Trinamic TMC5130-EVAL User manual

EVALUATION FOR ICs EVALUATION BOARD
Hardware Version V1.00
TMC5130-EVAL EVALUATION BOARD MANUAL
DESCRIPTION
The TMC5130-EVAL is designed for evaluating all features
of the TMC5130A-TA. The evaluation board is part of
TRINAMICs new user-friendly plug-
in system for chip
evaluation. Just connect the TMC5130-
EVAL with
STARTRAMPE, the associated base board. Therefore, use
the dedicated connector board, called ESELSBRÜCKE.
ESELSBRÜCKE offers test points for every connector pin.
TMC5130-EVAL
F
EATURES
Single wire interface to CPU
SPI interface to CPU
Step/Dir interface with microstep
interpolation microPlyer™
Power connector
Motor connector
Retrofit option for encoder and
reference switch connectors
Multi-pin connector to base board
Multiple test points
TMCL-IDE 3.0 SOFTWARE
TMCL-IDE 3.0 software allowing access
to all registers
Graphical view of position counter and
motor velocity
Additional tools for special features
TMC5130 MAIN CHARACTERISTICS
2-phase bipolar stepper motors
Drive capability up to 2A coil current
Motion controller / sixPoint™ramp
Voltage range 4.75… 46V DC
SPI & single wire UART
Dual ABN encoder interface
2x reference switch input
256 microsteps per full step
Full protection & diagnostics
dcStep™ load dependent speed control
stallGuard2™ high precision sensorless
motor load detection
coolStep™
load dependent current
control for energy savings up to 75%
stealthChop™ for extremely quiet
operation and smooth motion
spreadCycle™ high-
precision chopper
for best current sine wave form and zero
crossing with additional chopSync2™
Integrated current sense option
Passive breaking and freewheeling
mode
Small Size 9x9mm2TQFP48 package
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany

TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 2
TRINAMICS UNIQUE FEATURES
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.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
coolStep™ coolStep is an 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. Even a constant-load application allows
significant energy savings because coolStep automatically enables torque reserve when
required.
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
dcStep™ dcStep is an automatic commutation mode for the stepper motor. It allows the stepper
to run with its nominal velocity taken from the ramp generator as long as it can cope
with the load. In case the motor becomes overloaded, it slows down to a velocity, where
the motor can still drive the load. This way, the stepper motor never stalls and can drive
heavy loads as fast as possible.
Classic operation area
with safety margin
torque
velocity [RPM]
dcStep operation - no step loss can occur
additional flywheel mass torque reserve
microstep
operation
0
M
NOM1
M
MAX
VDCMIN
VMAX
M
NOM
: Nominal torque required by application
M
MAX
: Motor pull-out torque at v=0
application area
max. motor torque
safety margin
dcStep extended
Safety margin: Classical application operation area is limited by a certain
percentage of motor pull-out torque
M
NOM2
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 3
Order Codes
The TMC5130-EVAL is a controller/driver board. It is part of the TRINAMICs evaluation board system. To
have a complete operational system, the evaluation board needs to be connected to a baseboard with
included microcontroller called STARTRAMPE. Therefore, use ESELSBRÜCKE, a special connector board with
test points.
Order codes Description Size of unit [mm2]
TMC5130-EVAL-KIT Evaluation board for TMC5130A-TA
two phase motor
controller/driver including STARTRAMPE and ESELSBRÜCKE
12.6 x 8.5
Table 1.1 Order Codes
Note
STARTRAMPE and ESELSBRÜCKE are baseboard and connector board designed for universal use within
TRINAMICs plug-in evaluation system. Both can be used in combination with other EVAL boards (designed
to suit to the system).
