Trinamic PANdrive PD013-42 User manual

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

TMCM-013 Manual (V1.17 / August 30th, 2006) 2
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1Features ........................................................................................................................................... 4
2Life support policy ............................................................................................................................ 5
3Outer Description ............................................................................................................................. 6
3.1 Pinning ...................................................................................................................................... 6
3.2 Dimensions ............................................................................................................................... 7
3.3 Connectors................................................................................................................................ 7
4Operational Ratings ......................................................................................................................... 8
4.1 Step, Direction and Disable Inputs............................................................................................ 9
5Getting Started ............................................................................................................................... 10
5.1 Assembly of Parts ................................................................................................................... 10
5.2 Motor ....................................................................................................................................... 10
5.2.1 Motor Choice...................................................................................................................... 10
5.2.1.1 Motor velocity.............................................................................................................. 11
5.2.1.2 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM) ............................................... 11
5.2.1.3 Chopper Mode 2 (PHASE) ......................................................................................... 11
5.2.2 Connecting Motor and Power Supply ................................................................................ 12
5.3 Power Supply Requirements .................................................................................................. 12
5.4 Connections for Step/Direction-Mode..................................................................................... 13
5.5 Connections for RS485 Interface............................................................................................ 13
5.5.1 Interface installation ........................................................................................................... 14
5.5.2 Control with terminal program............................................................................................ 14
6Functional Description.................................................................................................................... 15
6.1 Disable .................................................................................................................................... 15
6.2 RS485 Control Interface .........................................................................................................15
6.2.1 RS485 Commands............................................................................................................. 16
6.2.1.1 Example for test move: ............................................................................................... 17
6.2.1.2 Motor Current (C)........................................................................................................ 17
6.2.1.3 Failure Readout (E)..................................................................................................... 17
6.2.1.4 StallGuard (G)............................................................................................................. 18
6.2.1.5 Limit Switch (L) ........................................................................................................... 18
6.2.1.6 Alert settings (N) ......................................................................................................... 18
6.2.1.7 Output setting (O) ....................................................................................................... 19
6.2.1.8 I/Os Readout (Q)......................................................................................................... 19
6.2.1.9 Baud Rate (U) ............................................................................................................. 19
6.2.1.10 Velocity Mode (V)........................................................................................................ 19
6.2.1.11 Store Parameters to EEPROM (W) ............................................................................ 20
6.2.1.12 Microstep Resolution (Z)............................................................................................. 20
6.2.2 Chopper Modes ................................................................................................................. 20
6.2.2.1 Chopper Mode 0 (SPI) / Default Mode ....................................................................... 20
6.2.2.2 Chopper Mode 1 (PWM)............................................................................................. 21
6.2.2.3 Chopper Mode 2 (PHASE) ......................................................................................... 21
6.2.2.4 Chopper mode 3 (Phase and SPI).............................................................................. 22
6.2.2.5 Chopper mode 4 (PWM and SPI) ............................................................................... 22
6.3 Step / Direction........................................................................................................................ 22
6.3.1 Direction ............................................................................................................................. 23
6.3.2 Step.................................................................................................................................... 23
6.4 Firmware Update..................................................................................................................... 24
6.5 Reset to factory default ........................................................................................................... 25
6.6 Option: Pseudo DC-Motor mode (not supported by software yet).......................................... 25
6.6.1 Changes required for DC motor mode operation............................................................... 25
6.6.2 Parameterizing with RS485 ............................................................................................... 26
6.6.3 Motion Control.................................................................................................................... 26
7Revision History ............................................................................................................................. 27
7.1 Documentation Revision ......................................................................................................... 27
7.2 Firmware Revision .................................................................................................................. 27

