TRINAMIC TMCM-1310 V1.2 Module for Stepper Motors Installation Guide

TRINAMIC TMCM-1310 V1.2 Module for Stepper Motors

Product Information

The TMCM-1310 is a module designed for controlling stepper motors. It is manufactured by TRINAMIC Motion Control GmbH & Co. KG is based in Hamburg, Germany. The hardware version of this module is V1.2. It comes with a hardware manual that provides detailed information on mechanical and electrical interfacing.

• Bipolar stepper motor driver
• Up to 256 micro steps per full step
• The high-efficient operation, low power dissipation
• Dynamic current control
• Integrated protection: overtemperature and undervoltage
• StallGuard2TM feature for stall detection (for open loop operation)
• Encoder input for incremental a/b/n (TTL, open-collector, and differential inputs) and absolute SSI encoders (selectable in software) with speeds supported

Product Usage Instructions

• The TMCM-1310 module is designed to control bipolar stepper motors and encoder inputs for incremental a/b/n and absolute SSI encoders. Below are the usage instructions:
• Step 1: Connection
• Connect the stepper motor to the module using the provided connectors. Ensure that the connections are secure and properly seated.
• Step 2: Power Supply
• Connect the power supply to the module. Ensure that the voltage and current rating of the power supply are compatible with the module.
• Step 3: Encoder Input
• If using an encoder, connect the encoder input to the module using the provided connectors. Ensure that the connections are secure and properly seated.
• Step 4: Software Configuration
• Select the desired encoder type (incremental a/b/n or absolute SSI) using the software configuration. Set the speed of the encoder as required.
• Step 5: Operation
• The module is now ready for operation. Follow the instructions provided in the software manual to control the stepper motor and encoder input.

Features

• The TMCM-1310 is a single axis stepper motor controller/driver standalone board with closed loop support. For communication an USB interface and EtherCAT®* are provided. The module supports motor currents up to 3A RMS and supply voltages up to 48V nominal. The module offers inputs for one incremental a/b/n (TTL, open-collector and differential inputs) or absolute SSI encoders (selectable in software). There are dedicated stop switch inputs, 8 general purpose inputs, and 8 general purpose outputs.

MAIN CHARACTERISTICS

Bipolar stepper motor driver

• Up to 256 microsteps per full step
• High-efficient operation, low power dissipation
• Dynamic current control
• Integrated protection: overtemperature and undervoltage
• stallGuard2™ feature for stall detection ( for open loop operation)

Encoder

• Encoder input for incremental a/b/n (TTL, open-collector and differential inputs) and absolute SSI encoders (selectable in software) with speeds supported <500kHz.

Interfaces

• USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector)
• EtherCAT LINK IN and LINK OUT (RJ45)
• Dedicated STOP_L / STOP_R inputs
• Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)
• Up to 8 multi-purpose outputs (open-drain, incl. 2 outputs for currents up to 1A)

Software

• TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands ­ Closed-loop support
• Fully supported by TMCL-IDE (PC based integrated development environment)

Electrical data

• Supply voltage: +12V… +48V DC
• Motor current: up to 3A RMS (programmable)

Mechanical data

• Size: 110mm x 110mm, height 26.3mm
• Please refer to separate TMCM-1310 TMCL Firmware Manual for additional information.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

TRINAMICS UNIQUE FEATURES – CLOSED LOOP MODE

• The TMCM-1310 is mainly designed to run 2-phase stepper motors in closed loop mode. It offers an automatic motor load adaption in positioning mode, velocity mode, and torque mode, which is based on encoder feedback and closed loop control software for analysis, error detection and error correction.
• The closed loop mode operation combines the advantages of a stepper driver system with the benefits of a servo drive. Thus, the TMCM-1310 is able to satisfy ambitious requirements in reliability and precision and can be used in several industrial demanding applications.

THE TRINAMIC CLOSED LOOP MODE OPERATION

• prevents the motor from stall and step loss caused by too high load or high velocity.
• adapts the current amplitude to each motor load which is within the ranges predetermined by motor and
• controller/driver board characteristics.
• achieves a higher torque output than in open loop mode.
• guarantees a precise and fast positioning.
• enables velocity and positioning error compensation.
• Using the TMCM-1310, energy will be saved and the motor will be kept cool.

