TRINAMIC TMCM-1640 Bldc Motor Controller
Leano la ts'ehetso ea bophelo
TRINAMIC Motion Control GmbH & Co. KG ha e fane ka tumello kapa ho fana ka tumello leha e le efe ea lihlahisoa tsa eona bakeng sa tšebeliso ea mekhoa ea ts'ehetso ea bophelo, ntle le tumello e tobileng e ngotsoeng ea TRINAMIC Motion Control GmbH & Co. KG.
Litsamaiso tsa ts'ehetso ea bophelo ke lisebelisoa tse reretsoeng ho tšehetsa kapa ho boloka bophelo, 'me ho hlōleha ha tsona ho sebetsa, ha li sebelisoa hantle ho latela litaelo tse fanoeng, ho ka lebelloang ka mokhoa o utloahalang ho fella ka kotsi ea botho kapa lefu.
© TRINAMIC Motion Control GmbH & Co. KG 2011-2020
Ho lumeloa hore lintlha tse fanoeng leqepheng lena la data li nepahetse ebile lia tšepahala. Leha ho le joalo, ha ho boikarabello bo nkuoang bakeng sa litlamorao tsa ts'ebeliso ea eona kapa tlolo ea molao kapa litokelo tse ling tsa batho ba bang, tse ka bakoang ke ts'ebeliso ea eona.
Litlhaloso li ka fetoha ntle le tsebiso.
Likaroloana
TMCM-1640 ke mochine o sebetsang haholo oa taolo / mokhanni oa li-module tsa brushless DC (BLDC) tse nang le li-coil tsa 5A hona joale, li-encoder le / kapa li-sensor tsa holo. Bakeng sa puisano mojule o fana ka RS485 le (mini-) lihokelo tsa USB.
Lisebelisoa
- Compact single-axis brushless DC motor solutions
Lintlha tsa motlakase
- Phepelo voltage: +24VDC no. (+12V… +28.5V DC)
- Motlakase oa hona joale: ho fihla ho 5A RMS (e hlophisitsoeng)
Selaoli sa motsamao se kopaneng
- Sesebelisoa se phahameng sa ARM Cortex™-M3 microcontroller bakeng sa taolo ea sistimi le ho sebetsana le protocol ea puisano
Mokhanni ea kopaneng
- Tshebetso e phahameng e kenyelelitsoeng pele ho mokhanni (TMC603)
- Ts'ebetso e sebetsang hantle haholo, ho felloa ke matla a tlase (li-MOSFET tse nang le RDS e tlase (ON))
- Taolo ea hona joale e matla
- Tšireletso e kopaneng
Li-interface
- USB: sehokelo sa mini-USB, lebelo le felletseng (12Mbit/s) segokanyimmediamentsi sa seriale
- RS485 segokanyimmediamentsi sa sebolokigolo puisano
- Khokahano ea sensor ea holo (+5V TTL kapa matšoao a bokelli ba bulehileng)
- Sehokelo sa encoder (+5V TTL kapa lipontšo tsa pokello e bulehileng)
- Lintho tse 3 tsa sepheo se akaretsang: 2x dijithale (+5V / +24V e tsamaisana), 1x analogue (0… 10V)
- 1 sepheo se akaretsang sa tlhahiso (ho buloa)
Software
- E fumaneha ka TMCL™
- ts'ebetso e ikemetseng kapa ts'ebetso e laoloang hole
- memori ea lenaneo (e sa fetoheng) bakeng sa litaelo tse fihlang ho 2048 TMCL™
- Software e thehiloeng ho PC ea nts'etsopele ea lisebelisoa tsa TMCL-IDE
- Software e thehiloeng ho PC ea nts'etsopele ea ts'ebeliso ea TMCL-BLDC bakeng sa litlhophiso tsa pele
Ka kopo, sheba bukana e arohaneng ea TMCM-1640 TMCL™ Firmware Manual bakeng sa lintlha tse ling
Odara likhoutu
Lithapo ha li kenyelelitsoe. Kenya TMCM-1640-CABLE ho odara ea hau ha ho hlokahala.
| Taelo khoutu | Tlhaloso | Litekanyo [mm] |
| TMCM-1640 | 1-axis BLDC molaoli / mokhanni module e fihlang ho 5A / 28.5V.
