TMCM-1180-CANOPEN

**`MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive`** 

## **Hardware Version V1.1** 

## **HARDWARE MANUAL** 

+ 

## + **TMCM-1180 PD86-1180** 

**`1-Axis Stepper Controller / Driver 5.5A RMS/ 24 or 48V DC USB, RS232, RS485, and CAN`** 

+ 

+ 

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany 

## TRINAMIC 

## **www.trinamic.com** 

TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 

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## **Table of Contents** 

|2|Features ........................................................................................................................................................................... 3|Features ........................................................................................................................................................................... 3|
|---|---|---|
|3|Order Codes ................................................................................................................................................................... 4||
|4|Mechanical and Electrical Interfacing ..................................................................................................................... 5||
||4.1|TMCM-1180 Dimensions and Mounting Holes ............................................................................................. 5|
||4.2|PD86-1180 Dimensions and Motor Specifications ...................................................................................... 6|
||4.2.1|Dimensions of PD86-3-1180 ........................................................................................................................ 6|
||4.2.2|Motor Specifications of QSH8618-96-55-700 ........................................................................................... 7|
||4.2.3|Torque Figure of QSH8618-96-55-700 ....................................................................................................... 8|
||4.3|Connectors of TMCM-1180 ................................................................................................................................. 9|
||4.3.1|Power Connector ......................................................................................................................................... 10|
||4.3.2|Serial Communication Connector ........................................................................................................... 12|
||4.3.3|USB Connector .............................................................................................................................................. 12|
||4.3.4|Output Connector ........................................................................................................................................ 13|
||4.3.5|Input Connector ........................................................................................................................................... 14|
||4.3.6|Step/Direction Connector .......................................................................................................................... 16|
||4.3.7|Encoder Connector ...................................................................................................................................... 17|
||4.3.8|Motor Connector and Specifications ...................................................................................................... 18|
|5|Jumpers ......................................................................................................................................................................... 19||
||5.1|RS485 Bus Termination .................................................................................................................................... 19|
||5.2|CAN Bus Termination........................................................................................................................................ 19|
|6|Operational Ratings ................................................................................................................................................... 20||
|7|Functional Description .............................................................................................................................................. 21||
||7.1|System Architecture .......................................................................................................................................... 21|
||7.1.1|Microcontroller ............................................................................................................................................. 21|
||7.1.2|EEPROM ........................................................................................................................................................... 21|
||7.1.3|Motion Controller ........................................................................................................................................ 21|
||7.1.4|Stepper Motor Driver .................................................................................................................................. 22|
||7.1.5|sensOstep Encoder ...................................................................................................................................... 22|
|8|TMCM-1180 Operational Description ..................................................................................................................... 23||
||8.1|Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23|
|9|TMCL ............................................................................................................................................................................... 25||
|10 CANopen ....................................................................................................................................................................... 25|||
|11 Life Support Policy ..................................................................................................................................................... 26|||
|12 Revision History .......................................................................................................................................................... 27|||
||12.1|Document Revision ........................................................................................................................................... 27|
||12.2|Hardware Revision ............................................................................................................................................ 27|
|13 References..................................................................................................................................................................... 27|||



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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 

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## **2 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 coolStep™ technology for sensorless load dependent current control. This allows energy efficient motor operation. With the advanced stallGuard2™ 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**_ 

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## **3 Order Codes** 

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

|**Order code**|**Description**|**Dimensions[mm³]**|
|---|---|---|
|TMCM-1180 (-option)|TMCM-1180 with coolStep,sensOstep|85.9 x 85.9 x 21.5|
|PD86-3-1180 (-option)|PD86-3-1180 with coolStep,sensOstep,7.0 Nm|85.9 x 85.9 x 118.5|



## **Table 3.1 PANdrive or module order codes** 

|**Option**|**Firmware**|
|---|---|
|-TMCL|TMCL firmware|
|-CANopen|CANopen firmware|



