Trinamic TMCM-078 User manual

TMCM-078
Manual
1-axis stepper motor controller/driver module
7A RMS (9.8A peak) / 75V
with step-/ direction interface
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D –20357 Hamburg, Germany
http://www.trinamic.com

TMCM-078 Manual (V1.03 / September 10th, 2008) 2
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1Features........................................................................................................................................................................... 4
2Life support policy....................................................................................................................................................... 5
3Electrical and Mechanical Interfacing..................................................................................................................... 6
3.1 Pinning................................................................................................................................................................... 6
3.1.1 Power........................................................................................................................................................... 6
3.1.2 Motor............................................................................................................................................................ 6
3.1.3 RS485............................................................................................................................................................ 7
3.1.4 Step / Dir..................................................................................................................................................... 7
3.1.5 I / O .............................................................................................................................................................. 8
3.2 Jumper.................................................................................................................................................................... 8
3.2.1 Select Optically Isolation ....................................................................................................................... 8
3.2.2 RS485 Term ................................................................................................................................................ 9
3.3 DIP switches......................................................................................................................................................... 9
3.3.1 Motor current settings ............................................................................................................................ 9
3.3.2 Microstep resolution.............................................................................................................................. 10
3.3.3 Stall detection ......................................................................................................................................... 11
3.3.4 Mode setting............................................................................................................................................ 11
3.4 Dimensions ......................................................................................................................................................... 12
3.5 Connectors .......................................................................................................................................................... 13
4Operational Ratings................................................................................................................................................... 14
5Getting Started............................................................................................................................................................ 15
5.1 Motor .................................................................................................................................................................... 15
5.1.1 Motor Choice............................................................................................................................................ 15
5.1.1.1 Motor velocity ............................................................................................................................. 15
5.1.1.2 Operating Modes 0 (SPI / Default Mode) and 1 (PWM) .................................................. 15
5.1.1.3 Operating Mode 2 (PHASE)...................................................................................................... 16
5.2 Power Supply Requirements ......................................................................................................................... 17
5.2.1 Operating Modes .................................................................................................................................... 17
5.2.1.1 Operating Mode 0 (SPI) / Default Mode.............................................................................. 17
5.2.1.2 Operating Mode 1 (PWM) ........................................................................................................ 18
5.2.1.3 Operating Mode 2 (PHASE)...................................................................................................... 18
5.3 Step / Direction.................................................................................................................................................. 19
5.3.1 Direction.................................................................................................................................................... 19
5.3.2 Step ............................................................................................................................................................ 20
5.4 RS485 interface .................................................................................................................................................. 20
5.4.1 RS485 command overview .................................................................................................................. 21
Example for test move:................................................................................................................................... 22
5.4.2 Commands ‘A’ and ‘a’: Set or read back acceleration ................................................................. 22
5.4.3 Commands ‘C’ and ‘c’: Set or read back motor current.............................................................. 22
5.4.4 Commands ‘D’ and ‘d’: Set or read back mixed decay setting ................................................. 22
5.4.5 Commands ‘E’ and ‘e’: Read motor driver error status............................................................... 22
5.4.6 Commands ‘G’ and ‘g’: StallGuard..................................................................................................... 23
5.4.7 Command ‘H’ and ‘h’: start or check reference search ............................................................... 23
5.4.8 Command ‘L’: limit switch configuration ........................................................................................ 23
5.4.9 Command ‘M’ and ‘m’: Chopper mode ............................................................................................ 23
5.4.10 Command ‘O’: set the general purpose output ............................................................................ 24
5.4.11 Command ‘P’ and ‘p’: set and read position counter ................................................................. 24
5.4.12 Command ‘Q’ or ‘q’: read the state of the I/O lines.................................................................... 24
5.4.13 Command ‘R’ and ‘r’: configure automatic reference search .................................................... 24
5.4.14 Command ‘T’ and ‘t’: set RS485 delay.............................................................................................. 25
5.4.15 Command ‘U’ and ‘u’: set RS485 bit rate ........................................................................................ 25
5.4.16 Command ‘V’ and ‘v’: velocity mode................................................................................................ 25
5.4.17 Command ‘W’: store parameters to FlashROM.............................................................................. 25
5.4.18 Command ‘X’ and ‘x’: firmware revision number ......................................................................... 26
5.4.19 Command ‘Y’ and ‘y’: standby current setting .............................................................................. 26
5.4.20 Command ‘Z’ and ‘z’: change microstep resolution..................................................................... 26