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 4
Table of Contents
1Set-up and Features .................................................................................................................................................... 5
2TMC5130-EVAL-KIT Dimensions................................................................................................................................. 7
2.1 Dimensions ........................................................................................................................................................... 7
2.1.1 Dimensions of TM5130-EVAL and STARTRAMPE ................................................................................... 7
2.1.2 Dimensions of ESELSBRÜCKE ..................................................................................................................... 7
3Evaluation Kit Connectors.......................................................................................................................................... 8
3.1 TMC5130-EVAL Connectors and Test Points................................................................................................. 8
3.1.1 Power Connector........................................................................................................................................... 8
3.1.2 Motor Connector............................................................................................................................................ 9
3.1.3 Encoder Connector........................................................................................................................................ 9
3.1.4 Reference Switch Connector ...................................................................................................................... 9
3.1.5 Test Points (in addition to ESELSBRÜCKE) ............................................................................................. 9
3.2 ESELSBRÜCKE: SPI Interface, I/Os, and Test Points ................................................................................. 10
3.3 STARTRAMPE: Connectors on the Base Board........................................................................................... 11
3.3.1 USB Connector ............................................................................................................................................. 11
3.3.2 RS232 Connector (not soldered) ............................................................................................................. 12
4System Status LEDs ................................................................................................................................................... 12
5Operational Ratings of the TMC5130-EVAL-KIT .................................................................................................. 13
6Getting Started............................................................................................................................................................ 14
6.1 Starting up........................................................................................................................................................... 15
6.1.1 Checking the Status of Startrampe and TMC5130-EVAL ................................................................... 16
6.2 Velocity Mode ..................................................................................................................................................... 17
6.3 Positioning Mode .............................................................................................................................................. 18
6.4 Direct Mode Dialogue....................................................................................................................................... 19
6.5 coolStep and stallGuard2 ................................................................................................................................ 20
6.6 TMCL Creator ....................................................................................................................................................... 20
7Life Support Policy..................................................................................................................................................... 21
8Revision History.......................................................................................................................................................... 22
8.1 Firmware Revision ............................................................................................................................................ 22
8.2 Document Revision........................................................................................................................................... 22
9References .................................................................................................................................................................... 22
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 5
1Set-up and Features
The TMC5130-EVAL is part of an evaluation board system. Offering a very convenient handling for chip
evaluation, TRINAMIC developed a plug-in system which consists of three parts: STARTRAMPE,
ESELSBRÜCKE, and TMC5130-EVAL.
STARTRAMPE
STARTRAMPE is a baseboard. It is equipped with a STM32F ARM Cortex-M3 microcontroller (and EEPROM)
and controls the TMC5130. The FLASH memory of the microcontroller holds a program for configuration
of the TMC5130. Further, STARTRAMPE controls the communication with the PC via USB or RS232 interface.
For connecting STARTRAMPE to the PC, use the mini-USB interface connector on the board. Additionally,
it is possible to communicate via the RS232 interface. Therefore, a connector can be soldered with little
effort.
ESELSBRÜCKE
This small board forwards signals from STARTRAMPE to TMC5130-EVAL. ESELSBRÜCKE provides test points
for several measurements.
TMC5130-EVAL
This evaluation board is designed for testing all features of the TMC5130. The TMC5130 motion controller
and driver IC is an intelligent power component interfacing between the CPU and a stepper motor. Several
motion commands can be easily executed. The TMC5130 offers a number of unique enhancements which
are enabled by the system-on-chip integration of driver and controller. The sixPoint ramp generator of
the TMC5130 uses dcStep, coolStep, and stallGuard2 automatically in order to optimize every motor
movement.
Using the TMCL-IDE V3.0 software tool, all features of the TMC5130A-TA can be tried out.
STARTRAMPE
TMC Evaluation Platform TMC5130-EVAL
Evaluation Board
USB
Power
Motor
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
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o
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o
o
o
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o
o
o
o
o
o
o
o
o
ESELSBRÜCKE
Multi-pin
Connector
GND, R, L, +5V
N, B, A, GND, +5V
Figure 1.1 TMC5130-EVAL plug-in system set-up
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 6
TMC5130-EVAL FEATURES
Integrated Motion Controller
-Linear six-point ramp generator.
-Motion profile calculation in real-time.
-
On the fly alteration of motor parameters (e.g. position,
velocity, acceleration).
Integrated Motor Driver
- Up to 256 microsteps per full step.
-High-efficient operation, low power dissipation.
-Dynamic current control.
-stallGuard2 feature for stall detection.
-coolStep feature for reduced power consumption and heat
dissipation.
-dcStep feature for high velocity drive (related to the motor
load).
-stealthChop chopper for noiseless operation and smooth
motion.
-Integrated current sense option.
-Passive breaking and freewheeling mode.
-spreadCycle chopper or classic chopper.
Electrical Data
- Motor current: up to 2x 1.1 A RMS nominal motor current.
-Supply voltage: +4.5V… +20V DC operating voltage.
Interfaces
-USB (type B)
-RS232 (connector can be retrofitted)
-Native SPI™ of the TMC5130
-Encoder interface
-Reference switch inputs
-Access to all signals of the TMC5130
Motor Type
- Two phase bipolar stepper motor
Safety Features
-Overcurrent
-Short to GND
-Undervoltage protection
-Integrated diagnostics
Software
-PC software allowing access to all registers.
