TMCM-1310

**MODULE FOR** **`STEPPER MOTORS MODULE`** 

## **Hardware Version V1.2** 

## **HARDWARE MANUAL** 

+ + 

## **TMCM-1310** 

—_ Pe Oe AEE as <i. andREENS Ve \ + + 

**`1-Axis Stepper`** 

**`Closed Loop Controller / Driver 3 A RMS / 48 V`** 

**`ABN and SSI Encoder Input 18 GPIOs USB, EtherCAT®`** 

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany 

## **www.trinamic.com** 

TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 

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## **Table of Contents** 

|1|Features ........................................................................................................................................................................... 3|Features ........................................................................................................................................................................... 3|
|---|---|---|
|2|Order Codes ................................................................................................................................................................... 5||
|3|Mechanical and Electrical Interfacing ..................................................................................................................... 6||
||3.1|Dimensions ........................................................................................................................................................... 6|
||3.2|Connectors ............................................................................................................................................................. 7|
||3.2.1|Power Connector ........................................................................................................................................... 8|
||3.2.2|Motor Connector ............................................................................................................................................ 8|
||3.2.3|Encoder Connector ........................................................................................................................................ 9|
||3.2.4|Reference Switch Connector .................................................................................................................... 11|
||3.2.5|I/O Connectors 0 and 1 ............................................................................................................................. 11|
||3.2.6|USB Connector ............................................................................................................................................. 12|
||3.2.7|EtherCAT LINK IN / LINK OUT Connectors ............................................................................................ 13|
||3.3|Power Supply ..................................................................................................................................................... 14|
||3.3.1|Adding an Electrolytic Capacitor ............................................................................................................. 14|
||3.4|Communication .................................................................................................................................................. 15|
||3.4.1|USB .................................................................................................................................................................. 15|
||3.5|Inputs and Outputs .......................................................................................................................................... 15|
||3.5.1|Encoder Input ............................................................................................................................................... 15|
||3.5.2|Reference Switch Inputs ........................................................................................................................... 16|
||3.5.3|General Purpose Inputs............................................................................................................................. 16|
||3.5.4|General Purpose Outputs .......................................................................................................................... 17|
|4|On-Board LEDs............................................................................................................................................................. 18||
|5|Operational Ratings ................................................................................................................................................... 19||
|6|Functional Description .............................................................................................................................................. 20||
|7|Life Support Policy ..................................................................................................................................................... 21||
|8|Revision History .......................................................................................................................................................... 22||
||8.1|Document Revision ........................................................................................................................................... 22|
||8.2|Hardware Revision ............................................................................................................................................ 22|
|9|References .................................................................................................................................................................... 22||



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TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 

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## **1 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) 

## **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. 

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## **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. 

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The closed loop mode operation combines the advantages of a stepper driver system with the benefits<br>of a servo drive. Thus, the TMCM-1310 is able to satisfy ambitious requirements in reliability and precision<br>and can be used in several industrial demanding applications.<br>TMCM-1310<br>  Benefits of Stepper Drive   Benefits of Servo Drive<br>  High torque without gearing   Reaction to any impact<br>  No feedback loop oscillations   No position loss<br>  High precision   Torque control<br>  Precise velocity control<br>Figure 1.1 TMCM-1310 characteristics in closed loop mode<br>THE TRINAMIC CLOSED LOOP MODE OPERATION<br>-<br>prevents the motor from stall and step loss caused by too high load or high velocity.<br>-<br>adapts the current amplitude to each motor load which is within the ranges predetermined by<br>motor and controller/driver board characteristics.<br>-<br>achieves a higher torque output than in open loop mode.<br>-<br>guarantees a precise and fast positioning.<br>-<br>enables velocity and positioning error compensation.<br>Using the TMCM-1310, energy will be saved and the motor will be kept cool.<br>[)]<br>www.trinamic.com<br>**----- End of picture text -----**<br>


- adapts the current amplitude to each motor load which is within the ranges predetermined by motor and controller/driver board characteristics. 

TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 

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## **2 Order Codes** 

|**Order code**|**Description**|**Size of unit (mm3) **|
|---|---|---|
|TMCM-1310-_option_|1-axis closed-loop bipolar stepper motor controller /<br>driver module|<br>110 x 110 x 26.5|
||||



## **Table 2.1 Order codes** 

The following options are available: 

|**Firmware option**|**Description**|**Order code example:**|
|---|---|---|
|-TMCL|Modulepre-programmed with TMCL firmware|TMCM-1310-_TMCL_|



## **Table 2.2 Firmware options** 

A cable loom set is available for this module: 

|**Order code**|**Description**|
|---|---|
|TMCM-1310-CABLE|Cable loom for TMCM-1310. Contains (see chapter 3.2, also):<br>-<br>1x cable loom for power connector<br>-<br>1x cable loom for reference switch connector<br>-<br>1x cable loom for encoder input connector<br>-<br>1x cable loom for motor connector<br>-<br>2x cable loom for I/O connector 0+1<br>-<br>1x USB type A connector to mini-USB type B connector cable<br>-<br>1x cable loom for EtherCAT communication|
|||



**Table 2.3 Cable loom order code** 

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## **3 Mechanical and Electrical Interfacing** 

## **3.1 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. 

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**Figure 3.1 Dimensions of TMCM-1310 (all values in mm)** 

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## **3.2 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 

||||**Power**|||
|---|---|---|---|---|---|
||||**Motor**|||
|**Reference**<br>**switches**<br>‘|C=)<br>“||S<br>.<br>ged Sen Ot oF<br>S.<br>WAS<br>oa<br>r|**I/O**<br>**connector 1**<br>**I/O**<br>**connector 0**<br>i<br>fe<br>.||
|**Encoder**|||Le|||
|||q|**EtherCAT™**<br>**LINK OUT**<br>Ss ——<br>.<br>‘|**EtherCAT™**<br>**LINK IN**<br>**USB**||
|**Figure 3.2 TMCM-1310 connectors**||||||
|**OVERVIEW OF CONNECTOR AND MATING CONNECTOR TYPES**||||||
|**Label**|||**Connector type **||**Mating connector type **|
||||JST B3P-VH||Connector housing: JST VHR-3N|
|Power connector|Power connector|Power connector|(JST VH series, 3pins, 3.96mm pitch)||Contacts: JST SVH-21T-P1.1|
||||||Wire: 0.83mm2,AWG 18|
||||JST B4B-EH-A||Connector housing: JST EHR-4|
|Motor connector|Motor connector||(JST EH series, 4pins, 2.5mm pitch)||Contacts: JST SEH-001T-P0.6|
||||||Wire: 0.33mm2,AWG 22|
||||JST B8B-PH-K-S||Connector housing: JST PHR-8|
|Encoder connector|||(JST PH series, 4pins, 2mm pitch)||Contacts: JST SPH-002T-P0.5S|
||||||Wire: 0.22mm2,AWG 24|
|Reference switch<br>connector|Reference switch||JST B4B-PH-K-S<br>(JST PH series, 4pins, 2mm pitch)||Connector housing: JST PHR-4<br>Contacts: JST SPH-002T-P0.5S<br>Wire: 0.22mm2,AWG 24|
||||JST B10B-PH-K-S||Connector housing: JST PHR-10|
|I/O connector 0 + 1||I/O connector 0 + 1|(JST PH series, 10pins, 2mm pitch)|(JST PH series, 10pins, 2mm pitch)|Contacts: JST SPH-002T-P0.5S|
||||||Wire: 0.22mm2,AWG 24|
|Mini-USB connector|||Molex 500075-1517<br>Mini USB Type B vertical receptacle||Any standard mini-USB plug|
|EtherCAT™ LINK IN<br>/ OUT connectors|||100BASE-TX RJ-45 connector|100BASE-TX RJ-45 connector|Any standard RJ-45 plug<br>(adequate for 100Mbit/s Ethernet communi-<br>cation,e.g. CAT-5,CAT-5e or better)|



## **OVERVIEW OF CONNECTOR AND MATING CONNECTOR TYPES** 

**Table 3.1 Connectors and mating connectors, contacts and applicable wire** 

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## **3.2.1 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. 