TMCM-078 Manual (V1.03 / September 10th, 2008) 3
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5.4.21 Command ‘@’: change RS485 address ............................................................................................ 26
6Revision History.......................................................................................................................................................... 27
6.1 Documentation Revision................................................................................................................................. 27
6.2 Firmware Revision............................................................................................................................................ 27
List of Figures
Figure 3.1: Pinning of TMCM-078...................................................................................................................................... 6
Figure 3.2: Opto isolated input circuit ............................................................................................................................ 7
Figure 3.3: Differential input circuit................................................................................................................................. 8
Figure 3.4: Circuit board dimensions ............................................................................................................................ 12
Figure 3.5: Base plate dimensions................................................................................................................................. 13
Figure 5.1: Maximum voltage regarding motor current and inductivity ............................................................ 16
Figure 5.2: Differential Step-Direction signals and motor reactions (schematically) ...................................... 19
Figure 5.3: Step and Direction Signal (schematically, optocoupler input at screw connector)................... 20
List of Tables
Table 1.1: Order codes......................................................................................................................................................... 4
Table 3.1: Power connector ............................................................................................................................................... 6
Table 3.2: Motor connector ................................................................................................................................................ 6
Table 3.3: RS485 connector ................................................................................................................................................ 7
Table 3.4: Step-/Direction connector ............................................................................................................................... 7
Table 3.5: I/O connector...................................................................................................................................................... 8
Table 3.6: Connectors......................................................................................................................................................... 13
Table 4.1: Operational Ratings ........................................................................................................................................ 14
Table 5.1: Maximum voltage regarding motor current and inductivity .............................................................. 16
Table 5.2: External signals and motor reactions........................................................................................................ 19
Table 5.3: RS485 Commands............................................................................................................................................ 21
Table 5.4: Failure readout in SPI mode........................................................................................................................ 22
Table 5.5: StallGuard .......................................................................................................................................................... 23
Table 5.6: Limit switch configuration............................................................................................................................ 23
Table 5.7: Output adjustment.......................................................................................................................................... 24
Table 5.8: I/Os Readout ..................................................................................................................................................... 24
Table 5.9: Baud rate ........................................................................................................................................................... 25
Table 5.10: Adjustment of Microstep Resolution....................................................................................................... 26
Table 6.1: Document Revision......................................................................................................................................... 27
Table 6.2: Firmware Revision .......................................................................................................................................... 27

TMCM-078 Manual (V1.03 / September 10th, 2008) 4
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
1Features
The TMCM-078 is a single axis step / direction stepper motor driver unit. It is similar to the TMCM-IDX
with higher power, more interface options and extended configuration possibilities. The TMCM-078
provides on-board DIP switches for easy configuration.
Operation via RS485 using simple ASCII format commands is also possible.
The TMCM-078 supports supply voltages of up to 75V and motor coil currents up to 7 A RMS (10A
peak). Up to 256 micro steps are supported for either high accuracy or high speed.
All inputs and outputs are accessible either via pluggable screw connector or by high density (2mm)
JST connectors.
Applications
Step-/ Direction stepper driver for industrial applications
Robotics
Centralized motor driver mounted in switchboard
Decentralized motor driver mounted near motor
Motor type
Coil current from 0.7A to 7A RMS (10A peak)
15V to 75V nominal supply voltage (or any value in between)
Highlights
Fully protected drive
Digital selection of motor current and standby current
Micro step resolution can be changed in order to get high accuracy or high speed
Different chopper modes allow best adaptation to application / motor
Many adjustment possibilities make this module the solution for many applications
Size: 145 x 96 x 33 mm
Order code
Description
TMCM-078
75V, 7A TMCM-078 module
Table 1.1: Order codes

TMCM-078 Manual (V1.03 / September 10th, 2008) 5
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
2Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not
authorize or warrant any of its products for use in life
support systems, without the specific written consent
of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to
support or sustain life, and whose failure to perform,
when properly used in accordance with instructions
provided, can be reasonably expected to result in
personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2008
Information given in this data sheet is believed to be
accurate and reliable. However no responsibility is
assumed for the consequences of its use 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.