## **Table 3.2 Options for order codes** 

|**Componentpart**|**Description**|
|---|---|
|TMCM-1180-CABLE|Cable loom for module and PANdrive|



**Table 3.3 Order codes for component parts** 

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## **4 Mechanical and Electrical Interfacing** 

## **4.1 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. 

**==> picture [361 x 369] intentionally omitted <==**

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85.9<br>67.45 4.55<br>8<br>2<br>8<br>2 R5.9<br>M4<br>85.9<br>TMCM-1180<br>81.35<br>72<br>67.45<br>18.45<br>13.9<br>4.55<br>13.9<br>18.45<br>72<br>81.35<br>**----- End of picture text -----**<br>


**Figure 4.1 Dimensions of TMCM-1180 and mounting holes** 

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## **4.2 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. 

## **4.2.1 Dimensions of PD86-3-1180** 

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96 22.5 max<br>4.1 1.4<br>17<br>1.1<br>25<br>73.02±0.05 11.6 12.7 85.85<br>31.75±1<br>1.52<br>8.38<br>69.5±0.2<br>85.9<br>73.02±0.05 11.6 85.9<br>69.5±0.2<br>12.7<br>4 x ø 5.5<br>400 min.<br>**----- End of picture text -----**<br>


**Figure 4.2 PD86-3-1180 dimensions** 

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## **4.2.2 Motor Specifications of QSH8618-96-55-700** 

|Specifications|Units|QSH8618-96-55-700|
|---|---|---|
|Wiring|||
|Rated Voltage|V|2.56|
|Rated Phase Current (nominal)|A|5.5|
|Phase Resistance at 20°C|Ω|0.45|
|Phase Inductance (typ.)|mH|4.5|
|HoldingTorque (typ.)|Nm|7.0|
|Detent Torque|Nm||
|Rotor Inertia|gcm2|2700|
|Weight (Mass)|Kg|2.8|
|Insulation Class||B|
|Insulation Resistance|Ω|100M|
|Dialectic Strength (for one<br>minute)|VAC|500|
|Connection Wires|N°|4|
|Max applicable Voltage|V|140|
|StepAngle|°|1.8|
|Stepangle Accuracy|%|5|
|Flange Size(max.)|mm|85.85|
|Motor Length(max.)|mm|96|
|Axis Diameter|mm|12.7|
|Axis Length(visiblepart,typ.)|mm|31.75|
|Axis D-cut(1.1mm depth)|mm|25.0|
|Shaft Radial Play(450gload)|mm|0.02|
|Shaft Axial Play (450gload)|mm|0.08|
|Maximum Radial Force<br>(20 mm from front flange)|N|220|
|Maximum Axial Force|N|60|
|Ambient Temperature|°C|-20… +50|
|Temp Rise<br>(rated current,2phase on)|°C|max. 80|



**Table 4.1 Motor specifications of QSH8618-96-55-700** 

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## **4.2.3 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. 

**Testing conditions: 48V;  5,5A** Full step 

**==> picture [407 x 230] intentionally omitted <==**

**----- Start of picture text -----**<br>
 Torque   [Nm]<br>6<br>5<br>4<br>3<br>2<br>1<br>0<br>100  1000  10000<br> Speed  [Pps]<br>**----- End of picture text -----**<br>


**Figure 4.3 QSH8618-96-55-700 speed vs. torque characteristics** 

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## **4.3 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. 