-Graphical view of position counter and motor velocity.
-
Special tools for unique features.
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 7
2TMC5130-EVAL-KIT Dimensions
2.1 Dimensions
2.1.1 Dimensions of TM5130-EVAL and STARTRAMPE
Board dimensions of both modules are 85mm x 55mm. There are four mounting holes suitable for M3
screws.
TMC5130-EVAL maximum component height (above PCB level) without mating connectors: 12mm.
STARTRAMPE maximum component height (above PCB level) without mating connectors: 11mm.
55
85
4
4
Figure 2.1 Dimensions: TMC5130-EVAL and STARTRAMPE
2.1.2 Dimensions of ESELSBRÜCKE
Board dimensions are 61mm x 38mm. Maximum component height (above PCB level) without mating
connectors is 9.4mm.
38
61
Figure 2.2 Dimensions of ESELSBRÜCKE
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 8
3Evaluation Kit Connectors
3.1 TMC5130-EVAL Connectors and Test Points
Figure 3.1 Connectors of TMC5130-EVAL
CONNECTORS OF TMC5130-EVAL
Label (Key) Connector type Mating connector type
Power RIA 330-02, 2 pol., 5mm pitch, shrouded
header
RIA 349-
2, screw type terminal block,
pluggable, centerline 5
mm / 0.197
inches, wire entry parallel to plug
direction
Motor RIA 182-04, 4 pol., 3.5mm pitch, shrouded
header
RIA 169-04, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
SPI and IOs 2 x 22
pol., 2.54mm pitch, pluggable
female connector
2 x 22 pol., 2.54mm pitch, pluggable male
connector
Reference
switches
Standard male 4 pin connector, one row,
2.54mm pitch
Standard female 4 pin connector, one
row, 2.54mm pitch
Encoder
Standard male 5 pin connector, one row,
2.54mm pitch
Standard female 4 pin connector, one
row, 2.54mm pitch
Table 3.1 Connectors
3.1.1 Power Connector
Pin Label Description
1 GND Power supply and signal ground
2 +VM Operational voltage: +7… +46V DC
Table 3.2 Power connector 2
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 9
3.1.2 Motor Connector
Pin Label Description
1
O1B1
Motor coil B
2 O1B2 Motor coil B
3 O1A1 Motor coil A
4
O1A2
Motor coil A
Table 3.3 Motor connector
3.1.3 Encoder Connector
Pin Label Description
1
+5V
+5V power supply
2 GND System and module ground
3 ENCA Input A for incremental encoder
4
ENCB
Input B for incremental encoder
5
ENCN
Zero channel for incremental encoder
Table 3.4 Encoder connector
3.1.4 Reference Switch Connector
Pin Label Description
1 +5V +5V power supply
2 REF_L Left reference switch
3
REF_R
Right reference switch
4
GND
System and module ground
Tabelle 3.1 Reference switch connector
3.1.5 Test Points (in addition to ESELSBRÜCKE)
Apart from ESELSBRÜCKE the evaluation system provides test points on the TMC5130-EVAL.
TEST POINTS ON TMC5130-EVAL
Label Description
R_SENSE1
Sense resistor motor coil A
R_SENSE2
Sense resistor motor coil B
GND
Signal and system ground
AIN_REF Analog reference voltage of AIN_REF_SW (internal current sensing) or of AIN_REF_PWM
(analog current scaling using microcontroller PWM).
REFL_STEP
Left reference input or STEP input (depends on settings of SD_MODE and SPI_MODE
bits). Note that this test point is directly connected to the TMC5130.
REFR_DIR
Right reference input or DIR input (depends on settings of SD_MODE and SPI_MODE
bits). Note that this test point is directly connected to the TMC5130.
Figure 3.2 Test points on TMC5130-EVAL
GND STEP DIR
Figure 3.3 Test points for GND, REFL_STEP, and REFR_DIR
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 10
3.2 ESELSBRÜCKE: SPI Interface, I/Os, and Test Points
The multi-pin connector ESELSBRÜCKE is used to connect STARTRAMPE and TMC5130-EVAL. Pin connections
include the SPI interface, supply voltages, and IOs like driver enable (DRV_ENN), position compare (PP),
interrupts (INT), and status flags. ESELSBRÜCKE offers test points for several measurements.