TMCM-078 Manual (V1.03 / September 10th, 2008) 6
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
3Electrical and Mechanical Interfacing
3.1 Pinning
Pin1
Pin1
Pin1
Pin1
Pin1
Pin1
Pin1
Pin1
Power
Motor
RS485
I / O
Step / Dir
Figure 3.1: Pinning of TMCM-078
3.1.1 Power
Pin
Name
Function
1
+VS
Positive power supply voltage
2
GND
GND, power
Table 3.1: Power connector
3.1.2 Motor
Pin
Name
Function
1
OA1
Connections for motor coil A
2
OA2
3
OB1
Connections for motor coil B
4
OB2
Table 3.2: Motor connector

TMCM-078 Manual (V1.03 / September 10th, 2008) 7
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
3.1.3 RS485
Pin
Name
Function
Screw
JST
1
RS485A
RS485A
RS485+ line
2
RS485B
RS485B
RS485- line
3
RS485A
RS485A
RS485+ line (same as pin 1)
4
RS485B
RS485B
RS485- line (same as pin 2)
Table 3.3: RS485 connector
3.1.4 Step / Dir
Screw connector
JST connector
Pin
Name
Function
Pin
Name
Function
1
Step +
Optically isolated step input
(positive)
1
+3.3V
Constant +3.3V output, reference
2
Step -
Optically isolated step input
(negative)
2
S +
Differential step input
(non inverted)
3
Dir +
Optically isolated direction
input (positive)
3
S -
Differential step input
(inverted)
4
Dir -
Optically isolated direction
input (negative)
4
D +
Differential direction input
(non inverted)
5
Disable +
Optically isolated disable input
(positive)
5
D -
Differential direction input
(inverted)
6
Disable -
Optically isolated disable input
(negative)
6
Dis +
Differential disable input
(non inverted)
--
--
--
7
Dis -
Differential disable input
(inverted)
--
--
--
8
GND
GND
Table 3.4: Step-/Direction connector
1
2
3
4
5
6
Figure 3.2: Opto isolated input circuit

TMCM-078 Manual (V1.03 / September 10th, 2008) 8
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
Figure 3.3: Differential input circuit
3.1.5 I / O
Pin
Name
Function
Screw
JST
1
+3.3V
+3.3V
Constant +3.3V output, reference
2
REFA
REFA
Reference signal A (integrated 3.9 K pull up resistor to +3.3V)
3
REFB
REFB
Reference signal B (integrated 3.9 K pull up resistor to +3.3V)
4
GND
GND
GND
5
GPI
GPI
General Purpose Input
6
GPO
GPO
General Purpose Output
7
--
RS485A
RS485 remote control access A, TTL input
8
--
RS485B
RS485 remote control access B, TTL input
Table 3.5: I/O connector
3.2 Jumper
3.2.1 Select Optically Isolation
This jumper switches between two different kinds of step / direction interface circuits. If closed, the
opto isolated interface circuit will be selected (pluggable screw connectors). If open, the differential
input circuit can be used (JST connector). The opto isolated interface should be not used then.

TMCM-078 Manual (V1.03 / September 10th, 2008) 9
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
3.2.2 RS485 Term
Close jumper in order to terminate the RS485 bus interface (120 Ohm resistor between RS485A and
RS485B).
3.3 DIP switches
The most important settings (motor run current, motor standby current, microstep resolution,
StallGuard functionality and operating mode) can be set by DIP switches. Please note that the settings
of the DIP switches are only read right after the module has been powered on. So it is necessary to
cycle power to make changes of the DIP switch settings take effect.
All parameters that can be set by the DIP switches can also be changed via RS485 commands (but the
initial power-on settings are always taken from the DIP switches).
ActCurr 0
ActCurr 1
ActCurr 2
ActCurr 3
ActCurr 4
StbCurr 0
StbCurr 1
StbCurr 2
ON
1 8
uStep 0
uStep 1
uStep 2
Stall 0
Stall 1
Stall 2
Mode 0
Mode 1
ON
1 8
3.3.1 Motor current settings
The motor run current can be set independently from the motor standby current. There are five DIP
switches altogether for setting the run current and three DIP switches for specifying the current
reduction during motor stops / standby. Please note that the possible current settings in mode 1 are
different from those in mode 0 and 2.
ActCurr switches
Motor run current (RMS)
4
3
2
1
0
in mode 0 and 2
in mode 1
OFF
OFF
OFF
OFF
OFF
0.2A
0.65A
OFF
OFF
OFF
OFF
ON
0.4A
0.75A
OFF
OFF
OFF
ON
OFF
0.6A
0.85A
OFF
OFF
OFF
ON
ON
0.8A
1.0A
OFF
OFF
ON
OFF
OFF
1.0A
1.075A
OFF
OFF
ON
OFF
ON
1.2A
1.3A
OFF
OFF
ON
ON
OFF
1.4A
1.5A
OFF
OFF
ON
ON
ON
1.6A
1.7A
OFF
ON
OFF
OFF
OFF
1.8A
1.75A
OFF
ON
OFF
OFF
ON
2.0A
2.0A
OFF
ON
OFF
ON
OFF
2.2A
2.15A
OFF
ON
OFF
ON
ON
2.4A
2.15A
OFF
ON
ON
OFF
OFF
2.6A
2.6A
OFF
ON
ON
OFF
ON
2.8A
2.6A
OFF
ON
ON
ON
OFF
3.0A
3.0A
OFF
ON
ON
ON
ON
3.2A
3.4A
ON
OFF
OFF
OFF
OFF
3.4A
3.4A
ON
OFF
OFF
OFF
ON
3.6A
3.5A
ON
OFF
OFF
ON
OFF
3.8A
3.5A
ON
OFF
OFF
ON
ON
4.0A
4.0A

