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User Guide for TRINAMIC models including: TMCM-1636 Single Axis Servo Drive, TMCM-1636, Single Axis Servo Drive, Axis Servo Drive, Servo Drive, Drive
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DocumentDocumentModule for BLDC MODULE TMCM-1636 Hardware Manual HW Version V1.1 | Document Revision V1.30 · 2021-03-08 The TMCM-1636 is a single axis servo drive for 3-phase BLDC and DC motors with up to ca. 1000W running at +24V or +48V. It offers a CAN & UART interface with either TMCL or CANopen protocol for communication. TMCM-1636 supports various position feedback options: 2x incremental quadrature encoders, digital HALL sensor, absolute SPI- and SSI-based encoders. Customization of firmware and hardware is possible. Applications · Robotics · Laboratory Automation · Manufacturing Features · Servo Drive for BLDC and DC Motor · +24V and +48V Supply Version · Up to 1000W continuous · Up to 60A RMS phase current max. · CAN & UART interface · 2x incremental encoder · Digital HALL sensor · Absolute SPI & SSI-based encoder support · Various GPIOs · Motor brake control and overvolt- age protection · Factory Automation · Servo Drives · Motorized Tables and Chairs · Industrial BLDC & DC Motor Drives Simplified Block Diagram ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 2 / 20 Contents 1 Features 3 2 Order Codes 4 3 Connectors and Signals 5 3.1 Screw Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3.2 I/O and Interface Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3.3 Brake Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4 Interface Circuits 10 4.1 Supply Connection and Supply Buffering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.2 General Purpose Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 4.3 General Purpose Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.4 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.5 Reference Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.6 Brake Control Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.7 Over-Voltage Protection Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4.8 Feedback Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.8.1 Incremental Quadrature Encoders 1 & 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.8.2 Digital Hall Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.8.3 SPI-based Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.8.4 RS422-based Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 5 LED Status Indicators 13 6 Communication 13 6.1 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 7 Operational Ratings and Characteristics 14 7.1 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 7.2 Operational Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 7.3 I/O Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 7.4 Other Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 8 Figures Index 16 9 Tables Index 17 10 Supplemental Directives 18 10.1 Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 10.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 10.3 Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 10.4 Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 10.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 10.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 10.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 11 Revision History 20 11.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 11.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 3 / 20 1 Features The TMCM-1636 is a single axis servo drive platform for 3-phase BLDC motors and DC motors with up to ca. 1000W running at +24V or +48V It offers a CAN interface with either TMCL or CANopen protocol for communication. TMCM-1636 supports various positions feedback options: 2x incremental quadrature encoders, digital hall sensors, absolute SPI- and SSI-based encoders. Customization of firmware and hardware is possible. Controller & Driver · TMCM-1636-24V-TMCL/CANOPEN Motor current: up to 30A RMS continuous, 60A RMS short time peak1 Supply voltage: +24VDC nominal · TMCM-1636-48V-TMCL/CANOPEN Motor current: up to 20A RMS continuous, 60A RMS short time peak1 Supply voltage: +48VDC nominal · Field Oriented Control in hardware with up to 100kHz PWM and current control loop · Support for DC and BLDC motors · Temperature rating: -30. . . +60° Position Feedback · 2x Incremental encoder (ABN) · Digital HALL sensors · SPI-based absolute encoders, depending on firmware option · RS422-based absolute encoders (SSI, BiSS), depending on firmware option · +5VDC supply for external sensors IO & Interfaces · CAN interface with on-board CAN transceiver (for TMCL or CANopen protocol) · UART interface with +3.3V supply (supports only TMCL) · 4x optically isolated general purpose digital inputs · 2x general purpose outputs · 2x analog inputs · 3x Reference Inputs (Left, Right, Home) · Motor brake control output · Overvoltage protection output Mechanical data 1This is the maximum current rating. This is not for continuous operation but depends on motor type, duty cycle, ambient temperature, and active/passive cooling measures. ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 4 / 20 · Max. dimension: 100mm x 50mm x 18mm (L/W/H) · Weight: ca. 70g (without mating connectors and cables) · 2x M3 mounting holes · Optional cooling via aluminum PCB bottom side Software Options · TMCLTM remote (direct mode) and standalone operation (memory for up to 1024 TMCLTM commands), fully supported by TMCL-IDE (PC based integrated development environment). Further information given in the TMCM-1636 TMCL firmware manual. · CANopen firmware with CANopen standard protocol stack for the CAN interface. Further information given in the TMCM-1636 CANopen firmware manual. · Custom firmware options, for example supporting specific absolute encoder types with SPI or RS422based interface. 2 Order Codes Order Code TMCM-1636-24V-TMCL TMCM-1636-24V-CANOPEN TMCM-1636-48V-TMCL TMCM-1636-48V-CANOPEN TMCM-1636-CABLE Description Servo Drive, 24V Supply, with TMCL firmware Servo Drive, 24V Supply, with CANopen firmware Servo Drive, 48V Supply, with TMCL firmware Servo Drive, 48V Supply, with CANopen firmware TMCM-1636 cable loom Size (LxWxH) 100mm x 50mm x 18mm 100mm x 50mm x 18mm 100mm x 50mm x 18mm 100mm x 50mm x 18mm length ca. 150mm - 1x 2-pin Molex MicroLock Plus cable for electromagnetic brake connector - 1x 40-pin Molex MicroLock Plus cable for I/O connector - 7x 1.5sqmm leads with M4 eyelets in different color, high temp / SIF Table 1: TMCM-1636 Order Codes ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 3 Connectors and Signals The TMCM-1636 has 9 connectors: · 7 M4 screw terminals for supply and high voltage IO (red mark) · 1 IO and interface connector with 40 pins (blue mark) · 1 Brake control output connector with 2 pins (orange mark) 5 / 20 Figure 1: TMCM-1636 connectors / top view NOTICE NOTICE Start with power supply OFF and do not connect or disconnect motor during operation! Motor cable and motor inductance 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 / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. Take care of polarity, wrong polarity can destroy the board! ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 6 / 20 3.1 Screw Terminals Mating cables are any cables with fitting M4 cable lugs. NOTICE NOTICE NOTICE Take care for using cables that fit to the required continuous current rating for your application! Supply cable should be as short as possible to reduce cable resistance and limit voltage drop at high load on the supply. Depending on your application make sure to add sufficient capacitors to the driver input to stabilize driver supply. Low ESR electrolyte caps are recommended, especially for higher current applications. See Section 4.1 for more information on this. Figure 2: TMCM-1636 screw connectors Terminal 1 2 3 4 5 6 7 Signal +VM OVP GND W V_X2 U_X1 CH/PE Description Motor supply voltage, voltage range depends on driver stage Over-voltage protection output Signal and supply ground BLDC phase W BLDC phase V, X2 for DC motor BLDC phase U, X1 for DC motor Protective Earth/chassis ground Table 2: TMCM-1636 screw terminals ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 7 / 20 3.2 I/O and Interface Connector The connector is of type Molex Micro-Lock Plus 5054484071 (1.25mm pitch, dual row, right-angle, 40 pins). The mating connector is Molex 5054324001 (1.25mm pitch, dual row, 40 pins, positive lock, crimp housing). Use it with the following Micro-Lock Plus female crimp terminals: Molex 5054311100 (1.25mm pitch, Au plating, 26-30 AWG). Pin Signal 1 COM 3 GPI0 5 GPI1 7 GPI2 9 GPI3 11 HALL_UX Figure 3: TMCM-1636 I/O connector Description Pin Signal COM terminal of opto- 2 AI0 couplers for GPIx General purpose input 0, 4 AI1 optically isolated General purpose input 1, 6 GPO0 optically isolated General purpose input 2, 8 GPO1 optically isolated General purpose input 3, 10 +5V_OUT optically isolated Digital Hall sensor input, 12 ENC2_A +5.0V level Description Analog input 0, 0...5V range Analog input 1, 0...5V range General purpose output 0, (open drain) General purpose output 1, (open drain) +5V output rail for external sensor supply or signal conditioning Digital quadrature/incremental encoder 2, A channel, +5.0V level ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 8 / 20 13 HALL_V Digital Hall sensor input, 14 ENC2_B +5.0V level Digital quadrature/incremental encoder 2, B channel, +5.0V level 15 HALL_WY Digital Hall sensor input, 16 ENC2_N +5.0V level Digital quadrature/incremental encoder 2, N channel, +5.0V level 17 GND Signal and supply 18 UART_TX ground UART interface, transmit line 19 +3.3V_OUT +3.3V output rail 20 UART_RX UART interface, receive line 21 REF_L Left reference switch in- 22 ENC1_A put, +5.0V level Digital quadrature/incremental encoder 1, A channel, +5.0V level 23 REF_H Home reference switch 24 ENC1_B input, +5.0V level Digital quadrature/incremental encoder 1, B channel, +5.0V level 25 REF_R Right reference switch in- 26 ENC1_N put, +5.0V level Digital quadrature/incremental encoder 1, N channel, +5.0V level 27 GND Signal and supply 28 n.c. ground reserved for future use 29 CAN_H CAN interface, diff. sig- 30 n.c. nal (non-inverting) reserved for future use 31 CAN_L CAN interface, diff. sig- 32 n.c. nal (inverting) reserved for future use 33 SSI_ENC_DATA_P SSI Encoder, positive ter- 34 nCS_ENC minal of differential data line SPI / SSI Encoder, chip select signal, +5.0V level 35 SSI_ENC_DATA_N SSI Encoder, negative terminal of differential data line 36 SPI_ENC_SCK SPI Encoder, clock signal, +5.0V level 37 SSI_ENC_CLK_N SSI Encoder, negative terminal of differential clock line 38 SPI_ENC_MOSI SPI Encoder, MOSI signal, +5.0V level 39 SSI_ENC_CLK_P SSI Encoder, positive terminal of differential clock line 40 SPI_ENC_MISO SPI Encoder, MISO signal, +5.0V level Table 3: TMCM-1636 I/O & Interface Connector ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 9 / 20 3.3 Brake Connector The connector is of type Molex Micro-Lock Plus 5055680271 (1.25mm pitch, single row, vertical, 2 pins). The mating connector is Molex 5055650201 (1.25mm pitch, single row, 2 pins, positive lock, crimp housing). Use it with the following Micro-Lock Plus female crimp terminals: Molex 5054311100 (1.25mm pitch, Au plating, 26-30 AWG). Figure 4: TMCM-1636 screw connectors Terminal 1 2 Signal +VM BRAKE_CTRL Description Motor supply voltage, voltage range depends on driver stage PWM controlled low-side output for driving solenoids. The drive current is configurable up to 1A. Table 4: TMCM-1636 screw terminals ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 10 / 20 4 Interface Circuits 4.1 Supply Connection and Supply Buffering TMCM-1636 includes only limited onboard capacitance. For high current applications additional capacitors must be placed close to the module power input to stabilize power supply. In addition, a regulated power supply is highly recommended. NOTICE Depending on your application make sure to add sufficient capacitors to the driver input to stabilize supply. Low ESR electrolyte caps are recommended. A maximum supply ripple of 0.25V (TBD) is allowed. It is recommended to connect electrolytic capacitors of significant size to the power supply lines close to the TMCM-1636 ! Rule of thumb for size of electrolytic capacitor: C = 1000 µF A ISUP P LY The capacitors should be selected with regard to high ripple current rating. In addition to power stabilization (buffer) and filtering this added capaci- tor will also reduce any voltage spikes which might otherwise occur from a combination of high inductance power supply wires and the ceramic ca- pacitors. In addition it will limit slew-rate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors may cause stability problems with some switching power supplies. 4.2 General Purpose Inputs The four general purpose inputs are optically isolated with opto-couplers. All GPI share the same COM connection. Figure 5: GPIx circuit A separated / isolated supply may be used for the inputs as indicated in the drawing (+24V_ISO and related GND_ISO) but, same supply as for the TMCM-1636can be used as well. ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 4.3 General Purpose Outputs The two general purpose outputs are simple open drain outputs using n-channel FETs. The gates of the n-channel FETs are pulled low. There are no flyback diodes on the TMCM-1636. 11 / 20 Figure 6: GPOx circuit 4.4 Analog Inputs The two analog inputs go through a voltage divider and a simple filter before connecting to the microcontroller's ADC inputs. The analog inputs allow for a 5V input range. The input filter has a cut-off frequency of ca. 285Hz. 4.5 Reference Inputs TMCM-1636 provides three reference inputs: Left, Right, and Home. The nput voltage range is 0V...5V. The inputs have an internal pull-up to 5V. An input filter has a cut-off frequency of ca. 34kHz 4.6 Brake Control Output The brake control output BRAKE is a PWM controlled low-side output for driving solenoids. The drive current is configurable up to 1A. 4.7 Over-Voltage Protection Output The over-voltage protection output OVP is a low-side output for external brake resistor. It can be used to prevent the supply rail from exceeding the maximum rated values in case of overvoltage conditions. ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 12 / 20 4.8 Feedback Interfaces 4.8.1 Incremental Quadrature Encoders 1 & 2 TMCM-1636 provides two incremental quadrature encoder interfaces with A, B, and N signals each. The input voltage range is 0V...5V. The encoder inputs have an internal pull-up to 5V. An input filter has a cut-off frequency of ca. 1.6MHz. 4.8.2 Digital Hall Sensors TMCM-1636 provides a Hall signal interface. The input voltage range is 0V...5V. The Hall inputs have an internal pull-up to 5V. An input filter has a cut-off frequency of ca. 4kHz. 4.8.3 SPI-based Absolute Encoder TMCM-1636 provides an SPI master interface for external absolute position sensors or other peripherals (with custom firmware option). The SPI interface runs at 5V signal level. 4.8.4 RS422-based Absolute Encoder TMCM-1636 provides an RS422 interface for external absolute position sensors that use SSI or BiSS interface (depends on firmware option or custom firmware). TMCM-1636 integrates the RS422 transceiver (TI THVD1451DRBR). The incoming RS422 data line (SSI_ENC_DATA_P and SSI_ENC_DATA_N) has an onboard termination of 120R. ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 13 / 20 5 LED Status Indicators The TMCM-1636 has two on-boards LED status indicators. LED Description RUN_LED MCU/CANopen status LED, green ERR_LED MCU/CANopen error LED, red Table 5: TMCM-1636 digital LED output signals 6 Communication The following sections give some guidelines and best practices when setting up the communication bus systems supported by TMCM-1636. 6.1 CAN For remote control and communication with a host system the TMCM-1636 provides a CAN bus interface. For proper operation the following items should be taken into account when setting up a CAN network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus. termination resistor (120 Ohm) Host c:> Slave node 1 } CAN Slave node n-1 Slave node n keep distance as short as possible termination resistor (120 Ohm) Figure 7: CAN bus structure with termination resistors 2. BUS TERMINATION: Especially for longer buses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1636 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 3. BUS TERMINATION: The bus transceiver used on the TMCM-1636 units or on the base board (TJA1042TK/3) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes). ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 14 / 20 7 Operational Ratings and Characteristics 7.1 Absolute Maximum Ratings Parameter Motor and supply voltage +24V version Motor and supply voltage +48V version Abs. max. RMS motor phase current +24V version Abs. max. RMS motor phase current +48V version Abs. max. environmental working temperature Max current at +5V_OUT Symbol Min Abs. Max Unit +V M +12 +30 V +V M +12 +58 V IphaseRM S,M AX IphaseRM S,M AX 601 A 601 A TA -40 +852 °C IOU T+5V,MAX 100 mA NOTICE 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. 7.2 Operational Ratings Ambient temperature 25° C, if not stated otherwise. Parameter Motor and supply voltage +24V version Motor and supply voltage +48V version continuous RMS Motor phase current +24V version continuous RMS Motor phase current +48V version Working temperature Symbol Min Typ Max Unit +V M +12 +24 +28 V +V M +12 +48 +52 V IphaseRM S 30 A IphaseRM S 20 TA -30 A +602 ° C 7.3 I/O Ratings Ambient temperature 25° C, if not stated otherwise. Parameter Input voltage for analog inputs GPI input voltage Symbol VAI N VGP I Min Typ Max Unit 0 5.0 V 0 24 V 1This is the maximum current rating. This is not for continuous operation but depends on motor type, duty cycle, ambient temperature, and active/passive cooling measures. 2Working at high environmental temperatures may require additional cooling measures depending on duty cycle and maximum current/power draw. ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 15 / 20 GPO output voltage GPO sink current Brake control output voltage Brake control sink current Over-voltage protection output voltage Over-voltage protection sink current Incremental encoder input voltage Hall signal input voltage Reference switch input voltage SPI Interface voltage SSI (RS422) Interface voltage Table 8: I/O ratings 7.4 Other Requirements VGP O 0 IGP O 0 VBRAKE 0 IBRAKE 0 VOV P 0 IOV P 0 VE N C 0 VH ALL 0 VREF 0 VSP I 0 VSSI -15 24 V 1 A +VM V 1 A +VM V 10 A 5 V 5 V 5 V 5 V +15 V Specifications Description or Value Cooling Working environment Free air or heat sink mounted depending on use case, required power output, and environmental temperature. Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting Table 9: Other Requirements and Characteristics ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 16 / 20 8 Figures Index 1 TMCM-1636 connectors / top view . . 5 2 TMCM-1636 screw connectors . . . . 6 3 TMCM-1636 I/O connector . . . . . . . 7 4 TMCM-1636 screw connectors . . . . 9 5 GPIx circuit . . . . . . . . . . . . . . . . 10 6 GPOx circuit . . . . . . . . . . . . . . . 11 7 CAN bus structure with termination resistors . . . . . . . . . . . . . . . . . 13 ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 17 / 20 9 Tables Index 1 TMCM-1636 Order Codes . . . . . . . 4 2 TMCM-1636 screw terminals . . . . . 6 3 TMCM-1636 I/O & Interface Connector 8 4 TMCM-1636 screw terminals . . . . . 9 5 TMCM-1636 digital LED output signals 13 8 I/O ratings . . . . . . . . . . . . . . . . 15 9 Other Requirements and Characteris- tics . . . . . . . . . . . . . . . . . . . . . 15 10 Hardware Revision . . . . . . . . . . . 20 11 Document Revision . . . . . . . . . . . 20 ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 18 / 20 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 2021 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany. Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available productrelated 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 ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 19 / 20 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. ©2021 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-1636 Hardware Manual · HW Version V1.1 | Document Revision V1.30 · 2021-03-08 11 Revision History 11.1 Hardware Revision Version Date Author Description V1.1 2020-01-06 Release Version Table 10: Hardware Revision 11.2 Document Revision Version V1.20 V1.30 Date 2020-06-08 2021-03-08 Author TMC TMC Description Release version. Removed analog encoder option. Table 11: Document Revision 20 / 20 ©2021 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.