Trinamic TMCM-1260 User manual

Module for Stepper MODULE
TMCM-1260 Hardware Manual
Hardware Version V1.10 | Document Revision V1.20 •2018-05-17
The TMCM-1260 is a single axis motor controller/driver board for 2-phase bipolar stepper motors
with up-to 6A RMS motor current and 48V DC supply. It supports 6-point ramps in addition to linear
ramps.
Features
• Single axis controller/driver for 2-
phase bipolar stepper motor
•Linear and sixPoint™ramps
•+24V and +48V DC supply voltage
•Up to 6A RMS motor current
•RS485, CAN & USB interface
• integrated sensOstep encoder and
support for external encoder
•S/D interface
•multi-purpose inputs and outputs
Applications
•Laboratory Automation
•Manufacturing
•Semiconductor Handling
•Robotics
•Factory Automation
•Test & Measurement
•Life Science
•Biotechnology
•Liquid Handling
Simplified Block Diagram
12
…
54
V DC
Microcontroller
EEPROM
I
/
Os
Step
Motor
RS
485
MOSFET
Driver
Stage
Energy Efficient
Driver
TMC
262
Motion
Controller
+
Pre
-
Driver
USB
CAN
DC
/
DC
Encoder
TMCM
-
1260
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 2 / 30
Contents
1 Features 3
2 Order Codes 5
3 Mechanical and Electrical Interfacing 7
3.1 Size of board ................................................ 7
3.2 Board mounting considerations .................................... 7
4 Connectors 8
4.1 Power Supply Input Connector ..................................... 9
4.2 Motor Connector ............................................. 10
4.3 RS485 + CAN Connector ......................................... 10
4.4 USB Connector .............................................. 11
4.5 I/O Connector ............................................... 11
5 On-Board LEDs 12
6 Reset to Factory Defaults 13
7I/Os 14
7.1 Analog input IN0 ............................................. 14
7.2 Digital inputs IN1 and IN2 ........................................ 14
7.3 HOME/STOP_L/STOP_R switch inputs ................................. 15
7.4 External incremental encoder input .................................. 15
7.5 Step/Direction inputs ........................................... 16
8 Communication 17
8.1 RS485 .................................................... 17
8.2 CAN ..................................................... 18
9 Motor driver current 20
10 Functional Description 22
11 Operational Ratings and Characteristics 23
12 Abbreviations used in this Manual 25
13 Figures Index 26
14 Tables Index 27
15 Supplemental Directives 28
15.1 Producer Information .......................................... 28
15.2 Copyright .................................................. 28
15.3 Trademark Designations and Symbols ................................. 28
15.4 Target User ................................................. 28
15.5 Disclaimer: Life Support Systems .................................... 28
15.6 Disclaimer: Intended Use ........................................ 28
15.7 Collateral Documents & Tools ...................................... 29
16 Revision History 30
16.1 Hardware Revision ............................................ 30
16.2 Document Revision ............................................ 30
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 3 / 30
1 Features
The TMCM-1260 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with
up-to 6A RMS (8.4A peak) motor coil current. It supports linear ramps and unique sixPoint ™ ramps. It
offers on-board sensOstep encoder and in addition, support for connection of external (incremental A/B)
encoder. For driver-only applications, the TMCM-1260 offers optically isolated Step/Direction inputs. When
using the on-board motion controller the optically isolated inputs are used for connection of end-switches.
The standard version of the TMCM-1260 offers one analog input (0..10V range), two digital inputs and
one open-drain output (100mA load max.) For communication in addition to USB (Micro-USB connector),
RS485 and CAN serial interfaces are available. USB is intended mainly for firmware updates and param-
eter settings - supporting USB-powered operation (just the digital part) for easy data tranfer between
PC and TMCM-1260 module. With CANopen firmware CANopen protocol is supported via the CAN interface.
