Trinamic TMCM-013-42 User manual

MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrives
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
V 1.24
HARDWARE MANUAL
+ + TMCM-013-42
TMCM-013-42-LA
controller / driver
up to 1A RMS / 30V DC
RS485
step/direction driver
+ +
+ + PDx-013-42
controller / driver
up to 1A RMS / 30V DC
RS485
step/direction driver
+ +

PD-013-42 / TMCM-110-42 Manual (V1.24/2011-NOV-25) 2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1Life support policy ....................................................................................................................................................... 3
2Features........................................................................................................................................................................... 4
3Order codes.................................................................................................................................................................... 5
4Electrical and mechanical interfacing ..................................................................................................................... 6
4.1 Pinning ................................................................................................................................................................... 6
4.2 Dimensions ........................................................................................................................................................... 7
4.3 Connectors ............................................................................................................................................................ 7
5Operational ratings ...................................................................................................................................................... 8
5.1 Step, direction and disable inputs ................................................................................................................. 9
7Functional description ..............................................................................................................................................10
7.1 Disable..................................................................................................................................................................10
7.2 RS485 interface ..................................................................................................................................................10
7.2.1 RS485 commands....................................................................................................................................11
7.2.1.1 Motor current (C) setting with RS485 command ..............................................................12
7.2.1.2 Failure readout (E) .....................................................................................................................12
7.2.1.3 stallGuard™(G)...........................................................................................................................13
7.2.1.4 Limit switch (L) ...........................................................................................................................13
7.2.1.5 Alert settings (N) ........................................................................................................................13
7.2.1.6 Output setting (O) ......................................................................................................................14
7.2.1.7 Set position (P), read current position (R)..........................................................................14
7.2.1.8 I/Os readout (Q)..........................................................................................................................14
7.2.1.9 Baud rate (U) ...............................................................................................................................14
7.2.1.10 Velocity mode (V and A) ..........................................................................................................15
7.2.1.11 Store parameters to EEPROM (W)..........................................................................................15
7.2.1.12 Microstep resolution (Z) ...........................................................................................................16
7.3 Chopper modes .................................................................................................................................................16
7.3.1 Chopper mode 0 (SPI) / default mode.............................................................................................16
7.3.2 Chopper mode 1 (PWM) .......................................................................................................................16
7.3.3 Chopper mode 2 (PHASE).....................................................................................................................16
7.3.4 Chopper mode 3 (Phase and SPI) .....................................................................................................17
7.3.5 Chopper mode 4 (PWM and SPI) .......................................................................................................17
7.4 Step/direction .....................................................................................................................................................18
7.4.1 Direction ....................................................................................................................................................18
7.4.2 Step.............................................................................................................................................................18
7.5 Firmware update ...............................................................................................................................................19
7.6 Reset to factory default...................................................................................................................................20
8Getting started ............................................................................................................................................................21
8.1 Assembly of parts .............................................................................................................................................21
8.2 Motor ....................................................................................................................................................................21
8.2.1 Motor choice ............................................................................................................................................21
8.2.2 Motor velocity..........................................................................................................................................22
8.2.3 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM) .................................................................22
8.2.4 Chopper Mode 2 (PHASE) .....................................................................................................................22
8.2.5 Connecting motor and power supply ..............................................................................................23
8.3 Power supply requirements...........................................................................................................................23
8.4Connections for step/direction mode .........................................................................................................24
8.5 Connections for RS485 interface...................................................................................................................24
8.5.1 Interface installation..............................................................................................................................24
8.5.2 Control with terminal program ..........................................................................................................25
9Revision history ..........................................................................................................................................................26
9.1 Document revision............................................................................................................................................26
9.2 Firmware revision .............................................................................................................................................26

PD-013-42 / TMCM-110-42 Manual (V1.24/2011-NOV-25) 3
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
1Life 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 2011
Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result from its use.
Specifications are subject to change without notice.

