MODULE YE STEPPER MOTORS MODULE
Hardware Version V1.3
HARDWARE MANUALTMCM-1140
1-Axis Stepper Controller / Mutyairi
2 A / 24 V sensOstep™ Encoder
USB, RS485, uye CAN

TMCM-1140 Single Axis Stepper Motor Controller/Driver Module

ZVINHU ZVAKASIYANA:

coolStep™

Features

Iyo TMCM-1140 is one axis controller/ driver module for 2-phase bipolar stepper motors ine mamiriro eiyo art feature set. Iyo yakanyatsobatanidzwa, inopa kubata kwakaringana uye inogona kushandiswa mune akawanda decentralized application. Iyo module inogona kuisirwa kumashure kweNEMA 17 (42mm flange size) stepper motors uye yakagadzirirwa coil currents kusvika ku2 A RMS uye 24 V DC supply vol.tage. Nesimba rayo repamusoro kubva kuTRINAMIC's coolStep™ tekinoroji mutengo wekushandisa simba unochengetwa wakadzikira. Iyo TMCL ™ firmware inobvumira kune ese ari maviri, akazvimirira oparesheni uye yakananga modhi.

HUNHU HUNOKOSHA

• Motion controller
• Motion profile calculation in real-time
• Pane nhunzi shanduko yemota paramita (semuenzaniso chinzvimbo, velocity, kukurumidza)
• Yakakwira performance microcontroller yeyakazara sisitimu kutonga uye serial kutaurirana protocol kubata

Bipolar stepper mota mutyairi

• Kusvikira ku256 microsteps padanho rakazara
• Kushanda kwepamusoro-soro, kupera simba kwakaderera
• Dynamic current control
• Integrated protection
• stallGuard2 ficha yekuona stall
•  coolStep chimiro chekudzikisa simba rekushandisa uye kupisa kupisa

Encoder
sensOstep magineti encoder (1024 increments per rotation) semuenzaniso wekuona kurasikirwa-nhanho pasi pemamiriro ese ekushanda uye kutariswa kwenzvimbo.

Interfaces

• RS485 2-waya yekukurukurirana interface
• CAN 2.0B yekukurukurirana interface
• USB yakazara kumhanya (12Mbit/s) mudziyo interface
• 4 zvirevo zvakawanda:
  - 3x zvakajairwa-chinangwa zvedhijitari
• (Mamwe mabasa: STOP_L / STOP_R / HOME switch yekupinda kana A/B/N encoder yekupinda)
  - 1x yakatsaurirwa analogi yekupinda
• 2 general chinangwa zvinobuda
  - 1x yakavhurika-drain 1A max.
  - 1x + 5V yekugovera kubuda (inogona kudzima / kudzima musoftware)

Software

• TMCL: kushanda kwakamira kana kudzorwa kure, chirongwa chekuyeuka (chisina kushanduka) kusvika kumirairo ye2048 TMCL, uye PC-based application development software TMCL-IDE inowanikwa mahara.

Zvemagetsi uye zvemagetsi data

• Mugove voltage: +24 V DC zita (9… 28 V DC)
• Motokari yazvino: inosvika 2 A RMS / 2.8 A peak (inogoneka)

Tarisa kuparadzanisa TMCL Firmware Manual, zvakare.

TRINAMICS UNIQUE ZVINHU - ZVINYORE KUSHANDISA NETMCL

stallGuard2 ™ stallGuard2 ndeye yakakwirira-chaiyo sensorless kuremerwa kuyerwa uchishandisa yekumashure EMF pamakoiri. Inogona kushandiswa kuona matanda pamwe nekumwe kushandiswa pamitoro iri pasi peiyo inomisa mota. Iyo stallGuard2 kuyerwa kukosha kunoshanduka mutsara pamusoro pehupamhi hwekutakura, velocity, uye ikozvino marongero. Pakuremerwa kwemota, kukosha kunoenda ku zero kana pedyo ne zero. Iyi ndiyo inonyanya kushandisa simba poindi yekushanda kwemota.

coolStep™ coolStep ndeyekuremerwa-inogadzirisa otomatiki ikozvino kuyera zvichienderana nekuyerwa kwemutoro kuburikidza nestallGuard2 kugadzirisa inodiwa ikozvino kumutoro. Kushandiswa kwesimba kunogona kudzikiswa ne75%. coolStep inobvumira kuchengetedza kwesimba kwakawanda, kunyanya kumamotor anoona mitoro yakasiyana kana kushanda padanho repamusoro. Nekuti stepper mota application inoda kushanda ne torque reserve ye30% kusvika 50%, kunyangwe inogara ichiremerwa application inobvumira yakakosha kuchengetedza simba nekuti coolStep inogonesa torque reserve painodiwa. Kuderedza mashandisirwo emagetsi kunoita kuti sisitimu inotonhorera, inowedzera hupenyu hwemotokari, uye inobvumira kuderedza mutengo.

Orders Codes

Order code	Tsanangudzo	Kukura (mm3)
TMCM-1140-sarudzo	Imwe axis bipolar stepper mota controller / mutyairi zvemagetsi ane yakabatanidzwa sensOstep encoder uye inotonhoreraStep chimiro	37 x 37 x 11.5

Tafura 2.1 Kuodha makodhi
Izvi zvinotevera zvingasarudzwa zviripo:

Firmware sarudzo	Tsanangudzo	Kodhi yekuodha example:
-TMCL	Module pre-yakarongwa neTMCL firmware	TMCM-1140-TMCL
-CANopen	Module pre-yakarongwa neCANopen firmware	TMCM-1140-CANopen

Tafura 2.2 Firmware sarudzo
A cable loom set inowanikwa kune iyi module:

Order code	Tsanangudzo
TMCM-1140-CABLE	Cable loom yeTMCM-1140: • 1x tambo yesimba uye yekubatanidza yekukurukurirana (kureba 200mm) - 1x tambo ye multipurpose In / Out yekubatanidza (kureba 200mm) - 1x tambo yemota yekubatanidza (kureba 200mm) - 1x USB mhando A yekubatanidza kune mini-USB mhando B yekubatanidza tambo (kureba 1.5m)

Tafura 2.3 Cable loom odha makodhi
Ndokumbira utarise kuti iyo TMCM-1140 inowanikwa neNEMA17 stepper motors, futi. Tarisa kumagwaro ePD-1140 kuti uwane rumwe ruzivo nezve zvigadzirwa izvi.