Motion Controller
•Motion profile calculation in real-time
•On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
•Linear and unique sixPoint™ramp in hardware
•Encoder interface and Reference / Stop switch inputs
Driver
•Motor current: up to 6A RMS / 8.4A peak, (programmable in software)
•Supply voltage: +24V and +48V DC (+12. . . +54V DC)
•256 microsteps per fullstep
•spreadCycle™highly dynamic current control chopper
•stealthChop™for quiet operation and smooth motion
•programmable Step/Dir interface for driver-only applications with microstep interpolation
Encoder
• integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation)
for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5
encoder steps)
• support for external A/B incremental encoder in addition / as an alternative for the integrated
encoder
•programmable encoder scaling and support for motor stop on encoder deviation
Interfaces
•RS485 interface (up-to 1Mbit/s)
•CAN interface (up-to 1Mbit/s)
•USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)
•Step/Dir input (optically isolated)
•Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)
•2 general purpose digital inputs
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 4 / 30
•Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)
•1 analog input (0..10V nom. input range)
•HOME switch input (shared with analog input)
Mechanical data
•Board size: 60mm x 60mm, height 26mm max. without mating connectors
•2 mounting holes for M3 screws
Software
• TMCL ™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL ™ commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see TMCM-1260
TMCL firmware manual for more details
• CANopen firmware with CANopen standard protocol stack for the CAN interface. Please see TMCM-
1260 CANopen firmware manual for more details.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 5 / 30
2 Order Codes
The standard version of the TMCM-1260 is pre-programmed with either TRINAMIC TMCL ™ firmware or
CANopen firmware.
On request a version with 3 analog inputs (0..10V) is available instead of one analog and two digital
inputs on the I/O connector of the TMCM-1260. As this is an assembly version with different components
concerning these inputs, all mechanical data and all other electrical data will be the same.
Order Code Description Size (LxWxH)
TMCM-1260-TMCL 1-axis bipolar stepper motor controller/driver, up-
to 6A RMS motor current, 48V nom. supply, inte-
grated sensOstep encoder, S/D input, ext. Encoder
input, 1 analog input, 4 digital inputs, 1 OD output,
CAN, RS485 and USB interfaces
60mm x 60mm x 26mm
TMCM-1260-CANopen 1-axis bipolar stepper motor controller/driver, up-
to 6A RMS motor current, 48V nom. supply, inte-
grated sensOstep encoder, S/D input, ext. Encoder
input, 1 analog input, 4 digital inputs, 1 OD output,
CAN, RS485 and USB interfaces
60mm x 60mm x 26mm
TMCM-1260-3A-TMCL 1-axis bipolar stepper motor controller/driver, up-
to 6A RMS motor current, 48V nom. supply, in-
tegrated sensOstep encoder, S/D input, 3 analog
inputs, 2 digital inputs, 1 OD output, CAN, RS485
and USB interfaces
60mm x 60mm x 26mm
Table 1: TMCM-1260 Order Code
A cable loom set is available for this module:
Order Code Description
TMCM-1260-CABLE Cable loom for TMCM-1260:
• 1x cable loom for power supply connector (cable length 200mm, 4pin
JST VH connector at one end, open wires at other end)
• 1x cable loom for RS485 + CAN connector (cable length 200mm, 5pin
JST PH connector at one end, open wires at other end)
• 1x cable loom for motor connector (cable length 200mm, 4pin JST EH
connector at one end, open wires at other end)
• 1x cable loom for (alternate high power) motor connector (cable
length 200mm, 4pin JST VH connector at one end, open wires at other
end)
• 1x cable loom for I/O connector (cable length 200mm, 8pin JST PH
connector at one end, open wires at other end)
•1x Micro-USB cable
Table 2: TMCM-1260 Cable Loom
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 6 / 30
The TMCM-1260 is also available as motor mounted version together with a selection of NEMA23 / NEMA24
flange size stepper motor. Please refer to PD57/60-x-1260 PANdrive hardware manual for further details.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 7 / 30
3 Mechanical and Electrical Interfacing
3.1 Size of board
The board with the controller/driver electronics has an overall size of 60mm x 60mm x 26mm without
mating connectors. Maximum component height without mating connectors is around 21mm above and
3mm below PCB level. There are four mounting holes for M3 screws for mounting the board either to a
NEMA23 (two mounting holes at opposite corners) or a NEMA24 (other two mounting holes at opposite
corners) stepper motor.
