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Instruction Manual for TRINAMIC models including: TMCM-1070, TMCM-1070 Module for Stepper, TMCM-1070 Module, Module for Stepper, Stepper, Stepper Module, Module
TMCM-1070-CABLE TRINAMIC / ANALOG DEVICES - РКС Компоненти - РАДІОМАГ
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DocumentDocumentModule for Stepper MODULE TMCM-1070 Hardware Manual Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 TMCM-1070 is an easy to use stepper motor driver module. The module is controlled via a step and direction interface. One configuration pin selects the current control mode between StealthChopTM for absolute silent motor control and SpreadCycleTM for high speed. A TTL UART interface allows for more advanced configuration and permanent parameter storage via TMCLTM-IDE. Features · Supply Voltage +9 to +24V DC · Step and direction interface · MicroPlyerTM to 256 µ-steps · StealthChopTM silent PWM mode · SpreadCycleTM smart mixed decay · StallGuard2TM load detection · CoolStepTM autom. current scaling · UART configuration interface Applications · Lab-Automation · Manufacturing · Robotics · Factory Automation Simplified Block Diagram · CNC · Laboratory Automation ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com Read entire documentation. Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 2 / 23 Contents 1 Features 3 1.1 General Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 TRINAMIC's Unique Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2.1 stealthChopTM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2.2 spreadCycleTM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.4 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2 Order Codes 6 3 Mechanical and Electrical Interfacing 7 3.1 TMCM-1070 Dimensions and Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3.2 Mounting Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.2.1 Top Hat Rail Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4 Connectors and LEDs 9 4.1 Motor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4.2 I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.3 TTL UART Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.4 Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 5 Functional Description 12 5.1 Typical Application Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 5.2 Optically Isolated Inputs with Common Anode Input . . . . . . . . . . . . . . . . . . . . . . . . 13 5.3 Optically Isolated Inputs with Common Cathode Input . . . . . . . . . . . . . . . . . . . . . . . 14 5.4 Input Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 5.5 Thermal Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 6 Operational Ratings and Characteristics 16 6.1 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 6.2 Electrical Characteristics (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . . 16 6.3 I/O Ratings (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 6.4 Functional Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 6.5 Other Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 7 Abbreviations used in this Manual 18 8 Figures Index 19 9 Tables Index 20 10 Supplemental Directives 21 10.1 Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 10.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 10.3 Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 10.4 Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 10.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 10.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 10.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 11 Revision History 23 11.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 11.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 3 / 23 1 Features TMCM-1070 is an easy to use stepper driver unit with state of the art feature set. It is highly integrated and offers a convenient handling. TMCM-1070 can be used with a simple step and direction interface and can be configured using a TTL UART interface. stallGuard2 and coolStep can be configured via TTL UART interface and are disabled by default. 1.1 General Features Main Characteristics · Supply Voltage +9V to +24V DC · 1.2A RMS phase current (ca. 1.7A peak phase current) · Highest micro step resolution, up to 256 micro steps per full step · MicroPlyerTM microstep interpolator for obtaining increased smoothness of microstepping over a low frequency STEP/DIR interface · With housing and motor mounted · Permanent onboard parameter storage · Simple step & direction mode · Noiseless StealthChopTM chopper mode for slow to medium velocities · High performance SpreadCycleTM chopper mode · High-precision sensorless load measurement with StallGuard2TM · Automatic current scaling algorithm CoolStepTM to save energy and keep your drive cool Optically Isolated Inputs · Step & direction interface with up to 45kHz input frequency · Enable input to power-on/-off driver H-bridges · Mode select input to switch between the two chopper modes TTL UART Interface · TTL-level UART interface for parameter configuration · Interface speed 9600-115200 bps (default 9600 bps) · TMCL-based protocol for online configuration and permanent parameter settings · Bootloader for firmware updates ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 4 / 23 1.2 TRINAMIC's Unique Features 1.2.1 stealthChopTM stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities. With stealthChop, the motor current is applied by driving a certain effective voltage into the coil, using a voltage mode PWM. There are no more configurations required except for the regulation of the PWM voltage to yield the motor target current. Figure 1: Motor coil sine wave current using stealthChop (measured with current probe) 1.2.2 spreadCycleTM The spreadCycle chopper is a high-precision, hysteresis-based, and simple to use chopper mode, which automatically determines the optimum length for the fast-decay phase. Several parameters are available to optimize the chopper to the application. spreadCycle offers optimal zero crossing performance compared to other current controlled chopper algorithms and thereby allows for highest smoothness. The true target current is powered into the motor coils. Figure 2: spreadCycle principle ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 5 / 23 1.3 stallGuard2 stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value reaches zero or is near zero. This is the most energy-efficient point of operation for the motor. Load [Nm] stallGuard2 Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall. Motor stalls Figure 3: stallGuard2 Load Measurement as a Function of Load 1.4 coolStep coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2. coolStep adapts the required current to the load. Energy consumption can be reduced by as much as 75%. coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant-load application allows significant energy savings because coolStep automatically enables torque reserve when required. Reducing power consumption keeps the system cooler, increases motor life, and allows for cost reduction. 0,9 0,8 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Efficiency with coolStep Efficiency with 50v torque reserve Figure 4: Energy Efficiency Example with coolStep ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 6 / 23 2 Order Codes Order Code TMCM-1070 Description Controller/Driver Module without motor, +24V DC, TTL UART interface (9600bps default), S/D interface, Enable, Mode Select Size (LxWxH) 42mm x 42mm x 12mm Table 1: Order codes modules Order Code TMCM-1070-CABLE Description Cable loom for TMCM-1070. Contains: · 1x cable loom for motor connector with 4-pin JST PH female connector · 1x cable loom for I/O connector with 9-in JST PH female connector TMCM-KAMINO-CLIP Self-Adhesive top hat rail mounting clip for TMCM-1070 base module (not available with PANdrive versions PD42-x-1070) TMCM-KAMINO-AP23 Aluminum adapter plate kit for mounting of TMCM-1070 base module to NEMA23 size motors (not available with PANdrive versions PD42-x-1070) TMCM-KAMINO-AP24 Aluminum adapter plate kit for mounting of TMCM-1070 base module to NEMA24 size motors (not available with PANdrive versions PD42-x-1070) Table 2: Order codes cable loom ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 7 / 23 3 Mechanical and Electrical Interfacing 3.1 TMCM-1070 Dimensions and Weight The dimensions of the TMCM-1070 are approximately 42mm x 42mm x 12mm. There are two mounting holes for M3 screws for mounting the TMCM-1070 to a NEMA17 stepper motor (screw/thread length depends on motor size). 42mm 42mm Figure 5: TMCM-1070 top view mechanical dimensions Order Code L in mm Weight in g TMCM-1070 12 ±0,2 32 Table 3: TMCM-1070 length and weight ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 8 / 23 3.2 Mounting Considerations TMCM-1070 is designed to be mountable on the back of a NEMA17 motor. Alternatively it can be mounted standalone. NOTICE Thermal Considerations If not mounted to a motor take care for a proper cooling. The electronics have an overtemperature shutdown, nevertheless damage to electronics or system can be caused by excessive temperature. 3.2.1 Top Hat Rail Mounting To mount the drive on a top hat rail, TRINAMIC offers a fitting top hat rail clip. The order code is provided in table 2. Figure 6: TMCM-1070 top hat rail mounting clip example with module ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 4 Connectors and LEDs 9 / 23 Figure 7: TMCM-1070 connectors (pin 1 highlighted in red) 4.1 Motor Connector Pin no. 1 2 3 4 Pin name A1 A2 B1 B2 Description Motor phase A pin 1 Motor phase A pin 2 Motor phase B pin 1 Motor phase B pin 2 Table 4: Motor connector pinning NOTICE Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off or disconnect power supply before (dis)connecting the motor. ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 10 / 23 4.2 I/O Connector Pin no. 1 2 3 4 5 6 7 8 9 Pin name GND V+ DIR STEP EN CHOP COMM RXD TXD Description Supply ground connection, also used for USB serial converter ground connection Supply voltage (V DD) +9V to +28V DC Optically isolated direction input of S/D interface Optically isolated step input of S/D interface Optically isolated enable input of motor driver H-bridges Optically isolated chopper mode selection input Opto-coupler common anode or cathode, connect to ground or VCCIO (3.3V to 6V - higher voltages possible with additional external resistors) TTL-level UART receive line, use with USB serial converter TXD line to connect to PC TTL-level UART transmit line, use with USB serial converter RXD line to connect to PC Table 5: I/O connector pinning NOTICE NOTICE NOTICE Supply Voltage Buffering / Add External Power Supply Capacitors A sufficiently buffered power supply or an external electrolyte capacitor connected between V+ and GND is recommended for stable operation. It is recommended to connect an electrolytic capacitor of significant size to the power supply lines next to the TMCM-1070. Rule of thumb for size of electrolytic capacitor: C = 1000 µF A ISUP P LY The PD42-1070 comes with approximately 40µF of onboard ceramic capacitors. There is no reverse polarity protection on the supply input! The module will short any reversed supply voltage and board electronics will get damaged. Power Up Sequence The TMCM-1070 must be powered up with disabled driver stage only. Depending on your configuration the EN input should be logically OFF (EN input either open or at the same voltage level as the COMM input). ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 11 / 23 4.3 TTL UART Connection To connect via the TTL UART interface to a host PC, we suggest using a USB serial converter from TTL-UART (5V) to USB interface. Communication with the host PC, for example when using TRINAMIC's TMCL-IDE, is done via the Virtual COM port installed by the converter driver. More information on the TMCL-IDE and the latest release can be found here: www.trinamic.com The converter cable must be connected to pins 1, 8, and 9 (GND, RXD, TXD) of the I/O connector. Note Info Default Baud Rates The default baud rate is 9600 bps. In bootloader mode, the baud rate is 115200 bps. USB to UART converter For example, the TTL-232R-5V from FTDI is working with the module and has been tested. More information on this converter is available on the FTDI website: www.ftdichip.com NOTICE 5V TTL UART Level The TTL UART interface works with 5V level. Take special care when selecting a converter cable for USB connection. 4.4 Status LEDs The TMCM-1070 has one green status LED. See figure 7 for its location. State Description Blinking MCU active, normal operation Permanent on Bootloader mode Off Power Off Table 6: LED state description ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 12 / 23 5 Functional Description 5.1 Typical Application Wiring Wire the TMCM-1070 as shown in the following figures. · Connect the the power supply to V+ and GND. · Connect the Step and Direction signals to your motion controller. · At power up time, the EN input must be logically off (= driver stage disabled)! · Optional: Connect UART to a TTL UART interface with 5V logic levels. To configure your TMCM-1070 connect start the TMCL-IDE and use the parameterization tools. For detailed instructions refer to the TMCM-1070-firmware-manual. Note The TTL UART interface is not optically isolated. It has and requires 5V level signals. Nevertheless, it provides basic ESD and rail-to-rail signal line protection for the TMCM-1070. V+ TMCM-1070 / 9V-28V GND PD-x-1070 +5V +5V COMM STEP 270 DIR 270 User MCU EN 270 A1 A2 B1 B2 Driver & Controller M CHOP 270 GND RXD TXD Figure 8: Typical application scenario with 5V inputs ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 13 / 23 5.2 Optically Isolated Inputs with Common Anode Input The control inputs of the TMCM-1070 are optically isolated (not the TTL UART interface). All optocouplers share one common anode (COMM) input as shown in the figure above. 3.3V to +6V TMCM-1070 / +5V PD-x-1070 COMM STEP 270 DIR 270 User MCU EN 270 A1 A2 B1 Driver & B2 Controller M CHOP 270 GND Figure 9: Inputs with common anode input with 3.3V to 6V The typical voltage at COMM input is 5V. Nevertheless, 3.3V or voltages higher than 5V can also be used as long as the current is through the optocouplers' emitter is between 5mA to 20mA. For 3.3V operation the controller must be carefully selected with respect to its I/O ports, its actual output voltage, and the series resistor of the I/O ports. The user must make sure that the current through the optocouplers' emitter is between 5mA to 20mA. Note Step pulse width With the COMM input connected to ground, the width of the step pulses should be between 2µs and 4µs, for maximum step frequency. With a larger step pulse width, for example 50% duty cycle coming from a frequency generator, the maximum input frequency will be lower at ca. 9kHz. With the COMM input connected to +5V, longer step pulses are necessary. ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 14 / 23 TMCM-1070 / +5V PD-x-1070 >5V to +24V COMM STEP Rexternal 270 GND Rexternal 270 DIR GND Rexternal 270 EN A1 A2 B1 Driver & B2 Controller M GND Rexternal 270 CHOP GND GND Figure 10: Inputs with common anode input with >5V to 24V The series resistors in the TMCM-1070 are 270mOhms. For operation with voltages higher than 5V an additional external resistor Rexternal is required per input to limit the current. See Table 7 as reference for additional external resistor values. COMM Voltage (V) 3.3 5 9 12 15 24 Value of Rexternal () 300 500 700 1K5 Table 7: Additional resistor reference values Note Rexternal Selection Take care when selecting an additional external resistor. The resistor type must have a fitting power rating. This depends on the voltage used at COMM input. 5.3 Optically Isolated Inputs with Common Cathode Input The optocouplers inside TMCM-1070 are bidirectional types (AC/DC). Thus, COMM can also be used as common cathode connection with high-side (pnp style) switches instead of low side (npn style) as shown in previous figures 10, 9 or 8. ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 15 / 23 5.4 Input Logic The logic of the optically isolated inputs depends on the usage of common anode input or common cathode input. The following table shows the logic of the CHOP input and the logic of the EN input. COMM=3.3. . . 5V (Common anode) CHOP=GND SpreadCycle CHOP=3.3. . . 5V StealthChop EN=GND Motor enable EN=3.3. . . 5V Motor disable COMM=GND (Common cathode) StealthChop SpreadCycle Motor disable Motor enable 5.5 Thermal Behavior The default configuration parameters of the TMCM-1070 are set to the specified maximum current of 1.2A rms / 1.7A peak. Typically, at this nominal current setting the stepper motor and the driver electronics will get hot. Continuous operation at maximum current is not guaranteed without cooling the motor since the stepper driver will switch off due to its internal over-temperature protection until temperature falls below the threshold. Note Operation with Maximum Current Setting For table-top testing and application bring-up the current should be reduced or the coolStep feature should be configured to keep heating on a reasonable level. Especially, when there is no other cooling option for the motor. For proper and continuous operation at maximum current, the motor flange must be mounted to the applications mechanical interface with good contact. ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 6 Operational Ratings and Characteristics 6.1 Absolute Maximum Ratings Parameter Min Max Unit Supply voltage +9 +28 V Working temperature -30 +40 ° C Motor coil current / sine wave peak 1.7 A Continuous motor current (RMS) 1.0 A 16 / 23 NOTICE Never Exceed the absolute maximum ratings! Stresses above those listed under "`Absolute Maximum Ratings"' may cause permanent damage to the device. This is a stress rating only and functional operation of the device at those or any other conditions above those indicated in the operation listings of this specification is not implied. Exposure to maximum rating conditions for extended periods may affect device reliability. Keep the power supply voltage below the upper limit of +28V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. 6.2 Electrical Characteristics (Ambient Temperature 25° C) Parameter Symbol Min Typ Max Unit Supply voltage V DD 9 24 26 V Motor coil current / sine wave peak (chopper regu- ICOILpeak 0 lated, adjustable via TTL UART interface) 1.7 A Continuous motor current (RMS) ICOILRMS 0 1.2 A Power supply current IDD ICOIL 1.4ICOIL A Table 9: Electrical Characteristics 6.3 I/O Ratings (Ambient Temperature 25° C) Parameter COMM input voltage Input frequency of optically isolated I/Os TTL UART input voltage TTL UART low level voltage TTL UART high level voltage Symbol VC OM M fin VT T L_IN VT LLL VT T LH Min Typ Max Unit 3.3 5 6 V 45 kHz 5 5.5 V 0 1.75 V 3.25 5 V ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 17 / 23 TTL UART output voltage VT T L_OU T 5 V Table 10: Operational ratings of optically isolated inputs and TTL UART interface 6.4 Functional Characteristics Parameter Description / Value Control 4-wire interface with Step, Direction, Enable, and Chopper Mode Switch Step Pulse Width The step pulse width should be between 2µs and 4µs for maximum frequency. With a larger step pulse width, for example 50% duty cycle coming from a frequency generator, the maximum input frequency will be lower at ca. 9kHz. Communication 2-wire TTL UART interface for configuration, 9600-115200 bps (default 9600 bps) Driving Mode spreadCycle and stealthChop chopper modes (selectable with CHOP input), adaptive automatic current reduction using stallGuard2 and coolStep Stepping Resolution Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step, default is 1/16 with internal interpolation to 1/256 Table 11: Functional Characteristics 6.5 Other Requirements Specifications Cooling Working environment Working temperature Description or Value Free air Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting -30° C to +40° C Table 12: Other Requirements and Characteristics ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 7 Abbreviations used in this Manual Abbreviation COMM IDE LED RMS TMCL TTL UART USB Description Common Anode or common cathode Integrated Development Environment Light Emmitting Diode Root Mean Square value TRINAMIC Motion Control Language Transistor Transistor Logic Universal Asynchronous Receiver Transmitter Universal Serial Bus Table 13: Abbreviations used in this Manual 18 / 23 ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 19 / 23 8 Figures Index 1 Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . 4 2 spreadCycle principle . . . . . . . . . . 4 3 stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . 5 4 Energy Efficiency Example with coolStep 5 5 TMCM-1070 top view mechanical di- mensions . . . . . . . . . . . . . . . . . 7 6 TMCM-1070 top hat rail mounting clip example with module . . . . . . . . . 8 7 TMCM-1070 connectors (pin 1 highlighted in red) . . . . . . . . . . . . . . 9 8 Typical application scenario with 5V inputs . . . . . . . . . . . . . . . . . . . 12 9 Inputs with common anode input with 3.3V to 6V . . . . . . . . . . . . . . 13 10 Inputs with common anode input with >5V to 24V . . . . . . . . . . . . . 14 ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 20 / 23 9 Tables Index 1 Order codes modules . . . . . . . . . 6 2 Order codes cable loom . . . . . . . . 6 3 TMCM-1070 length and weight . . . . 7 4 Motor connector pinning . . . . . . . 9 5 I/O connector pinning . . . . . . . . . 10 6 LED state description . . . . . . . . . . 11 7 Additional resistor reference values . 14 9 Electrical Characteristics . . . . . . . . 16 10 Operational ratings of optically isolated inputs and TTL UART interface . 17 11 Functional Characteristics . . . . . . . 17 12 Other Requirements and Characteris- tics . . . . . . . . . . . . . . . . . . . . . 17 13 Abbreviations used in this Manual . . 18 14 Hardware Revision . . . . . . . . . . . 23 15 Document Revision . . . . . . . . . . . 23 ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 21 / 23 10 Supplemental Directives 10.1 Producer Information 10.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2022 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany. Redistribution of sources or derived formats (for example, Portable Document Format or Hypertext Markup Language) must retain the above copyright notice, and the complete data sheet, user manual, and documentation of this product including associated application notes; and a reference to other available product-related documentation. 10.3 Trademark Designations and Symbols Trademark designations and symbols used in this documentation indicate that a product or feature is owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose products are used or referred to in combination with TRINAMIC's products and TRINAMIC's product documentation. This Hardware Manual is a non-commercial publication that seeks to provide concise scientific and technical user information to the target user. Thus, trademark designations and symbols are only entered in the Short Spec of this document that introduces the product at a quick glance. The trademark designation /symbol is also entered when the product or feature name occurs for the first time in the document. All trademarks and brand names used are property of their respective owners. 10.4 Target User The documentation provided here, is for programmers and engineers only, who are equipped with the necessary skills and have been trained to work with this type of product. The Target User knows how to responsibly make use of this product without causing harm to himself or others, and without causing damage to systems or devices, in which the user incorporates the product. 10.5 Disclaimer: Life Support Systems 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. Information given in this document is believed to be accurate and reliable. However, no 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. 10.6 Disclaimer: Intended Use The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 22 / 23 or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in significant personal injury or death (safety-Critical Applications) without TRINAMIC's specific written consent. TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product. 10.7 Collateral Documents & Tools This product documentation is related and/or associated with additional tool kits, firmware and other items, as provided on the product page at: www.trinamic.com. ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com. TMCM-1070 Hardware Manual · Hardware Version V1.00 | Document Revision V1.13 · 2022-JAN-07 23 / 23 11 Revision History 11.1 Hardware Revision Version Date Author Description 1.00 09.06.2016 BS First Version. Table 14: Hardware Revision 11.2 Document Revision Version 1.00 1.10 1.11 1.12 1.13 Date 26.06.2016 27.10.2017 2021-JUN-03 2021-SEP-03 2022-JAN-07 Author BS GE OK OK OK Description Initial release. Current rating, digital inputs rating and drawings updated / corrected. 9600bps default value for communication speed corrected. Notice about EN input corrected. Notice about step pulse length extended. New section 5.4. Table 15: Document Revision ©2022 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Downloaded from Arrow.com.