TMCM-078 Manual (V1.03 / September 10th, 2008) 10
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
ActCurr switches
Motor run current (RMS)
4
3
2
1
0
in mode 0 and 2
in mode 1
ON
OFF
ON
OFF
OFF
4.25A
4.0A
ON
OFF
ON
OFF
ON
4.5A
4.3A
ON
OFF
ON
ON
OFF
4.75A
4.3A
ON
OFF
ON
ON
ON
5A
5.2A
ON
ON
OFF
OFF
OFF
5.25A
5.2A
ON
ON
OFF
OFF
ON
5.5A
5.2A
ON
ON
OFF
ON
OFF
5.75A
5.2A
ON
ON
OFF
ON
ON
6A
5.2A
ON
ON
ON
OFF
OFF
6.25A
7A
ON
ON
ON
OFF
ON
6.5A
7A
ON
ON
ON
ON
OFF
6.75A
7A
ON
ON
ON
ON
ON
7A
7A
Table 3.6: Motor run current
The standby current can be set as a fraction of the motor run current using the DIP switches marked
“StdCurr”. The module will switch to standby current when there has been no step pulse for at least
two seconds.
StbCurr switches
Standby current
2
1
0
OFF
OFF
OFF
12.5% of motor run current
OFF
OFF
ON
25%
OFF
ON
OFF
37.5%
OFF
ON
ON
50%
ON
OFF
OFF
62.5%
ON
OFF
ON
75%
ON
ON
OFF
87.5%
ON
ON
ON
100%
Table 3.7: Motor stand-by current
3.3.2 Microstep resolution
The microstep resolution can be set using the DIP switches marked “uStep”. The microstep resolutions
that can be set depend on the selected operating mode.
uStep switches
Microstep resolution
2
1
0
in mode 0 and 1
in mode 2
OFF
OFF
OFF
64
256
OFF
OFF
ON
32
128
OFF
ON
OFF
16
64
OFF
ON
ON
8
32
ON
OFF
OFF
4
16
ON
OFF
ON
2
8
ON
ON
OFF
1
4
ON
ON
ON
not used
2
Table 3.7: Microstep resolution

TMCM-078 Manual (V1.03 / September 10th, 2008) 11
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
3.3.3 Stall detection
In operating mode 0, the general purpose output can be set or cleared automatically depending on
the current stall level. This function can be controlled by the DIP switches marked “Stall”. It can be
useful to report a stall back to a step/direction controller.
Stall switches
Function (in mode 0 only)
2
1
0
OFF
OFF
OFF
StallGuard switched off (GPO not controlled by StallGuard)
OFF
OFF
ON
GPO set when StallGuard level greater than 0, else cleared
OFF
ON
OFF
GPO set when StallGuard level greater than 1, else cleared
OFF
ON
ON
GPO set when StallGuard level greater than 2, else cleared
ON
OFF
OFF
GPO set when StallGuard level greater than 3, else cleared
ON
OFF
ON
GPO set when StallGuard level greater than 4, else cleared
ON
ON
OFF
GPO set when StallGuard level greater than 5, else cleared
ON
ON
ON
GPO set when StallGuard level greater than 6, else cleared
Table 3.7: Stall level settings
3.3.4 Mode setting
The operating mode can be chosen using the DIP switches marked “Mode”. Please see chapter 5 for
more explanation on the operating modes and how to choose the operating mode that suits best.
Mode switches
Function
1
0
OFF
OFF
Mode 0 (SPI mode, best for high speed and mandatory for StallGuard)
OFF
ON
Mode 1 (PWM mode)
ON
OFF
Mode 2 (Phase mode; high resolution of up to 256 microsteps)
ON
ON
reserved
Table 3.7: Selection of operation mode