|1<br>3|**Pin**<br>~~re~~|**Label**<br>~~re~~|**Direction**<br>~~re~~<br>~~|~~|**Description**<br>~~re~~<br>~~|~~|
|---|---|---|---|---|
||1<br>~~re~~|GND<br>~~re~~|Power(GND)<br>~~re~~<br>~~|~~|Common system supplyand signalground<br>~~re~~<br>~~|~~|
||2|VDRIVER|Power<br>(supply input)|Stepper driver supply voltage. Without this voltage<br>the stepper driver and any motor connected will not<br>be energized.|
||3|VDIGITAL|Power<br>(supply input)|Supply voltage for everything else apart from the<br>stepper motor driver. The on-board voltage regulator<br>generates the necessary voltages for the digital<br>circuits from this supply. The pin can be left<br>unconnected. In this case a diode between VDRIVERand<br>VDIGITALensures the supply for the digital parts.<br>_ATTENTION:_<br>-<br>_The diode has a current rating of 3A. As VDIGTIAL is_<br>_available at the I/O connectors and at the_<br>_reference switch connectors also, always connect_<br>_this pin to positive supply voltage in case_<br>_substantial amount of current is withdrawn from_<br>_these pins for external circuits._<br>-<br>_It is expected that VDIGITAL and VDRIVER are connected_<br>_to the same power supply output when both pins_<br>_are used. Otherwise please ensure that VDIGITAL is_<br>_always equal or higher than VDRIVER when_<br>_connected(due to the diode)._|



**Table 3.2 Power connector** 

## **3.2.2 Motor Connector** 

A 4 pin JST EH series connector is available for motor connection. 

|1<br>4<br> ~~eeeDDAD.DDn'n"~~<br>i<br>OS<br>| Rg~~a~~|**Pin**<br>~~eeeDDAD.DDn'n"~~|**Label**<br>~~eeeDDAD.DDn'n"~~|**Direction**<br>~~eeeDDAD.DDn'n"~~|**Description**<br>~~eeeDDAD.DDn'n"~~|
|---|---|---|---|---|
||1<br>~~eeeDDAD.DDn'n"~~|A1<br>~~eeeDDAD.DDn'n"~~|Output<br>~~eeeDDAD.DDn'n"~~|Pin 1 of motor coil A<br>~~eeeDDAD.DDn'n"~~|
||2<br>~~a OG~~<br>~~a~~|A2<br>~~OG~~|Output<br>~~OG~~|Pin 2 of motor coil A<br>~~OG~~|
||3<br>~~a OG~~<br>~~a~~|B1<br>~~OG~~|Output<br>~~OG~~|Pin 1 of motor coil B<br>~~OG~~|
||4<br>~~aa~~|B2|Output|Pin 2 of motor coil B|



**Table 3.3 Motor connector** 

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TMCM-1310 V1.2 Hardware Manual (Rev. 1.12 / 2013-JUL-05) 

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## **3.2.3 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. 

## **3.2.3.1 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 

|8<br>1|**Pin**|**Label**|**Direction**|**Description**|
|---|---|---|---|---|
||1|GND|Power (GND)|Signal and systemground|
||2|+5V|Power<br>(supplyoutput)|+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<br>~~ee~~|N+<br>~~ee~~|Input<br>~~ee~~|Encoder zero / index channel input<br>(differential,non-inverting)<br>~~ee~~|
||8<br>~~ee~~|N-<br>~~ee~~|Input<br>~~ee~~|Encoder zero / index channel input<br>(differential,inverting)<br>~~ee~~|



## **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). 

## **3.2.3.1.1 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. 

**==> picture [73 x 50] intentionally omitted <==**

**----- Start of picture text -----**<br>
Place jumpers for<br>proper temrination<br>—f<br>**----- End of picture text -----**<br>


_Please refer to the encoder manufacturer data sheet for the correct interface settings._ Soo 

**Figure 3.3 Encoder input termination** 

## **3.2.3.1.2 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+. 

|**NECESSARY CONNECTIONS**|**NECESSARY CONNECTIONS**|**NECESSARY CONNECTIONS**|**NECESSARY 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** 

_The pins A-, B-, and N- of the encoder connector should be left unconnected._ 

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## **3.2.3.2 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. 