TMCM-013 Manual (V1.17 / August 30th, 2006) 3
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
List of Figures
Figure 3.1: Pinning of TMCM-013 and TMCM-013-LA ........................................................................... 6
Figure 3.2: Dimensions for TMCM-013 ................................................................................................... 7
Figure 3.3: Dimensions for TMCM-013LA............................................................................................... 7
Figure 4.1: Step, Direction and Disable Inputs........................................................................................ 9
Figure 5.1: Assembly of parts................................................................................................................ 10
Figure 5.2: Maximum Supply Voltage regarding Motor Current and Inductivity.................................... 12
Figure 5.3: Connecting Motor and Power Supply ................................................................................. 12
Figure 5.4: Contacts for Step-Direction ................................................................................................. 13
Figure 5.5: Contacts for RS485 with an adapter ................................................................................... 14
Figure 5.6: Connection settings for RS485 ........................................................................................... 14
Figure 6.1: Alarm and GPO................................................................................................................... 19
Figure 6.2: Step-Direction signals and motor reactions ........................................................................ 23
Figure 6.3: Step and Direction Signal.................................................................................................... 24
Figure 6.4: Firmware update tool .......................................................................................................... 24
Figure 6.5: Reset to factory default ....................................................................................................... 25
Figure 6.6: GPI wiring scheme .............................................................................................................. 25
Figure 6.7: External Changes for act like DC-Motor option................................................................... 26
List of Tables
Table 1.1: Order codes............................................................................................................................ 4
Table 3.1: Pinning of TMCM-013 and TMCM-013-LA............................................................................. 6
Table 4.1: Operational Ratings................................................................................................................ 8
Table 5.1: Maximum Supply Voltage regarding Motor Current and Inductivity..................................... 11
Table 6.1: RS485 Commands ............................................................................................................... 16
Table 6.2: Motor Current Examples ...................................................................................................... 17
Table 6.3: Failure readout in SPI mode................................................................................................. 17
Table 6.4: StallGuard............................................................................................................................. 18
Table 6.5: Limit switch ........................................................................................................................... 18
Table 6.6: Alert adjustments.................................................................................................................. 18
Table 6.7: Output adjustment ................................................................................................................ 19
Table 6.8: I/Os Readout ........................................................................................................................ 19
Table 6.9: Baud rate .............................................................................................................................. 19
Table 6.10: Adjustment of Microstep Resolution................................................................................... 20
Table 6.11: Chopper mode 3 switching velocities.................................................................................22
Table 6.12: External signals and motor reactions ................................................................................. 22
Table 7.1: Documentation Revisions..................................................................................................... 27
Table 7.2: Firmware Revisions.............................................................................................................. 27

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

TMCM-013 Manual (V1.17 / August 30th, 2006) 5
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
2 Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent
of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to
support or sustain life, and whose failure to perform,
when properly used in accordance with instructions
provided, can be reasonably expected to result in
personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2005
Information given in this data sheet is believed to be
accurate and reliable. However no responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result form its use.
Specifications subject to change without notice.

TMCM-013 Manual (V1.17 / August 30th, 2006) 6
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3 Outer Description
3.1 Pinning
TMCM-013
TMCM-013LA
Motor connection
OA1 OA2 OB1 OB2
Pin 16
Pin 15
Pin 14
Pin 13
Pin 12
Pin 11
Pin 10
Pin 09
Pin 08
Pin 07
Pin 06
Pin 05
Pin 04
Pin 03
Pin 02
Pin 01
RS485B
RS485A
GND
REF B
+5V
REF A
GND
GPI
GPO
Alert
Step
Direction
Disable
GND
VS = 7...28V
Motor connection
OA1 OA2 OB1 OB2
U = 5...24V
common
Figure 3.1: Pinning of TMCM-013 and TMCM-013-LA
Pin Number Function
VS 1 Positive power supply voltage
GND 2 GND, power
VCOM 3 Reference voltage for step-direction inputs. Positive optocoupler supply.
Required for negative logic.
Disable 4 Tie to GND to shut down motor power, leave open or at VCOM otherwise
Direction 5 Tie to GND to inverse motor direction, leave open or at VCOM otherwise
Step 6 Step signal, optically isolated (Cathode of optocoupler)
Alert 7 Alert output, for wiring scheme see Figure 6.1
GPO 8 General Purpose Output, for wiring scheme see Figure 6.1
GPI 9 General Purpose Input, for wiring scheme see Figure 6.6
GND 10 GND reference
REF A 11 Reference Signal A
+5V 12 Constant +5V output, reference
REF B 13 Reference Signal B
GND 14 GND for RS485
RS485 + 15 RS485 remote control access +, TTL input
RS485 - 16 RS485 remote control access -, TTL input
OA1, OA2 Connections for motor coil A
OB1, OB2 Connections for motor coil B
Table 3.1: Pinning of TMCM-013 and TMCM-013-LA