TMCM-078 Manual (V1.03 / September 10th, 2008) 12
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
3.4 Dimensions
135,00
94,00
5,00
89,00
76,00
47,50
18,00
5,00
33,00 67,50 102,00 130,00 All
dimensions
are in
millimeter
Figure 3.4: Circuit board dimensions

TMCM-078 Manual (V1.03 / September 10th, 2008) 13
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
Height: 31mm
Figure 3.5: Base plate dimensions
3.5 Connectors
Name
Type
On TMCM-078
Mate
Site
Power supply
Screw
RIA type 320, RM5, 2 pin
RIA type 349, RM5, 2 pin
www.riaconnect.com
Motor
Screw
RIA type 320, RM5, 4 pin
RIA type 349, RM5, 4 pin
www.riaconnect.com
RS485
Screw
RIA type 183, RM3.5, 4 pin
RIA type 169,RM3.5, 4 pin
www.riaconnect.com
JST
JST B4B-PH-K, RM2
www.farnell.com
Step / Dir
Screw
RIA type 183, RM3.5, 6 pin
RIA type 169,RM3.5, 6 pin
www.riaconnect.com
JST
JST B8B-PH-K, RM2
www.farnell.com
I / O
Screw
RIA type 183, RM3.5, 6 pin
RIA type 169,RM3.5, 6 pin
www.riaconnect.com
JST
JST B8B-PH-K, RM2
www.farnell.com
Table 3.6: Connectors

TMCM-078 Manual (V1.03 / September 10th, 2008) 14
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
4Operational Ratings
The operational ratings show the intended / the characteristic range for the values and should be
used as design values. In no case shall the maximum values be exceeded.
Symbol
Parameter
Min
Typ
Max
Unit
VS
Power supply voltage
12 ... 75
V
ICOIL
Motor coil current for sine wave peak
(chopper reg., software adjustable)
0.7 … 9.8
A
IMC
Nominal RMS motor current
0.5 ... 7
A
fCHOP
Motor chopper frequency (actual
frequency depends on operation mode)
20 or 36
kHz
tSLP
Coil output slope
300
ns
IS
Power supply current
<< ICOIL
1.4 * ICOIL
A
VOPTON
Signal active voltage at disable, step and
direction input (optocoupler on), screw
connector
3.5
24
V
VOPTOFF
Signal inactive voltage at disable, step
and direction input (optocoupler off),
screw connector
0
2
V
IOPT
Optocoupler current (internally regulated)
4
8
mA
tSTEPLO
Step impulse low time (optocoupler on)
0.7
µs
tSTEPHI
Step impulse high time (optocoupler off)
2.0
µs
tDIRSETUP
Direction setup time to rising edge of
step input
0
µs
tDIRHOLD
Direction hold time after rising edge of
step input
3.0
µs
TENV
Environment temperature
-25
70
°C
TC
Temperature of case back (cooling plate)
-25
85
°C
Table 4.1: Operational Ratings