PD-013-42 / TMCM-110-42 Manual (V1.24/2011-NOV-25) 4
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
2Features
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 1.5A coil current it operates from a single 7 to 30V
power supply. It provides step/direction, RS485 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 (stallGuard™). 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
Standalone 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

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
3Order codes
The TMCM-013 motion control module can be mounted directly on NEMA-17 motors.
The TMCM-013-LA supports NEMA-17 linear actuators.
Cables are not included. Add the appropriate cable loom to your order if required.
Order code
Description
Dimensions [mm³]
PD1-013-42 (-option)
PANdrive 0.27Nm
53 x 42 x 42
PD2-013-42 (-option)
PANdrive 0.35Nm
59 x 42 x 42
PD3-013-42(-option)
PANdrive 0.49Nm
69 x 42 x 42
TMCM-013 (-option)
Motion control module for NEMA-17 motors
14 x 42 x 42
TMCM-013-LA (-option)
Motion control module for NEMA-17 linear actuators
14 x 42 x 50
Table 3.1: PANdrive™and module order codes
Option
Host interface
-485
RS485
Table 3.2: Option for order code
Component parts
Description
TMCM-013-CABLE
Cable loom for module and PANdrive™.
Table 3.3: Order code for component parts

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4Electrical and mechanical interfacing
4.1 Pinning
TMCM - 013
TMCM-013 LA
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
RS 485B
RS 485A
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 4.1: Pinning of TMCM-013 and TMCM-013-LA
The numbering printed on the 16 pin connector is reversed. Pin number 1 can be identified by the red
cable for power supply.
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 7.2
GPO
8
General Purpose Output, for wiring scheme see
Figure 7.2
GPI
9
General Purpose Input
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 4.1: Pinning of TMCM-013 and TMCM-013-LA

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2 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 4.2: Dimensions for TMCM-013
TMCM- 013 LA
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 4.3: Dimensions for TMCM-013LA
4.3 Connectors
The numbering printed on the 16 pin connector is reversed. The red cable is pin 1.
Both connectors are crimp connectors series B4B-PH-SM3-TB, PH-connector.
Motor: 4 pin connector
Control: 16 pin connector

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5Operational ratings
The operational ratings show the intended range for the values and should be used as design values. In no
case shall the maximum values be exceeded.
Symbol
Parameter
Min
Typ
Max
Unit
VS
Power supply voltage 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
IS
Power supply current
<< ICOIL
1.4 * ICOIL
A
VISO
Isolation voltage of optocoupler
± 42
±100
V
VCOM
Supply voltage for step, direction and
disable; (inputs have negative logic)
5 .. 24
27
V
VOPTON
Signal active voltage at disable, step
and direction input (optocoupler on,
measured from UCOM to input)
3.5
4.5 .. 24
30
V
VOPTOFF
Signal inactive voltage at disable, step
and direction input (optocoupler off,
measured from UCOM to input)
-5.5
0
2
V
IOPT
Optocoupler current (internally
regulated)
4
8
mA
fSTEP
Step frequency
350
kHz
tSTEPLO
Step impulse low time (optocoupler
on)
0.7
µs
tSTEPHI
Step impulse high time (optocoupler
off)
2.0
µs
tDIRSETUP
Direction setup time to rising edge of
step input
0
µs
tDIRHOLD
Direction hold time after rising edge
of step input
3.0
µs
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 5.1: Operational ratings

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.1 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 polavity
for the optocouplers.
OFF: VCOM - VIN < 1.0V
ON: VCOM - VIN >= 3.5V
UCOM
5..24V
Disable
Dir
Step
C
E
A
C
C
E
A
C
C
E
A
C
GND
µC
A: Anode
C: Cathode
C: Collector
E: Emitter
+5V
Figure 5.1: Step, direction and disable inputs
Examples:
VOPTOFF VOPTON
VSTEP = 0V 1.5V 4.0V 5V
undefined
20V19.0V16.5V
VOPTON VOPTOFF undefined
VCOM = 5V
VCOM = 20V
VSTEP = 0V

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7Functional 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.
Figure 7.1: Main parts of PD-013-42
7.1 Disable
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 user’s responsibility to stop the step impulses or set the velocity to zero before enabling the
motor again, because it starts abrupt otherwise.
Function Table:
VOPTON
open wire
VOPTOFF
motor disabled
motor enabled
7.2 RS485 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 Aand default baud rate is 9600 baud. This
mode can only be used with an appropriate RS485 interface. Commands are sent with a terminal program.
Please refer to the start-up, please
PD
-
013
-
42
REF
-
Switches
2
Driver
TMC246
programmable
Sequencer
RS
-
485
5V Power
Supply
7..30V DC
Opto
isolation
Step
Motor
Step
/Dir