Order Codes

Table 2.1 Order codes

The following options are available:

Table 2.2 Firmware options

A cable loom set is available for this module:

–          1x cable loom for power connector

–          1x cable loom for reference switch connector

–          1x cable loom for encoder input connector

–          1x cable loom for motor connector

–          2x cable loom for I/O connector 0+1

–          1x USB type A connector to mini-USB type B connector cable

–          1x cable loom for EtherCAT communication

Table 2.3 Cable loom order code

Mechanical and Electrical Interfacing

Dimensions
The TMCM-1310 has an overall size of 110mm x 110mm and offers four mounting holes with 4mm diameter. Maximum height (without mating connectors and cable looms) is about 26.3mm.

Connectors

The TMCM-1310 has nine connectors altogether:

• one detachable connector for the motor
• one detachable connector for the corresponding encoder input ­ one detachable connector for the reference switches
• two detachable I/O connectors
• one detachable power connector
• two connectors for communication via EtherCAT©
• one mini-USB connector

OVERVIEW OF CONNECTOR AND MATING CONNECTOR TYPES

Power connector

| JST B3P-VH

(JST VH series, 3pins, 3.96mm pitch)

| Connector housing: JST VHR-3N Contacts: JST SVH-21T-P1.1 Wire: 0.83mm2, AWG 18

Motor connector

| JST B4B-EH-A

(JST EH series, 4pins, 2.5mm pitch)

| Connector housing: JST EHR-4 Contacts: JST SEH-001T-P0.6

Wire: 0.33mm2, AWG 22

Encoder connector

| JST B8B-PH-K-S

(JST PH series, 4pins, 2mm pitch)

| Connector housing: JST PHR-8 Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

Reference switch connector| JST B4B-PH-K-S

(JST PH series, 4pins, 2mm pitch)

| Connector housing: JST PHR-4 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24

I/O connector 0 + 1

| JST B10B-PH-K-S

(JST PH series, 10pins, 2mm pitch)

| Connector housing: JST PHR-10

Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24

Mini-USB connector| Molex 500075-1517

Mini USB Type B vertical receptacle

| Any standard mini-USB plug
EtherCAT™ LINK IN /

OUT connectors

| 100BASE-TX RJ-45 connector| Any standard RJ-45 plug

(adequate for 100Mbit/s Ethernet communi- cation, e.g. CAT-5, CAT-5e or better)

Table 3.1 Connectors and mating connectors, contacts and applicable wire

Power Connector
The module has a single power connector with the option to have separate supplies for driver electronics and the digital controller part. A single supply voltage is sufficient. All further voltages required e.g. for the digital components are generated on-board.

this voltage the stepper driver and any motor connected will not be energized.
| 3| VDIGITAL| Power (supply input)| Supply voltage for everything else apart from the stepper motor driver. The on-board voltage regulator generates the necessary voltages for the digital circuits from this supply. The pin can be left unconnected. In this case a diode between VDRIVER and VDIGITAL ensures the supply for the digital parts.

ATTENTION:

•                    The diode has a current rating of 3A. As V DIGTIAL is available at the I/O connectors and at the reference switch connectors also, always connect this pin to positive supply voltage in case substantial amount of current is withdrawn from these pins for external circuits.

•                    It is expected that V DIGITAL and V DRIVER are connected to the same power supply output when both pins are used. Otherwise please ensure that V DIGITAL is always equal or

higher than V DRIVER when connected (due to the diode).

| | |
|  |  |

Table 3.2 Power connector
Motor Connector
A 4 pin JST EH series connector is available for motor connection.

| Pin| Label| Direction| Description
---|---|---|---|---
1| A1| Output| Pin 1 of motor coil A
2| A2| Output| Pin 2 of motor coil A
3| B1| Output| Pin 1 of motor coil B
4| B2| Output| Pin 2 of motor coil B

Table 3.3 Motor connector

Encoder Connector

• An encoder input connector (JST PH series 8pin with 2mm pitch) is available. There are possibilities for different encoder types. In addition to encoders with incremental A/B/N signals, encoders with synchronous serial interface (SSI) delivering absolute position information are supported, too.
• Encoders with Incremental A/B/N Interface Configuration
• The following encoders are supported in incremental A/B/N interface configuration:
• encoders with incremental differential (RS422) output signals with or without zero/index channel
• encoders with incremental single-ended (TTL or open collector) output signals with or without zero/index channel

| Pin| Label| Direction| Description
---|---|---|---|---
1| GND| Power (GND)| Signal and system ground
2| +5V| Power