TMCM-078 Manual (V1.03 / September 10th, 2008) 15
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5Getting Started
5.1 Motor
Attention: Do not connect or disconnect the motor while power on. Damage to the module may
occur.
Attention: A too high motor current setting can damage you motor! If in doubt, start with a low
current setting and check motor temperature. If the motor heats up very quickly, check all settings.
The motor shall never reach a temperature above 100°C under any circumstances. Some stepper
motors need contact to metallic parts to allow continuous operation. Mind the default settings, when
you operate in step / direction mode the first time! You can store your own settings in the module
permanently.
5.1.1 Motor Choice
Care has to be taken concerning the selection of motor and supply voltage. In the different chopper
modes different criteria apply. Modes 0 and 1 are quite insensitive to the motor choice, while Mode 2
is very sensitive, because it uses a different motor current regulation scheme. This chapter gives some
mathematical information on the motor choice, but you can skip it if you want to experiment with a
given motor. Normally, best results will be achieved when operating the given motor in a range of 50
to 100% of nominal motor current (see motor data sheet). Mode 2 and mode 1 are mainly intended
for slow, smooth and very exact movements, due to the high microstepping resolution. For most
dynamic operation choose mode 0, or the combined modes 3 and 4 which use mode 1 or 2 for slow
movements and switch to mode 0 at a defined velocity.
5.1.1.1 Motor velocity
Whenever it is desired to maximize the motor velocity in a given application, it is important to
understand limitations due to supply voltage and motor inductivity. Please consult your motor data
sheet for this, as well as the choice of the chopper mode. Chopper mode 0 allows maximum motor
velocity.
5.1.1.2 Operating 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

TMCM-078 Manual (V1.03 / September 10th, 2008) 16
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5.1.1.3 Operating Mode 2 (PHASE)
In Table 5.1 and Figure 5.1 examples of maximum power supply voltages regarding current ICOIL and
inductivity of your motor are specified.
For further information, including a formula and description how to calculate the maximum voltage
for your setup, refer to 5.2.1.3
ICOIL (RMS)
L (min.)
VS(max.)
7
0.536 mH
75 V
0.343 mH
48 V
0.171 mH
24 V
5.0
0,75 mH
75 V
0,48 mH
48 V
0,24 mH
24 V
4.0
0,94 mH
75 V
0,6 mH
48 V
0,3 mH
24 V
3.0 A
1,25 mH
75 V
0.8 mH
48 V
0.4 mH
24 V
2.0 A
1,875 mH
75 V
1.2 mH
48 V
0.6 mH
24 V
1.0 A
3,75 mH
75 V
2.4 mH
48 V
1.2 mH
24 V
0.5 A
7,5 mH
75 V
4.8 mH
48 V
2.4 mH
24 V
Table 5.1: Maximum voltage regarding motor current and inductivity
Figure 5.1: Maximum voltage regarding motor current and inductivity
Any combination of motor coil current and inductivity which is above the curve for maximum supply
voltage (VS) is possible to drive the motor in this mode. Check your motor data sheet, please.
0
1
2
3
4
5
6
7
8
0,5 1,5 2,5 3,5 4,5 5,5 6,5
L /mH
ICOIL /A
75V
48V
24V

TMCM-078 Manual (V1.03 / September 10th, 2008) 17
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
If in doubt, please start with a lower supply voltage and check motor heating when raising the
voltage.
5.2 Power Supply Requirements
The power supply voltage shall be in the limits as given in the chapter 4 under operational ratings.
Please note that there is no protection against reverse polarity or too high voltage. The power supply
typically should be within a range which fits the motor requirements, as described in chapter 5.1.1.
When using supply voltages near the upper limit, a regulated power supply becomes a must. Please
ensure, that enough power filtering capacitors are provided in the system (1000µF for each ampere of
RMS motor current or more recommended), in order to absorb mechanical energy fed back by the
motor in stalling conditions. In larger systems a zener diode circuitry might be required, when motors
are operated at high velocities.
The power supply should be designed in a way, that it supplies the nominal motor voltage at the
desired maximum motor power. In no case shall the supply value exceed the upper / lower voltage
limit. To ensure reliable operation of the unit, the power supply has to have a sufficient output
capacitor and the supply cables should have a low resistance, so that the chopper operation does not
lead to an increased power supply ripple directly at the unit. Power supply ripple due to the chopper
operation should be kept at a maximum of a few 100mV.
Therefore we recommend to
a) keep power supply cables as short as possible
b) use large diameter for power supply cables
c) if the distance to the power supply is large (i.e. more than 2-3m), use a robust 4700µF or
similar additional filtering capacitor located near to the motor driver unit. Choose the
capacitor voltage rating fitting to the maximum operating voltage.
The overall power rating mainly depends on the motor used and on the mechanical output power, i.e.
the motor velocity and desired torque. As a thumb rule, a 42mm class motor will require a 10W (short
motor) to 20W (long motor) power supply, while a 57mm motor will require 15W to 30W, when
operated at maximum rated current and low velocities. Operation at very high velocities will increase
the power demand up to the double value.
5.2.1 Operating Modes
5.2.1.1 Operating 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 operating 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 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.
MOTORMAX,COILN
NSN RIV V25...22VV2
It uses a chopper frequency of about 36kHz.