**==> picture [357 x 304] intentionally omitted <==**

**----- Start of picture text -----**<br>
Encoder Step/Dir Input Output<br>1 1 1 1<br>— _— . ~ > 7 . ‘e<br>: rr hd = — ‘<br>eo. Ba a ale:<br>Serial<br>- S ° ad - - £ - communication<br>1<br>-M > ‘ey I : ee 4 hE i - y . - ; ; 4 ' a . —_< . J ‘<br>= Fas -- a Power<br>USB<br>1<br>+<br>J“ - i .<br>1<br>Motor<br>**----- End of picture text -----**<br>


**Figure 4.4 Overview connectors** 

|**Label**|**Connector type**|**Mating connector type**|
|---|---|---|
|Power|JST B4P-VH<br>JST VH series,4pins,3.96mmpitch|Connector housing JST: VHR-4N<br>Contacts JST: BVH-21T-P1.1|
|Motor|JST B4P-VH<br>JST VH series,4pins,3.96mmpitch|Connector housing JST: VHR-4N<br>Contacts JST: BVH-21T-P1.1|
|Mini-USB|Molex 500075-1517<br>Mini USB Type B vertical receptacle|Any standard mini-USB plug|
|Serial<br>communication|CI0108P1VK0-LF<br>CVIlux CI01 series, 8 pins, 2mm pitch|Connector housing CVIlux: CI01085000-A<br>Contacts CVIlux: CI01T011PE0-A<br>_or_<br>Connector housing JST: PHR-8<br>Contacts JST: SPH-002T-P0.5S<br>Wire: 0.22mm2|



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|**Label**|**Connector type**|**Mating connector type**|
|---|---|---|
|Inputs|CI0106P1VK0-LF<br>CVIlux CI01 series, 6 pins, 2mm pitch|Connector housing CVIlux: CI01065000-A<br>Contacts CVIlux: CI01T011PE0-A<br>_or_<br>Connector housing JST: PHR-6<br>Contacts JST: SPH-002T-P0.5S<br>Wire: 0.22mm2|
|Outputs|CI0104P1VK0-LF<br>CVIlux CI01 series, 4 pins, 2mm pitch|Connector housing CVIlux: CI01045000-A<br>Contacts CVIlux: CI01T011PE0-A<br>_or_<br>Connector housing JST: PHR-4<br>Contacts JST: SPH-002T-P0.5S<br>Wire: 0.22mm2|
|Encoder|CI0105P1VK0-LF<br>CVIlux CI01 series, 5 pins, 2mm pitch|Connector housing CVIlux: CI01055000-A<br>Contacts CVIlux: CI01T011PE0-A<br>_or_<br>Connector housing JST: PHR-5<br>Contacts JST: SPH-002T-P0.5S<br>Wire: 0.22mm2|
|Step/Dir|CI0104P1VK0-LF<br>CVIlux CI01 series, 4 pins, 2mm pitch|Connector housing CVIlux: CI01045000-A<br>Contacts CVIlux: CI01T011PE0-A<br>_or_<br>Connector housing JST: PHR-4<br>Contacts JST: SPH-002T-P0.5S<br>Wire: 0.22mm2|



**Table 4.2 Connectors and mating connectors, contacts and applicable wire** 

## **4.3.1 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. 

|**1**<br>**4**|Pin|Label|Description|
|---|---|---|---|
||1|+UDriver|Module + driver stage power supply input<br>(nom. +48V DC)|
||2|+ULogic|(Optional) separate digital logic power supply input<br>(nom. +48V DC)|
||3|GND|Module ground (power supply and signal ground)|
||4|GND|Module ground (power supply and signal ground)|



**Table 4.3 Connector for power supply** 

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. 

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## **HINTS FOR POWER SUPPLY** 

- keep power supply cables as short as possible 

- use large diameters for power supply cables 

**CAUTION!** _**Add external power supply capacitors!**_ It is recommended to connect an electrolytic capacitor of significant size (e.g. 4700 µF / 63 V) to the power supply lines next to the PD-1180 especially if the distance to the power supply is large (i.e. more than 2-3m)! In larger systems a zener diode circuitry might be required in order to limit the maximum voltage when the motor is operated at high velocities. Rule of thumb for size of electrolytic capacitor: In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any voltage spikes which might otherwise occur from a combination of high inductance power supply wires and the ceramic capacitors. In addition it will limit slewrate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors ~~la~~ may cause stability problems with some switching power supplies. _**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 55V!**_ ~~bd~~ 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 ~~Oo~~ recommended. Please see also chapter 6 (operating values). _**There is no reverse polarity protection!**_ The module will short any reversed supply voltage due to internal diodes of the driver transistors. ~~eo~~ 

