PD3-110-42-232 Analog Devices

PANDrive PD-110-42 and TMCM-110-42 42mm / NEMA-17 Stepper Motor Mechatronic Module TMCM-110-42 Electronics Manual Version: 1.13 th December 23 , 2005 Sternstrae 67 D - 20357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60 TMCM-110-42 Manual 2 Contents 1 Features ........................................................................................................................................... 3 2 Life support policy............................................................................................................................. 4 3 Electrical and Mechanical Interfacing............................................................................................... 5 3.1 Dimensions................................................................................................................................ 5 3.2 Connectors................................................................................................................................ 5 3.3 Connecting the module ............................................................................................................. 5 3.3.1 Connector 1: Power supply and host interface .................................................................... 6 3.3.2 Connector 2: Motor connector ............................................................................................. 6 3.3.3 Connector 3: Additional I/O.................................................................................................. 7 3.3.4 ISP Connector...................................................................................................................... 7 3.4 Activity LED............................................................................................................................... 7 4 Operational Ratings.......................................................................................................................... 8 5 Functional Description...................................................................................................................... 9 5.1 System Architecture .................................................................................................................. 9 5.1.1 Microcontroller...................................................................................................................... 9 5.1.2 EEPROM.............................................................................................................................. 9 5.1.3 TMC428 Motion Controller................................................................................................... 9 5.1.4 TMC246 Motor Driver......................................................................................................... 10 5.2 Power Supply .......................................................................................................................... 10 5.3 Communication Interface ........................................................................................................ 10 5.4 Reference Switches ................................................................................................................ 10 5.5 StallGuard - Sensorless Motor Stall Detection.................................................................... 11 5.6 Motor current setting ............................................................................................................... 11 6 Putting the TMCM-110 into Operation............................................................................................ 12 7 TMCM-110 Operational Description............................................................................................... 13 7.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency ..................... 13 8 Software ......................................................................................................................................... 15 9 Revision History.............................................................................................................................. 16 9.1 Documentation Revision ......................................................................................................... 16 9.2 Firmware Revision .................................................................................................................. 16 10 References ..................................................................................................................................... 17 List of Figures Figure 3.1: Mounting holes (all dimensions in millimeters)......................................................................5 Figure 3.2: The TMCM-110-42 module ................................................................................................... 6 Figure 5.1: Application Environment........................................................................................................ 9 List of Tables Table 1.1: Order codes............................................................................................................................ 3 Table 3.1: Connector 1 ............................................................................................................................ 6 Table 3.2: Connector 2 ............................................................................................................................ 6 Table 3.3: Connector 3 ............................................................................................................................ 7 Table 4.1: Operational Ratings................................................................................................................ 8 Table 5.1: Motor Current Examples....................................................................................................... 11 Table 7.1: TMC428 Velocity parameters............................................................................................... 13 Table 9.1: Documentation Revisions..................................................................................................... 16 Table 9.2: Firmware Revisions .............................................................................................................. 16 Copyright 2005, TRINAMIC Motion Control GmbH & Co. KG