Trinamic TMCM-1141 User manual

MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Hardware Version V1.3
HARDWARE MANUAL
++TMCM-1141
+ +
UNIQUE FEATURES
1-Axis Stepper
Controller / Driver
24 V DC
up-to 1.1 A/ 2A RMS
USB, RS485, and S/D Interface

TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09) 2
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Table of Contents
1Features ...........................................................................................................................................................3
2Order Codes .....................................................................................................................................................5
3Mechanical and Electrical Interfacing ..............................................................................................................6
3.1 Dimensions and Mounting Holes .............................................................................................................6
3.2 Connectors of TMCM-1141......................................................................................................................7
3.2.1 Power and RS485 Connector..............................................................................................................8
3.2.2 Mini-USB Connector .........................................................................................................................10
3.2.3 Multipurpose I/O Connector ............................................................................................................11
3.2.4 Step/Direction Connector.................................................................................................................15
3.2.5 Motor Connector..............................................................................................................................16
4Motor driver current......................................................................................................................................17
5Reset to Factory Defaults...............................................................................................................................20
6On-Board LED.................................................................................................................................................20
7Operational Ratings........................................................................................................................................21
8Functional Description ...................................................................................................................................23
9TMCM-1141 Operational Description............................................................................................................24
9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency......................................24
10 Life Support Policy..........................................................................................................................................26
11 Revision History..............................................................................................................................................27
11.1 Document Revision ................................................................................................................................27
11.2 Hardware Revision .................................................................................................................................27
12 References .....................................................................................................................................................28

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1Features
The TMCM-1141 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of the art
feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized applications.
The module can be mounted on the back of NEMA 17 (42mm flange size) stepper motors and has been designed for
coil currents up to 1.1 A RMS RMS (low current range, programmable) or 2A RMS (high current range,
programmable, new additional range since hardware version 1.3) and 24V DC supply voltage. With its high energy
efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The TMCL™ firmware
supports remote control (direct mode) and standalone operation (with TMCL program being executed on the TMCM-
1141 itself).
MAIN CHARACTERISTICS
Motion controller
-Motion profile calculation in real-time
-On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
-High performance microcontroller for overall system control and serial communication protocol handling
Bipolar stepper motor driver
-Up to 256 microsteps per full step
-High-efficient operation, low power dissipation
-Dynamic current control
-Integrated protection
-stallGuard2 feature for stall detection
-coolStep feature for reduced power consumption and heat dissipation
Interfaces
-RS485 2-wire communication interface
-USB full speed (12Mbit/s) device interface
-Step/Direction/Enable interface (optically isolated) for external control of driver circuit
-4 multipurpose inputs:
-3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs)
-1x dedicated analog input
-2 general purpose outputs
-2x open-drain 100 mA max.
Software
-TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 1024 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
-Supply voltage: +24 V DC nominal (9… 28 V DC)
-Motor current: up to 1.1 A RMS / 1.6 A peak (low current range, programmable) or 2A RMS / 2.8A peak (high
current range, programmable, new additional range since hardware version 1.3)
Refer to separate TMCL Firmware Manual, too.

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TRINAMICS UNIQUE FEATURES –EASY TO USE WITH TMCL
stallGuard2™stallGuard2 is a high-precision sensorless load measurement using the back EMF on the coils. It can
be used for stall detection as well as other uses at loads below those which stall the motor. The
stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current
settings. At maximum motor load, the value goes to zero or near to zero. This is the most energy-
efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be reduced by as
much as 75%. coolStep allows substantial energy savings, especially for motors which see varying
loads or operate at a high duty cycle. Because a stepper motor application needs to work with a
torque reserve of 30% to 50%, even a constant-load application allows significant energy savings
because coolStep automatically enables torque reserve when required. Reducing power
consumption keeps the system cooler, increases motor life, and allows reducing cost.
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 1.2 Energy efficiency example with coolStep

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2Order Codes
Order code
Description
Size (mm3)
TMCM-1141-option
Single axis bipolar stepper motor controller / driver electronics with
coolStep feature
37 x 37 x 11.5
Table 2.1 Order codes
The following options are available:
Firmware option
Description
Order code example:
-TMCL
Module pre-programmed with TMCL firmware
TMCM-1141-TMCL
Table 2.2 Firmware options
A cable loom set is available for this module:
Order code
Description
TMCM-1141-CABLE
Cable loom for TMCM-1141:
-1x cable loom for power and RS485 connector (length 200mm)
1x cable loom for multi-purpose I/O connector (length 200mm)
-1x cable loom for S/D connector (length 200mm)
-1x cable loom for motor connector (length 200mm)
-1x USB type A connector to mini-USB type B connector cable (length 1.5m)
Table 2.3 Cable loom order codes
Please note that the TMCM-1141 is available with NEMA17 stepper motors, too. Refer to the PD-1141 documents for
more information about these products.