|8<br>1<br>~~EE=-_=~~|**Pin**|**Label**|**Direction**|**Description**|
|---|---|---|---|---|
||1|GND|Power(GND)|Signal and systemground|
||2|+5V|Power<br>(supplyoutput)|+5V output for external circuit|
||3<br>~~EE=-_=~~|CS+<br>~~EE=-_=~~|Output<br>~~EE=-_=~~|Encoder SSI chip select output (differential, non-<br>inverting)<br>~~EE=-_=~~|
||4<br>~~EE=-_=~~|CS-<br>~~EE=-_=~~|Output<br>~~EE=-_=~~|Encoder SSI chipselect output(differential,inverting)<br>~~EE=-_=~~|
||5<br>~~EE=-_=~~|DATA+<br>~~EE=-_=~~|Input<br>~~EE=-_=~~|Encoder SSI data input (differential,non-inverting)<br>~~EE=-_=~~|
||6<br>~~EE=-_=~~|DATA-<br>~~EE=-_=~~|Input<br>~~EE=-_=~~|Encoder SSI data input(differential,inverting)<br>~~EE=-_=~~|
||7|CLOCK+ Out|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)** 

## **3.2.3.2.1 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. 

Place jumpers for proper temrination ~~s—i~~ 

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

## **Figure 3.3 Encoder input termination** 

## **3.2.3.2.2 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+. 

|**NECESSARY CONNECTIONS**|**NECESSARY CONNECTIONS**|**NECESSARY CONNECTIONS**|**NECESSARY CONNECTIONS**|
|---|---|---|---|
|**Encoder sign.**|**Encoder connector**|||
||**Pin**|**Label**|**Description**|
|CS|3|CS+|Encoder chipselect output|
|DATA|5|DATA+|Encoder DATA+ input|
|CLOCK|7|CLOCK+ Encoder CLOCK+ out|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._ 

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## **3.2.4 Reference Switch Connector** 

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

|1<br>4<br>ON<br>~~SE~~|**Pin**<br>~~a~~<br>~~SE~~|**Label**<br>~~a~~<br>~~SE~~|**Direction**<br>~~a |~~<br>~~SE~~|**Description**<br>~~|~~<br>~~SE~~|
|---|---|---|---|---|
||1<br>~~a~~<br>~~aSE~~|GND<br>~~a~~<br>~~SE~~|Power(GND)<br>~~a |~~<br>~~SE~~|Signal and systemground<br>~~|~~<br>~~SE~~|
||2<br>~~aSE~~|+5V<br>~~SE~~|Power<br>(supplyoutput)<br>~~SE~~|+5V supply output for external encoder and reference<br>switch circuit.<br>~~SE~~|
||3<br>~~SE~~<br>~~a~~|REF_L<br>~~SE~~<br>~~a~~|Input<br>~~SE~~<br>~~a~~|Input for reference / limit switch left<br>~~SE~~|
||4<br>~~SE~~<br>~~a~~<br>~~DG~~|REF_R<br>~~SE~~<br>~~a~~<br>~~DG~~|Input<br>~~SE~~<br>~~a~~<br>~~DG~~|Input for reference / limit switch right<br>~~SE~~<br>~~DG~~|



**Table 3.8 Reference switch connector** 

## **3.2.5 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. 

## **3.2.5.1 I/O Connector 0** 

~~a~~ **Pin Label Direction Description** 1 GND Power (GND) GND VCC Power Connected to VDIGITAL of Power connector. Please note: 2 (supply output) max. current is 500mA (protected via on-board 500mA ~~a~~ polyfuse) AIN0 Input Dedicated analog input, 3 input voltage range: 0… +10V, 1 resolution: 12bit (0… 4095) op ~~Lf~~ 4 IN1 ~~|fo~~ Input Digital input (+24V compatible) ~~a~~ 5 ~~Ge~~ IN2 Input Digital input (+24V compatible) 6 IN3 Input Digital input (+24V compatible) 0 10 oo ~~Ge~~ 7 OUT0 Output Open-drain output (max. 100mA) Integrated freewheeling diode OUT1 Output Open-drain output (max. 100mA) 8 ~~a~~ Integrated freewheeling diode OUT2 Output Open-drain output (max. 100mA) 9 ~~a~~ Integrated freewheeling diode OUT3 Output Open-drain output (max. 1A) 10 ~~a~~ Integrated freewheeling diode 