RS485 le sebopeho sa USB 2.0 |
42 x 42 x 15 |
| Karolo likarolo | ||
| TMCM-1640-CABLE | Thepa ea thapo bakeng sa TMCM-1640 | |
| Tse amanang makoloi | ||
| QBL4208-41-04-006 | QMot BLDC enjene 42 limilimithara, 4000RPM, 0.06Nm | 42 x 42 x 41 |
| QBL4208-61-04-013 | QMot BLDC enjene 42 limilimithara, 4000RPM, 0.13Nm | 42 x 42 x 61 |
Mechini le motlakase interfacing
Boholo ba boto ea taolo / mokhanni le masoba a ntseng a eketseha
Litekanyo tsa boto ea molaoli / mokhanni (TMCM-164) ke hoo e ka bang. 42mm x 42mm e le hore e lekane ka lehlakoreng le ka morao la 42mm NEMA 17 brushless DC motor. Bolelele ba karolo e kholo (bolelele bo kaholimo ho boemo ba PCB) ntle le likhokahano tsa ho nyalana bo ka ba 10mm le 3mm ka tlase ho boemo ba PCB. Ho na le masoba a mabeli a ho hloa bakeng sa li-screws tsa M3 bakeng sa ho kenya boto ka kotloloho ho NEMA 17/42mm flange size brushless DC motor.
Setšoantšo sa 4.1: Bophahamo ba mojule le boemo ba likoti tse holang
Lihokelo
Boto ea taolo / mokhanni e fana ka lihokelo tse 6 ho kenyelletsa le sehokelo sa enjene se sebelisetsoang ho hokela likhoele tsa enjene ho lisebelisoa tsa elektroniki. Ntle le sehokelo sa matla ho na le sehokelo se le seng bakeng sa (boikhethelo) matšoao a sensor ea holo ea motlakase le sehokelo se le seng bakeng sa (ho ikhethela) matšoao a encoder a eketsehang. Bakeng sa puisano ea serial sehokelo sa mini-USB se kenyelelitsoe botong. Ho na le sehokelo se eketsehileng bakeng sa puisano ea serial ea RS485, lintlha tse 3 tsa sepheo se akaretsang le tlhahiso e le 'ngoe. Maikemisetso le tlhahiso e akaretsang e kanna ea ba le ts'ebetso e ikhethileng ho latela firmware.
| Sebaka | Sehokedi mofuta | Ho nyalana sehokedi mofuta |
| Matla | Tyco electronics (pele AMP) MTA-100
letoto (3-640456-2), 2 pol., monna |
MTA 100 letoto (3-640440-2), 2 pol., basali |
| Motor | Tyco electronics (pele AMP) MTA-100
letoto (3-640456-3), 3 pol., monna |
MTA 100 letoto (3-640440-3), 3 pol., basali |
| USB | Sehokelo sa 5-pin se tloaelehileng sa mini-USB, se tšehali | Sehokelo sa 5-pin se tloaelehileng sa mini-USB, e motona |
| Holo | 2mm pitch 5 pin sehokelo sa JST B5B-PH-K | Bolulo: JST PHR-5
Mabitso a Crimp: BPH-002T-P0.5S (0.5-0.22mm) |
| Encoder | 2mm pitch 5 pin sehokelo sa JST B5B-PH-K | Bolulo: JST PHR-5
Mabitso a Crimp: BPH-002T-P0.5S (0.5-0.22mm) |
| I/O, RS485 | 2mm pitch 8 pin sehokelo sa JST B8B-PH-K | Bolulo: JST PHR-8
Mabitso a Crimp: BPH-002T-P0.5S (0.5-0.22mm) |
Sehokelo sa motlakase
Sesebelisoa sa elektroniki sa 2-pin Tyco (eo pele e neng e le AMP) Sehokelo sa letoto la MTA-100 (3-640456-2) se sebelisoa e le sehokelo sa matla holim'a sekepe.
Sehokelo sa mating: Tyco electronics (eo pele e neng e le AMP) letoto la MTA-100 (3-640440-2)
|
Pin | Label | Tlhaloso |
| 1 | +U | Mojule + mokhanni stage kenya letsoho phepelo ea motlakase | |
| 2 | GND | Sebaka sa module (phepelo ea motlakase le sebaka sa pontšo) |
Letlapa la 4.1: Sehokelo bakeng sa phepelo ea motlakase
- Ka kopo hlokomela, hore ha ho na tšireletso khahlanong le polarity e fapaneng le tšireletso e fokolang feela khahlanong le voltage ka holimo ho moeli o ka holimo. Motlakase hangata o lokela ho ba ka har'a mefuta e fapaneng ea +9 ho ea ho +28.5V.
- Ha o sebelisa phepelo voltagHa e le haufi le moeli o ka holimo, phepelo ea motlakase e laoloang e tlama. Ka kopo etsa bonnete ba hore li-capacitor tse lekaneng tsa ho sefa li fumaneha ka har'a sistimi (2200µF kapa ho khothaletsoa ho feta) molemong oa ho monya matla a fepeloang ke enjene maemong a tsielehileng le molemong oa ho thibela matla afe kapa afe.tagsurge, mohlala, nakong ea motlakase (haholo-holo ka likhoele tse telele tsa phepelo ea motlakase kaha ho na le li-capacitor tsa ceramic feela holim'a board). Litsamaisong tse kholo ho ka hlokahala potoloho ea zener diode ho fokotsa boholo ba voltage ha enjene e sebetsoa ka lebelo le phahameng.