Mechanical uye Electrical Interfacing

3.1 Dimensions uye Makomba Anokwirisa
Zviyero zvemutongi / mutyairi bhodhi ndeye approx. 37 mm x 37 mm x 11.5 mm kuitira kukwana kuseri kwe42 mm stepper motor. Hurefu hwechikamu chechikamu (hurefu pamusoro pePCB level) pasina mating connectors ari kutenderera 8mm pamusoro pePCB level uye 2 mm pazasi PCB level. Kune maviri maburi ekukwira eM3 screws yekumisikidza kune NEMA17 stepper mota.

3.2 Kuiswa kwebhodhi kufunga
Iyo TMCM-1140 inopa maviri simbi akaiswa maburi ekumisikidza. Maburi ese ari maviri anokwirisa akabatanidzwa kune system uye chiratidzo pasi (zvakafanana nepasi rekupa magetsi).
Kuti uderedze kukanganiswa kwemasaini uye nemwaranzi yeHF masiginecha (kunatsiridza EMC kuenderana) kunyanya munzvimbo dzakaoma / dzine ruzha zvakakosha kuve nechokwadi chekubatana kwepasi kwakasimba mukati meiyo system. Kuti utsigire izvi, zvinokurudzirwa kuti ubatanidze maburi ese ari maviri ebhodhi mukuwedzera kune yekugovera pasi yekubatanidza kune system magetsi ekuisa pasi.
Zvakangodaro, iyi inogona kunge isingagare iri sarudzo, semuenzaniso, kana iyo simbi system chassis / TMCM-1140 mounting plate yatove yakabatana nepasi uye yakanangana pakati penzvimbo yekugovera (yechipiri) uye mains inopa pasi (yekutanga divi) isingadiwe / kwete sarudzo. Muchiitiko ichi mapurasitiki (semuenzaniso akagadzirwa naironi) spacers / daro mabhaudhi uye screws zvinofanirwa kushandiswa.
3.3 Zvisungo zveTMCM-1140
Iyo controller/dhiraivha bhodhi yeTMCM-1140 inopa mana ekubatanidza anosanganisira mota yekubatanidza iyo inoshandiswa kubatanidza macoil emota kumagetsi. Iyo magetsi uye yekubatanidza yekubatanidza inoshandiswa kune magetsi, CAN interface, uye RS485 interface. Iyo 8pin multipurpose I/O yekubatanidza inopa mana akawanda mapindiro uye maviri akajairwa chinangwa zvinobuda. Uyezve, kune chinongedzo cheiyo USB interface.

Label	Connector type	Mating connector type
Simba uye Kukurukurirana Connector	CI0106P1VK0-LF CVIlux CI01 series, 6 pini, 2mm pitch	Mubatanidzwa weimba CVIlux: CI01065000-A Contacts CVIlux: CI01T011PE0-A or Imba yekubatanidza JST: PHR-6 Contacts JST: SPH-002T-P0.5S waya: 0.22mm2
Multipurpose I/O Connector	CI0108P1VK0-LF CVIlux CI01 series, 8 pini, 2mm pitch	Mubatanidzwa weimba CVIlux: CI01085000-A Contacts CVIlux: CI01T011PE0-A or Imba yekubatanidza JST: PHR-8 Contacts JST: SPH-002T-P0.5S waya: 0.22mm2
Mota Connector	CI0104P1VK0-LF CVIlux CI01 series, 4 pini, 2mm pitch	Mubatanidzwa weimba CVIlux: CI01045000-A Contacts CVIlux: CI01T011PE0-A or Imba yekubatanidza JST: PHR-4 Contacts JST: SPH-002T-P0.5S waya: 0.22mm2
Mini-USB Connector	Molex 500075-1517 Mini USB Type B yakatwasuka yekugashira	Chero yakajairika mini-USB plug

Tafura 3.1 Zvibatanidza uye mating connectors, mazita uye waya inoshanda

3.3.1 Simba uye Nhaurirano yekubatanidza
A 6pin CVIlux CI0106P1VK0-LF 2mm pitch single row connector inoshandiswa pamagetsi, RS485 uye CAN serial communication. Ndapota cherechedzai mamwe mashoko ekupa magetsi muchitsauko 3.3.1.1.
Cherechedza: CAN interface ichabviswa-yakagadziriswa kana USB yakabatana nekuda kwekugovana kwemukati kwezviwanikwa zvehardware.

	Pin	Label	Direction	Tsanangudzo
	1	GND	Simba (GND)	System uye chiratidzo pasi
	2	VDD	Magetsi)	VDD (+9V…+28V)
	3	RS485+	Bidirectional	RS485 interface, yakasiyana. chiratidzo (isina-inverting)
	4	RS485-	Bidirectional	RS485 interface, yakasiyana. chiratidzo (inverting)
	5	CAN_H	Bidirectional	CAN interface, zvakasiyana. chiratidzo (isina-inverting)
	6	CAN_L	Bidirectional	CAN interface, zvakasiyana. chiratidzo (inverting)

Tafura 3.2 Connector yemagetsi ekupa uye interfaces
3.3.1.1 Simba rekupa
Nokuda kwekushanda kwakakodzera kutarisirwa kunofanira kutorwa maererano nemafungiro ekupa magetsi uye dhizaini. Nekuda kwezvirambidzo zvemuchadenga TMCM-1140 inosanganisira inosvika 40µF/35V yekugovera mafirita capacitor. Aya maceramic capacitors ayo akasarudzwa kuvimbika kwepamusoro uye hupenyu hurefu hwenguva. Iyo module inosanganisira 28V suppressor diode ye-over-voltage kudzivirirwa.
KUCHENJERA!

	Wedzera ekunze magetsi ekupa capacitors! Zvinokurudzirwa kubatanidza electrolytic capacitor yehukuru hwakakosha (eg ingangoita 470µF/35V) kumagetsi emagetsi ari pedyo neTMCM-1140! Mutemo wechigunwe chehukuru hwe electrolytic capacitor: c = 1000 μF/ A × ISUPPLY Pamusoro pesimba rekudzikamisa (buffer) uye kusefa iyi yakawedzerwa capacitor zvakare inoderedza chero voltage spikes inogona kuitika neimwe nzira kubva musanganiswa wepamusoro inductance magetsi ekupa waya uye ceramic capacitors. Pamusoro pezvo inozodzikamisa slaw-mwero wemagetsi ekupa voltage pa module. Iyo yakaderera ESR yeceramic-chete sefa capacitors inogona kukonzera matambudziko ekugadzikana nemamwe magetsi ekuchinja.
	Usabatanidza kana kubvisa mota panguva yekushanda! Mota tambo uye mota inductivity inogona kutungamira kune voltage spikes kana mota yakadzimwa / yakabatana paine simba. Aya voltage spikes anogona kudarika voltage miganhu yemutyairi MOSFET uye anogona kuvakuvadza zvachose. Naizvozvo, gara uchidzima magetsi usati wabatanidza / kubvisa mota.
	Chengetedza simba rekupa voltage pasi pemuganho wepamusoro we28V! Zvikasadaro madhiraivha emagetsi achakuvadzwa zvakanyanya! Kunyanya, kana yakasarudzwa kushanda voltage iri pedyo nepamusoro pemuganhu simba rinogadziriswa rinokurudzirwa zvikuru. Tapota onawo chitsauko 7, maitiro ekushanda.
	Iko hakuna reverse polarity dziviriro! Iyo module ichapfupisa chero yakadzoserwa voltage nekuda kwemukati diodes yemutyairi transistors.