## **Table 3.9 I/O connector 0** 

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## **3.2.5.2 I/O Connector 1** 

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**----- Start of picture text -----**<br>
Pin  Label  Direction  Description<br>1  GND  Power (GND)  GND<br>| f+ ____________<br>VCC  Power   Connected to VDIGITAL of Power connector. Please note:<br>2  (supply output)  max. current is 500mA (protected via on-board 500mA<br>e polyfuse) e<br>AIN4  Input  Dedicated analog input,<br>3  input voltage range: 0… +10V,<br>1 resolution: 12bit (0… 4095)<br>4  IN5  Input  Digital input (+24V compatible)<br>5  IN6  Input  Digital input (+24V compatible)<br>oy | ff |<br>ee 6  IN7  Input  Digital input (+24V compatible)<br>i 10 7  OUT4  Output  Open-drain output (max. 100mA)<br>Integrated freewheeling diode<br>OUT5  Output  Open-drain output (max. 100mA)<br>8<br> i Integrated freewheeling diode<br>OUT6  Output  Open-drain output (max. 100mA)<br>9<br>i Integrated freewheeling diode<br>OUT7  Output  Open-drain output (max. 1A)<br>10<br>i Integrated freewheeling diode<br>**----- End of picture text -----**<br>


**Table 3.10 I/O connector 1** 

## **3.2.6 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. 

|1<br>5<br>~~2~~|**Pin**<br>~~a~~|**Label**<br>~~a~~|**Direction**<br>~~a~~|**Description**<br>~~|~~|
|---|---|---|---|---|
||1<br>~~a~~|VBUS<br>~~a~~|Power<br>(+5V input)<br>~~a~~|+5V supply from Host<br>~~|~~|
||2|D-|Bi-directional|USB Data -<br>~~|~~|
||3<br>~~a~~|D+<br>~~G~~|Bi-directional<br>~~G~~|USB Data +<br>~~|~~|
||4|ID||Connected to signal and systemground<br>~~|~~|
||5|GND|Power(GND)|Signal and Systemground<br>~~|~~|



**Table 3.11 USB connector** 

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## **3.2.7 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. 

|1<br>8<br>:<br>gH<br>i<br>a~~GG~~|**Pin**|**Label**|**Direction**|**Description**|
|---|---|---|---|---|
||1<br>~~a~~|TX+<br>~~a~~|Output<br>~~a~~|Transmit data output(non-inverting)<br>~~Ge~~|
||2<br>~~a~~|TX-<br>~~a~~|Output<br>~~a ~~|Transmit data output (inverting)<br> ~~Ge~~|
||3|RX+|Input|Receive data input(non-inverting)|
||4<br>||||
||5<br>~~GG~~|~~GG~~|~~GG~~|~~GG~~|
||6<br>~~a~~|RX-|Input|Receive data input(inverting)|
||7<br>~~a~~|~~Ge~~|~~Ge~~|~~Ge~~|
||8<br>~~a~~<br>~~DG~~|~~Ge~~<br>~~DG~~|~~Ge~~<br>~~DG~~|~~Ge~~<br>~~DG~~|



**Table 3.12 100BASE-TX RJ-45 connector** 

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## **3.3 Power Supply** 

For proper operation care has to be taken with regard to power supply concept and design. The TMCM1310 includes about 40µF of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. Further, the module includes a 48V suppressor diode and additional varistor for over-voltage protection. 

## **CAUTION!** 

## _**Add external power supply capacitors!**_ 

The module contains a number of 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 taken into account 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. ~~co~~ 

## **3.3.1 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. 

**==> picture [434 x 165] intentionally omitted <==**

**----- Start of picture text -----**<br>
VDRIVER TMC262 + MOSFETs<br>(stepper driver)<br>48VDC SMBJ48A 4 x 10µF<br>Power 250A<br>connector SK36<br>GND GND GND<br>VDIGITAL Supply of other circuits<br>via on-board regulators<br>48VDC SMBJ48A 1µF VDIGITAL on I/O connector 0 + 1<br>250A<br>ah<br>GND GND GND<br>Figure 3.2 TMCM-1310 power supply concept<br>**----- End of picture text -----**<br>


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## **3.4 Communication** 

## **3.4.1 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 in order 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. 