- Phepelo ea motlakase e lokela ho etsoa ka tsela eo e fanang ka matla a motlakase ka lebitsotage ka boholo bo lakatsehang matla a motlakase. Ha ho joalo, boleng ba phepelo bo tla feta molumo o ka holimotage moeli.
- Ho netefatsa ts'ebetso e ts'eptjoang ea yuniti, phepelo ea motlakase e tlameha ho ba le capacitor e lekaneng ea tlhahiso le likhoele tsa phepelo li lokela ho ba le khanyetso e tlase, e le hore ts'ebetso ea chopper e se ke ea lebisa ho phallo e eketsehileng ea phepelo ea motlakase ka kotloloho setsing. Phatlalatso ea phepelo ea motlakase ka lebaka la ts'ebetso ea chopper e lokela ho bolokoa ka boholo ba 100mV tse seng kae.
Litaelo tsa phepelo ea motlakase:
- boloka lithapo tsa phepelo ea motlakase li le khutšoane ka moo ho ka khonehang
- sebelisa li-diameter tse kholo bakeng sa likhoele tsa phepelo ea motlakase
- eketsa 2200µF kapa li-filter capacitor tse kholoanyane haufi le yuniti ea mokhanni haholo-holo haeba sebaka sa motlakase se le seholo (ke hore ho feta 2-3m)
Sehokedi sa makoloi
Sesebelisoa sa elektroniki sa 3-pin Tyco (eo pele e neng e le AMP) Sehokelo sa letoto la MTA-100 (3-640456-3) se sebelisoa e le sehokelo sa enjene ka boto.
Sehokelo sa mating: Tycos elektroniki (eo pele e neng e le AMP) letoto la MTA-100 (3-640440-3)
|
Pin | Label | Tlhaloso |
| 1 | BM1 | Karolo ea 1 / U | |
| 2 | BM2 | Karolo ea 2 / V | |
| 3 | BM3 | Mohato oa 3 / W |
Sehokelo sa sensor ea holo
Sehokelo sa 2mm pitch 5 pin JST B5B-PH-K se sebelisoa bakeng sa matšoao a sensor ea holo.
- Ntlo ea sehokelo sa mating: PHR-5
- Mabitso a likhokahanyo tsa ho nyalana: SPH-002T-P0.5S.
|
Pin | Label | Tlhaloso |
| 1 | GND | Phepelo ea sensor ea holo le sebaka sa lipontšo | |
| 2 | +5V | + 5V tlhahiso bakeng sa phepelo ea sensor ea holo | |
| 3 | HALL_1 | Letšoao la sensor ea holo 1 | |
| 4 | HALL_2 | Letšoao la sensor ea holo 2 | |
| 5 | HALL_3 | Letšoao la sensor ea holo 3 |
Letlapa la 4.3: Sehokelo bakeng sa matšoao a sensor ea holo
Sehokelo sa Encoder
- Sehokelo sa 2mm pitch 5 pin JST B5B-PH-K se sebelisoa bakeng sa matshwao a khouto.
- Ntlo ea sehokelo sa mating: PHR-5
- Mabitso a likhokahanyo tsa ho nyalana: SPH-002T-P0.5S.
|
Pin | Label | Tlhaloso |
| 1 | GND | Phepelo ea sensor ea holo le sebaka sa lipontšo | |
| 2 | +5V | +5V tlhahiso bakeng sa phepelo ea encoder (max. 100mA) | |
| 3 | A | Encoder channel a | |
| 4 | B | Kanale ea encoder b | |
| 5 | N | Encoder index / null channel |
Letlapa la 4.4: Sehokelo bakeng sa matshwao a dikhouto
Sehokelo sa USB
Sehokelo sa 5-pin se tloaelehileng sa mini-USB se fumaneha botong bakeng sa puisano ea serial.
 |
Pin | Label | Tlhaloso |
| 1 | V-BUS | + 5V matla | |
| 2 | D- | Lintlha - | |
| 3 | D+ | Lintlha + | |
| 4 | ID | Ha e kopane | |
| 5 | GND | fatshe |
Lethathamo la 4.5: Sehokelo se senyenyane sa USB
GPIOs le RS485 sehokelo
Sehokelo sa 2mm pitch 8 pin JST B8B-PH-K se sebelisetsoa ho hokahanya lintho tse kenang le tse hlahisoang ka sepheo se akaretsang.
