differential inputs.

TMCM-111-56 Manual 11
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
4 Operational Ratings
The operational ratings show the intended / the characteristic range for the values and should be used as
design values. In no case shall the maximum values be exceeded.
Symbol Parameter Min Typ Max Unit
VSPower supply voltage for operation 14 15 … 36 37 V
ICOIL Motor coil current for sine wave
peak (chopper regulated, adjustable
via software) (adjust via Software)
0 2.8 … 7 7.1 A
IMC Continuous motor current (RMS) 0 2 ... 5 5.0 A
fCHOP Motor chopper frequency 36.8 kHz
ISPower supply current << ICOIL 1.4 * ICOIL A
U+5V +5V output (max. 20mA load) 4.8 5.0 5.2 V
VGPO Open collector output, max. 100mA,
freewheeling diode included
V
SV
VINPROT Input voltage for StopL, StopR, GPI
(internal protection, DC)
-24 0 … 5 24 V
VANA GPI analog measurement range
Range switchable
-24 0 ... 5
0 ... 10
24 V
VSTOPLO StopL, StopR low level input 0 0.9 V
VSTOPHI StopL, StopR high level input
(integrated 10k pullup to +5V)
1.9 5 V
Environment temperature at 5A RMS
with 24V supply. No forced cooling
required.
-40 25 °CTENV
Environment temperature at 4A RMS
or 50% duty cycle (5A run / 2A
standby) with 24V supply. No forced
cooling required.
-40 50 °C
Table 4.1: Operational Ratings

TMCM-111-56 Manual 12
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
5 Functional Description
In Figure 5.1 the main parts of the TMCM-111-56 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, RS485 or CAN and IIC).
TMCM-111-56
14..36V DC
REF-
Switches
2
2
high power
Driver
TMC249
5V Power Supply
I/Os
Step
Motor
TMCL
Memory
MOSFET
Driver
Stage
Step/Dir
programmable
Motion
Controller
with TMC428
RS-232
RS-485
CAN
IIC
Sequencer
Figure 5.1: Application Environment
5.1 System Architecture
The TMCM-111 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
On this module, the Atmel ATmega32 is used to run the TMCL operating system and to control the TMC428.
The CPU has 32Kbyte flash memory and a 1Kbyte 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 host interface. Please use the latest version of the
TMCL IDE to do this. To connect the module with CAN or IIC interface to the PC to update the OS the
Trinamic CANnes card or the Trinamic USB2X interface is needed
5.1.2 EEPROM
To store TMCL programs for stand alone operation the TMCM-111 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048
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.

TMCM-111-56 Manual 13
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
5.1.4 TMC249 Motor Driver
The stepper motor drivers used on the TMCM-111-56 module is the TMC249 chip. It controls the current for
the two phases of the stepper motor. It is extended for 64x microstep operation and with high current
MOSFETs plus driver circuitry.
Inspite of the power dissipation of the MOSFETs being very low, some cooling is needed in a typical setup
due to the compact construction. The coils will be switched off automatically when the temperature or the
current exceeds the limits and automatically switched on again when the values are within the limits. Do
not operate at the thermal limit for extended periods of time.
5.2 Power Supply
The TMCM-111-56 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 15 to 36 V DC. A higher voltage gives higher motor
dynamics. Please note that there is no protection against reverse polarity or too high voltage. Thus,
especially when operating at 36V, a regulated power supply is mandatory.
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. This also is important in order to make the users application compatible to any
applicable EMC guidelines.
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 - 6m), use a robust 2200µF or larger
additional filtering capacitor located near to the motor driver unit.
5.3 Communication Interface
The communication between the host and the module takes place via its host interface. This can be either
RS232, RS485, IIC or CAN. Communication with the TMCM-111-57 module is done using TMCL commands. The
interface the module is equipped with is ready-to-use, so there are no external drivers or level shifters
necessary. The unused interface pins should be connected to ground to avoid failures.
Please see chapter 3.3.3 for the pin assignments of the interfaces.
To use the TMCL IDE with CAN interface either the Trinamic CANnes card or the Trinamic USB2X interface is
needed. To use the IIC interface with the TMCL IDE the Trinamic USB2X interface is needed.
5.4 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.

