Trinamic TMCM-1230 Manuale utente

Module for Stepper MODULE

TMCM-1230 Hardware Manual

Hardware Version V1.2 | Document Revision V1.02 •2021-AUG-18

The TMCM-1230 is a single axis controller/driver module for 2-phase bipolar stepper motors. The

module can either be used with TMCL ﬁrmware supporting standalone operation as well as direct

mode control using TMCL™commands or with CANopen ﬁrmware supporting control using the

CANopen®protocol. Both ﬁrmware versions make extensive use of the Trinamic TMC4361 motion

controller and TMC5160 motor driver. Dynamic current control, and quiet, smooth and eﬃcient

operation are combined with StealthChop™, DcStep™, StallGuard2™and CoolStep™features.

Features

•Single axis controller/driver for 2-phase

bipolar stepper motor

•Trapezoid, SixPoint™and S-shaped

ramps

•+10. . . 30V DC motor supply voltage

•Up to 5A RMS motor current

•RS485 and CAN interface

•Single-ended ABN encoder interface

•Step/direction inputs

•Stop switch and home switch inputs

•General purpose inputs and outputs

Applications

•Laboratory Automation

•Manufacturing

•Semiconductor Handling

•Robotics

•Factory Automation

•Test & Measurement

•Life Science

•Biotechnology

•Liquid Handling

Simpliﬁed Block Diagram

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Contents

1 Features 3

2 Order Codes 5

3 Mechanical and Electrical Interfacing 6

3.1 Size of the board ............................................. 6

4 Connectors 7

5 Reset to Factory Defaults 10

6 I/Os 12

6.1 Analog input AIN0 ............................................. 12

6.2 Digital inputs GPI0 and GPI1 ....................................... 12

6.3 Digital output GPO0 ........................................... 12

6.4 HOME/STOP_L/STOP_R switch inputs ................................. 12

6.5 Incremental encoder input ....................................... 12

6.6 Step/Direction inputs ........................................... 12

6.7 Address pins ................................................ 12

7 Communication 14

7.1 RS485 .................................................... 14

7.2 CAN ..................................................... 15

8 Functional Description 17

9 Operational Ratings and Characteristics 18

10 Abbreviations used in this Manual 20

11 Figures Index 21

12 Tables Index 22

13 Supplemental Directives 23

13.1 Producer Information .......................................... 23

13.2 Copyright .................................................. 23

13.3 Trademark Designations and Symbols ................................. 23

13.4 Target User ................................................ 23

13.5 Disclaimer: Life Support Systems .................................... 23

13.6 Disclaimer: Intended Use ........................................ 23

13.7 Collateral Documents & Tools ...................................... 24

14 Revision History 25

14.1 Hardware Revision ............................................ 25

14.2 Document Revision ............................................ 25

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1 Features

The TMCM-1230 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with

up to 5A RMS (7A peak) motor coil current. It supports linear ramps, SixPoint™ramps and S-shaped

ramps. Incremental ABN encoders are also supported. For driver-only applications, the TMCM-1230 of-

fers Step/Direction inputs. The TMCM-1230 is also equipped with two analog inputs (0. . .5V range), two

digital inputs and two digital (TTL level) outputs. For communication, RS485 and CAN bus interfaces are

available. 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, SixPoint™and S-shaped ramps in hardware.

•Encoder interface.

•Home switch and stop switch inputs.

Driver

•Motor current: up to 5A RMS (7A peak, programmable in software).

•Motor supply voltage: +24V DC (+10. . . +30V DC).

•Logic supply voltage: +5V 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

•Input for ABN incremental 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).

•Step/Dir input.

•Left and Right stop switch inputs.

•Two general purpose digital inputs.

•Encoder input for incremental ABN encoder signals.

•Two analog inputs (0. . . 5V input range).

•Home switch input.

Mechanical data

•Board size: 80mm x 40/45mm, height 7mm max.

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•98-pin slot type connector

Software

•TMCL™remote (direct mode) and standalone operation (memory for up to 2047 TMCL™commands),

fully supported by TMCL-IDE (PC based integrated development environment). Please see TMCM-

1230 TMCL ﬁrmware manual for more details.

•CANopen ﬁrmware with CANopen standard protocol stack for the CAN interface. Please see TMCM-

1230 CANopen ﬁrmware manual for more details.

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2 Order Codes

The standard version of the TMCM-1230 is pre-programmed with either TRINAMIC TMCL™ﬁrmware or

CANopen ﬁrmware.

Order Code Description Size

TMCM-1230-TMCL 1-axis bipolar stepper motor controller/driver, up-

to 5A RMS motor current, 24V nom. supply, ABN

encoder input, S/D input, stop/home switch in-

puts, 2 analog inputs , 2 digital inputs, 2 digital

outputs, CAN and RS485 interfaces

80mm x 40mm (connector: 45mm)

TMCM-1230-CANopen 1-axis bipolar stepper motor controller/driver, up-

to 5A RMS motor current, 24V nom. supply, ABN

encoder input, S/D input,stop/home switch in-

puts, 2 analog inputs , 2 digital inputs, 2 digital

outputs, CAN and RS485 interfaces

80mm x 40mm (connector: 45mm)

Table 1: TMCM-1230 Order Codes

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3 Mechanical and Electrical Interfacing

3.1 Size of the board

The board has an overall size of 80mm x 40mm without the connector. Together with the slot type con-

nector the board size is 80mm x 45mm. The thickness of the board with components is max. 7mm. There

is one 5mm diameter mounting hole.