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.2.1 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 7.2.1.1
0… 100
50
E
Failure Readout
Provides Failure readout. Refer 7.2.1.2
8 Bit (SPI)
1Bit (others)
G, g
stallGuard™
In mode 0 (SPI) the stallGuard™feature is
functional. ‘g’ provides the actual
stallGuard™load value, not the setting.
Refer 7.2.1.3
-7… 0… +7
0
L, l
Limit switch
Used to switch on and off reference run
values. Refer 7.2.1.4
byte
M, m
Select Mode
Select chopper mode: 0:SPI, 1:PWM, 2:PHASE,
3 & 4: Combinations, Refer 7.3
0, 1, 2, 3, 4
0
N, n
Alert
Alert output adjustments, Refer 7.2.1.5
2 bit
0
O, o
Set Output
Output adjustments, Refer 7.2.1.6
2 bit
0
P
Set Position
Set position without moving the motor. See
command ‘R’ to read out current value.
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 7.2.1.7
R
Read Current
Position
Provides the current position of the motor.
See command ‘P’ to manipulate this value.
32 bit
S
Changes
address byte
Capital letter followed by the command ‘S’
makes this letter the new address byte:
(“BS” makes “B” the new address byte)
A
T, t
RS485-Timeout
Sets the RS485-Timeout
U, u
Set baud rate
Sets baud rate for RS485 communication.
Refer to 7.2.1.9
0…7
0
V, v
Velocity for
Rotation
Velocity for rotation/reference run
v = n * 0.149157 µsteps/s
Additional parameter 0 or missing: Carriage
Return (CR) comes after acceleration phase
Additional Parameter 1: no delay of CR
+/- 2500000
0/1
0
W
Store
parameters to
EEPROM
Stores actual settings of different parameters
to EEPROM to restart with the same
performance. Refer 7.2.1.11
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; 6: min). Refer to 0 and Table 7.10
0… 6
0
Table 7.1: RS485 commands

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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
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, AA 500, AV 50000, AR, AP 0, AR
7.2.1.1 Motor current (C) setting with RS485 command
The motor current can be set by the user. Therefore use the RS485 command AC in addition with a percent
value. For calculating the actual setting, 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 the microstep behavior
of the motor may become harsh. The actual maximum depends on the actual motor. This is a precaution 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 and cooling circumstances. Please take care of the 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 7.2: Motor current examples
*) not possible for chopper mode 2
7.2.1.2 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 7.3: 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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7.2.1.3 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(small) does not
provide the setting (-7 … 7) but the actual stallGuard™value (motor load), 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 7.4: stallGuard™
The stallGuard™function can also be activated when using step/direction mode. In step/direction mode the
motor will not be stopped when the stallGuard™value is reached, but the general purpose output will be
controlled by the stallGuard™ value: when the actual load value is greater than the stallGuard™ value, the
GPO will be switched on, and when the actual load value is lower or equal to the stallGuard™ limit, the
GPO will be switched off. This can be used to signal a stall to the step/direction controller. When the
stallGuard™ function is de-activated (0, default) the GPO will not be changed by stallGuard.
7.2.1.4 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 7.5: Limit switch
To activate a reference switch set the appropriate bit to 1 (decimal entry). 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.
7.2.1.5 Alert settings (N)
The bit settings are as follows:
Bit
Value
Description
0
0
ALARM output is inactive
1
ALARM output is active
1
0
No function
1
ALARM is set to active when driver detects a failure
Table 7.6: Alert adjustments

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7.2.1.6 Output setting (O)
The bit settings are as follows:
Bit
Value
Description
0
0
0: GPO inactive (LED off)
1
1: GPO active (LED on)
1
0
No function
1
Output is changed at end of reference run
Table 7.7: Output adjustment
Figure 7.2: Alarm and GPO
7.2.1.7 Set position (P), read current position (R)
The position value of the motor can be changed by the command P. When changing this value just the
motors positioning counter is changed. The motor does no according movement. The actual position can be
read out by the command R.
7.2.1.8 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 7.8: I/Os Readout
7.2.1.9 Baud rate (U)
The parameter Uchanges 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 7.9: Baud rate

