MODULES FOR
STEPPER MOTORS
MODULES
Hardware Version V1.3
HARDWARE MANUAL
+
+
TMCM-1141
1-Axis Stepper
Controller / Driver
24 V DC
up-to 1.1 A / 2A RMS
USB, RS485, and S/D Interface
+
+
U
NIQUE
F
EATURES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09)
2
Table of Contents
Features........................................................................................................................................................................... 3
Order Codes ................................................................................................................................................................... 5
Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1
Dimensions and Mounting Holes ................................................................................................................... 6
3.2
Connectors of TMCM-1141 ................................................................................................................................. 7
3.2.1 Power and RS485 Connector ..................................................................................................................... 8
3.2.2 Mini-USB Connector .................................................................................................................................... 10
3.2.3 Multipurpose I/O Connector ..................................................................................................................... 11
3.2.4 Step/Direction Connector .......................................................................................................................... 15
3.2.5 Motor Connector .......................................................................................................................................... 16
4
Motor driver current .................................................................................................................................................. 17
5
Reset to Factory Defaults ......................................................................................................................................... 20
6
On-Board LED .............................................................................................................................................................. 20
7
Operational Ratings ................................................................................................................................................... 21
8
Functional Description .............................................................................................................................................. 23
9
TMCM-1141 Operational Description ..................................................................................................................... 24
9.1
Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 24
10 Life Support Policy ..................................................................................................................................................... 26
11 Revision History .......................................................................................................................................................... 27
11.1 Document Revision ........................................................................................................................................... 27
11.2 Hardware Revision ............................................................................................................................................ 27
12 References .................................................................................................................................................................... 28
1
2
3
www.trinamic.com
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09)
3
1 Features
The TMCM-1141 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of
the art feature set. It is highly integrated, offers a convenient handling and can be used in many
decentralized applications. The module can be mounted on the back of NEMA 17 (42mm flange size)
stepper motors and has been designed for coil currents up to 1.1 A RMS RMS (low current range,
programmable) or 2A RMS (high current range, programmable, new additional range since hardware
version 1.3) and 24V DC supply voltage.
With its high energy efficiency from TRINAMIC’s coolStep™
technology cost for power consumption is kept down.
The TMCL™ firmware supports remote control (direct
mode) and standalone operation (with TMCL program being executed on the TMCM-1141 itself).
M
AIN
C
HARACTERISTICS
Motion controller
-
Motion profile calculation in real-time
-
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
-
RS485 2-wire communication interface
-
USB full speed (12Mbit/s) device interface
-
Step/Direction/Enable interface (optically isolated) for external control of driver circuit
-
4 multipurpose inputs:
-
3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs)
-
1x dedicated analog input
-
2 general purpose outputs
-
2x open-drain 100 mA max.
Software
-
TMCL:
standalone operation or remote controlled operation,
program memory (non volatile) for up to 1024 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
-
Supply voltage: +24 V DC nominal (9… 28 V DC)
-
Motor current: up to 1.1 A RMS / 1.6 A peak (low current range, programmable) or 2A RMS / 2.8A
peak (high current range, programmable, new additional range since hardware version 1.3)
Refer to separate TMCL Firmware Manual, too.
www.trinamic.com
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09)
4
TRINAMIC
S
U
NIQUE
F
EATURES
– E
ASY TO
U
SE WITH
TMCL
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. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™
coolStep is a load-adaptive 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. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
0,9
0,8
0,7
0,6
0,5
Efficiency with coolStep
Efficiency with 50% torque reserve
Efficiency
0,4
0,3
0,2
0,1
0
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 1.2 Energy efficiency example with coolStep
www.trinamic.com
TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09)
5
2 Order Codes
Order code
TMCM-1141-option
Size (mm
3
)
Description
Single axis bipolar stepper motor controller / driver electronics with 37 x 37 x 11.5
coolStep feature
Table 2.1 Order codes
The following options are available:
Firmware option
-TMCL
Description
Module pre-programmed with TMCL firmware
Order code example:
TMCM-1141-TMCL
Table 2.2 Firmware options
A cable loom set is available for this module:
Order code
TMCM-1141-CABLE
Description
Cable loom for TMCM-1141:
-
1x cable loom for power and RS485 connector (length 200mm)
1x cable loom for multi-purpose I/O connector (length 200mm)
-
1x cable loom for S/D connector (length 200mm)
-
1x cable loom for motor connector (length 200mm)
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1x USB type A connector to mini-USB type B connector cable (length 1.5m)
Table 2.3 Cable loom order codes
Please note that the TMCM-1141 is available with NEMA17 stepper motors, too. Refer to the PD-1141
documents for more information about these products.
www.trinamic.com
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