TRINAMIC TMCM-1180 Stepper Motor Controller User Guide

TRINAMIC TMCM-1180 Stepper Motor Controller User Guide

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com
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1 Features

The PD86-1180 is a full mechatronic solution with state of the arte feature set. It is highly integrated and offers a convenient handling. The PD86-1180 consists of a NEMA 34 (flange size 86mm) stepper motor, controller/driver electronics and integrated encoder. The TMCM-1180 is an intelligent stepper motor controller/driver module featuring the new outstanding coolStepTM technology for sensorless load dependent current control. This allows energy efficient motor operation. With the advanced stallGuard2TM feature the load of the motor can be detected with high resolution. The module is designed to be mounted directly on an 86mm flange QMot stepper motor.

MAIN CHARACTERISTICS
Electrical data
– Supply voltage: +24V DC or +48V DC nominal
– Motor current: up to 5.5A RMS (programmable)
PANdrive motor
– Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current
– Holding torque: 7Nm
Encoder
– Integrated sensOstep magnetic encoder (max. 256 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning
Integrated motion controller
– Motion profile calculation in real-time (TMC428/429 motion controller)
– On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
– High performance microcontroller for overall system control and serial communication protocol handling
Bipolar stepper motor driver
– Up to 256 microsteps per full step
– High-efficient operation, low power dissipation
– Dynamic current control
– Integrated protection
– stallGuard2 feature for stall detection
– coolStep feature for reduced power consumption and heat dissipation
Interfaces
– inputs for stop switches (left and right) and home switch
– general purpose inputs and 2 general purpose outputs
– USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces
Safety features
– Shutdown input. The driver will be disabled in hardware as long as this pin is left open or shorted to ground
– Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched off externally while supply for digital logic and therefore digital logic remains active
Software
– Available with TMCL™ or CANopen
– Standalone TMCL operation or remote controlled operation
– Program memory (non volatile) for up to 2048 TMCL commands
– PC-based application development software TMCL-IDE available for free
– CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported
Please see separate TMCL and CANopen Firmware Manuals for additional information

2 Order Codes

Cables are not included. Add the appropriate cable loom to your order if required.

3 Mechanical and Electrical Interfacing

3.1 TMCM-1180 Dimensions and Mounting Holes

The dimensions of the controller/driver board (TMCM-1180) are approx. 86mm x 86mm in order to fit to the back side of the 86mm stepper motor. The TMCM-1180 is 21.5mm high without matching connectors. There are four mounting holes for M4 screws.

3.2 PD86-1180 Dimensions and Motor Specifications

The PD86-1180 includes the TMCM-1180 stepper motor controller/driver electronic module, a magnetic encoder based on sensOstep technology and an 86mm flange size bipolar hybrid stepper motor.

3.2.1 Dimensions of PD86-3-1180

3.2.2 Motor Specifications of QSH8618-96-55-700

3.2.3 Torque Figure of QSH8618-96-55-700

The torque figure details the motor torque characteristics for full step operation in order to allow simple comparison. For full step operation there are always a number of resonance points (with less torque) which are not depicted. These will be minimized by microstep operation.

3.3 Connectors of TMCM-1180

The controller/driver board of the PD86-1180 offers eight connectors including the motor connector which is used internally for attaching the motor coils to the electronics. In addition to the power connector there are two connectors for serial communication (one for mini-USB and one for RS232/RS485/CAN) and two connectors for additional input and output signals. Further there is one connector for Step/Direction and another for the encoder. The output connector offers two general purpose outputs, one power supply voltage output, and one hardware shutdown input. Leaving the shutdown input open or tying it to ground will disable the motor driver stage in hardware. For operation, this input should be tied to the supply voltage. The input connector offers two inputs for stop switches (left and right), one home switch input, two general purpose inputs and one connection to the system or signal ground.