Power
1
4
4
RS485 + CAN USB
Motor
14
1
I/O
1
8
14
(0/0)
(3.25/13.75)
3.2
(4.6/45.95)
3.2
(56.75/46.25)
3.2
(55.4/14.05)
3.2
(26/58.25)
(3.75/24.05)
(33.75/1.65)
(35.95/8.5)
(58.25/37)
Figure 1: Board dimensions, position of mounting holes and position (pin 1) of connectors (all values in mm)
3.2 Board mounting considerations
The TMCM-1260offers four metal plated mounting holes. All mounting holes are connected to system and
signal ground (same as power supply ground). In order to minimize distortion of signals and radiation of
HF signals (improve EMC compatibility) especially in sensitive / noisy environments it is important to ensure
a solid ground connection within the system. In order to support this, it is recommended to connect
mounting holes used for mounting the board to the supply ground connection (in addition to the ground
connection of the power supply connector). Nevertheless, this might not always be an option e.g. in
case the metal system chassis / TMCM-1260mounting plate is already connected to earth and a direct
connection between supply ground (secondary side) and mains supply earth (primary side) is not desired /
not an option. In this case plastic (e.g. made of nylon) spacers / distance bolts and screws should be used.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 8 / 30
4 Connectors
The TMCM-1260 offers six connectors altogehter. There is one power supply connector and two interface
connectors - one with five pins for RS485 and CAN and a dedicated micro-USB connector. All other inputs
and outputs are concentrated on one 8 pin connector. Furthermore, there is one connection for the
stepper motor with four pins with a choice between two connectors with different size, pitch and current
rating. While the smaller one supports motor currents up-to 3A RMS (half the max. current of the module)
the larger supports the full current (6A RMS).
NOTICE Start with power supply OFF and do not connect or disconnect motor dur-
ing operation! Motor cable and motor inductivity might lead to voltage spikes
when the motor is (dis)connected while energized. These voltage spikes might
exceed voltage limits of the driver MOSFETs and might permanently damage
them. Therefore, always switch off/ disconnect power supply or at least disable
driver stage before connecting / disconnecting motor.
I/O
RS485 + CAN
1 5
USB
1
8
Motor
14
Power
1
4
14
Figure 2: TMCM-1260 connectors
Connector Types and Mating Connectors
Connector Connector type on-board Mating connector type
Power JST B4P-VH
(JST VH series, 4pins, 3.96mm pitch)
Connector housing: JST VHR-4N
Contacts: JST SVH-21T-P1.1
Wire: 0.83mm2, AWG 18
Motor JST JST B4P-VH
(JST VH series, 4pins, 3.96mm pitch)
or
JST JST B4B-EH-A
(JST EH series, 4pins, 2.5mm pitch)
Connector housing: JST VHR-4N
Contacts: JST SVH-21T-P1.1
Wire: 0.83mm2, AWG 18
or
Connector housing: JST EHR-4
Contacts: JST SEH-001T-P0.6
Wire: 0.33mm2, AWG 22
RS485+CAN JST B5B-PH-K-S
(JST PH series, 5pins, 2mm pitch)
Connector housing: JST PHR-5
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 9 / 30
Connector Connector type on-board Mating connector type
USB USB-micro B female connector USB-micro B male connector
I/O JST B8B-PH-K-S
(JST PH series, 8pins, 2mm pitch)
Connector housing: JST PHR-8
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Table 3: Connector Types and Mating Connectors of the TMCM-1260
4.1 Power Supply Input Connector
The TMCM-1260 offers one 4pin JST VH series power supply input connector. In addition to main power
supply input and related ground connection this connector offers a separate logic supply input with the
option to keep the on-board logic alive while the driver stage is switched off.It is not necesary to connect
the logic supply input in case separate supplies are not required as the main power supply input will
always supply power to the driver stage and the logic part.
The power supply input connector offers a driver enable input. This input has to be connected to any
voltage above 3.5V up-to max. supply voltage of 54V in order to enable the driver stage. Leaving this pin
unconnected or connected to ground (voltage below 2.4V) will disable the driver stage regardless of any
settings in software. This input may be connected to main power supply input permanently in case an
enable input in hardware is not required.
Power Supply Connector Pin Assigment
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2 VMAINPower (input) Main power supply input for the driver and on-board logic
12. . . 54V
3 Enable Digital input Driver enable input. A voltage above 3.5V is required here
in order to enable the on-board stepper motor driver. This
input maybe connected to main power supply input in order
to enable the driver stage.
4 VLOGICPower (input) Optional separate power supply input for the on-board logic
12. . . 54V
Table 4: Power Supply Connector Pin Assignment
NOTICE Do not connect or disconnect motor during operation!
Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
NOTICE Take care of polarity, wrong polarity can destroy the board!
NOTICE Connect Enable pin to voltage >3.5V in order to enable motor movements!
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 10 / 30
4.2 Motor Connector
Two four pin motor connectors are available. Either of them can be used for connecting a bipolar stepper
motor. Both connectors are connected to the same driver stage therefore, just one connector should
be used at the same time. While the more compact 4pin JST EH series connector is suitable for motor
currents up-to 3A RMS the larger JST VH series connector is able to support all motor current up-to 6A
RMS (limit of the unit).
Motor Connector Pin Assignment
Pin Label Direction Description
1 B1 out Pin 1 of motor coil B
2 B2 out Pin 2 of motor coil B
3 A1 out Pin 1 of motor coil A
4 A2 out Pin 2 of motor coil A
Table 5: Motor Connector Pin Assignment
NOTICE Connect just one motor connector at the same time!
Both connectors are
connected to the same driver stage.
NOTICE Do not connect or disconnect motor during operation!
Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
NOTICE Do not mix-up power supply connector and the larger motor connector!
4.3 RS485 + CAN Connector
For serial communication the TMCM-1260 offers selection between RS485, CAN and USB interfaces. While
the USB interface is available for configuration and service of the board, mainly (e.g. parameter settings,
firmware updates) a 5-pin JST PH series connector offers 2-wire RS485 and CAN interfaces for in system
communication.
NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are
not available at the same time. As soon as USB is physically attached to a host or
hub the CAN interface will be switched off.
RS485 + CAN Connector Pin Assignment
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2 RS485+ Bidirectional RS485 interface, diff. signal (non-inverting)
3 RS485- Bidirectional RS485 interface, diff. signal (inverting)
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 11 / 30
Pin Label Direction Description
4 CAN_H Bidirectional CAN interface, diff. signal (non-inverting)
5 CAN_L Bidirectional CAN interface, diff. signal (inverting)
Table 6: RS485 + CAN Connector Pin Assignment
4.4 USB Connector
For serial communication the TMCM-1260 offers selection between RS485, CAN and USB interfaces. The
USB interface via on-board micro-USB connector (type B) is available for configuration and service of the
board, mainly (e.g. parameter settings, firmware updates). The USB device interface supports full speed
(12Mbit/s) communication and supports bus powered and self-powered operation. During bus-powered
operation the low voltage logic part of the board will be powered, only. This includes the microcontroller
and the non-volatile memory and therefore allows parameter settings and firmware updates of the board
using a standard USB cable, only. Of course, for any motor movement main supply via supply input
connector is required.
NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are
not available at the same time. As soon as USB is physically attached to a host or
hub the CAN interface will be switched off.
USB Connector Pin Assignment
Pin Label Direction Description
1 VBUS Power (+5V) USB +5V nom. power supply input
2 D- Bidirectional USB interface, diff. signal (inverting)
3 D+ Bidirectional USB interface, diff. signal (inverting)
4IDInput connected to GND (via 100k resistor)
5 GND Power (GND) Common system supply and signal ground
Table 7: USB Connector Pin Assignment
4.5 I/O Connector
The TMCM-1260 offers several inputs (two of them optically isolated) and one digital (open-drain) output.
The inputs include support for stop switches (left and right), home switch, step/direction, incremental A/B
channel encoder and analog (0. . . +10V) input. All this functionality is available via one 8pin JST PH series
I/O connector.
USB Connector Pin Assignment
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2IN0/HOME Input Analog input (0. . . +10V)
HOME switch input
+24V tolerant, programmable (separate) pull-up to +5V
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 12 / 30
Pin Label Direction Description
3IN1/ENC_A Input General purpose digital input
Incremental encoder input channel A
+24V tolerant, programmable pull-up (for IN1/IN2 together) to +5V
3IN2/ENC_B Input General purpose digital input
Incremental encoder input channel B
+24V tolerant, programmable pull-up (for IN1/IN2 together) to +5V
5 STOP_L/STEP Input STOP left switch input
STEP pulse input
input optically isolated, +24V compatible
6 STOP_R/DIRInput STOP right switch input
DIR input
input optically isolated, +24V compatible
7ISO_COM Power Common positive (+24V_ISO) or negative (GND_ISO) isolated
supply input for optically isolated inputs
8 OUT0 Output (OD) Open-Drain output. Output will be pulled low when activated.
Voltages up-to logic supply input level (or main supply input in
case separate logic supply is not used) are supported here. Max.
continuous pull-down current: 100mA
Table 8: I/O Connector Pin Assignment
All pins marked light green offer functional isolation towards main supply input. In case this is not required
ISO_COM may be connected to main ground or supply input, of course. The opto-couppler used are AC
types. This way, either high side switches or low side switches for both inputs are supported.