TMCM-013 Manual (V1.17 / August 30th, 2006) 7
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.2 Dimensions
42mm*42mm*14mm (Height is measured by the highest part on PCB, be aware that the connectors
are upright). The mounting holes and the center hole for TMCM-013 are 3.2mm. The center hole of
the TMCM-013-42 is 6.0mm and of the TMCM-013LA 12.5mm.
TMCM-013
36.5 mm
42 mm
5.5 mm
42 mm
36.5 mm
36.5 mm
21.0 mm
21.0 mm
Figure 3.2: Dimensions for TMCM-013
TMCM-013LA
5.4 mm
44.6 mm
36.4 mm
12.5mm
20.9 mm
20.9 mm
36.4 mm
50.0 mm
41.8 mm
Figure 3.3: Dimensions for TMCM-013LA
3.3 Connectors
Both connectors are crimp connectors series B4B-PH-SM3-TB, PH-connector.
Motor: 4 pin connector
Control: 16 pin connector

TMCM-013 Manual (V1.17 / August 30th, 2006) 8
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
4 Operational Ratings
The operational ratings show the intended / the characteristic range for the values and should be used
as design values. In no case shall the maximum values be exceeded.
Symbol Parameter Min Typ Max Unit
VSPower supply voltage for operation 7 12 .. 24 30 V
ICOIL Motor coil current for sine wave
peak (chopper regulated,
adjustable via software)
440..1500 mA
IMC Effective motor current (RMS) 300 .. 1000 1000 mA
fCHOP Motor chopper frequency (actual
frequency depends on operation
mode)
20 / 36 kHz
ISPower supply current << ICOIL 1.4 * ICOIL A
VISO Isolation voltage of optocoupler ± 42 ±100 V
VCOM Supply voltage for step, direction
and disable; (inputs have negative
logic)
5 .. 24 27 V
VOPTON Signal active voltage at disable,
step and direction input
(optocoupler on, measured from
UCOM to input)
3.5 4.5 .. 24 27 V
VOPTOFF Signal inactive voltage at disable,
step and direction input
(optocoupler off, measured from
UCOM to input)
-3 0 2 V
IOPT Optocoupler current (internally
regulated)
4 8 mA
fSTEP Step frequency 350 kHz
tDELAY Direction hold time after step
Impulse active (falling) edge
0.7 µs
tSETUP set up time before step Impulse 2.0 µs
VGPI Input voltage on GPI -2 0 ... 5 30 V
VGPO Output voltage on GPO and Alert
(open collector)
-1 100 V
IGPO Output current on GPO and Alert
(open collector)
-150 mA
TENV Environment temperature for
operation
-25 70 °C
Table 4.1: Operational Ratings

TMCM-013 Manual (V1.17 / August 30th, 2006) 9
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
4.1 Step, Direction and Disable Inputs
The inputs disable, dir and step are electrically isolated from the module. 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
U
COM
5..24V
Disable
Dir
Step
C
E
A
C
C
E
A
C
C
E
A
C
GND
µC
A: Anode
C: Cathode
C: Collector
E: Emitter
+5V
Figure 4.1: Step, Direction and Disable Inputs
Examples:
V
OPTOFF
V
OPTON
V
STEP
= 0V 1.5V 4.0V 5V
undefined
20V19.0V16.5V
V
OPTON
V
OPTOFF
undefined
V
COM
= 5V
V
COM
= 20V
V
STEP
= 0V

TMCM-013 Manual (V1.17 / August 30th, 2006) 10
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5 Getting Started
5.1 Assembly of Parts
TMCM-013
screw
+
=>
MOTOR
screw off
screw off
cable contact
distance bolt
MOTOR
TMCM-013
screw distance bolt
MOTOR
TMCM-013
Figure 5.1: Assembly of parts
We recommend a minimum distance between the TMCM-013 and motor of 5mm. The module can be
directly attached to the motor backbell with an electrical insulation spacer. Appropriate cooling might
be necessary if the motor itself gets very hot.
5.2 Motor
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.
5.2.1 Motor Choice
Care has to be taken concerning the selection of motor and supply voltage. In the different chopper
modes different criteria apply. Modes 0 and 1 are quite insensitive to the motor choice, while Mode 2
is very sensitive, because it uses a different motor current regulation scheme. This chapter gives
some mathematical information on the motor choice, but you can skip it if you want to experiment with
a given motor. Normally, best results will be achieved when operating the given motor in a range of 50
to 100% of nominal motor current (see motor data sheet). Mode 2 and mode 1 are mainly intended for
slow, smooth and very exact movements, due to the high microstepping resolution. For 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.