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## **4.3.2 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. 

|**1**<br>**8**<br>i~~|~~<br>a|Pin<br>~~a|~~<br>~~|.~~|Label<br>~~|~~<br>~~|~~<br>~~|.|.~~|Description<br>~~|~~<br>~~|.~~|
|---|---|---|---|
||1<br>~~a |~~<br>~~|.~~<br>~~ee~~|RS232_TxD<br>~~|~~<br>~~| ~~<br>~~|.|.~~|RS232 transmit data<br> ~~|~~<br>~~|.~~<br>~~—S—CS~S~C~™~™SOSO~~|
||2<br>~~|.~~<br>~~ee~~|RS232_RxD<br>~~|. |.~~|RS232 receive data<br>~~|.~~<br>~~—S—CS~S~C~™~™SOSO~~|
||3<br>~~ee~~<br>~~|~~|GND<br>~~|~~|Moduleground(system and signalground)<br>~~—S—CS~S~C~™~™SOSO~~|
||4<br>~~|~~<br>~~ee~~|CAN_H<br>~~|~~|CAN_H bus line(dominant high)|
||5<br> ~~ee~~<br>~~eS~~|CAN_L<br>~~O~~|CAN_L bus line (dominant low)<br>~~O~~|
||6<br> ~~ee~~<br>~~eS~~<br>~~ee~~|GND<br>~~O~~<br>|Moduleground(system and signalground)<br>~~O~~<br>|
||7<br>~~eS~~<br>~~ee~~|RS485+<br>~~O~~<br>|RS485 non-inverted bus signal<br>~~O~~<br>|
||8<br>~~eeSC~~|RS485-<br>~~SC~~|RS485 inverted bus signal<br>~~SC~~|



**Table 3.3 Connector for serial communication** 

## **4.3.3 USB Connector** 

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

|**1**<br>**5**<br>___<br>Bri|Pin<br>~~**a**~~|Label<br>~~|~~|Description|
|---|---|---|---|
||1<br>~~**a**~~<br>~~TT~~|VBUS<br>~~|~~<br>~~TT~~|+5Vpower<br>~~O”*=7F"”"~~|
||2<br>~~**a**~~<br>~~TT~~<br>~~eg~~|D-<br>~~|~~<br>~~TT~~|Data –<br>~~O”*=7F"”"~~|
||3<br>~~TT~~<br>~~eg~~<br>~~es~~|D+<br>~~TT~~|Data +<br>~~O”*=7F"”"~~|
||4<br>~~eg~~<br>~~es~~<br>~~ot~~|ID<br>~~ot~~|Not connected<br>|
||5<br>~~es~~<br>~~ot~~|GND<br>~~otFerNn’’-.—~~|ground<br>~~FerNn’’-.—~~|



**Table 3.4 Mini USB connector** 

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## **4.3.4 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)! Pin Label Description Module digital logic power supply – connected to 1 +U Logic pin 2 of power supply connector /Shutdown input – has to be connected to power supply (e.g. pin 1 of this connector) in order to 2 /Shutdown **1 4** enable driver. Connecting this input to ground or leaving it unconnected will disable driver stage Open collector output with integrated freewheeling 3 OUT_0 diode, +24V compatible Open collector output with integrated freewheeling 4 OUT_1 ~~——~~ diode, +24V compatible **Table 4.4 Output / /Shutdown connector** supply voltage supply voltage supply voltage e.g. +24V e.g. +24V e.g. +24V _galvanic isolation freewheeling diode integrated on-board opto-coupler_ **GPO GPO GPO Figure 4.5 Possible circuits for GPO +ULogic +ULogic** OUT_0 OUT_1 OUT_0 1k00 OUT_1 1k00 ~~th~~ GND GND 

**Figure 4.6 Internal circuit of the outputs** 

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## **4.3.5 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 

|**1**<br>**6**|Pin|Label|Description|
|---|---|---|---|
||1|IN_0|General purpose input, +24V compatible|
||2|IN_1|Generalpurpose input,+24V compatible|
||3|STOP_L|Left<br>stop<br>switch<br>input,<br>+24V<br>compatible,<br>programmable internalpull-up(1k to +5V)|
||4|STOP_R|Right<br>stop<br>switch<br>input,<br>+24V<br>compatible,<br>programmable internalpull-up(1k to +5V)|
||5|HOME|Home<br>switch<br>input,<br>+24V<br>compatible,<br>programmable internalpull-up (1k to +5V)|
||6|GND|Module ground (system and signal ground)|



**Table 4.5 Input / Stop / Home switch connector** 

**==> picture [56 x 115] intentionally omitted <==**

**----- Start of picture text -----**<br>
+24V<br>|<br>L GPI<br>**----- End of picture text -----**<br>


**Figure 4.7 Possible circuit for GPI** 

**==> picture [162 x 174] intentionally omitted <==**

**----- Start of picture text -----**<br>
IN_0/1<br>+3.3V<br>IN_0/1<br>|<br>GND GND GND<br>22kO<br>10kO 100nF<br>**----- End of picture text -----**<br>


**Figure 4.8 Internal circuit of the inputs** 

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## **4.3.5.1 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 traveler has reached one of the limit switches. 

**==> picture [228 x 89] intentionally omitted <==**

**----- Start of picture text -----**<br>
REF_L_x REF_R_x<br>motor<br>left stop  right stop<br>switch switch<br>traveler<br>**----- End of picture text -----**<br>


**Figure 4.9 Left and right limit switches** 

## **4.3.5.2 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. 

**==> picture [253 x 91] intentionally omitted <==**

**----- Start of picture text -----**<br>
REF_L_x REF_R_x<br>motor<br>left stop  reference  right stop<br>switch switch switch<br>traveler<br>**----- End of picture text -----**<br>


**Figure 4.10 Limit switch and reference switch** 

## **4.3.5.3 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 endpoints in such a system. 

**==> picture [113 x 79] intentionally omitted <==**

**----- Start of picture text -----**<br>
motor<br>REF _L_x<br>ref switch eccentric<br>**----- End of picture text -----**<br>


**Figure 4.11 One reference switch** 

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## **4.3.6 Step/Direction Connector** 

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

|~~ss~~||||
|---|---|---|---|
|**4**<br>**1**<br>~~ss~~<br>’|Pin|Label|Description|
||1<br>~~es~~|OC_COM<br>~~es~~|Common supply/ opto-coupler (+5V .. +24V)|
||2<br>~~es~~|OC_EN<br>~~es~~|Enable signal|
||3<br>~~es~~<br>~~es~~|OC_STEP<br>~~es~~<br>~~es~~|Stepsignal|
||4<br>~~es~~|OC_DIR<br>~~es~~|Direction signal|



## **Table 4.6 Step/Dir connector** 

**==> picture [418 x 238] intentionally omitted <==**

**----- Start of picture text -----**<br>
| OC_COM CS A C [ [CD] | EN<br>+3.3V<br>Iconst = 8mA<br>[TCU OC_EN >.) K E<br>GND<br>Iconst = 8mA DIR<br>OC_DIR<br>Ser OC_STEP @ e STEP<br>TT 4 [ ot<br>GND<br>4k75<br>4k75 4k75<br>**----- End of picture text -----**<br>


**Figure 4.12 Internal circuit of the Step/Dir interface** 

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## **4.3.7 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 

~~|~~ Pin Label Description 1 ENC_A Encoder A-channel 2 ENC_B Encoder B-channel **1 5** ~~a~~ 3 ENC_N Encoder N-channel ~~a~~ 4 GND ~~a~~ Power and signal ground ~~a~~ 5 +5V ~~a~~ _output ~~G~~ +5V output for encoder power supply (max. 100mA) 

## **Table 4.7 Encoder connector** 

**==> picture [459 x 305] intentionally omitted <==**

**----- Start of picture text -----**<br>
+5V +5V +5V +5V<br>GND GND GND<br>1<br>ct S t x _ ENC_A<br>2k2<br>2k2<br>ee<br>2k2 11<br>ENC_B<br>; P p } =<br>11<br>ENC_N<br>P p } =<br>I ST<br>GND GND<br>0.1A 2k2 2k2 2k2<br>100pF<br>**----- End of picture text -----**<br>


**Figure 4.13 Internal circuit of encoder interface** 

Keep the electronics free of (metal) particles! The encoder uses a magnet at the end of the motor axis in order to monitor position.  The magnet naturally attracts especially tiny metal particles. These particles might be held on the top side of the PCB and even worse – start moving in accordance with the rotating magnetic field as soon as the motor starts moving. This might lead to shorts of electronic contacts / wires on the board and totally erratic behavior of the module! Use compressed air for cleaning the module if necessary. 

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## **4.3.8 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 

|**1**<br>**4**<br>**Table 4.8 Connector for motor**<br>~~a~~|Pin<br>Label<br>1<br>OA1<br>2<br>OA2<br>3<br>OB1<br>4<br>OB2<br>**Table 4.8 Connector for motor**<br>~~>~~|Description<br>Motor coil A<br>Motor coil A<br>Motor coil B<br>Motor coil B|
|---|---|---|



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## **5 Jumpers** 

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

**==> picture [52 x 77] intentionally omitted <==**

**----- Start of picture text -----**<br>
CAN bus<br>termination<br>RS485 bus<br>termination<br>**----- End of picture text -----**<br>


**Figure 5.1 RS485 and CAN bus termination** 

## **5.1 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-. 

## **5.2 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. 

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## **6 Operational Ratings** 

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

|Symbol|Parameter|Min|Typ|Max|Unit|
|---|---|---|---|---|---|
|+UDriver/ +ULogic|Power supplyvoltage for operation|18|24 or 48|55|V DC|
|ICOILpeak|Motor coil current for sine wave**peak**<br>(chopper regulated, adjustable via<br>software)|<br>0||7.8|A|
|_||||||
|ICOIL_RMS|Continuous motor current (**RMS**)|0||5.5|A|
|ISUPPLY|Power supplycurrent||<< ICOIL|1.4 * ICOIL|A|
|TENV|Environment temperature at rated<br>current (no forced coolingrequired)|<br>-20||+50*)|°C|
|||||||



## **Table 6.1 General operational ratings of the module** 

*) 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. 

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## **7 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. 

**==> picture [421 x 235] intentionally omitted <==**

**----- Start of picture text -----**<br>
TMCL™<br>PD86-1180<br>Memory<br>Stop<br>Switches<br>CAN<br>RS232<br>+5V<br>RS485 µC Step Alternative:<br>Motion<br>MOSFET<br>USB Controller  PowerEnergy  external<br>DriverEfficient  Driver Encoder<br>add. 4 Driverwith  Stage<br>I/Os coolStep™TMC262 Motor<br>ABN<br>Step/<br>Dir<br>ABN<br>sensOstep™<br>Encoder<br>18… 55V DC<br>TMCM-1180<br>**----- End of picture text -----**<br>


**Figure 7.1 Main parts of the PD86-1180** 

## **7.1 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. 

## **7.1.1 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. 

## **7.1.2 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. 

## **7.1.3 Motion Controller** 

The TMC428/429 is a high-performance stepper motor control IC and can control up to three 2-phase-steppermotors. 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. 

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## **7.1.4 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 SPI™. 

**==> picture [403 x 190] intentionally omitted <==**

**----- Start of picture text -----**<br>
motor current reduction area current setting CS<br>SEMAX+SEMIN+1 (upper limit)<br>SEMIN —<br>½ or ¼ CS<br>motor current increment area (lower limit)<br>0=maximum load<br>stall possible Zeit<br>load<br>angle  load angle optimized load angle optimized<br>optimized<br>motor current mechanical load<br>stallGuard2  reading<br>current increment due to  increased load slow current reduction due  to reduced motor load<br>**----- End of picture text -----**<br>


**Figure 7.2 Motor current control via coolStep adapts motor current to motor load** 

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. 

## **7.1.5 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 Hallsensor 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. 

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## **8 TMCM-1180 Operational Description** 

## **8.1 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. 

## **PARAMETERS FOR THE TMC428/429** 

|**Signal**|**Description**|**Range **|
|---|---|---|
|fCLK|clock-frequency|16 MHz|
|velocity|-|0… 2047|
|a_max|maximum acceleration|0… 2047|
||Divider for the velocity. The higher the value is, the less<br>is the maximum velocity<br>default value = 0|<br>0… 13|
|pulse_div|||
||||
||Divider for the acceleration. The higher the value is, the<br>less is the maximum acceleration<br>default value = 0|<br>0… 13|
|ramp_div|||
||||
|Usrs|microstep-resolution(microstepsper fullstep= 2usrs)|0… 7|



## **Table 8.1 TMC428/429 velocity parameters** 

The _**microstep-frequency**_ of the stepper motor is calculated with 

**==> picture [310 x 27] intentionally omitted <==**

To calculate the _**fullstep-frequency**_ from the microstep-frequency, the microstep-frequency must be divided by the number of microsteps per fullstep. 

**==> picture [259 x 27] intentionally omitted <==**

The change in the pulse rate per time unit (pulse frequency change per second – the _**acceleration a** )_ is given by 

**==> picture [104 x 28] intentionally omitted <==**

This results in acceleration in fullsteps of: 

**==> picture [285 x 22] intentionally omitted <==**

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## **EXAMPLE** 

|Signal|value|
|---|---|
|f_CLK|16 MHz|
|velocity|1000|
|a_max|1000|
|pulse_div|1|
|ramp_div|1|
|usrs|6|



**==> picture [174 x 181] intentionally omitted <==**

Calculation of the number of rotations: 

A stepper motor has e.g. 72 fullsteps per rotation. 

**==> picture [261 x 75] intentionally omitted <==**

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## **9 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. 

## **10 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. 

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## **11 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. 

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## **12 Revision History** 

## **12.1 Document Revision** 

|||**Author**<br>GE – Göran Eggers<br>SD – Sonja Dwersteg||
|---|---|---|---|
|**Version**|**Date**||**Description**|
|||||
|0.90|2009-AUG-04|GE|Initial version|
|0.91|2009-NOV-11|GE|New hardware included|
||2010-JUN-28|SD|New engineering detail drawings. Functional and operational<br>descriptions added.|
|1.00||||
|||||
|1.01|2011-MAR-21|SD|New frontpage,minor changes|
|1.02|2011-JUN-08|SD|Minor changes|
|1.03|2011-DEC-02|SD|Order codes new,minor changes|
|1.04|2012-DEC-15|SD|Changes related to the design.|
||2013-JUL-26|SD|Connector description updated.<br>Chapter 4.3.1 updated.|
|1.05||||
|||||



## **Table 12.1 Document revision** 

## **12.2 Hardware Revision** 

|Version|Date|Description|
|---|---|---|
|1.00|2010-OCT-29|Pre-series version|
|1.10|2011-MAR-03|Series version|



**Table 12.2 Hardware revision** 

## **13 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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