3.3.1 Power Connector

This module offers separate power supply inputs for digital logic (pin 2) and driver/power stage (pin 1). Both supply inputs use common ground connections (pin 3 and 4). This way, power supply for the driver stage may be switched off while still maintaining position and status information when keeping digital logic supply active.
+UDRIVER SUPPLY ONLY In case power supply is provided to the power section only, an internal diode will distribute power to the logic section also. So, when separate power supplies are not required it is possible to just use pin 1 and 4 for powering the module.

To ensure reliable operation of the unit, the power supply has to have a sufficient output capacitor and the supply cables should have a low resistance, so that the chopper operation does not lead to an increased power supply ripple directly at the unit. Power supply ripple due to the chopper operation should be kept at a maximum of a few 100mV.

HINTS FOR POWER SUPPLY
– keep power supply cables as short as possible
– use large diameters for power supply cables

3.3.2 Serial Communication Connector

A 2mm pitch 8 pin connector is used for serial communication. With this connector the module supports RS232, RS485 and CAN communication.

3.3.3 USB Connector

A 5-pin mini-USB connector is available on board (might depend on assembly option).

3.3.4 Output Connector

A 2mm pitch 4 pin connector is used for connecting the two general purpose outputs and the driver stage hardware shutdown input pin to the unit.

In order to enable the motor driver stage connect /Shutdown (pin 2) to +ULogic (pin 1)!

3.3.5 Input Connector

A 2mm pitch 6 pin connector is used for connecting general purpose inputs, home and stop switches to the unit.
Mating connector housing: PHR-6 Mating connector contacts: SPH-002T-P0.5S

3.2.5.1 Left and Right Limit Switches
The TMCM-1180 can be configured so that a motor has a left and a right limit switch (Figure 4.9).

The motor stops when the traveller has reached one of the limit switches.

3.2.5.2 Triple Switch Configuration
It is possible to program a tolerance range around the reference switch position. This is useful for a triple switch configuration, as outlined in Figure 4.10. In that configuration two switches are used as automatic stop switches, and one additional switch is used as the reference switch between the left stop switch and the right stop switch. The left stop switch and the reference switch are wired together. The center switch (travel switch) allows for a monitoring of the axis in order to detect a step loss.

3.2.5.3 One Limit Switch for Circular Systems
If a circular system is used (Figure 4.11), only one reference switch is necessary, because there are no end-points in such a system.

3.3.6 Step/Direction Connector

A 2mm pitch 4 pin connector is used for connecting the Step/Dir interface.

3.3.7 Encoder Connector

A 2mm pitch 5 pin connector is used for connecting the Encoder.
Mating connector housing: PHR-5 Mating connector contacts: SPH-002T-P0.5S

3.3.8 Motor Connector and Specifications

A 3.96mm pitch 4 pin connector is used for motor connection. Both motor coil windings (bipolar stepper motor) are connected to this connector.

Mating connector housing: VHR-4N Mating connector contacts: BVH-21T-P1.1

4 Jumpers

Most settings of the board are done through the software. Nevertheless, a few jumpers are available for configuration.

4.1 RS485 Bus Termination

The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface. When this jumper is closed, the resistor will be placed between the two differential bus lines RS485+ and RS485-.

4.2 CAN Bus Termination

The board includes a 120 Ohm resistor for proper bus termination of the CAN interface. When this jumper is closed, the resistor will be placed between the two differential bus lines CAN_H and CAN_L.

5 Operational Ratings

The operational ratings shown below should be used as design values. In no case should the maximum values been exceeded during operation.

*) The controller driver electronics has been tested inside a climate chamber running at full current (5.5A RMS) for 30min without air convection at 50°C environmental temperature.
The motor might heat up well above 50°C when running at full current without proper cooling. This might substantially increase the environmental temperature for the electronics. When using the coolStep operation mode, the actual current might be substantially less than programmed max. current producing and temperature.