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7.2.1.10 Velocity mode (V and A)
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 nis used.
The velocity mode allows the rotation of the motor without external step/direction signals. To make use of
this, an acceleration different from zero has to be set first using the A (acceleration) command (setting the
acceleration to zero will switch back to step/direction mode). The desired speed can then be set using the V
command. The motor will accelerate adequate. The sign of the speed defines the direction of rotation. The
speed parameter is calculated as follows:
]/[
149157.0
]/[
]/[
149157.0
]/[
]/[149157.0]/[
srotations
motorofFullstepsresolutionMicrostep n
srotationsv
ssteps
resolutionMicrostep
n
sstepsv
smicrostepsnsmicrostepsv






For a 200 step motor at 64 microsteps this results in:
]/[
85815
]/[ srotations
n
srotationsv 
A practical limit for most stepper motor types is ca. 20 rotations/sec in chopper mode 0.
In chopper mode 2 it is 5 rotations/sec.
As a second parameter value 0 or 1 is optional.
The Vcommand also has a second parameter: leaving it out or setting it to 0 will send the carriage return
character of the echo back at once. Setting the second parameter to 1 will delay the sending of the carriage
return character until the desired speed has been reached.
Example:
AA 1000

ENTER Set acceleration to 1000
AV -50000

ENTER Accelerate to speed -50000
AV 0 1

ENTER Decelerate to zero, delaying the CR until the motor is standing
7.2.1.11 Store parameters to EEPROM (W)
This command stores different parameters to the EEPROM to restart with the same settings after power
down.
The stored parameters are:
-Current setting (set by command C)
-Selected Mode (set by command M)
-Alert adjustments (set by command N)
-Output adjustments (set by command O)
-RS485 parameters (set by command U)
-Microstep resolution (set by command Z)
Example:
AW

ENTER stores all parameters in the EEPROM

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.2.1.12 Microstep resolution (Z)
The microstep resolution can be set by the user. It depends on the maximum resolution which differs in the
three chopper modes (see 7.3). The maximum resolution is divided by the parameter Z.
Parameter Z
Microstep resolution
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
5
1/32 max
2
2
8
6
1/64 max
1
1
4
Table 7.10: Adjustment of Microstep Resolution
*) Simulated microsteps, the actual microsteps of the motor are not improved.
**) Simulated microsteps, the actual microsteps are improves but do not reach 32 microsteps.
Example:
AZ 2

ENTER sets the microstep resolution to a quarter of the maximum resolution.
7.3 Chopper modes
7.3.1 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 well 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 only slightly improved
compared to 16 microsteps and the same as with 32 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.
MOTORMAXCOILN
NSN RIV
VVV


,
25...222
It uses a chopper frequency of about 36kHz.
7.3.2 Chopper mode 1 (PWM)
This mode is identical to the SPI mode, but it increases the microstep resolution at low velocities / stand
still.
MOTORMAXCOILN
NSN RIV
VVV


,
25...222
7.3.3 Chopper mode 2 (PHASE)
This mode uses a different chopper scheme, which provides a very high microstep resolution and smooth
motor operation. Care has to be taken concerning the selection of motor and supply voltage:
The motor is chopped with 20kHz, and the coil sees a 50% duty cycle at full supply voltage when the coil
current is meant to be zero. This is only true for the average, but the motor still sees an alternating current
and thus an alternating magnetic field. Now, care has to be taken in order to keep this current to a value

PD-013-42 / TMCM-110-42 Manual (V1.24/2011-NOV-25) 17
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
which is significantly lower than the motor maximum coil current. If it is too high, the motor has significant
magnetization losses and coil power dissipation, and would get much too hot, even with zero average
current. The only possibility to limit this effect is to operate with a comparatively low supply voltage.
Check list:
Follow the motor inductivity L [mH] and motor rated full step coil current ICOIL [A] of the motor data sheet.
Now, choose a supply voltage for the module to fulfill the following comparison:
5.0
25  COIL
SI
LsV