80mm

45mm

40mm

Figure 1: Board dimensions, position of mounting holes and position (pin 1) of connectors (all values in mm)

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4 Connectors

The TMCM-1230 is equipped with an 98-pin slot type connector. As a mating connector on base boards

an 98-pin PCIe slot can be used (but please do not try to plug the module into the PCIe slot of a PC main

board). All signals of the module are routed via the slot type connector. These are the supply voltages, the

CAN and RS485 interface, motor coils, encoder inputs and all other signals needed by the module. The

pins located on the top side of the module PCB are labelled B1. . . B48 and the pins located on the bottom

side of the PCB are labelled A1. . . A48.

For trying out the TMCM-1230 for the ﬁrst time we recommend using a Trinamic base board. But a base

board can also be designed by the user.

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 ex-

ceed 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.

Slot Type Connector Pin Assigment (PCB Top Side)

Pin Label Direction Description

B1 NC — not connected

B2 NC — not connected

B3 NC — not connected

B4 NC — not connected

B5 GND — Power and signal ground

B6 GND — Power and signal ground

B7 GND — Power and signal ground

B8 GND — Power and signal ground

B9 +24V input Motor supply voltage

B10 +24V input Motor supply voltage

B11 +24V input Motor supply voltage

B12 OA2 output Motor coil A pin 2

B13 OA2 output Motor coil A pin 2

B14 OA2 output Motor coil A pin 2

B15 OA2 output Motor coil A pin 2

B16 OA1 output Motor coil A pin 1

B17 OA1 output Motor coil A pin 1

B18 OA1 output Motor coil A pin 1

B19 OA1 output Motor coil A pin 1

B20 OB2 output Motor coil B pin 2

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Pin Label Direction Description

B21 OB2 output Motor coil B pin 2

B22 OB2 output Motor coil B pin 2

B23 OB2 output Motor coil B pin 2

B24 OB1 output Motor coil B pin 1

B25 OB1 output Motor coil B pin 1

B26 OB1 output Motor coil B pin 1

B27 OB1 output Motor coil B pin 1

B28 NC — not connected

B29 GND — Power and signal ground

B30 NC — not connected

B31 NC — not connected

B32 NC — not connected

B33 GND — Power and signal ground

B34 SYNC input Synchronization signal input

B35 IRQ output Interrupt output

B36 ENABLE input Motor coil enable input

B37 GND — Power and signal ground

B38 GPI1 input General purpose digital input #1

B39 GPI0 input General puspose digital input #0

B40 GND — Power and signal ground

B41 NC — not connected

B42 GPO0 output General purpose digital output #0

B43 GND — Power and signal ground

B44 RS485_A in/out RS485+ (non-inverted) signal

B45 RS485_B in/out RS485- (inverted) signal

B46 CAN_L in/out CAN bus low

B47 CAN_H in/out CAN bus high

B48 GND — Power and signal ground

B49 +5V input Logic supply voltage

Table 2: Top Side Slot Connector Pin Assignment

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Slot Type Connector Pin Assigment (PCB Bottom Side)

Pin Label Direction Description

A1 NC — not connected

A2 NC — not connected

A3 NC — not connected

A4 NC — not connected

A5 GND — Power and signal ground

A6 GND — Power and signal ground

A7 GND — Power and signal ground

A8 GND — Power and signal ground

A9 +24V input Motor supply voltage

A10 +24V input Motor supply voltage

A11 +24V input Motor supply voltage

A12 OA2 output Motor coil A pin 2

A13 OA2 output Motor coil A pin 2

A14 OA2 output Motor coil A pin 2

A15 OA2 output Motor coil A pin 2

A16 OA1 output Motor coil A pin 1

A17 OA1 output Motor coil A pin 1

A18 OA1 output Motor coil A pin 1

A19 OA1 output Motor coil A pin 1

A20 OB2 output Motor coil B pin 2

A21 OB2 output Motor coil B pin 2

A22 OB2 output Motor coil B pin 2

A23 OB2 output Motor coil B pin 2

A24 OB1 output Motor coil B pin 1

A25 OB1 output Motor coil B pin 1

A26 OB1 output Motor coil B pin 1

A27 OB1 output Motor coil B pin 1

A28 NC — not connected

A29 GND — Power and signal ground

A30 ENC_A input Encoder signal A (A channel)

A31 ENC_B input Encoder signal B (B channel)

A32 ENC_N input Encoder signal N (null channel)

A33 GND — Power and signal ground

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Pin Label Direction Description

A34 STOP_L input Left stop switch

A35 STOP_R input Right stop switch

A36 HOME input Home switch

A37 GND — Power and signal ground

A38 DIR input direction signal input

A39 STEP input step signal input

A40 GND — Power and signal ground

A41 NC — not connected

A42 AIN0 input General purpose analog/digital input #0

A43 GND — Power and signal ground

A44 ADDR3 input Module address bit 3

A45 ADDR2 input Module address bit 2

A46 ADDR1 input Module address bit 1

A47 ADDR0 input Module address bit 0

A48 GND — Power and signal ground

A49 +5V input Logic supply voltage

Table 3: Bottom Side Slot Connector Pin Assignment

NOTICE Do not connect or disconnect a motor during 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.

NOTICE Do not remove or plug in the module while the base board is powered!

5 Reset to Factory Defaults

It is possible to reset all settings in ﬁrmware for the TMCM-1230 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 top 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.

2. Short CLK and DIO pads of programming pads on bottom of pcb (see ﬁgure 2).

3. Switch power supply ON again.

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