Trinamic TMCM-110 User manual

Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG www.trinamic.com
Start into stepper motor motion systems
Italic and green lines can be neglected for the PD-110.
• Your TMCM-110 stepper motor controller
and driver module
• A stepper motor with 1A RMS coil current
• Interface (RS232, RS485, CAN or IIC)
suitable to your TMCM-110 version, with
cables and maybe converter supplied.
• Power supply for 12V to 30V
• TMCL IDE program and PC
• Equipment to connect motor and TMCM-
110, maybe soldering tools.
• Do not connect or disconnect the motors while powered
• Do not mix up connections or short-circuit pins
• Avoid bundling IO wires with motor power wires, as this
may cause noise pickup from the motor.
• Do not exceed the maximum power supply of 30V.
• If attaching the TMCM-110 directly to a motor leave at
least a 5mm gap for air cooling.
Start with power supply OFF.
1. Connect RS232 pin 2 (PC-TxD) to pin 4 (110-RxD) and pin 3
(PC-RxD) to pin 5. Use other interfaces equivalent.
2. Connect RS232 cable to PC.
3. Connect power supply to TMCM-110
• Power supply (+) to pin 2
• Ground (GND) to pin 1
4. Connect stepper motor to 4 pin connector
5. Turn power ON. The LED of the module flashes and the motor
is powered (standby current flows) but in standstill. If this does
not occur switch power OFF and check your connections and
power supply.
6. Start the TMCL IDE program (see other side of the sheet how
to configure the connection and use the IDE).
7. Type following into the open window:
8. Click the “Assemble” icon, then click the “Download” icon to
download the code to the TMCM-110. Click the “Run” icon. The
downloaded program will now be executed
9. Click stop button and start “TMCL Direct Mode” to issue
following commands:
• ROR rotate right, Motor 0, value 500 →Click Execute
The motor is rotating now.
• MST motor stop, Motor 0 →Click Execute
First steps are made. For other commands of the TMCM-110
refer to next page and the TMCM-110 Manual.
Wiring note: The TMCM-110 comes with a 4pin, a 5pin and an 8
pin JST PHR-connector with about 20cm cables for each pin. If you
have a PANdrive the TMCM-110 is mounted to a motor and no
extra motor connection is needed.
23 5
RS232
TMCM-110
Pin 1
Power-
supply
12..30V
Motor
+-
2
1
3
4
8
6
Pin 1
Pin 1
9
use null modem
cable, otherwise
switch pins 2 and 3
GND
GND
VS
GND
RxD
TxD
A1 A2 B1 B2
Starting up:
Y
ou will need Precautions
//A simple example for using TMCL and the TMCL-IDE
SAP 4, 0, 100 //Set the maximum speed
Loop: MVP ABS, 0, 15000 //Move to position 15000
WAIT POS, 0, 0
WAIT TICKS, 0, 200
MVP ABS, 0, 0 //Move back to position 0
WAIT POS, 0, 0
WAIT TICKS, 0, 100
JA Loop //Infinite Loop

Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG www.trinamic.com
1. Make sure the COM port you intend to use is
not blocked by an other program.
2. Open TMCL IDE (available at TechLibCD and www.trinamic.com) by
clicking TMCL.exe.
3. Choose Setup and Options…
and then the connection tab.
4. Choose COM port and type
in parameters shown above
(baudrate 9600). Click OK.
5. Write a program code into
the white field and save it
with File/Save.
Assemble
Download
Run
Stop
6. Click “Assemble” first, then
“Download” and “Run” button
to start the program.
"Direct Mode"
7. Stop all running programs
by clicking “Stop button” and
start “Direct Mode”.
8. If communication is established the TMCM-110 is automatically
detected. Issue a command by choosing Instruction, Type, Motor,
Value and press Execute to send it to the TMCM-110.
Following commands can be
included into a program or
used in “Direct Mode”. There
are motion (ROR, ROL, MST, MVP) and SAP (Set
Axis Parameter) commands to set motion and control
parameters. GAP delivers their actual value.
Instr. Type Value Description
(don´t care) 0..2047 Rotate rightROR
ROR <motor no.>, <Value>
(don´t care) 0..2047 Rotate leftROL
ROL <motor no.>, <Value>
(don´t care) Motor stopMST
MST <motor no.>, <Value>
ABS|REL|COORD 23 bit Move to pos.MVP
MVP <type>, <motor no.>, <Value>
2 23 bit Actual pos.
4 0..2047 Max speed
5 0..2047 Max accell.
6 0..1500 Max current
7 0..1500 Standby curr.
140 0..6 Microstep res.
SAP <type no.>,<motor no.>,<Value>
SAP
Sets motion and control parameters
GAP <type no.>, <motor no.>
GAP
Gives actual values of SAP parameters
For full instruction set and further description refer to
TMCL-Reference an Programming Manual at
TechLibCD or www.trinamic.com.
If communication is not established:
• Check if the LED of the TMCM-110 is flashing. If
not check your power supply.
• Try to start “Direct Mode” and see if the TMCM-
110 is detected automatically. If not close window.
• Check if you are using the right COM port and it is
not used by another program.
• Check your connection settings, default:
9600 baud and address 1.
• Check your interface connection to TMCM-110.
• Refer to TMCM-110 manual.
If motor does not respond:
• Usually it is a problem with the communication
described above.
• If you are using a TMCL program try a movement
command in “Direct Mode” to see if there is a
problem with your program.
• Check the motor connection. And power LED of
the module.
• Restore factory settings to cancel all settings
modified by user by issuing instruction 137.
TMCL IDE:
Commands: Troubleshooting: