TMCM-1160-CABLE Analog Devices

MODULE FOR STEPPER MOTORS MODULE Hardware Version V1.1 HARDWARE MANUAL + + TMCM-1160 1-Axis Stepper Controller / Driver 2.8 A / 48 V USB, RS485, and CAN Step/Dir Interface sensOstep Encoder + + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com TMCM-1160 V1.01 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 2 Table of Contents 1 Features ........................................................................................................................................................................... 3 2 Order Codes ................................................................................................................................................................... 5 3 Mechanical and Electrical Interfacing ..................................................................................................................... 6 3.1 Dimensions and Mounting Holes ................................................................................................................... 6 3.2 Connectors of TMCM-1160 ................................................................................................................................. 7 3.2.1 Power Connector ........................................................................................................................................... 8 3.2.1.1 Power Supply .......................................................................................................................................... 8 3.2.2 Serial Communication Connector ............................................................................................................. 9 3.2.2.1 RS485 ......................................................................................................................................................... 9 3.2.2.2 CAN ........................................................................................................................................................... 10 3.2.3 Multipurpose I/O Connector ..................................................................................................................... 11 3.2.3.1 Digital Inputs STOP L, STOP R, and HOME ................................................................................... 11 3.2.3.2 General Purpose Inputs IN 0 and IN 1 ......................................................................................... 12 3.2.3.3 Outputs OUT 0, OUT 1 ........................................................................................................................ 12 3.2.4 Step/Direction Connector .......................................................................................................................... 12 3.2.4.1 Step / Direction / Enable Inputs ...................................................................................................... 13 3.2.5 Encoder Connector ...................................................................................................................................... 14 3.2.5.1 Encoder Inputs ...................................................................................................................................... 14 3.2.6 Motor Connector .......................................................................................................................................... 15 3.2.7 Mini-USB Connector .................................................................................................................................... 16 4 Jumpers ......................................................................................................................................................................... 17 4.1 RS485 Bus Termination .................................................................................................................................... 17 4.2 CAN Bus Termination ....................................................................................................................................... 17 5 Reset to Factory Defaults ......................................................................................................................................... 18 6 On-Board LED .............................................................................................................................................................. 19 7 Operational Ratings ................................................................................................................................................... 20 8 Functional Description .............................................................................................................................................. 22 9 TMCM-1160 Operational Description ..................................................................................................................... 23 9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23 10 Life Support Policy ..................................................................................................................................................... 25 11 Revision History .......................................................................................................................................................... 26 11.1 Document Revision ........................................................................................................................................... 26 11.2 Hardware Revision ............................................................................................................................................ 26 12 References .................................................................................................................................................................... 26 www.trinamic.com