(supply output)

| +5V output for external circuit
3| A+| Input| Encoder channel A+ input (differential, non-inverting)
4| A-| Input| Encoder channel A- input (differential, inverting)
5| B+| Input| Encoder channel B+ input (differential, non-inverting)
6| B-| Input| Encoder channel B- input (differential, inverting)
7| N+| Input| Encoder zero / index channel input (differential, non-inverting)
8| N-| Input| Encoder zero / index channel input

(differential, inverting)

Table 3.4 Encoder connector (configuration for encoders with incremental A/B/N output)
For encoders with +5V supply the required +5V output is also available via this connector (max. 100mA per connector).
Differential A/B/N Encoder Signals
For differential encoder signals connect all differential signals (A+ and A-, B+ and B- and optional N+ and N-) to the respective connector input pins. Usually, on-board line termination should be also installed for differential signals. Therefore, close all three jumpers for the 120R line termination of the respective differential encoder input.

Please refer to the encoder manufacturer data sheet for the correct interface settings.
Single Ended A/B/N Encoder Signals
For single-ended encoders (TTL or open collector signals) connect the encoder signals A, B, and optional N to the positive / non-inverting differential inputs of the encoder connector A+ / B+ / N+.

N ECESSARY CONNECTIONS

Encoder sign.| Encoder connector
Pin| Label| Description
A| 3| A+| Encoder channel A
B| 5| B+| Encoder channel B
N/I (optional)| 7| N+| Encoder zero / index channel input

Table 3.5 How to connect single-ended encoders

Encoders with Synchronous Serial Interface
The TMCM-1310 supports encoders with synchronous serial interface (SSI) delivering absolute position information, too. In this case the encoder connector pin assignment can be switched to its alternate function as shown in Table 3.6.

| Pin| Label| Direction| Description
---|---|---|---|---
1| GND| Power (GND)| Signal and system ground
2| +5V| Power

(supply output)

| +5V output for external circuit
3| CS+| Output| Encoder SSI chip select output (differential, non-inverting)
4| CS-| Output| Encoder SSI chip select output (differential, inverting)
5| DATA+| Input| Encoder SSI data input (differential, non-inverting)
6| DATA-| Input| Encoder SSI data input (differential, inverting)
7| CLOCK+| Output| Encoder SSI clock output (differential, non-inverting)
8| CLOCK-| Output| Encoder SSI clock output (differential, inverting)

Table 3.6 Encoder connector (configuration for encoders with SSI output)
Differential SSI Encoder Signals
For differential encoder SSI signals please connect all differential signals (DATA+ and DATA-, CLOCK+ and CLOCK-) to the respective connector input pins. The CS+ and CS- signals are optional depending on encoder interface. Usually on-board line termination should be also installed for differential signals. Therefore close all three jumpers for 120R line termination of the respective differential encoder input.

Please refer to the encoder manufacturer data sheet for the correct interface settings.

Single Ended SSI Encoder Signals
For single ended encoders (TTL or open collector signals) please connect the encoder signals DATA and CLOCK to the positive / non-inverting differential inputs of the encoder connector DATA+ / CLOCK+. If available, encoder input signal CS should be connected to CS+.

N ECESSARY CONNECTIONS

Encoder sign.| Encoder connector
Pin| Label| Description
CS| 3| CS+| Encoder chip select output
DATA| 5| DATA+| Encoder DATA+ input
CLOCK| 7| CLOCK+| Encoder CLOCK+ output

• Table 3.7 How to connect single ended SSI encoders
• Pins CS-, DATA- and CLOCK- of the encoder connector may be left unconnected.