TMCM-013 Manual (V1.17 / August 30th, 2006) 11
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5.2.1.1 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.
5.2.1.2 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
⋅=
⋅≤≤⋅
5.2.1.3 Chopper Mode 2 (PHASE)
In Table 5.1 and Figure 5.2 examples of maximum supply voltages VSregarding the current ICOIL and
inductivity L of your motor are specified.
For further information, including a formula and description how to calculate the maximum voltage for
your setup, refer to 6.2.2.3.
ICOIL (RMS) L (min.) VS(max.)
800 mH 24 V
600 mH 18 V
400 mH 12 V
1000 mA
233 mH 7 V
1150 mH 24 V
860 mH 18 V
570 mH 12 V
700 mA
333 mH 7 V
1600 mH 24 V
1200 mH 18 V
800 mH 12 V
500 mA
466 mH 7 V
2300 mH 24 V
1720 mH 18 V
1150 mH 12 V
350 mA
666 mH 7 V
Table 5.1: Maximum Supply Voltage regarding Motor Current and Inductivity

TMCM-013 Manual (V1.17 / August 30th, 2006) 12
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
0
500
1000
1500
2000
350 450 550 650 750 850 950
ICOIL /mA
L /mH
VS = 24V VS = 18V VS = 12V VS = 7V
Figure 5.2: Maximum Supply Voltage regarding Motor Current and Inductivity
Any combination of motor coil current and inductivity witch is above the curve for maximum supply
voltage (VS) is possible to drive the motor in this mode. Check your motor datasheet please.
If in doubt, please start with a lower supply voltage and check motor heating when raising the voltage.
5.2.2 Connecting Motor and Power Supply
TMCM-013
OB2
OB1
OA2
OA1
Power supply
C
keep distance
short
Figure 5.3: 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 5.2.1.
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 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.

TMCM-013 Manual (V1.17 / August 30th, 2006) 13
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
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 1000µF 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, when operated at maximum rated current and low
velocities. Operation at very high velocities will increase the power demand up to the double value.
5.4 Connections for Step/Direction-Mode
The step-direction-mode is enabled if the acceleration is set to 0 (default) using the RS485.
5 ... 28 V
GND
GND
GND
Disable
Common
0 V
rotation off on
Step
Common
0 V
Velocity Deceleration Acceleration
const.
Dir
Common
0 V
rotating direction
Dir
Common
Disable
Step
PWR 7...28 V
TMCM-013
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Figure 5.4: Contacts for Step-Direction
The maximum step frequency is 350 kHz (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.

TMCM-013 Manual (V1.17 / August 30th, 2006) 14
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
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 pin 15 of the TMCM-013 and Input B to pin 16.
RS232
to
RS485
4 3 2 1
USB
to
RS485
+ -
Pin 1
Pin 2
TMCM-013
RS-232-port
USB-port
Terminal
PWR 7...28 V
Pin 14
Pin 15
Pin 16
GND
optional
Either use a RS232 to RS485
or alternatively
a USB to RS485 adapter
Figure 5.5: Contacts for RS485 with an adapter
5.5.2 Control with terminal program
Having installed the hardware, the TMCM-013 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 select icon. Press OK.
3. Select the appropriate COM-port and press OK.
4. Fill in the values like in Figure 5.6 and confirm with OK.
Bit rate:
Data bits:
Parity:
Stop bits:
Flow control: none
none
Figure 5.6: Connection settings for RS485
Type into the terminal window commands like “AV 50000”, “AA 300” or “Ac” and execute each with
ENTER. With standard RS485 adapters the typed value may be echoed and lines like
AAVV 5500000000 for the typed AV 50000 appear. The value sent to the module is the typed one
and not the displayed. Try to change ASCII settings in HyperTerminal.
First command to the module should be an acceleration differing from 0 to enable RS485 mode. If this
value is stored to the EEPROM step/direction control is not possible until acceleration is set to zero
again (and eventually stored) or the board is reset to factory default.