Figure 3.4 ESELSBRÜCKE: pin assignment
Pin Label
ESELSBRÜCKE
Label
TMC5130-EVAL Description
1 +VM +VM
Operational voltage: +4.5… 20V DC.
STARTRAMPE: connected to µC (VM_MEAS) for voltage
measurement.
2
GND
GND
System and module ground.
3
GND
GND
System and module ground.
4 ID_CLK ID_CLK
STARTRAMPE: clock pulse test point.
Timer mode 3 (general purpose) and timer mode 8 (advanced
control) of the microcontroller
are used. Both capture 4
channels.
5
+5V_USB
VCC_IO
Used to generate 3.3V (VCCIO).
6
ID_CH0
ID_CH0
ID channel 0. Used for automatic module detection.
7
ID_CH1
-
STARTRAMPE: ID_CH1. Not used with TMC5130-EVAL.
8 DIO0 DRV_ENN
Enable (not) input for driver (tie to GND). Switches off all motor
outputs (set high for disable).
9
DIO1
ENCN_DCO
Encoder N-channel or dcStep ready output when SD_MODE=1.
10 DIO2 ENCA_DCIN Encoder A-channel
or dcStep gating input for axis
synchronization when SD_MODE=1.
11
DIO3
ENCB_DCEN
Encoder B-channel or dcStep enable input when SD_MODE=1.
12 DIO4 -
STARTRAMPE: analogue inputs. Not used with TMC5130-EVAL.
13
DIO5
-
14
AIN0
-
15
AIN1
-
16
AIN2
-
17 DIO6 REF_L Left reference switch signal
18
DIO7
REF_R
Right reference switch signal
19
DIO8
-
STARTRAMPE: digital IOs. Not used with TMC5130-EVAL.
20
DIO9
-
21 DIO10 AIN_IREF_SW Optional current reference when using TMC5130 internal current
sensing (sense resistors bridged).
22
DIO11
AIN_IREF_PWM
Analog scaling of motor current using microcontroller PWM.
23 CLK16 CLK CLK input 16MHz.
Avoid displacing ESELSBRÜCKE when operating!
Otherwise STARTRAMPE and/or the TMC5130-EVAL
can be damaged!
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 11
Pin Label
ESELSBRÜCKE
Label
TMC5130-EVAL Description
24 SPI2_CSN0 -
STARTRAMPE: SPI2 with three CS lines for driver module. Can
be used as digital IOs. Not used with TMC5130-EVAL.
25
SPI2_CSN1
-
26
SPI0_SCN2
-
27
SPI2_SCK
-
28
SPI2_SDO
-
29 SPI2_SDI -
30 SPI1_CSN CSN/IO0
Chip select input of SPI interface, programmable IO in UART
mode
31 SPI1_SCK SCK/IO1 Serial clock input of SPI interface, programmable IO in UART
mode
32 SPI1_SDI SDI/IO2 Data input of SPI interface, programmable IO in UART mode
33 SPI1_SDO SDO/IO3
Data output of SPI interface (Tristate, enabled with CSN=0),
programmable IO in UART mode
34 DIO12 - STARTRAMPE: reference switches and end switches. Can be
used as digital IOs. Not used with TMC5130-EVAL.
35
DIO13
-
36 DIO14 SWSEL
Single wire interface selection input. Tie high for use of single
wire interface.
37 DIO15 SWP_DIAG1
Single wire IO (positive) when SWSEL=1, otherwise diagnostics
output DIAG1. Interrupt.
38 DIO16 SWN_DIAG0
Single wire IO (negative) when SWSEL=1, otherwise diagnostics
output DIAG0. Interrupt or STEP output in motion controller
mode.
39 DIO17 STARTRAMPE: reference switches and end switches. Can be
used as digital IOs. Not used with TMC5130-EVAL.
40 DIO18
41
DIO19
42
+5V…VM
-
+5V supply. Only available when VM applied, 700mA.
43
GND
GND
System and module ground
44
GND
GND
System and module ground
Table 3.5 ESELSBRÜCKE pinning
3.3 STARTRAMPE: Connectors on the Base Board
Please find information about the SPI interface and I/O connector ESELBRÜCKE in chapter 3.1.5. Here, only
the interface connectors are mentioned.