Reference Switch Connector

• A separate reference / limit switch input connector is available. Connector type is JST PH series 4pin with 2mm pitch.

| Pin| Label| Direction| Description
---|---|---|---|---
1| GND| Power (GND)| Signal and system ground
2| +5V| Power

(supply output)

| +5V supply output for external encoder and reference switch circuit.
3| REF_L| Input| Input for reference / limit switch left
4| REF_R| Input| Input for reference / limit switch right

Table 3.8 Reference switch connector
I/O Connectors 0 and 1
The module offers two I/O connectors (JST PH series 8pin with 2mm pitch). Number and type of inputs, outputs and supply are the same for both connectors. It is sufficient to use just one connector if only few I/Os are required. This simplifies cabling.
I/O Connector 0

polyfuse)
 |  | AIN0| Input| Dedicated analog input,
| 3|  |  | input voltage range: 0… +10V,

resolution: 12bit (0… 4095)

 | 4| IN1| Input| Digital input (+24V compatible)
 | 5| IN2| Input| Digital input (+24V compatible)
 | 6| IN3| Input| Digital input (+24V compatible)
 | 7| OUT0| Output| Open-drain output (max. 100mA)
 |  |  | Integrated freewheeling diode
 | 8| OUT1| Output| Open-drain output (max. 100mA)
 |  |  | Integrated freewheeling diode
 | 9| OUT2| Output| Open-drain output (max. 100mA)
 |  |  | Integrated freewheeling diode
 | 10| OUT3| Output| Open-drain output (max. 1A)
 |  |  | Integrated freewheeling diode

Table 3.9 I/O connector 0

I/O Connector 1

polyfuse)
 |  | AIN4| Input| Dedicated analog input,
| 3|  |  | input voltage range: 0… +10V,

resolution: 12bit (0… 4095)

 | 4| IN5| Input| Digital input (+24V compatible)
 | 5| IN6| Input| Digital input (+24V compatible)
 | 6| IN7| Input| Digital input (+24V compatible)
 | 7| OUT4| Output| Open-drain output (max. 100mA)
 |  |  | Integrated freewheeling diode
 | 8| OUT5| Output| Open-drain output (max. 100mA)
 |  |  | Integrated freewheeling diode
 | 9| OUT6| Output| Open-drain output (max. 100mA)
 |  |  | Integrated freewheeling diode
 | 10| OUT7| Output| Open-drain output (max. 1A)
 |  |  | Integrated freewheeling diode

Table 3.10 I/O connector 1
USB Connector
An USB (device) interface is available via a mini-USB connector. This module supports USB 2.0 full-speed (12Mbit/s) connections.

The on-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other power supply is connected. This is useful for setting parameters and downloading TMCL programs or for performing firmware updates. Using a USB connection to the host, the tasks outlined above can be carried out inside a machine while the machine is powered off. Refer to chapter 3.4.1, please.

| Pin| Label| Direction| Description
---|---|---|---|---
1| VBUS| Power (+5V input)| +5V supply from Host
2| D-| Bi-directional| USB Data –
3| D+| Bi-directional| USB Data +
4| ID|  | Connected to signal and system ground
5| GND| Power (GND)| Signal and System ground

Table 3.11 USB connector

EtherCAT LINK IN / LINK OUT Connectors
The TMCM-1310 offers two connectors (100BASE-TX RJ-45) with standard Ethernet 100Mbit/s pin assignment for EtherCAT LINK IN (towards Master) and LINK OUT (further slaves) connection.

| Pin| Label| Direction| Description
---|---|---|---|---
1| TX+| Output| Transmit data output (non-inverting)
2| TX-| Output| Transmit data output (inverting)
3| RX+| Input| Receive data input (non-inverting)
4| n.c.|  |
5| n.c.|  |
6| RX-| Input| Receive data input (inverting)
7| n.c.|  |
8| n.c.|  |

Table 3.12 100BASE-TX RJ-45 connector

Power Supply

For proper operation care must be taken with regard to power supply concept and design. The TMCM-1310 includes about 40µF of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long lifetime. Further, the module includes a 48V suppressor diode and additional varistor for over-voltage protection.
CAUTION!

**| Add external power supply capacitors!**

The module contains several capacitors for power supply filtering. Nevertheless, depending on operation and selected motors the resulting capacity might be not large enough for proper supply buffering. Note: upper supply voltage limit must not be exceeded – not even for a short period of time! In this context it should be considered that the module will transfer energy from the motor back into the supply rail when the motor is working as generator e.g., during deceleration or brake conditions. In case the power supply capacitors are not sufficient for limiting power supply rising, additional measures have to be considered (e.g., suppressor diodes, brake resistor). Refer to chapter 3.3.1 for further information about adding electrolytic capacitors.

---|---
**| Do not connect or disconnect motor during operation!**

Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected

/ connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always disconnect power supply before connecting / disconnecting the motor.

**| Keep the power supply voltage below the upper limit of 52.5V!**

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.