3.3.1.2 RS485
Zvekudzora kure uye kutaurirana neanotambira system iyo TMCM-1140 inopa mbiri waya RS485 bhazi interface.
Kuti ushande zvakanaka zvinhu zvinotevera zvinofanirwa kuverengerwa pakumisikidza RS485 network:

1. KUSVIRWA NEBHAZI:
   Iyo network topology inofanirwa kutevera chimiro chebhazi zvakanyanya sezvinobvira. Ndiko kuti, kuwirirana pakati pe node imwe neimwe uye bhazi pachayo inofanira kuva pfupi sezvinobvira. Chaizvoizvo, inofanira kuva pfupi kana ichienzaniswa nehurefu hwebhazi.
2. KUMIMISA BUS:
   Kunyanya kune mabhazi akareba uye / kana akawanda ma node akabatana nebhazi uye / kana yakakwirira yekutaurirana kumhanya, bhazi rinofanirwa kugumiswa nemazvo pamativi ese ari maviri. Iyo TMCM-1140 haina kubatanidza chero kumisa kumisa. Naizvozvo, 120 Ohm kumisa resistors kumigumo yese yebhazi inofanirwa kuwedzerwa kunze.
3. NHAMBA YEMANODE:
   Iyo RS485 yemagetsi interface standard (EIA-485) inobvumira anosvika makumi matatu nemaviri node kuti abatanidzwe kune rimwe bhazi. Mabhazi transceivers anoshandiswa paTMCM-32 units (hardware V1140: SN1.2HVD65ED, sezvo hardware V3082: SN1.3HVD65D) ine bhazi rakaderedzwa zvakanyanya uye inobvumira huwandu hwemayuniti e1781 kuti abatanidzwe kune imwechete RS255 bhazi uchishandisa TMCL firmware. . Ndokumbira utarise: kazhinji hazvigone kutarisirwa kuwana kutaurirana kwakavimbika nehuwandu hwehuwandu hwemanodhi akabatana kune rimwe bhazi uye yakanyanya kutsigirwa inotsigirwa yekukurumidzira panguva imwe chete. Pane kudaro, kuwirirana kunofanirwa kuwanikwa pakati pebus cable urefu, kukurumidza kutaurirana uye nhamba yemanodhi.
4. SPEED YEKUTAURA:
   Iyo yakanyanya RS485 yekutaurirana kumhanya inotsigirwa neTMCM-1140 hardware V1.2 ndeye 115200 bit/s uye 1Mbit/s kubvira Hardware V1.3. Factory default ndeye 9600 bit/s. Ndokumbira utarise yakaparadzana TMCM-1140 TMCL firmware bhuku reruzivo maererano nekumwe kunobvira kumhanyisa kumhanya pazasi pemuganho wepamusoro muhardware.
5. HAPANA mitsara yemabhazi anoyangarara:
   Dzivisa mitsetse yebhazi inoyangarara nepo asiri muenzi/tenzi kana mumwe wevaranda padivi pemutsetse webhazi ari kufambisa data (ese mabhazi ma nodhi akachinjika kuti agamuchire modhi). Mitsetse yemabhazi anoyangarara inogona kutungamira kukukanganisa kutaurirana. Kuti uone masaini akakodzera mubhazi zvinokurudzirwa kushandisa resistor network inobatanidza ese mitsara yemabhazi kune yakanyatsotsanangurwa logic mazinga.
   Pane chaizvo sarudzo mbiri dzinogona kukurudzirwa:
   Wedzera resistor (Bias) network kune rimwe divi rebhazi, chete (120R kumisa resistor ichiri kumigumo yese):

Kana wedzera resistor (Bias) network kumigumo yese yebhazi (senge Profibus™ kumisa):

Mamwe RS485 anoshandura mashandisirwo anowanikwa kumaPC anotosanganisira aya ekuwedzera resistors (semuenzaniso USB-2485 ine bias network kune imwe magumo ebhazi).

3.3.1.3 ZVINOGONA
Zvekudzora kure uye kutaurirana neanotambira system iyo TMCM-1140 inopa CAN bhazi interface. Ndokumbira utarise kuti iyo CAN interface haisi kuwanikwa kana USB yakabatana. Kuti ushande zvakanaka zvinhu zvinotevera zvinofanirwa kuverengerwa pakumisikidza network yeCAN:

1. KUSVIRWA NEBHAZI:
   Iyo network topology inofanirwa kutevera chimiro chebhazi zvakanyanya sezvinobvira. Ndiko kuti, kuwirirana pakati pe node imwe neimwe uye bhazi pachayo inofanira kuva pfupi sezvinobvira. Chaizvoizvo, inofanira kuva pfupi kana ichienzaniswa nehurefu hwebhazi.
2. KUMIMISA BUS:
   Kunyanya kune mabhazi akareba uye / kana akawanda ma node akabatana nebhazi uye / kana yakakwirira yekutaurirana kumhanya, bhazi rinofanirwa kugumiswa nemazvo pamativi ese ari maviri. Iyo TMCM-1140 haina kubatanidza chero kumisa kumisa. Naizvozvo, 120 Ohm kumisa resistors kumigumo yese yebhazi inofanirwa kuwedzerwa kunze.

3. NHAMBA YEMANODE:
   Iyo transceiver yebhazi inoshandiswa paTMCM-1140 units (TJA1050T) inotsigira angangoita 110 nodes pasi pemamiriro akakwana. Nhamba inogoneka yemanodhi paCAN bhazi zvakanyanya zvinoenderana nehurefu hwebhazi (refu bhazi> shoma node) uye yekutaurirana kumhanya (yepamusoro kumhanya -> mashoma manodhi).

3.3.2 Multipurpose I/O Chibatanidza
Iyo 8pin CVIlux CI0108P1VK0-LF 2mm pitch imwe mutsara yekubatanidza inowanikwa kune ese akawanda mapoinzi uye zvinobuda.