Label (Key) Connector type Mating connector type
USB (X1) Mini USB, type B, 5 pol., female Mini USB, type B, 5 pol., male
SPI and IOs
(Interface)
2 x 22 pol., 2.54mm pitch, pluggable
female connector
2 x 22 pol., 2.54mm pitch, pluggable male
connector
RS232
(Con_RS232) not soldered
Table 3.6 Connectors on the base board
3.3.1 USB Connector
Pin Label Description
1 +5V +5V supply from host
2
USB-
Differential USB bus
3 USB+ Differential USB bus
4 GND System and module ground
5 GND System and module ground
Table 3.7 USB connector
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 12
3.3.2 RS232 Connector (not soldered)
Pin Label Description
1
GND
RS232 signal and system ground
2 RXD Received data line
3 TXD Transmitted data line
Table 3.8 RS232 connector
4System Status LEDs
STARTRAMPE has two LEDs. The green STATUS LED flashes constantly per default and indicates normal
operation of the board. The red ERROR LED only lights up if an error occurred.
Figure 4.1 LEDs
LEDS OF TMC5130-EVAL
Label Color Description
Status LED green Heartbeat of the module. Flashes constantly per default.
Error LED
red
Lights up in case of dysfunction, e.g., if VM is not available.
Table 4.1 LEDs
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 13
5Operational Ratings of the TMC5130-EVAL-KIT
The operational ratings shown below should be used as design values. The maximum power supply
current depends on the used motors and the supply voltage.
Do not exceed the maximum values during operation! Otherwise the TMC5130 will be damaged!
Symbol Parameter Min Typ Max Unit
VM Power supply voltage for operation 7 24 46 V
VCCIO Digital power supply (
for external
microcontroller)
3.3 V
+5V Output of internal switch regulator 5 5.1 V
ISUPPLY Power supply current 0.5… 1.5 2 A
TENV
Environment temperature at rated
current (no forced cooling required)
20°C °C
Table 5.1 General operational ratings of the module
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 14
6Getting Started
YOU NEED
-TMC5130-EVAL
-STARTRAMPE
-ESELSBRÜCKE
-Stepper motor (e.g. QSH4218)
-USB interface
-Nominal supply voltage +24V DC (+7… +46V DC)
-TMCL-IDE V3.0 and PC
- Cables for interface, motors, and power
PRECAUTIONS
-Do not mix up connections or short-circuit pins.
-Avoid bounding I/O wires with motor wires.
-Do not exceed the maximum power supply of
+46V DC!
-Do not connect or disconnect the motor while
powered!
-START WITH POWER SUPPLY OFF!
Figure 6.1 Getting started
USB BUS POWERED MODE FOR CONFIGURATION
The TMC5130-EVAL-KIT supports both, USB self powered operation (when an external power is supplied
via the power supply connector on the TMC5130-EVAL) and USB bus powered operation (only the USB
interface is connected to the PC). On-board digital core logic will be powered via USB in case no other
supply is connected. The digital core logic comprehends the microcontroller itself and also the EEPROM.
The USB bus powered operation mode has been implemented to enable configuration, parameter settings,
read-outs, etc. by just connecting an USB cable between module and host PC.
Motor movements are not possible in USB bus powered operation mode. Therefore, connect the power
connector and change to USB self powered operation mode.
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 15
6.1 Starting up
1. Download the TMCL-IDE 3.0 from www.trinamic.com and install it. Afterwards, the TMCL-IDE opens
up automatically.
2. Connect the USB interface. Now, the software guides you through the installation of a virtual COM
port for the USB interface.
It is necessary to allow software access. Do not interrupt the process. Otherwise the automatic setup
is not possible.
If there are problems related to communication, connect the USB interface directly to your PC
(without a USB-hub). In case the following error window appears on the screen, just unplug
STARTRAMPE and plug the USB connection again. Thereafter, everything should work.
Figure 6.2 Error window
The TMCL-IDE includes a
dialogue for diagnostic
tasks.
Further, the
dialogue provides an
overview of the connected
motion controller and
driver chips. Thus
, a
window pops up
immediately after
connecting the evaluation
kit the first time. The
window shows the actual
status of the connections.
The second tab of the
dialogue offers the
possibility to choose basic
settings or to reset the
module to factory defaults.
Figure 6.3 Startrampe dialogue
3. The TMCL-IDE 3.0 needs room to show all important information and to provide a good overview.
Therefore, arrange the main window related to your needs. We recommend using full screen. For
evaluation boards it is essential to have access to the registers. Therefore open up the Register
Browser (left side). For a better view click top right on the normal icon to get a big register browser
window.