LkIV COILS  20
If your parameters do not fulfill the equation, i.e. you calculate a supply voltage which is below the
modules’ operation specs or which does not fit your system requirements, try the following.
Calculate x:
 
mHLIV
xCOIL
S025.0

-If x is below 0.5, everything is OK.
-If x is in the range 0.5 to 1.0 try operating your motor and check if motor or driver get too hot.
-If x is above 1.0 choose one of the other chopper modes.
See chapter 7.4 for graphical demonstration, also.
7.3.4 Chopper mode 3 (Phase and SPI)
This mode combines the modes 2 (Phase) and 0 (SPI) in order to provide highest accuracy at lower
velocities and also the possibility for faster movements. Through the switching between modes some
microsteps may be lost. Microstep resolution must not be higher than 64. It is set according to Phase mode,
so possible values for Z (microstep resolution) are 2, 3 or 4.
µsteps
Phase to SPI
SPI to Phase
V-value
Rounds/s
V-value
Rounds/s
64
192000
2.24
25000
0.29
32
96000
2.24
12500
0.29
16
48000
2.24
6250
0.29
Table 7.11: Chopper mode 3 switching velocities
Conversion of values above to motors with different fullstep resolutions:
revolutionperfullstepsmotors
sroundsv
sroundsv table
motor  200 )/(
)/(
7.3.5 Chopper mode 4 (PWM and SPI)
This mode combines the modes 1 (PWM) and 0 (SPI) in order to provide higher accuracy (up to 64
microsteps) at lower velocities and also the possibility for faster movements. For higher velocities in SPI
mode the microstep resolution is always 16, but set resolution is simulated. Through the switching between
modes some microsteps may be lost. Microstep resolution must not be higher than 64. It is set according to
Phase mode, so possible values for Z (microstep resolution) are 2, 3 or 4. This mode should only be used in
very special occasions and mode 3 should be preferred if a combination of high accuracy at slow
movements and high speed is needed.

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.4 Step/direction
Additional Parameters can be set by RS485 i.e. to set a maximum velocity or microsteps per round. The high
levels of the step / direction signals have to be as high as the voltage at VCOM. For 5V signals e.g. generated
by the TMCM-302 VCOM has to be 5V also. The step / direction high signal can be up to 24V with matched
voltage at VCOM.
The Step/direction controls are as follows:
Motor
Velocity
Acceleration
Rotate right
Rotate left
Control
Step frequency
Increase or decrease of
Step frequency
Direction open wired
or connected to VCOM
Direction connected
to Ground
Table 7.12: External signals and motor reactions
Motor
Speed
Step Vcom
0 V
Disable Vcom
0 V
Velocity Deceleration Acceleration
rotating on off
const.
Direction Vcom
0 V rotating direction
rotate left
rotate right
0
Figure 7.3: Step/direction signals and motor reactions
7.4.1 Direction
The Direction signal changes the motors rotation from clockwise (CW) to counterclockwise (CCW) and vice
versa.
Function Table:
GND
open wire
VCOM = 5… 24V
motor CW
motor CCW turn
7.4.2 Step
The Step signal controls the velocity and acceleration of the motor. The velocity depends on the frequency,
the acceleration on the change of the frequency. One step impulse represents one microstep.
Calculation of rotations per second (refer to 0):
]/[]/[ srotations
resolutionMicrostepFullsteps frequencyinputStep
srotationsv  

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
The maximum step input frequency is 350kHz, aligned to the Direction signal. The minimum logic 0time is
0.7 µs and the minimum logic 1time is 2.0 µs. A step is triggered by the positive going edge of the signal
(switching off of optocoupler).
Function Table:
Extern
GND
open wire
VCOM = 5… 24V
Intern
HIGH
LOW
step pulse
direction
0.7µs min
2.0µs min
0.7µs min
tDIRHOLD
tDIRSETUP
Figure 7.4: Step and Direction Signal
7.5 Firmware update
Start the program TMCM013boot.exe for the firmware update (available on www.trinamic.com):
Figure 7.5: Firmware update tool
-Choose your RS485 connection.
-Select your Module ID (default is A).
-Load the new firmware file (e.g. TMCM013_V1.08.hex), to download from www.trinamic.com.
-Start the update process.
Check your firmware version at the end of the update process with command AX.

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.6 Reset to factory default
When the baud rate or the address of a module is not known, it makes sense to restore factory default
settings: switch OFF the module and short circuit pin 1 and pin 3 of the free contacts for a 6-pin connector
on the backside of the module. Turn on the module and switch it off again for removing the short circuit.
All settings are now at factory default.
pin 1
(quadratic) pin 3
Figure 7.6: Reset to factory default