5 On-Board LEDs
The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the
firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation
and the red LED should be off. When there is no valid firmware programmed into the board or during
firmware update the red and green LEDs are permanently switched on. During reset to factory default
values the green LED will be flashing fast. With CANopen firmware both LEDs are switched on/off/flashing
according to standard defintion.
Green LEDRed LED
Figure 3: TMCM-1260 LEDs
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6 Reset to Factory Defaults
It is possible to reset all settings in firmware for the TMCM-1260 to factory defaults without establishing
a working communication connection. This might be helpful in case communication parameters of the
preferred interface have been set to unknown values or got lost.
For this procedure two pads on the bottom side of the module have to be shorted (electrically connected
with each other) during power-on.
Please perform the following steps:
1. Switch power supply OFF (and disconnect USB cable if applicable)
2. Short CLK and DIO pads of programming pads on bottom of pcb (see figure 4)
3. Switch power supply ON again (or connect USB again if applicable)
4. Wait until the on-board red and green LEDs start flashing fast (this might take a while)
5. Switch power supply OFF again (and disconnect USB cable if applicable)
6. Remove short between pads
7. After switching power supply ON again (and / or connecting USB cable) all permanent settings have
been restored to factroy defaults
Short these two pads
Figure 4: Reset to factory default settings
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7I/Os
The I/O connector (8pin JST PH series) offers one analog input, two non-isolated digital inputs with
integrated pull-ups (programmable) and two optically isolated inputs. All inputs can be used for different
purposes explained in more detail in the following subsections.
7.1 Analog input IN0
The TMCM-1260 offers one analog input. The analog input voltage range is approx. 0..+10V. For voltages
above +10V saturation takes place but, up-to 30V higher voltages are tolerated without destroying the input.
For analog to digital conversion the integrated ADC of the on-board microcontroller is used. Resolution of
this converter is 12bit (0..4095).
100nF
10k
22k
2k2
+3V3
microcontroller
microcontroller
IN0
+5V
TMCM-1260
pull-up
disabled
V
0..10V
Figure 5: Analog input IN0
The analog input can be used as digital input, also. There is an integrated pull-up to +5V which can be
switched on of offin software. When using this input as anlog input the pull-up should be usually switched
off.
7.2 Digital inputs IN1 and IN2
The TMCM-1260 offers two digital inputs IN1 and IN2 which accept signals between 0 and 30V with voltages
above approx. 2.9V recognized as logical ’1’and below 1V as logical ’0’. Both inputs offer intergated pull-ups
to +5V which can be switched on or offin software (always together). When using the inputs with low-side
switches (connected to GND), pull-ups usually should be switched on (default). In case high-side switches
are used the pull-ups must be switched off. For push-pull signals the pull-ups may be either switched on
or off.
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33pF
22k
10k
2k2
+3V3
microcontroller
microcontroller
IN1
IN2
+5V
TMCM-1260
or
pull-up
enabled
or
pull-up
disabled
+5V...24V
+5V
Figure 6: Digital inputs IN1 and IN2
7.3 HOME/STOP_L/STOP_R switch inputs
The TMCM-1260 offers two optically isolated inputs which can be used as left (STOP_L) and right (STOP_R)
stop switch inputs. When enabled in software the STOP_L switch input will stop motor movement in
negative direction (step counter decreasing) while activated. Likewise the STOP_R switch input will stop
motor movement in positive direction (step counter increasing) while activated.
680
6k8
2k2
+3V3
microcontroller
TMCM-1260
STOP_L,
STOP_R
ISO_COM
+24V_ISO
GND_ISO
or
+24V_ISO
GND_ISO
Figure 7: Stop switch inputs
A separated / isolated supply may be used for the switches - as indicated in the drawing (+24V_ISO and
related GND_ISO) - but, same supply as for the TMCM-1260 can be used, also, of course.