**| There is no reverse polarity protection!** The module will short any reversed supply voltage due to internal diodes of the driver transistors.

Adding an Electrolytic Capacitor

• TRINAMIC recommends connecting an electrolytic capacitor of significant size to the power supply lines next to the TMCM-1311. As rule of thumb, around 1000µF of capacity should be added for 1A of module power supply input current.
• The additional electrolytic capacitor
• serves for power stabilization (buffer) and filtering.
• reduces voltage spikes, which can occur in consequence of the combination of high inductance power supply wires and ceramic capacitors.
•  limits the slew rate of the power supply voltage at the module. This is reasonable, because the low ESR
• (Equivalent Series Resistance) of ceramic-only filter capacitors may cause stability problems with some switching power supplies.

Communication

USB

• For remote control and communication with a host system the TMCM-1310 provides a USB 2.0 full-speed (12Mbit/s) interface. As soon as the USB-host is connected the module accepts commands via the USB interface. The TMCM-1310 supports USB self-powered operation with external power supply via the power supply connector and USB bus powered operation without this external power supply.
• USB BUS POWERED OPERATION
• During USB bus powered operation only the core digital circuit parts – microcontroller and EEPROM – are operational. Motor movements are not possible. This mode has been implemented to enable configuration, parameter setting, read-out, firmware updates, etc. by connecting an USB cable between the module and an USB-host. No additional cabling or external devices (e.g. power supply) are required.
• Please note that the module might draw current from the USB +5V bus supply even in USB self-powered operation.
• This depends on the voltage level of this supply.

Inputs and Outputs

Encoder Input

• The encoder connector offers support either for connection of an incremental encoder with A/B signals and an optional N/I-channel or for connection of an absolute position encoder with SSI interface. Encoders with +5V TTL, open-collector or differential output signals can be connected directly. A +5V output – available at one connector pin – can be used for the encoder circuit supply. The on-board +5V switching voltage regulator has been designed to provide a maximum of 100mA for external circuits. This 100mA supply is intended for the operation of an external encoder and for the reference switch circuit, also.
• A 1Mbps transceiver is used. Given a 50% duty cycle the maximum encoder speed is limited to <500kHz.

Reference Switch Inputs

• The reference switch connector provides two reference/limit switch inputs, REF_L and REF_R. Both inputs offer the same input circuit including voltage resistor dividers, limiting diodes against over- and under-voltage, and programmable 1k pull-ups to +5V. The programmable pull-ups can be switched on or off in software (both together).

General Purpose Inputs

• The TMCM-1310 has two I/O connectors with 8 inputs altogether including two dedicated analog inputs. All inputs offer the same basic input protection circuit, but digital and analog inputs have different input voltages: the digital inputs have been designed for +5V and +24V signal levels. The analog inputs have different input voltage dividers in order to support a full-scale input voltage range of 0… +10V.
• The function of the inputs might differ depending on the firmware version.

General Purpose Outputs

• The TMCM-1310 offers two I/O connectors with 8 outputs altogether. All outputs are open-drain outputs and a freewheeling diode (to VDIGTAL) is already integrated. Six outputs are designed for currents up to 100mA and two outputs offer more powerful MOSFET driver transistors supporting currents up to 1A.
• If the VCC connection of the I/O connectors (connected internally to VDIGITAL) is used for the supply of substantial current to any external circuit, make sure to connect VDIGTIAL to VDRIVER of the power supply connector. 

On-Board LEDs

• The TMCM-1310 offers four LEDs for indicating EtherCAT communication and board status. The three green LEDs are related to the EtherCAT interface and indicate EtherCAT LINK IN and LINK OUT activity plus the status of the EtherCAT state machine. The function of the red LED is depends on the firmware version.
• With standard TMCL firmware the red Error-LED should be flashing slowly during operation. When there is no valid firmware programmed into the board or during firmware update the red LED will be permanently on.

LINK IN, LINK OUT, AND STATUS OF E THERCAT STATE MACHINE

Green LED| Description
EtherCAT

LINK OUT state

|  | OFF| No link.
blinking| Link and activity.
single flash| Link without activity.

EtherCAT LINK IN state

|  | OFF| No link.
blinking| Link and activity.
single flash| Link without activity.