	Pin	Label	Direction	Tsanangudzo
	1	GND	Simba (GND)	System uye chiratidzo pasi
	2	VDD	Magetsi)	VDD, yakabatana neVDD pini yesimba uye yekubatanidza yekubatanidza
	3	OUT_0	Output	Open-drain output (max. 1A) Yakabatanidzwa freewheeling diode kuVDD
	4	OUT_1	Output	+ 5V inoburitsa kubuda (max. 100mA) Inogona kubatidzwa/kudzima musoftware
	5	IN_0	Input	Yakatsaurirwa kuisa analogi, Input voltage range: 0..+10V Kugadziriswa: 12bit (0..4095)
	6	IN_1, STOP_L, ENC_A	Input	General chinangwa chekuisa padhijitari (+24V inoenderana)
				Alternate function 1: left stop switch input
				Alternate function 2: yekunze incremental encoder channel A input
	7	IN_2, STOP_R, ENC_B	Input	General chinangwa chekuisa padhijitari (+24V inoenderana)
				Alternate function 1: yekurudyi mira switch yekupinda
				Alternate function 2: yekunze incremental encoder chiteshi B kuisa
	8	IN_3, MUSHA, ENC_N	Input	General chinangwa chekuisa padhijitari (+24V inoenderana)
				Alternate function 1: home switch input
				Alternate basa 2: yekunze incremental encoder index / zero chiteshi chekuisa

Tafura 3.3 Multipurpose I/O connector

Cherechedza:

•  Zvese zvinoiswa zvine resistor based voltage ekuisa kupatsanura ane dziviriro diode. Aya anopikisa zvakare anovimbisa iyo inoshanda GND nhanho kana yasiiwa isina kubatana.
• Pane zvese zvinoiswa mudhijitari (IN_1, IN_2, IN_3) 2k2 kudhonza-kumusoro resistor kuenda ku +5V inogona kuitwa (default neshanduro dzemazuva ano dzeTMCL firmware). Ipapo aya mapeji ane default (asina kubatana) logic level ye1 uye yekunze switch kuGND inogona kubatana. Izvi zvinogona kunyanya kunakidza kana aya mapindiro akashandiswa se STOP_L / STOP_R uye HOME switch yekupinda (rimwe basa 1) kana seencoder yekuisa yekunze inowedzerwa A/B/N encoder ine yakavhurika-muunganidzi zvinobuda (kudhonza-kumusoro hakudiwi. ye encoder ine push-dhonza zvinobuda).

3.3.2.1 Digital Inputs IN_1, IN_2, IN_3
Pini sere chekubatanidza cheTMCM-1140 chinopa matatu ekushandisa madhijitari akawanda IN_1, IN_2 uye IN_3. Ese matatu ekuisa anotambira kusvika ku +24V (nom.) masiginecha ekuisa uye anopa yakafanana dunhu rekuisa nevoltage resistor dividers, kudzikisira
diodes kurwisa pamusoro- uye pasi-voltage uye programmable 2k2 kudhonza-kumusoro resistors.
Iwo ekudhonza-ups anogona kubatidzwa kana kudzima kune ese matatu ekuisa kamwechete musoftware.
Iine TMCL firmware command SIO 0, 0, 0 ichadzima-kudhonza-ups uye kuraira SIO 0, 0, 1 ichazvibatisa (ona yakaparadzana TMCL firmware manual, command SIO kuti uwane rumwe ruzivo rwakadzama). Iwo matatu edhijitari ekuisa ane kumwe kushanda zvinoenderana nekumisikidzwa musoftware. Mabasa anotevera aripo:

Label (pini)	Default function	Alternate function 1	Alternate function 2
IN_1 (6)	General chinangwa digitaalinen kuisa TMCL: GIO 1, 0 // wana kukosha kwedhijitari yekupinza IN_1	STOP_L - yeruboshwe yekumisa switch yekupinda, yakabatana kune processor uye TMC429 REF yekuisa (inotsigira kuruboshwe kumira kushanda muhardware) TMCL: GAP 11, 0 // wana kukosha kwedhijitari ye STOP_L yekupinda	ENC_A - yekunze yekuwedzera encoder yekupinza chiteshi A, yakabatana kune processor encoder counter kupinza
IN_2 (7)	General chinangwa digitaalinen kuisa TMCL: GIO 2, 0 // wana kukosha kwedhijitari yekupinza IN_2	STOP_R - yekurudyi yekumisa switch yekupinda, yakabatana kune processor uye TMC429 REF yekuisa (inotsigira kurudyi kumira switch mashandiro muhardware) TMCL: GAP 10, 0 // wana kukosha kwedhijitari ye STOP_R yekupinda	ENC_B - yekunze yekuwedzera encoder yekupinda chiteshi B, yakabatana kune processor encoder counter kupinza
IN_3 (8)	General chinangwa digitaalinen kuisa TMCL: GIO 3, 0 // wana kukosha kwedhijitari yekupinza IN_3	HOME - imba yekuisa chinja, yakabatana kune processor TMCL: GAP 9, 0 // tora kukosha kwedhijitari yeIMBA yekuisa	ENC_N - yekunze yekuwedzera encoder yekuisa index / zero chiteshi, yakabatana kune processor kukanganisa kupinza

Tafura 3.4 Multipurpose inputs / mamwe mabasa

- Ese matatu edhijitari ekuisa akabatana kune-bhodhi processor uye anogona kushandiswa seyakajairwa chinangwa chekuisa dhijitari (default).
- Kuti ushandise IN_1 uye IN_2 se STOP_L uye STOP_R zvekuisa, basa iri rinofanirwa kugoneswa zvakajeka musoftware (factory default: yakadzimwa). Ne TMCL firmware iyo yekumisa switch inoshanda inogona kugoneswa uchishandisa SAP 12, 0, 0 (STOP_R / kurudyi muganho switch) uye SAP 13, 0, 0 (STOP_L / kuruboshwe muganho switch). Sezvinoratidzwa nemazita: chimiro cheiyo kuruboshwe muganho switch (STOP_L) ichave yakakosha panguva yekutendeuka kwemota kuruboshwe uye mamiriro eiyo yekurudyi muganhu switch panguva yekutendeuka kwemota kurudyi (yakanaka nzira), chete. Kuverenga kukosha kwekuisa uchishandisa mirairo yeGAP sezvakanyorwa patafura iri pamusoro zvinogoneka chero nguva. Ndokumbira utarise yakaparadzana TMCL firmware manual kuti uwane rumwe ruzivo.
-Encoder yekunze: yekunze inowedzera A/B/N encoder inogona kubatana neTMCM-1140 uye inoshandiswa mukuwedzera kana seimwe nzira kune yemukati sensOstep™ encoder. Uchishandisa TMCL iyo encoder counter value yeiyi yechipiri encoder inogona kuverengwa kuburikidza neTMCL command GAP 216, 0 (ona yakaparadzana TMCL firmware bhuku kuti uwane rumwe ruzivo). Factory default scaling ye encoder counter ndeye 1: 1 - kureva, mushure mekutenderedza imwe encoder counter inowedzerwa / kudzikiswa nenhamba ye encoder matiki (encoder mitsetse x 4). Paunenge uchishandisa encoder yekunze batanidza encoder chiteshi A kuenda kuIN_1, chiteshi B kuenda kuIN_2, iyo N kana zero chiteshi kuIN_3 (kusarudza), encoder pasi kune module yekugovera nzvimbo (semuenzaniso Pini 1 yeMultipurpose I/O yekubatanidza) uye +5V. endesa encoder kuOUT_1 (zvese paMultipurpose I/O connector). Tapota cherechedza kuti kuti upe encoder ine +5V inobuda OUT_1 inofanira kutanga yaitwa uchishandisa SIO 1, 2, 1 (onawo chitsauko 3.3.2.3).
3.3.2.2 Analogi Input IN_0
Iyo sere pini yekubatanidza yeTMCM-1140 inopa imwe yakatsaurirwa analogi yekupinda IN_0. Iyi yakatsaurirwa analog yekupinda inopa yakazara chiyero chekuisa renji ye approx. 0… +10 V (0..+ 10.56V nom.) nekugadzirisa kwemukati analogi-kune digital converter ye microcontroller ye12bit (0… 4095).
Iyo inopinza inodzivirirwa kubva kune yakakwira voltages kusvika +24 V uchishandisa voltage resistor dividers pamwe nekudzikamisa diode kupesana nevoltages pazasi 0 V (GND) uye pamusoro +3.3 V DC (ona mufananidzo pazasi). Ne TMCL firmware kukosha kweanalog yeiyi kupinza kunogona kuverengwa uchishandisa command GIO 0, 1. Murairo uchadzorera mbishi kukosha kwe12bit analog-to-digital converter pakati pe 0 .. 4095. Zvinogona zvakare kuverenga kukosha kwedhijitari. yekupinda iyi uchishandisa TMCL command GIO 0, 0. Nzvimbo yerwendo (pakati pe0 ne1) ichange iri paapprox. +5V yekupinda voltage (hafu yeanalogi yekuisa renji).
3.3.2.3 Zvakabuda OUT_0, OUT_1
Iyo sere yepini yekubatanidza yeTMCM-1140 inopa zviviri zvakajairika zvinangwa zvinobuda OUT_0 uye OUT_1. OUT_0 ndeye yakavhurika-drain inobuda inokwanisa kuchinja (kunyura) kusvika ku1A. Kubuda kweN-channel MOSFET transistors yakabatana neiyo freewheeling diode yekudzivirira kubva kuvol.tage spikes kunyanya kubva kune inductive mitoro (relais nezvimwewo) pamusoro pekupa voltage (ona mufananidzo pazasi).
OUT_0 haifanire kubatana kune chero voltage pamusoro pekupa voltage ye module nekuda kweiyo yemukati freewheeling diode.

Ne TMCL firmware OUT_0 inogona kubatidzwa (OUT_0 kudhonzerwa pasi) uchishandisa rairo SIO 0, 2, 1 uye kudzima zvakare (OUT_0 inoyangarara) uchishandisa rairo SIO 0, 2, 0 (iyi zvakare ndiyo fekitori yekumisikidza yekubuda uku). Muchiitiko chinoyangarara goho
haidiwe mukushandisa chinodzivirira chekunze semuenzaniso kupa voltaginogona kuwedzerwa.
Kusiyana neOUT_1 inokwanisa kupa +5V (sourcing 100mA max.) kumutoro wekunze. Iyo yakabatanidzwa P-channel MOSFET inobvumira switching on / off iyi +5V inopihwa musoftware (ona mufananidzo pazasi). Izvi zvinobuda zvinogona kushandiswa kugovera
+5V kune yekunze encoder dunhu. Ndokumbira utarise kuti +5V inopihwa inofanirwa kuvhurwa zviripachena musoftware.Ne TMCL firmware OUT_1 inogona kubatidzwa (kupa +5V kudunhu rekunze) uchishandisa rairo SIO 1, 2, 1 uye kudzima (yakabuda yakadhonzwa yakaderera kuburikidza ne10k kudhonza-pasi resistor) uchishandisa command SIO 1, 2, 0 (iyi zvakare fekitori default setting yeichi chinobuda).
3.3.3 Mota Connector
Sezvo injini yekubatanidza 4pin CVIlux CI0104P1VK0-LF 2mm pitch imwe mutsara yekubatanidza inowanikwa. Iyo mota yekubatanidza inoshandiswa kubatanidza waya ina mota dzemakoiri maviri emota yebipolar stepper mota kune zvemagetsi.

	Pin	Label	Direction	Tsanangudzo
	1	OB2	Output	Pini 2 yemota coil B
	2	OB1	Output	Pini 1 yemota coil B
	3	OA2	Output	Pini 2 yemota coil A
	4	OA1	Output	Pini 1 yemota coil A

Tafura 3.5 Motor connector

Example yekubatanidza iyo QSH4218 NEMA 17 / 42mm stepper motors:
	TMCM-1140	QS4218 Motokari
	Pini yekubatanidza mota	Cable ruvara	Coil	Tsanangudzo
	1	Tsvuku	B	Motokari coil B pini 1

2	Bhuruu	B-	Motokari coil B pini 2
3	Girinhi	A-	Motokari coil A pini 2
4	Nhema	A	Motokari coil A pini 1

3.3.4 Mini-USB Chibatanidza
A 5pin mini-USB yekubatanidza inowanikwa pa-bhodhi ye serial kutaurirana (seimwe nzira kune CAN uye RS485 interface). Iyi module inotsigira USB 2.0 Yakazara-Speed ​​(12Mbit/s) zvinongedzo.
CAN interface ichabviswa-yakagadziriswa nekukurumidza kana USB yabatana nekuda kwekugovana kwemukati kwezviwanikwa zvehardware.

	Pin	Label	Direction	Tsanangudzo
	1	V-BHASI	Simba (supply input)	+5V inopihwa kubva kune inotambira
	2	D-	Bidirectional	USB Dhata -
	3	D+	Bidirectional	USB Dhata +
	4	ID	Simba (GND)	Yakabatanidzwa kune chiratidzo uye system pasi
	5	GND	Simba (GND)	Yakabatanidzwa kune chiratidzo uye system pasi

Tafura 3.6 Chibatanidza che USB

Kudzora kure uye kutaurirana neanotambira system iyo TMCM-1140 inopa USB 2.0 yakazara-speed (12Mbit/s) interface (mini-USB yekubatanidza). Pakangobatana USB-Host yakabatana module inobvuma mirairo kuburikidza ne USB.
USB BUS SIMBA RACHISHANDISA MODE
Iyo TMCM-1140 inotsigira ese ari maviri, USB yega powered operation (apo simba rekunze rinopihwa kuburikidza nemagetsi ekubatanidza magetsi) uye USB bhazi powered operation, (hapana ekunze magetsi kuburikidza nemagetsi ekubatanidza).
Pa-bhodhi yedhijitari core logic ichave inofambiswa kuburikidza ne USB kana pasina kumwe kupihwa kwakabatana (USB bhazi powered operation). Iyo yedhijitari musimboti logic inosanganisira iyo microcontroller pachayo uye zvakare EEPROM. Iyo USB bus powered operation mode yakashandiswa kuti igone kugadzirisa, parameter settings, kuverenga-outs, firmware updates, nezvimwewo nekungobatanidza USB cable pakati pe module uye host PC. Hapana yekuwedzera cabling kana ekunze zvishandiso (semuenzaniso magetsi) anodiwa.
Ndokumbira utarise kuti module inogona kudhirowa ikozvino kubva ku USB + 5V bhazi rekupa kunyangwe mu USB yega powered mashandiro zvichienderana nevolti.tage nhanho yekupihwa iyi.
Mota kufamba hazvigoneke mune iyi modhi. Naizvozvo, gara uchibatanidza magetsi kuSimba uye Kukurukurirana Connector yekufamba kwemota.

Motokari mutyairi ikozvino

Iyo on-board stepper mota mutyairi anoshanda ikozvino inodzorwa. Mutyairi aripo anogona kurongwa musoftware yemotor coil currents up-to 2A RMS ine 32 inoshanda yekuyera matanho muhardware (CS iri patafura pazasi).
Tsananguro yemakoramu akasiyana patafura iri pazasi:
Motokari yazvino kuseta musoftware (TMCL)
Aya ndiwo maitiro eTMCL axis parameter 6 (motor run current) uye 7 (motor standby current). Iwo anoshandiswa kuseta iyo yekumhanya / yekumira ikozvino uchishandisa inotevera TMCL mirairo:
SAP 6, 0, // set run ikozvino
SAP 7, 0, // set standby current (kuverenga-out value neGAP pachinzvimbo cheSAP. Ndokumbira kuti uone yakaparadzana TMCM-1140 firmware manual kuti uwane rumwe ruzivo)
Motokari yazvino IRMS [A] Inokonzeresa mota ikozvino yakavakirwa pane mota yazvino kuseta

Motor kuseta ikozvino software (TMCL)	Ikozvino kuyera danho (CS)	Motor current ICOIL_PEAK [A]	Motor ikozvino ICOIL_RMS [A]
0..7	0	0.092	0.065
8..15	1	0.184	0.130
16..23	2	0.276	0.195
24..31	3	0.368	0.260
32..39	4	0.460	0.326
40..47	5	0.552	0.391
48..55	6	0.645	0.456
56..63	7	0.737	0.521
64..71	8	0.829	0.586
72..79	9	0.921	0.651
80..87	10	1.013	0.716
88..95	11	1.105	0.781
96..103	12	1.197	0.846
104..111	13	1.289	0.912
112..119	14	1.381	0.977
120..127	15	1.473	1.042
128..135	16	1.565	1.107
136..143	17	1.657	1.172
144..151	18	1.749	1.237
152..159	19	1.842	1.302
160..167	20	1.934	1.367
168..175	21	2.026	1.432
176..183	22	2.118	1.497
184..191	23	2.210	1.563
192..199	24	2.302	1.628
200..207	25	2.394	1.693
208..215	26	2.486	1.758
216..223	27	2.578	1.823
224..231	28	2.670	1.888
232..239	29	2.762	1.953
240..247	30	2.854	2.018
248..255	31	2.946	2.083

Pamusoro pezvirongwa zviri patafura mota iripo inogona kudzimwa zvachose (yemahara-vhiri) uchishandisa axis parameter 204 (ona TMCM-1140 firmware manual).

Dzorera kuFactory Defaults

Zvinogoneka kuseta zvakare iyo TMCM-1140 kune fekitori default marongero pasina kumisikidza yekutaurirana link. Izvi zvinogona kubatsira kana maparameter ekukurukurirana echiratidziro chaanofarira akaiswa kuhunhu husingazivikanwe kana kurasika netsaona.Pakuita izvi mapedhi maviri ari pasi pebhodhi anofanira kupfupikiswa.

Ndokumbira uite nhanho dzinotevera:

1. Magetsi akadzimwa uye tambo ye USB yakabviswa
2. Mapfupi mapedhi maviri seakaiswa muMufananidzo 5.1
3. Simba kumusoro bhodhi (simba kuburikidza ne USB rakakwana nekuda kweichi chinangwa)
4. Mirira kusvika pabhodhi tsvuku uye girinhi maLED atanga kupenya nekukurumidza (izvi zvinogona kutora nguva)
5. Power-off board (bvisa USB tambo)
6. Bvisa pfupi pakati pemapedhi
7. Mushure mekushandura simba-kupa / kubatanidza USB tambo zvese zvisingaperi zvigadziriso zvakadzoserwa kumafekitori defaults

Pa-Bhodhi maLED

Bhodhi rinopa ma LED maviri kuitira kuratidza chimiro chebhodhi. Basa rema LED ese ari maviri rinoenderana neiyo firmware vhezheni. Neyakajairwa TMCL firmware iyo yakasvibira LED inofanirwa kupenya zvishoma nezvishoma panguva yekushanda uye iyo tsvuku LED
inofanira kubva.
Kana pasina firmware inoshanda yakarongerwa mubhodhi kana panguva ye firmware gadziridza iwo matsvuku uye akasvibira ma LED anobatidzwa zvachose.
ZVINHU ZVINHU ZVINE LEDS NE STANDARD TMCL FIRMWARE

Status	Label	Tsanangudzo
Kurova kwemoyo	Mhanyai	Iyi LED yakasvibirira inopenya zvishoma nezvishoma panguva yekushanda.
Error	Error	Iyi LED tsvuku inovhenekera kana kukanganisa kukaitika.