7.4 External incremental encoder input
The TMCM-1260 offers an integrated hall-sensor based magnet encoder. In addition, an external incremen-
tal A/B encoder may be connected to the two digital inputs IN1 and IN2. Encoder with push-pull signals
(e.g. +5V TTL) and open-drain output signals are supported (single-ended). For open-drain outputs the
internal pull-ups should be activated in software (default mode).
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33pF
22k
10k
2k2
+3V3
microcontroller
microcontroller
ENC_A,
ENC_B
+5V
TMCM-1260
or
+5V
pull-up
enabled
Figure 8: External encoder input
7.5 Step/Direction inputs
The TMCM-1260 may be used as driver with an external motion controller. In this case the Step/Direction
output signals of the external motion controller may be connected to the optically isolated Step/Dir inputs
of the TMCM-1260. Please note that these signals should be 24V signals. For lower voltage signals a simple
small signal transistor maybe inserted as level converter.
680
6k8
2k2
+3V3
microcontroller
TMCM-1260
STEP,
DIR
ISO_COM
+24V_ISO
GND_ISO
Figure 9: Step/Direction input
Due to limitations of the opto-isolators the maximum step frequency of these inputs is limited to around
20kHz. For higher motor speed the step interpolator of the driver stage should be activated or the
microstep resolution reduced (default 256 microsteps per fullstep).
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 17 / 30
8 Communication
8.1 RS485
For remote control and communication with a host system the TMCM-1260 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 10: RS485 bus structure with termination resistors
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-1260 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 stadard (EIA-485) allows up to 32 nodes to be connected to a single bus.
The bus transceiver used on the TMCM-1260 units (SN65HVD1781D) offers a significantly reduced
bus load compared to the standard and allows a maximum of 255 units to be connected to a single
RS485 bus using standard 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-1260 hardware is 1Mbit/s.
Factory default is 9600 bit/s. Please see separate TMCM-1260 TMCL firmware manual for information
regarding other possible communication speeds below the upper hardware limit.
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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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 18 / 30
node
n- 1
node
n
Slave Slave
termination
resistor
(120R)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
termination
resistor
(120R)
RS485+ / RS485A
Figure 11: RS485 bus lines with resistor (bias) network on one side, only
Or add resistor 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 12: RS485 bus lines with Profibus™recommended line termination
8.2 CAN
For remote control and communication with a host system the TMCM-1260 provides a CAN bus interface.
Please note that the CAN interface is not available in case USB is connected. For proper operation the
following items should be taken into account when setting up a CAN 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.
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TMCM-1260 Hardware Manual •Hardware Version V1.10 | Document Revision V1.20 •2018-05-17 19 / 30
c:> node
1
node
n- 1
node
n
Host Slave Slave Slave
CAN
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 13: CAN bus structure with termination resistors
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-1260 does not integrate any
termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be
added externally.
3. BUS TERMINATION:
The bus transceiver used on the TMCM-1260 units (TJA1051T) supports at least 110 nodes under
optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus
length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).
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9 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed
in software with 32 effective scaling steps in hardware.
Explanation of different columns in table below:
Motor current set-
ting in software
(TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and
7 (motor standby current). They are used to set the run / standby current
using the following TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-1260
firmware manual for further information)
Motor current IRMS
[A] Resulting motor current based on motor current setting
Available motor current settings
Motor current setting
in software (TMCL)
Current scaling step
(CS)
Motor current I
COIL
[A]
peak
Motor current I
COIL
[A]
RMS
0. . . 7 0 0.254 0.180
8. . . 15 1 0.508 0.359
16. . . 23 2 0.762 0.539
24. . . 31 3 1.016 0.718
32. . . 39 4 1.270 0.898
40. . . 47 5 1.523 1.077
48. . . 55 6 1.777 1.257
56. . . 63 7 2.031 1.436
64. . . 71 8 2.285 1.616
72. . . 79 9 2.539 1.795
80. . . 87 10 2.793 1.975
88. . . 95 11 3.047 2.154
96. . . 103 12 3.301 2.334
104. . . 111 13 3.555 2.514
112. . . 119 14 3.809 2.693
120. . . 127 15 4.063 2.873
128. . . 135 16 4.316 3.052
136. . . 143 17 4.570 3.232
144. . . 151 18 4.824 3.411
152. . . 159 19 5.078 3.591
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com