6 Functional Description

In figure 7.1 the main parts of the PD86-1180 are shown. The PANdrive mainly consists of the µC (connected to the EEPROM TMCL memory), the TMC428/429 motion controller, the TMC262A-PC power driver with its energy efficient coolStep feature, the external MOSFET driver stage, the QSH8618 stepper motor, and the integrated sensOstep encoder. Alternatively it is possible to connect an external encoder. Nominal supply voltages are 24VDC or 48VDC.

6.1 System Architecture

The TMCM-1180 integrates a microcontroller with the TMCL (Trinamic Motion Control Language) operating system. The motion control real-time tasks are realized by the TMC428/429.

6.1.1 Microcontroller

On this module, the Atmel AT91SAM7X256 is used to run the TMCL operating system and to control the TMC428/429. The CPU has 256KB flash memory and a 64KB RAM. The microcontroller runs the TMCL (Trinamic Motion Control Language) operating system which makes it possible to execute TMCL commands that are sent to the module from the host via the RS232, RS485, USB, or CAN interface. The microcontroller interprets the TMCL commands and controls the TMC428/429 which executes the motion commands. In addition it is connected with the encoder interface and processes the inputs. The flash ROM of the microcontroller holds the TMCL operating system. The TMCL operating system can be updated via the RS232 interface or via the CAN interface. Use the TMCL-IDE to do this.

6.1.2 EEPROM

To store TMCL programs for stand-alone operation the TMCM-1180 module is equipped with a 16kByte EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048 TMCL commands. The EEPROM is also used to store configuration data.

6.1.3 Motion Controller

The TMC428/429 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper-motors. Motion parameters like speed or acceleration are sent to the TMC428/429 via SPI by the microcontroller. Calculation of ramps and speed profiles are done internally by hardware based on the target motion parameters.

6.1.4 Stepper Motor Driver

The TMC262A-PC is an energy efficient high current high precision microstepping driver IC for bipolar stepper motors. This driver on the TMCM-1180 module is a special version of the TMC262 power driver for PANdrives with QSH8618 motors.
Its unique high resolution sensorless load detection stallGuard2 is used for a special integrated load dependent current control feature called coolStep. The ability to read out the load and detect an overload makes the TMC262 an optimum choice for drives where a high reliability is desired. The TMC262 can be driven with step/direction signals as well as by serial SPITM.

The coolStep current regulator allows to control the reaction of the driver to increasing or decreasing load. The internal regulator uses two thresholds to determine the minimum and the maximum load angle for optimum motor operation. The current increment speed and the current decrement speed can be adapted to the application. Additionally, the lower current limit can be set in relation to the upper current limit set by the current scale parameter CS.

6.1.5 sensOstep Encoder

The sensOstep encoder used in this unit is based on a magnetic angular position encoder system with low resolution. It consists of a small magnet positioned at the back end of a stepper motor axis and a Hall-sensor IC with integrated digital signal processing (e.g. for automatic gain control, temperature compensation etc.) placed above the magnet on the back side of a motor mounted printed circuit board. The encoder offers a resolutions of 8 bit (256 steps) per revolution which is completely sufficient for detecting step losses with a standard 1.8° stepper motors.

7 TMCM-1180 Operational Description

7.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep

Frequency

The values of the parameters sent to the TMC428/429 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC428/429-parameters as shown in this section.

8 TMCL

TMCL, the TRINAMIC Motion Control Language, is described in separate documentations, which refer to the specific products (e.g. TMCM-1180 TMCL Firmware Manual). The manuals are provided on www.trinamic.com. Please refer to these source for updated data sheets and application notes.

9 CANopen

The TMCM-1180 module should also be used with the CANopen protocol in future versions. For this purpose, a special CANopen firmware is under development. Please contact TRINAMIC if you are interested in this option.

10 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 2013 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.

11 Revision History

11.1 Hardware Revision

11.2 Hardware Revision

12 References

[TMCM-1180 / PD86-1180 TMCL] TMCM-1180 and PD86-1180 TMCL Firmware Manual
[TMCL-IDE] TMCL-IDE User Manual
[QSH8618] QSH8618 Manual

Please refer to www.trinamic.com.

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