## **3.5 Inputs and Outputs** 

## **3.5.1 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. 

**==> picture [458 x 223] intentionally omitted <==**

**----- Start of picture text -----**<br>
Termination<br>jumper<br>+5V<br>A/B/N encoder  SSI encoder<br>microcontroller<br>configuration configuration<br>A+ (CS+)<br>microcontroller<br>A- (CS-)<br>B+ DATA+<br>microcontroller<br>B- DATA-<br>N+ CLOCK+<br>microcontroller<br>N- CLOCK-<br>+5V microcontroller<br>3k3 3k3<br>GND<br>47k 47k 47k<br>470R 470R 470R 120R 120R 120R<br>**----- End of picture text -----**<br>


**Figure 3.3 Encoder input circuit (simplified diagram)** 

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## **3.5.2 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 undervoltage, and programmable 1k pull-ups to +5V. The programmable pull-ups can be switched on or off in software (both together). 

**==> picture [269 x 175] intentionally omitted <==**

**----- Start of picture text -----**<br>
+5V<br>1k<br>REF_L +3.3V<br>REF_R<br>10k<br>microcontroller<br>22k<br>1nF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.4 Reference switch input circuit (simplified diagram)** 

## **3.5.3 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. 

**==> picture [269 x 141] intentionally omitted <==**

**----- Start of picture text -----**<br>
IN_1<br>IN_2<br>IN_3 +3.3V<br>IN_5<br>IN_6<br>IN_7 10k<br>microcontroller<br>22k<br>1nF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.5 General purpose digital input circuit** 

**==> picture [275 x 119] intentionally omitted <==**

**----- Start of picture text -----**<br>
AIN_0 +3.3V<br>AIN_4<br>22k<br>microcontroller<br>10k<br>1nF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.6 General purpose analog input circuit** 

The function of the inputs might differ depending on the firmware version. 

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## **3.5.4 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. 

**==> picture [222 x 104] intentionally omitted <==**

**----- Start of picture text -----**<br>
VDIGITAL<br>OUT_0<br>OUT_1<br>OUT_2<br>OUT_3<br>OUT_4<br>OUT_5 microcontroller<br>OUT_6<br>OUT_7 GND<br>**----- End of picture text -----**<br>


**Figure 3.7 General purpose output (open-drain with freewheeling diode)** 

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## **4 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 OFETHERCAT STATE MACHINE**|**LINK IN, LINK OUT, AND STATUS OFETHERCAT STATE MACHINE**|**LINK IN, LINK OUT, AND STATUS OFETHERCAT STATE MACHINE**|
|---|---|---|
|**Green LED**|**Description**||
|EtherCAT<br>LINK OUT state|OFF<br>blinking<br>single flash|No link.|
|||Link and activity.|
|||Link without activity.|
|EtherCAT<br>LINK IN state|OFF<br>blinking<br>single flash|No link.|
|||Link and activity.|
|||Link without activity.|
|EtherCAT<br>RUN state|OFF<br>blinking<br>single flash<br>ON<br>flickering(fast)|The device is in state INIT.|
|||The device is in state PRE-OPERATIONAL.|
|||The device is in state SAFE-OPERATONAL.|
|||The device is in state OPERATIONAL.|
|||The device is in state BOOTSTRAP.|



**Table 4.1 On-board EtherCAT LEDs** 

**==> picture [111 x 33] intentionally omitted <==**

**----- Start of picture text -----**<br>
Error<br>EtherCAT™  RUN  state<br>EtherCAT™  LINK OUT  state<br>EtherCAT™  LINK IN  state<br>**----- End of picture text -----**<br>