Operational Ratings

Maredhisheni ekushanda anoratidza zvakatarwa kana maitiro emhando uye anofanirwa kushandiswa semagadzirirwo emhando.
Hazvina mhosva kuti huwandu hunokosha huchapfuura!

Symbol	Parameter	Min	Typ	Max	Unit
VDD	Magetsi magetsi voltage kushanda	9	12… 24	28	V
ICOIL_peak	Motor coil ikozvino ye sine wave peak (chopper inodzorwa, inogadziriswa kuburikidza nesoftware)	0		2.8	A
ICOIL_RMS	Continuous motor current (RMS)	0		2.0	A
IDD	Simba rekupa ikozvino		<< ICOIL	1.4 *Icoils	A
TENV	Tembiricha yezvakatipoteredza payakayerwa ikozvino (hapana kumanikidzwa kutonhora kunodiwa)	-30		+50	°C
TENV_1A	Environment tembiricha pa 1A RMS mota yazvino / hafu max. ikozvino (hapana kumanikidzwa kutonhora kunodiwa)	-30		+70	°C

Tafura 7.1 General mashandiro ratings yemodule

OPERATIONAL RATINGS YEMULTIPURPOSE I/OS

Symbol	Parameter	Min	Typ	Max	Unit
VOUT_0	Voltage pakavhurika drain yakabuda OUT_0	0		+VDD	V
IOUT_0	Kuburitsa sink ikozvino kwekuvhura drain kwakabuda OUT_0			1	A
VOUT_1	Voltage pakubuda OUT_1 (kana yabatidzwa)		+5		V
IOUT_1	Kwazvinobuda paOUT_1			100	mA
VIN_1/2/3	Kuisa voltage yeIN_1, IN_2, IN_3 (zvinoiswa padigital)	0		+VDD	V
VIN_L 1/2/3	Low level voltage yeIN_1, IN_2 uye IN_3	0		1.1	V
VIN_H 1/2/3	High level voltage yeIN_1, IN_2 uye IN_3	3.4		+VDD	V
VIN_0	Chiyero chezviyereso zveanalogi IN_0	0		+10*)	V

Tafura 7.2 Kuyerwa kweKushanda kwezvakawanda zveI/Os
*) approx. 0…+10.56V paanalogi yekupinda IN_0 inoturikirwa kuenda ku0..4095 (12bit ADC, raw values). Pamusoro approx.
+10.56V iyo analogi yekupinda ichazara asi, isiri kukuvara (kusvika-kuVDD).
OPERATIONAL RATINGS YERS485 INTERFACE

Symbol	Parameter	Min	Typ	Max	Unit
NRS485	Nhamba yemanode akabatana kune imwechete RS485 network			256
fRS485	Maximum bit rate inotsigirwa paRS485 yekubatanidza		9600	115200 1000000*)	zvishoma/s

Tafura 7.3: Kushanda zviyero zveRS485 interface
*) hardware kudzokorora V1.2: max. 115200 bit/s, hardware revision V1.3: max. 1Mbit/s
OPERATIONAL ratings OF CAN INTERFACE

Symbol	Parameter	Min	Typ	Max	Unit
NCAN	Nhamba yemanode akabatana kune imwechete RS485 network			> 110
fCAN	Maximum bit rate inotsigirwa paCAN yekubatanidza		1000	1000	kbit/s

Tafura 7.4 Kushanda zviyero zveCAN interface

Tsanangudzo Yekushanda

Iyo TMCM-1140 ndeye yakanyatsobatanidzwa controller/mutyairi module iyo inogona kudzorwa kuburikidza akati wandei serial interfaces. Nhaurirano traffic inochengetwa yakaderera kubva panguva dzese dzakakosha mashandiro (semuenzaniso ramp calculations) dzinoitwa pabhodhi. The nominal supply voltage yechikamu ndeye 24V DC. Iyo module yakagadzirirwa ese ari maviri, yakamira mashandiro uye yakananga maitiro. Kudzora kwakazara kure kwechishandiso nemhinduro kunogoneka. Iyo firmware yemodule inogona kuvandudzwa kuburikidza nechero serial interfaces.
Mumufananidzo 8.1 zvikamu zvikuru zveTMCM-1140 zvinoratidzwa:
- iyo microprocessor, inomhanyisa iyo TMCL inoshanda sisitimu (yakabatana neTMCL memory),
- iyo inofamba controller, iyo inoverenga ramps uye speed profiles mukati nehardware,
-mutyairi wemagetsi ane stallGuard2 uye simba rayo rinoshanda coolStep chimiro,
- mutyairi weMOSFET stage, uye
- iyo sensOstep encoder ine zvisungo zve10bit (matanho 1024) pane shanduko.

Iyo TMCM-1140 inouya nePC yakavakirwa software yekuvandudza nharaunda TMCL-IDE yeTrinamic Motion Control Mutauro (TMCM). Kushandisa yakafanotsanangurwa TMCL yepamusoro nhanho mirairo senge kufamba kunoisa kukurumidza uye nekukurumidza kusimudzira kwekufambisa kwekudzora maapplication kunovimbiswa.
Ndokumbira utarise kune TMCM-1140 Firmware Manual kuti uwane rumwe ruzivo nezve TMCL mirairo.

TMCM-1140 Operational Tsanangudzo

9.1 Kuverenga: Velocity uye Acceleration vs. Microstep uye Fullstep Frequency
Hukoshi hwemaparamendi anotumirwa kuTMC429 haana akajairwa mota tsika sekutenderera pasekondi imwe sevelocity. Asi izvi zvakakosha zvinogona kuverengerwa kubva kuTMC429 paramita sezvakaratidzwa muchikamu chino.
ZVINHU ZVINHU ZVAKAITIKA TMC429

Signal	Tsanangudzo	Range
fCLK	wachi-frequency	16 MHz
velocity	–	0… 2047
a_max	kunonyanyisa kumhanyisa	0… 2047
pulse_div	divider for velocity. Iyo yakakwirira kukosha ndeye, ishoma ndiyo yakanyanya velocity default kukosha = 0	0… 13
ramp_div	divider kuitira kukurumidza. Iyo yakakwirira kukosha ndeye, zvishoma ndiyo yakanyanya kukurumidza default kukosha = 0	0… 13
Usrs	microstep-resolution (microsteps per fullstep = 2usrs)	0… 8

Tafura 9.1 TMC429 velocity parameters

MICROSTEP FREQUENCY
Iyo microstep frequency yeiyo stepper mota inoverengerwa ne

FULLSTEP FREQUENCY
Kuti uverenge iyo yakazara nhanho frequency kubva kune microstep frequency, iyo microstep frequency inofanirwa kukamurwa nenhamba yemamicrostep padanho rizere.