TMCM-111-56 Manual 14
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
5.5 StallGuard™ - Sensorless Motor Stall Detection
The TMCM-111-42 module is equipped with the StallGuard feature. The StallGuard feature makes it possible
to detect if the mechanical load on a stepper motor is too high or if the traveller 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 traveller 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.
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.
5.6 Thermal protection feature
The module is protected against over temperature of the power stage, to give reliable operation and a long
life time. If the temperature of the power stage exceeds about 105°C (+/- 10°C), the actual current setting is
reduced to 80%. Normal motor current is restored below 95°C. While this is only a small current reduction, it
reduces power dissipation to about 65%. However, if a temperature of 120°C is exceeded, the motor drivers
are completely switched off.
The temperature value can be read out with [TMCL] command GIO 5. A lower value means a higher
temperature. The current reduction threshold is 300, power stage off threshold is 240.
5.7 Motor current setting
The motor current can be set in a range of 0 to 7.0A, using the TMCL software. 255 corresponds to the
module’s maximum ICOIL setting.
Setting ICOIL,PP ICOIL,RMS
255 7.1A 5.0A
225 6.2A 4.4A
180 5.0A 3.5A
135 3.7A 2.7A
90 2.5A 1.7A
45 1.2A 0.9A
27 0.6A 0.4A
0 0A 0A
Table 5.1: Motor Current Examples

TMCM-111-56 Manual 15
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
5.8 Continuous Current restrictions
The module is designed as a microstepping module, with sine wave currents (sine and cosine) driving both
coils. The current peak of the sine wave can be as high as 7.1A, when the RMS current is set to 5A. The
mean motor current (RMS) is calculated by dividing the peak current by 1.41.
The compact design of the module does not allow to continuously drive the full current unless forced air
cooling is used to keep the board temperature below 105°C, because of excessive heat generation. However,
since continuous maximum current operation also shortens the lifetime of the motor, this is in most cases
no restriction.
Operation at or near the limiting values for an extended period of time should be avoided.
Please also refer to the comment on the thermal protection feature.
The following limits apply:
Environment conditions Mounting conditions RMS current @
24V supply
RMS current @
36V supply
free air convection possible
(env. Temp. max 45°C)
Module operating in free
air, no housing
4A or
5A at 50%
operation duty
cycle
3A or
5A at 40%
operation duty
cycle
Temperature at cooling
plane < 70°C
Housing mounted to metal
part 5 A 5 A
Temperature at cooling
plane< 85°C *)
Housing mounted to motor
back bell 5A 4A
Table 5.2: Continuous current restrictions
*) max. motor operating temperature is 85°C. Limit motor current if the motor temperature is higher than
85°C (reduce duty cycle).

TMCM-111-56 Manual 16
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
6 Putting the TMCM-111 into Operation
On the basis of a small example it is shown step by step how the TMCM-111-56 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-111-56 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
7.1.
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-111-56 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-111-56 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

TMCM-111-56 Manual 17
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
7 TMCM-111 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 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 7.1: TMC428 Velocity parameters
The microstep-frequency of the stepper motor is calculated with
3220482
velocity]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 (microstep frequency change per second – the acceleration a) is
given by
29div_rampdiv_pulse
max
2
CLK
2
af
a++
⋅
=
This results in an acceleration in fullsteps of:
usrs
2
a
af =with af: acceleration in fullsteps

TMCM-111-56 Manual 18
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Example:
f_CLK = 16 MHz on the TMCM-111 module
velocity = 1000
a_max = 1000
pulse_div = 1
ramp_div = 1
usrs = 6
Hz3125.122070
3220482
1000MHz16
msf 1=
⋅⋅
⋅
=
Hz35.1907
2
3125.122070
]Hz[fsf 6==
s
MHz
208.119
2
1000)Mhz16(
a2911
2
=
⋅
=
++
s
MHz
863,1
2
s
MHz
208.119
af 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
6035.1907
rotationperfullsteps
60fsf
RPM =
⋅
=
⋅
=
8 Software
TMCL, the Trinamic Motion Control Language is used to send commands from the host to the TMCM-111
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.

TMCM-111-56 Manual 19
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
9 Revision History
9.1 Documentation Revision
Version Comment Author Description
1.00 01-Mar-05 SZ Initial version
1.10 27-Jun-05 SZ Connector pinning changed; ordering information added
1.20 9-Jun-06 HC Major revision
1.21 25-Oct-06 HC Corrected Resistor R1 information and dimensions (mounting)
1.22 30-Oct-07 HC PD-111-56 motor data added
Table 9.1: Documentation Revisions
9.2 Firmware Revision
Version Comment Description
3.24 Initial Release Please refer to TMCL documentation
Table 9.2: Firmware Revisions
10 References
[TMCL] TMCL manual (see http://www.trinamic.com)