EtherCAT RUN state

|  | OFF| The device is in state INIT.
blinking| The device is in state PRE-OPERATIONAL.
single flash| The device is in state SAFE-OPERATONAL.
ON| The device is in state OPERATIONAL.
flickering (fast)| The device is in state BOOTSTRAP.

Table 4.1 On-board EtherCAT LEDs

Operational Ratings

The operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded.

regulated, adjustable via software)

| 0|  | 4200| mA
IMC| Continuous motor current (RMS)| 0|  | 3| A
IS| Power supply current|  | << 6x ICOIL| 1.4x 6x ICOIL| A
TENV@+24V| Environmental temperature at maximum current (no forced cooling) with +24V supply voltage|  |  | 50| °C
TENV@+48V| Environmental temperature at maximum current (no forced cooling) with +48V supply voltage|  |  | 35| °C

Table 5.1 General operational ratings of the module

REF_L / REF_R

| 0|  | 1.1| V
IREF_L/R_H| High level voltage for reference switch inputs REF_L / REF_R| 2.9| | 28| V

Table 5.2 Operational ratings of the reference switch inputs

mA
IOUT_3/7| Output sink current for OUT_3 and OUT7|  |  | 1| A
VIN 1/2/3/5/6/7| Input voltage for general purpose digital inputs IN_1/2/3 and IN_5/6/7| 0|  | 28| V
VIN_1/1/2/3/5/6/7

_L

| Low level voltage for general purpose digital inputs IN_1/2/3 and IN_5/6/7| 0|  | 1.1| V
VIN_1/2/3/5/6/7_H| High level voltage for general purpose digital inputs IN_1/2/3 and IN_5/6/7| 2.9|  | 28| V
VAIN_0!4| Full scale input voltage range for analog voltage inputs| 0|  | 10| V
fENC| Encoder input speed|  |  | 500| kHz

Table 5.3 Operational ratings of the general purpose I/Os

Functional Description

The TMCM-1310 is a highly integrated single-axis closed loop controller/driver module which can be controlled via USB or EtherCAT. Communication traffic is kept low since all-time critical operations (e.g. ramp calculations) are performed on board. The preferred nominal supply voltage of the unit can be chosen out of 24V, 12V, and 48V DC. The module is designed for both, standalone operation and direct mode. Full remote control of the device with feedback is possible. The firmware of the module can be updated via any the USB interface.
In Figure 6.1 the main parts of the TMCM-1310 are shown:

•  the microprocessor, which runs the TMCL operating system (connected to TMCL memory)
•  the power driver with stallGuard2 and current control
• the MOSFET driver stage
•  Encoder interface
• EtherCAT (RJ45) transceivers and USB interface
•  On-board switching and linear voltage regulators for supply of on-board digital circuits
• The TMCM-1310 comes with the PC based software development environment TMCL-IDE for the TRINAMIC Motion Control Language (TMCL). Using predefined TMCL high level commands like move to position a rapid and fast development of motion control applications is guaranteed.
• Please refer to the TMCM-1310 Firmware Manual for more information about TMCL commands.

Life Support Policy

• TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.
• Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.

© TRINAMIC Motion Control GmbH & Co. KG 2021

• Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use.
• Specifications are subject to change without notice.
• All trademarks used are property of their respective owners.

Revision History

Document Revision

1.20

| ****

2021-JUL-21

| ****

SK

| New company logo on front page. Block diagram added to front page.

Max. Encoder speed added in section1, section 3.5.1 and table 5.3.

Figure 6.1 block diagram updated and external EtherCAT

bus corrected from EBUS to Ethernet.

Table 8.1 Document revision

Hardware Revision

–       USB circuit corrected

TMCM-1310_V12| 2013-APR-10| Several corrections and modifications:

–           Additional supply input filters and enhanced protection circuit

–           Stepper motor driver stage output filter added

–          Revised ground / shield concept. Enclosure connected to shield instead of system ground

–          SSI encoder support now with separate CS (chip select) signal support

–           Option for supply current measurement

Table 8.2 Hardware revision

References

• [JST] JST connectorhttp://www.jst.com
• [TMCL-IDE] TMCL-IDE User Manual see http://www.trinamic.com
• [TMCM-1310] TMCM-1310 Firmware Manual seehttp://www.trinamic.com
• www.trinamic.com
• Downloaded fromArrow.com.

References

• Cutting-Edge Electrical Connectors | JST Sales America

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