Click and now click
Now, choose a maximum current setting for your motor (IRUN). For QSH4218, e.g., an absolute
maximum setting of 22 is suitable. For a cooler QSH4218 motor choose 20. For setting the maximum
current to a desired value, choose IRUN in the All Registers area and change the value on the right
side of the window (refer to Figure 6.4). The default settings of the module are mean values which
should be adjusted in relation to the connected motor.
Note:
Usually, the virtual COM port becomes installed automatically.
If the automatic device detection does not work for any
reason, e.g., a problem with the windows software, install it
manually.
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 16
Here, information about each chosen
parameter is given.
Here, new values can be set for each
chosen parameter.
Here is an overview of all
parameters. Choose one and all
necessary information appears on
the right side of the window.
Here, connections
are indicated and
modes of
operation can be
chosen.
Figure 6.4 Main window with registers dialogue. The screenshot shows how to change IRUN.
4. After selecting a value for IRUN, connect the motor and the power supply. For QSH4218 24V are
recommended. Turn power ON. The green LED for the heartbeat (STATUS) flashes and the red LED
for ERROR is off. The motor is powered but in standstill now. In case the ERROR LED glows, check
your power supply again.
6.1.1 Checking the Status of Startrampe and TMC5130-EVAL
In case it is desired to check if the communication is established, the driver enabled, and the software
correctly installed, click on Startrampe respectively TMC5130 on the left side of the main window.
Thereafter, the related small dialogues will pop up and provide information.
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TMC5130-EVAL Manual / Firmware V1.00 (Rev. 0.92 / 2014-DEC-04) preliminary 17
Note
In order to achieve good settings it is necessary to work using the TMC5130 datasheet. The register
browser of the TMCL-IDE offers helpful information about any parameter which is selected. But the list is
alphabetically. Beyond that, the datasheet explains concepts and ideas which are basically for
understanding how the registers are linked together and which setting will fit for which kind of
application.
For getting more familiar with the evaluation kit in the beginning of your examinations, drive the motor
using velocity mode and/or positioning mode first.
Beyond this, the direct mode function can be used. This way, TMCL commands can be sent to the
evaluation board system. The direct mode dialogue is designed for TRINAMICs board level solutions and
not mainly for evaluation board systems.
6.2 Velocity Mode
For moving the motor in velocity mode set two ticks on the left side of the main window to open the
velocity mode dialogue and the velocity graph. Thereafter, choose a target velocity and an acceleration
value and click on one arrow (increasing the position counter or decreasing it) for sending the command
to the evaluation system.
Please note that you get a better value report on the velocity graph if the register browser has been
closed before.
Figure 6.5 Driving the motor in velocity mode
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6.3 Positioning Mode
For moving the motor in positioning mode, set two ticks on the left side of the main window in order
to open the positioning mode dialogue and the position graph. Thereafter choose settings for
-maximum velocity,
-acceleration,
-deceleration,
-start velocity (can be 0),
-acceleration A1,
-velocity V1,
-deceleration D1, and
-stop velocity (not less than 1)
Please note that the default deceleration D1 value has to be changed before moving because it is too
high.
Figure 6.6 Driving the motor in positioning mode
The motor can be driven relatively or absolutely to the target position or to the actual position. If the
desired position has been reached the motor stops using the deceleration parameters.
Figure 6.7 Basis of movement
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6.4 Direct Mode Dialogue
For driving the motor in direct mode, set a tick on the left side of the main window. Now, the direct
mode dialogue window pops up. The direct mode is used to issue commands and create complete
programs. The handling of these TMCL-IDE commands is easy, but for evaluating the TMC5130 the other
modes of operation and the direct register access via the register browser may be better, because the
register access is not visible in direct mode.
Figure 6.8 How to use direct mode.
Figure 6.9 Selecting a command in direct mode
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6.5 coolStep and stallGuard2
This dialogue can be used to set stallGuard2 and coolStep parameters and to read out actual motor
current values as well as the stallGuard values. Choose a stallGuard threshold to use stallGuard2. With a
tick at filter enable reading out the values gets more comfortable. The dialogue offers three tabs for
stallGuard2, coolStep and a display of TMCL commands which can be copied to the TMCL creator.
Figure 6.10 coolStep and stallGuard2 dialogue
6.6 TMCL Creator
The TMCL creator is a tool for writing programs which can be loaded into the module in order to drive
autonomously afterwards.
Figure 6.11 TMCL creator
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