TMCM-078 Manual (V1.03 / September 10th, 2008) 18
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5.2.1.2 Operating Mode 1 (PWM)
This mode is identical to the chopper mode 0 (SPI) mode, but it increases the microstep resolution at
low velocities / stand still (up to 64 microsteps are possible).
MOTORMAX,COILN
NSN RIV V25...22VV2
5.2.1.3 Operating Mode 2 (PHASE)
This mode uses a different chopper scheme, which provides a very high microstep resolution and
smooth motor operation. However motor dynamics and maximum velocity are quite limited. 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 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. The following calculation is based on the assumption that full
motor current is set.
Check list:
Please take the motor inductivity L [mH] and motor rated full step coil current ICOIL [A] from the
motor’s data sheet:
Now choose a supply voltage for the module to fulfil the following comparison:
5.0I
Ls25VCOIL
S

mHL20IV COILS
If your parameters do not fulfil 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:
mHL025.0 IV
xCOIL
S
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 gets too hot.
If x is above 1.0, choose one of the other chopper modes.
See also 5.1.1.3 for graphical demonstration.

TMCM-078 Manual (V1.03 / September 10th, 2008) 19
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5.3 Step / Direction
The Step-Direction controls are as follows:
Motor
Velocity
Acceleration
Rotate right
Rotate left
Control
Step frequency
Increase of
Step frequency
Differential voltage
3.5 V for screw and
0.4 V for JST connector
Differential voltage
2.0 V for screw and
-0.4 V for JST connector
Table 5.2: External signals and motor reactions
Disable+5V
-5V rotating on off
Direction+5V
rotating direction
-5V
Step+5V
-5V Velocity Deceleration Acceleration
const.
Motor
Speed
rotate right
rotate left
0
GND
GND
GND
Figure 5.2: Differential Step-Direction signals and motor reactions (schematically)
For input circuit information please refer to Figure 3.2 and Figure 3.3.
5.3.1 Direction
Description: The Direction signal changes the motors rotation from clockwise (CW) to
counterclockwise (CCW) and vice versa.
Function Table:
Direction
Differential signal
Screw connector
JST connector
CW
3.5 V
0.4 V
CCW
2.0 V
-0.4 V

TMCM-078 Manual (V1.03 / September 10th, 2008) 20
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5.3.2 Step
Description: 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:
]s/rotations[
resolutionMicrostepFullsteps frequencyinputStep
]s/rotations[v
Maximum frequency at screw connector (decoupled by opto couplers): The maximum Step input
frequency is 350 kHz, aligned to the Direction signal. It is limited by the switching capabilities of the
optocouplers. The minimum logic ”0” time is 0.7 µs and the minimum logic “1” time is 2.0 µs. A step
is triggered by the positive going edge of the signal (switching off of opto coupler).
Maximum frequency at a duty cycle of 1 (“0” time is 2.0 µs and “1” time is 2.0 µs) is 250 kHz.
step pulse
direction
0.7µs min
2.0µs min
0.7µs min
tDIRHOLD
tDIRSETUP
Figure 5.3: Step and Direction Signal (schematically, optocoupler input at screw connector)
Maximum frequency at JST connector: Even higher than at screw connector. Limited by
microcontroller but not yet evaluated (approximately 300 kHz without microstep loss).
Function Table:
Step signal
Differential signal
Screw connector
JST connector
high
3.5 V
0.4 V
low
2.0 V
-0.4 V
5.4 RS485 interface
The RS485 interface can control all functions of the TMCM-078. It is possible to change parameters,
with this interface which are also valid in the other modes like max. velocity or acceleration. Most of
the parameters that can be change by the RS485 commands (except those that are set by the DIP
switches) can also be stored in the FlashROM of the module.
The factory default address setting is “A” and the default baud rate is 9600 baud. Use an appropriate
RS485 interface (like Trinamic USB-2-485) to enter RS485 commands using a terminal program (e.g.
Hyperterminal that is shipped with Windows).
Many commands are the same as those used on the TMCM-013 and IDX modules, but some
commands are different. Also the parameter ranges of many commands are different from those on
the TMCM-013 and IDX modules.