TMCM-013 Manual (V1.17 / August 30th, 2006) 15
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6 Functional Description
The TMCM-013 module has three different modes to control a stepper motor: step-direction, RS485
and eventually pseudo DC-mode. With the RS485 it is possible to change parameters and save them
to the EEPROM of the module to have all options in any mode. Therefore there are different settings
like microstep resolution possible in step-direction mode also.
6.1 Disable
Description: The disable works as an emergency shutdown. Connected to ground all power to the
motor will shut down independent of the current settings.
It is in the users responsibility to stop the step impulses or set the velocity to zero before enabling the
motor again, because it would start abrupt otherwise.
Function Table:
VOPTON open wire VOPTOFF
motor disabled motor enabled
6.2 RS485 Control Interface
The RS485 interface can control all functions of the TMCM-013. It is possible to change parameters,
with this interface which are also valid in the other modes like max. velocity or acceleration. The
parameters can be written to the EEPROM to obtain the changes after a restart.
A Reset to factory default is possible. Default address byte is “A” and default baud rate is 9600 baud.
This mode can only be used with an appropriate RS485 interface. Commands are sent with a terminal
program, refer 5.5.

TMCM-013 Manual (V1.17 / August 30th, 2006) 16
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1 RS485 Commands
For RS485 commands write the address byte (default is A) first, followed by a 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% * 1500mA). Refer to 6.2.1.2
0..100 50
E Failure
Readout Provides Failure readout. Refer 6.2.1.3 8 Bit (SPI) 1Bit (others)
G, g StallGuard
In mode 0 (SPI) the StallGuard feature is
functional. ‘g’ provides the actual StallGuard
value, not the setting. Refer 6.2.1.4
-7..0..+7 0
L, l Limit switch Used to switch on and off reference run
values. Refer byte
M, m Select Mode Select chopper mode: 0:SPI, 1:PWM,
2:PHASE, 3 & 4: Combinations, Refer 6.2.2 0, 1, 2, 3, 4 0
N, n Alert Alert output adjustments, Refer 6.2.1.6 2 bit 0
O, o Set Output Output adjustments, Refer 6.2.1.7 2 bit 0
P Set Position Set position without moving the motor 32 bit 0
Q Read I/Os
Provides out of the I/O the values of the
ports GPI, REF_A, REF_B, GPO and
ALARM. Refer to 6.2.1.8
R Read Current
Position Provides the current position of the motor 32 bit
S Changes
address byte
Capital letter followed by the command ‘S’
makes this letter the new address byte A
T, t RS485-
Timeout Sets the RS485-Timeout
U, u Set baud rate Sets baud rate for RS485 communication.
Refer to 6.2.1.9 0…7 0
V, v Velocity for
Rotation
Velocity for rotation / reference run
v = n * 0.149157 usteps/s
Additional Parameter 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 settings to EEPROM to restart with
the same performance. Refer 6.2.1.11
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; 4: min). Refer to 6.2.1.12, Table 6.10 0..4 0
Table 6.1: RS485 Commands
Examples:
1. Set chopper mode to SPI Mode:
AM 0 ⇒ENTER
2. Read out the actual mode
Am ⇒ENTER
3. Change Microstep resolution ¼ of max. resolution
AZ 2 ⇒ENTER

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6.2.1.1 Example for test move:
• Different accelerations and velocities
AA 500, AV 50000, AV –50000 ⇒try other AA 0…8000, AV 0…400000
• Max. current – test of torque
AA 500, AV 50000, AC 200 ⇒test torque manually ⇒AC 20 ⇒test torque
• Read and set position
AV 0, AR, AP 0, AR, AA 500, AV 50000, AR
6.2.1.2 Motor Current (C)
The motor current can be set by the user. To do this use the RS485 command “AC” in addition with 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
behavior 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 ICOIL,RMS % to max.
ICOIL
100 1.50A 1.06A 100% *)
80 1.20A 0.85A 75%
66 1.00A 0.71A 66%
50 0.75A 0.53A 50%
33 0.50A 0.35A 33%
20 0.30A 0.21A 25%
0 0A 0.00A 0%
Table 6.2: Motor Current Examples
*) Not possible for chopper mode 2.
6.2.1.3 Failure Readout (E)
The TMCM-013 provides a full driver failure analyses 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
4 OCHS overcurrent high side 3 PWM cycles with overcurrent within 63 PWM cycles
3 OLB open load bridge B Open load detection can occur at fast motion also.
2 OLA open load bridge A 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 6.3: Failure readout in SPI mode
In the other two modes the failure analysis consists of only one bit:
1: short circuit or overtemperature
0: no failure