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3Mechanical and Electrical Interfacing
3.1 Dimensions and Mounting Holes
The dimensions of the controller/driver board are approx. 37 mm x 37 mm x 11.5 mm in order to fit on the back of
a 42 mm stepper motor. Maximum component height (height above PCB level) without mating connectors is around
8mm above PCB level and 2 mm below PCB level. There are two mounting holes for M3 screws for mounting to a
NEMA17 stepper motor.
34
2xM3
37
34
37
3
3
Figure 3.1 Dimensions of TMCM-1141 and position of mounting holes

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3.2 Connectors of TMCM-1141
The TMCM-1141 controller/driver board offers five connectors including the motor connector which is used for
attaching the motor coils to the electronics. Further, there is a connector for power and for the RS485 interface. The
USB interface and the step/direction interface have their own connectors. The 8pin multipurpose I/O connector
offers four multipurpose inputs and two general purpose outputs.
Motor
14 1 5
Power and
RS485
1
8
Multi-
purpose
I/O
Step /
Direction
USB
14
Figure 3.2 Overview connectors
Label
Connector type
Mating connector type
Power and
RS485
Connector
CI0105P1VK0-LF
CVIlux CI01 series, 5 pins, 2mm pitch
Connector housing CVIlux: CI01055000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-5
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Multi-purpose
I/O Connector
CI0108P1VK0-LF
CVIlux CI01 series, 8 pins, 2mm pitch
Connector housing CVIlux: CI01085000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-8
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Step/Direction
Connector
CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Motor
Connector
CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Mini-USB
Connector
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
Table 3.1 Connectors and mating connectors, contacts and applicable wire

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3.2.1 Power and RS485 Connector
A 5pin single row connector is used for power supply and RS485 serial communication.
5
1
Pin
Label
Direction
Description
1
GND
Power (GND)
System and signal ground
2
VDD
Power (Supply)
VDD (+9 V… +28 V)
3
GND
Power (GND)
System and signal ground
4
RS485+
Bidirectional
RS485 interface, diff. signal (non-inverting)
5
RS485-
Bidirectional
RS485 interface, diff. signal (inverting)
Table 3.2 Connector for power supply and RS485
3.2.1.1 Power Supply
For proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions
the TMCM-1141 includes about 40µF/35V of supply filter capacitors. These are ceramic capacitors which have been
selected for high reliability and long life time. The module includes a 24V suppressor diode for over-voltage
protection.
CAUTION!
Add external power supply capacitors!
It is recommended to connect an electrolytic capacitor of significant size (e.g. 1000µF/35V) to the
power supply lines next to the TMCM-1141 especially if the distance to the power supply is large
(i.e. more than 2-3m)! In larger systems a zener diode circuitry might be required in order to limit
the maximum voltage when the motor is operated at high velocities.
Rule of thumb for size of electrolytic capacitor: c = 1000 μF
A× ISUPPLY
In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any
voltage spikes which might otherwise occur from a combination of high inductance power supply
wires and the ceramic capacitors. In addition it will limit slew-rate of power supply voltage at the
module. The low ESR of ceramic-only filter capacitors may cause stability problems with some
switching power supplies.
Keep the power supply voltage below the upper limit of 28V!
Otherwise the driver electronics will seriously be damaged! Especially, when the selected operating
voltage is near the upper limit a regulated power supply is highly recommended. Please see also
chapter 7 (operating values).
There is no reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver transistors.

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3.2.1.2 RS485
For remote control and communication with a host system the TMCM-1141 provides a two wire RS485 bus interface.
For proper operation the following items should be taken into account when setting up an RS485 network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection between
each node and the bus itself should be as short as possible. Basically, it should be short compared to the
length of the bus.
c:> node
1
node
n- 1
node
n
Host Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 3.3: Bus structure
2. BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends. The TMCM-1141 does not integrate any
termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added
externally.
3. NUMBER OF NODES:
The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus.
The bus transceivers used on the TMCM-1141 units (hardware V1.2: SN65HVD3082ED, since hardware
V1.3: SN65HVD1781D) have a significantly reduced bus load and allow a maximum of 255 units to be
connected to a single RS485 bus using TMCL firmware. Please note: usually it cannot be expected to get
reliable communication with the maximum number of nodes connected to one bus and maximum supported
communication speed at the same time. Instead, a compromise has to be found between bus cable length,
communication speed and number of nodes.
4. COMMUNICATION SPEED:
The maximum RS485 communication speed supported by the TMCM-1141 is 115200 bit/s for hardware
version 1.2 and 1Mbit/s for hardware version 1.3. Factory default is 9600 bit/s. Please see separate TMCM-
1141 TMCL firmware manual for information regarding other possible communication speeds.
5. NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is transmitting
data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In
order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus
lines to well defined logic levels.
There are actually two options which can be recommended:
Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both ends):

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node
n- 1
node
n
Slave Slave
termination
resistor
(120R)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
termination
resistor
(220R)
RS485+ / RS485A
Figure 3.4: Bus lines with resistor (Bias) network on one side, only
Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination):
node
n- 1
node
n
Slave Slave
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
RS485- / RS485B
RS485+ / RS485A
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
Figure 3.5: Bus lines with resistor (Bias) network at both ends
3.2.2 Mini-USB Connector
A 5pin mini-USB connector is available on-board for serial communication (as alternative to the RS485 interface).
This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
1
5
Pin
Label
Direction
Description
1
VBUS
Power
(supply input)
+5V supply from host
2
D-
Bidirectional
USB Data –
3
D+
Bidirectional
USB Data +
4
ID
Power (GND)
Connected to signal and system ground
5
GND
Power (GND)
Connected to signal and system ground
Table 3.3 Connector for USB
For remote control and communication with a host system the TMCM-1141 provides a USB 2.0 full-speed (12Mbit/s)
device interface (mini-USB connector). As soon as a USB host is connected the module will accept commands via
USB.
USB BUS POWERED OPERATION MODE
The TMCM-1141 supports both, USB self powered operation (when an external power is supplied via the power
supply connector) and USB bus powered operation, (no external power supply via power supply connector).
During USB bus powered operation the on-board digital core logic will be powered, only. The digital core logic
consists of the microcontroller itself and also the EEPROM. The USB bus powered operation mode has been