Shanduko muyero yekupuruzira panguva yeyuniti (pulse frequency shanduko pasekondi - iyo acceleration a) inopiwa ne

Izvi zvinoguma nekukasira mumatanho akazara e:

EXAMPLE

Signal	value
f_CLK	16 MHz
velocity	1000
a_max	1000
pulse_div	1
ramp_div	1
usrs	6

KUKWERERA KWENHAMVA YEKUtenderera
A stepper motor ine eg 72 flusters per rotation.

Hupenyu Hutsigiro Policy

TRINAMIC Motion Control GmbH & Co. KG haitenderi kana kubvumidza chero zvigadzirwa zvayo kuti zvishandiswe muhurongwa hwekutsigira hupenyu, pasina mvumo yakanyorwa yeTRINAMIC Motion Control GmbH & Co. KG.
Masisitimu ekutsigira hupenyu midziyo inoitirwa kutsigira kana kutsigira hupenyu, uye kutadza kwayo kuita, kana ikashandiswa nemazvo zvinoenderana nemirairo yakapihwa, inogona kutarisirwa zvine musoro kuguma mukukuvadzwa kana kufa.
© TRINAMIC Motion Control GmbH & Co. KG 2013 - 2015

Ruzivo rwakapihwa mupepa rino re data rinotendwa kuti rakarurama uye rakavimbika. Zvakadaro hapana mutoro unotorwa pamhedzisiro yekushandiswa kwayo kana kukanganisa kupi zvako kwepatent kana dzimwe kodzero dzevechitatu mapato, izvo zvinogona kubva mukushandiswa kwayo.
Zvinyorwa zvinogona kuchinja pasina chiziviso.
Ese matrademark anoshandiswa zvinhu zvevaridzi vawo.

Revision History

11.1 Gwaro Kudzokororwa

Version	Date	Munyori	Tsanangudzo
0.90	2011-DEC-22	GE	Shanduro yekutanga
0.91	2012-MAY-02	GE	Yakagadziridzwa TMCM-1140_V11 pcb shanduro
1.00	2012-JUN-12	SD	Yekutanga vhezheni yakazara inosanganisira zvitsauko zvitsva nezve: - gadziridza kufekitori defaults, uye - LEDs
1.01	2012-JUL-30	SD	Mukati wedunhu rezvipo zvakagadziriswa.
1.02	2013-MAR-26	SD	Mazita ezvakaiswa achinjwa: AIN_0   IN_0 IN_0       IN_1 IN_1       IN_2 IN_2       IN_3 Mazita ezvakabuda achinjwa: OUT_1 = OUT_0 OUT_0 = OUT_1
1.03	2013-JUL-23	SD	- Mhando dzekubatanidza dzakagadziridzwa. – Chitsauko 3.3.1.1 yakagadziridzwa.
1.04	2015-JAN-05	GE	- New Hardware vhezheni V13 yakawedzerwa -Mota mutyairi marongero azvino akawedzerwa (chitsauko 4) - Mawedzero akati wandei

Tafura 11.1 Kudzokororwa kwegwaro
11.2 Hardware Revision

Version	Date	Tsanangudzo
TMCM-1040_V10*)	2011-MAR-08	Shanduro yekutanga
TMCM-1140_V11*)	2011-JUL-19	-Kugonesa kweakawanda maI/O maseketi -Kugadzira wachi uye kugovera kwakashandurwa (16MHz oscillator)
TMCM-1140_V12**)	2012-APR-12	- Imwezve mutengo optimization incl. yakasiyana sensor IC ine 10bit max. resolution
TMCM-1140_V13**)	2013-AUG-22	- Stepper mota mutyairi MOSFETs: Iwo MOSFETs emutyairi stage akatsiviwa. Iwo maMOSFET matsva anopa kushomeka kwekupisa kupfuura kwekare / ikozvino kushandiswa. Kunze kweizvozvo kuita uye marongero anosanganisira mutyairi anobuda uye anobuda waveform zvakangofanana. - General chinangwa zvinobuda OUT_0 / OUT_1: Iwo maMOSFET anoshandiswa kushandura aya mabudiro on / kudzima akatsiviwa. Iwo maMOSFET matsva anopa kushomeka kwekupisa kupfuura kwekare / ikozvino kushandiswa. Kunze kweizvozvo kushanda uye zviyero zvakangofanana. - RS485 transceiver: iyo RS485 transceiver yakatsiviwa neSN65HVD1781 transceiver inopa zvirinani kudzivirira kukanganisa (kusvika-kusvika 70V chengetedzo yekukanganisa) uye inotsigira yakakwirira kutaurirana kumhanya (kusvika-kusvika 1Mbit / s). -Irikuitika (ichauya munguva pfupi): Conformal coating yemativi ese ePCB. Inopa dziviriro yakavandudzwa kubva mukunyorova uye guruva / swarf (semuenzaniso kana mota yakakwirisa shanduro PD42-x-1140: zvidimbu zvidiki zvesimbi pane

Version	Date	Tsanangudzo
		PCB inokwezvwa ne encoder magineti inogona kutungamira mukusashanda kwechinhu chisina kudzivirirwa).

Tafura 11.2 Hardware kudzokorora
*): V10, V11: prototypes chete.
**) V12: akatevedzana chigadzirwa vhezheni. Inotsiviwa neV13 yakatevedzana chigadzirwa vhezheni nekuda kweEOL (kuguma-kwehupenyu) yeMOSFETs. Ndapota onai
"PCN_1014_08_29_TMCM-1140.pdf" pane yedu Web-saiti, zvakare

References

[TMCM-1140 TMCL]	TMCM-1140 TMCL Firmware Manual
[TMC262]	Nhoroondo ye TMC262
[TMC429]	Nhoroondo ye TMC429
[TMCL-IDE]	TMCL-IDE User Manual

TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Ndapota tarisa kune www.trinamic.com.
www.trinamic.com
Yakatorwa kubva Arrow.com.

Zvinyorwa / Zvishandiso

TRINAMIC TMCM-1140 Single Axis Stepper Motor Controller/Driver Module [pdf] User Manual V1.3, TMCM-1140, Single Axis Stepper Motor Controller Driver Module, TMCM-1140 Single Axis Stepper Motor Controller Driver Module, Axis Stepper Motor Controller Driver Module, Stepper Motor Controller Driver Module, Motor Controller Driver Module, Controller Driver Module, Driver Module, Module

References

• User Manual