**Figure 4.1 On-board LEDs** 

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## **5 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.**_ 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VDRIVER|Power supplyvoltage for driver|10|12..24..48|52.5|V|
|VDIGITAL|Separate power supply voltage for controller<br>(option,can be left unconnected)|VDRIVER|||V|
|||||||
|VUSB|Power supplyvia USB connector||5||V|
|IUSB|Current withdrawn from USB supply when<br>USB buspowered(no other supplyconnected)||85||mA|
|||||||
|ICOIL|Motor coil current for sine wave peak<br>(chopper regulated,adjustable via software)|0||4200|mA|
|||||||
|IMC|Continuous motor current (RMS)|0||3|A|
|IS|Power supply current||<< 6x ICOIL|1.4x 6x<br>ICOIL|A|
|||||||
|TENV@+24V|Environmental temperature at maximum<br>current (no forced cooling) with +24V supply<br>voltage|||50|°C|
|||||||
|TENV@+48V|Environmental temperature at maximum<br>current (no forced cooling) with +48V supply<br>voltage|||35|°C|
|||||||



**Table 5.1 General operational ratings of the module** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VREF_L/R|Input voltage for reference switch inputs<br>REF_L / REF_R|0||28|V|
|||||||
|IREF_L/R_L|Low level voltage for reference switch inputs<br>REF_L / REF_R|0||1.1|V|
|||||||
|IREF_L/R_H|High level voltage for reference switch inputs<br>REF_L / REF_R|2.9||28|V|
|||||||



**Table 5.2 Operational ratings of the reference switch inputs** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VOUT_0..7|Voltage at open collector output|0||VDIGITAL|V|
|IOUT_0/1/2/4/5/6|Output sink current for OUT_0/1/2 and<br>OUT_4/5/6|||100|mA|
|||||||
|IOUT_3/7|Output sink current for OUT_3 and OUT_7|||1|A|
|VIN_ 1/2/3/5/6/7|Input voltage for general purpose digital<br>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<br>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<br>inputs IN_1/2/3 and IN_5/6/7|2.9||28|V|
|||||||
|VAIN_0!4|Full scale input voltage range for analog<br>voltage inputs|0||10|V|
|||||||



**Table 5.3 Operational ratings of the general purpose I/Os** 

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## **6 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 

**==> picture [458 x 176] intentionally omitted <==**

**----- Start of picture text -----**<br>
Link In PHY TMCM-1310<br>EBUS ET1100 TMCL<br>Memory<br>Link Out PHY<br>USB<br>Power  Step<br>Ref. switch inputs 2 Energy Efficient  MOSFET<br>Driver<br>Inputs 8 µC TMC262DriverTMC262 driverstage<br>with coolStep™<br>8 Motor<br>Outputs<br>12… 48V DC 3.3V  Encoder ABN or SSI Encoder<br>5V<br>**----- End of picture text -----**<br>


**Figure 6.1 Main parts of TMCM-1310** 

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._ 

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## **7 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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## **8 Revision History** 

## **8.1 Document Revision** 

|**Version**|**Date**|**Author**|**Description**|
|---|---|---|---|
|0.90|2012-OCT-25|GE|Preliminaryversion|
|1.00|2012-DEC-06|SD|First complete version|
|1.10|2013-MAY-23|GE|Adapted to latest hardware version V1.2|
|1.11|2013-JUL-03|SD|Changes related to the design|
|1.12|2013-JUL-05|SD|New frontpicture|



**Table 8.1 Document revision** 

## **8.2 Hardware Revision** 

|**Version**|**Date**|**Description**|
|---|---|---|
|TMCM-1310_V10|2012-JUL-27|Initial version|
|TMCM-1310_V11|2013-JAN-14|Minor corrections<br>-<br>USB circuit corrected|
||||
|TMCM-1310_V12|2013-APR-10|Several corrections and modifications:<br>-<br>Additional supply input filters and enhanced protection<br>circuit<br>-<br>Stepper motor driver stage output filter added<br>-<br>Revised ground / shield concept. Enclosure connected to<br>shield instead of system ground<br>-<br>SSI encoder support now with separate CS (chip select)<br>signal support<br>-<br>Option for supplycurrent measurement|
||||



## **Table 8.2 Hardware revision** 

## **9 References** 

[JST] JST connector http://www.jst.com [TMCL-IDE] TMCL-IDE User Manual see http://www.trinamic.com [TMCM-1310] TMCM-1310 Firmware Manual see http://www.trinamic.com 

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