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6.2.1.4 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 6.4: StallGuard
6.2.1.5 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 6.5: Limit switch
To activate a reference switch set the appropriate bit to 1. When motor stops the position counter is
set to zero.
Example:
AL 8 ⇒ENTER : Activates REF_B = 1. When destination reached motor stops and position counter is
set to zero.
6.2.1.6 Alert settings (N)
The bit settings are as follows:
Bit Value Description
0 ALARM output is inactive
0 1 ALARM output is active
0 No function
1 1 ALARM is set to active when driver detects a failure
Table 6.6: Alert adjustments

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1.7 Output setting (O)
The bit settings are as follows:
Bit Value Description
0 0: GPO inactive (LED off)
0 1 1: GPO active (LED on)
0 No function
1 1 Output is changed at end of reference run
Table 6.7: Output adjustment
Figure 6.1: Alarm and GPO
6.2.1.8 I/Os Readout (Q)
Command:
AQ ⇒ENTER
Bit 7 6 5 4 3 2 1 0
Port 0 0 0 GPI REF_A REF_B GPO ALARM
Table 6.8: I/Os Readout
6.2.1.9 Baud Rate (U)
The parameter ‘U’ changes the baud rate of the module for RS485 communication.
Parameter U Baud rate
0 9600 baud
1 14400 baud
2 19200 baud
3 28800 baud
4 38400 baud
5 57600 baud
6 76800 baud
7 115200 baud
Table 6.9: Baud rate
6.2.1.10 Velocity Mode (V)
The velocity mode allows rotation of the motor without external signals. In order to rotate the motor,
please set an acceleration value different from zero. The velocity is given by the following equation,
when parameter “n” is used:
]s/rotations[
motorofFullstepsresolutionMicrostep
149157.0n
]s/rotations[v
]s/steps[
resolutionMicrostep
149157.0n
]s/steps[v
]s/microsteps[149157.0n]s/microsteps[v
⋅
⋅
=
⋅
=
⋅
=
For a 200 step motor at 64 microsteps, this gives
]s/rotations[
85815
n
]s/rotations[v =

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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
A practical limit with most stepper motor types is about 20 rotations / second in chopper mode 0 and 5
rotations / second in chopper mode 2.
As a second parameter, value “0” or “1” is optional. Standard is 0 and sends back the Carriage Return
character at once. If it is set to “1” sending back of the Carriage Return character is delayed until the
target velocity is reached.
Example:
AV –50000 ⇒ENTER: Accelerates motor to given velocity
AV 0 1 ⇒ENTER: Accelerates motor to velocity zero (standstill) and delays echoing of carriage
return until target velocity has been reached
6.2.1.11 Store Parameters to EEPROM (W)
This command stores different parameters to the EEPROM to restart with the same performance after
power down.
The stored parameters are:
• Current setting (C)
• Selected Mode (M)
• Alert adjustments (N)
• Output adjustments (O)
• RS485 parameters (U)
• Microstep resolution (Z)
6.2.1.12 Microstep Resolution (Z)
The microstep resolution can be set by the user. It depends on the maximum resolution witch differs in
the three chopper modes (see 6.2.2).
The maximum resolution is divided by the parameter ‘Z’.
Microstep resolution
Parameter Z SPI PWM Phase (default)
0 max resolution 64 *) 64 256
1 1/2 max 32 *) 32 128
2 1/4 max 16 16 64
3 1/8 max 8 8 32
4 1/16 max 4 4 16
Table 6.10: Adjustment of Microstep Resolution
*) Simulated microsteps, the actual microsteps of the motor are not improved.
Example:
AZ 2 ⇒ENTER : Sets the microstep resolution to a quarter of the maximum resolution.
6.2.2 Chopper Modes
6.2.2.1 Chopper Mode 0 (SPI) / Default Mode
In this mode, the motor coil current is regulated on a chopper-cycle-by chopper-cycle bias. This is the
standard operation mode for most motor drivers. It brings a medium microstep resolution of 16
microsteps and typically works good with most motors and a high range of supply voltage and motor
current settings. A resolution of up to 64 microsteps can be simulated but the motor precision is not
improved compared to 16 microsteps.
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.