- Ntlo ea sehokelo sa mating: PHR-8
- Mabitso a likhokahanyo tsa ho nyalana: SPH-002T-P0.5S
|
|
Pin | Label | Tlhaloso |
| 1 | GND | Sebaka sa pontšo le tsamaiso | |
| 2 | +5V | +5V tlhahiso bakeng sa phepelo ea potoloho ea kantle (max. 100mA) | |
| 3 | AIN | Kenyelletso ea analog (0… 10V), e ka sebelisoa e le taolo ea lebelo
ho kenya ka mokhoa o ikemetseng (ho ipapisitse le firmware) |
|
| 4 | IN_0 | Kenyelletso ea dijithale, e ka sebelisoa joalo ka setopong (STOP_R) / switch switch
ho kenya (ho ipapisitse le firmware) |
|
| 5 | IN_1 | Kenyelletso ea dijithale, e ka sebelisoa joalo ka setopong (STOP_L) / switch switch
ho kenya (ho ipapisitse le firmware) |
|
| 6 | TSOA | Phaello ea dijithale (ho buloa, ho feta 100mA) | |
| 7 | RS485+ | RS485 2-wire serial interface (lets'oao le sa fetoheng) | |
| 8 | EA-RS485 | RS485 2-wire serial interface (lets'oao le inverted) |
Letlapa la 4.6: Sehokelo sa sepheo sa kakaretso/sephetho
Lipotoloho tsa lintho tse kenang
Ho kenya sensor ea holo
Potoloho ea sensor ea holo e ts'ehetsa + 5V push-pull (TTL) le lipontšo tsa sensor ea holo e bulehileng. Bakeng sa ho ts'ehetsa mats'oao a bokelli ba bulehileng, potoloho ea ho kenya e fana ka li-resistors tsa 2k7 ho + 5V (tse hlahisoang ka boto ho tsoa ho matla a phepelo ea motlakase.tagle).
Setšoantšo sa 4.3: Potoloho ea ho kenya sensor ea Hall
Kenyelletso ea sekhouto
Potoloho ea ho kenya encoder e ts'ehetsa + 5V push-pull (TTL) le lipontšo tsa sensor ea holo e bulehileng. Bakeng sa ho ts'ehetsa lipontšo tsa pokello e bulehileng, potoloho ea ho kenya e fana ka li-resistors tsa 2k7 ho + 5V (+5V e hlahisitsoeng ka boto ho tsoa ho matla a phepelo ea motlakase.tagle).
Setšoantšo sa 4.4: Potoloho ea ho kenya encoder
Maikemisetso/dipoelo tse akaretsang
Lisebelisoa tsa li-board
Boto e fana ka li-LED tse tharo ho bontša boemo ba boto. Lebone le letala la LED le bulela haeba + 5V ho tloha ho board ea DC / DC switching regulator e fumaneha. Mosebetsi oa li-LED tse peli tse khubelu o itšetlehile ka mofuta oa firmware. Ka firmware e tloaelehileng ea TMCL LED e le 'ngoe e khubelu e bontša mocheso o phahameng (Temoso ea Mocheso) 'me e 'ngoe e tla buleha haeba motlakase oa motlakase o fihla moeling o neng o behiloe pele ho software (Overcurrent).
BOITŠOARO BA LI-LED LE FIRMWARE EA STANDARD TMCL
| Label | Tlhaloso |
| +5V | LED e tala, e bonts'a + 5V e fumanehang ho tsoa ho molaoli oa DC / DC |
| Tlhokomediso ya Mocheso | LED e khubelu, e benya ha thempereichara e ka holim'a sekepe e nyolohela ka holimo ho hoo e ka bang 100°C 'me e lula e le teng ka ho sa feleng ha mocheso o feta approx. |
| Overcurrent | LED e khubelu, ha motlakase o fihla ho MaxCurrent setting ho software |
Lintlha tsa ts'ebetso
Lintlha tsa ts'ebetso tse bontšitsoeng ka tlase li lokela ho sebelisoa e le boleng ba moralo. Ha ho na boemo bo lokelang ho feta litekanyetso tse phahameng nakong ea ts'ebetso.
| Letšoao | Paramethara | Min | Tlanya | Max | Yuniti |
| +U | Phepelo ea motlakase voltage bakeng sa ts'ebetso | 9 | 24 | 28.5 | V DC |
| ICOIL | Mohaho oa motlakase o tsoelang pele (RMS) | 0 | 3 | 5 | A |
| TS'ELISO | Motlakase oa motlakase | << ICOIL | 1.4 * ICOIL | A | |
| TENV | Mocheso oa tikoloho ka nako e lekantsoeng (ha ho hlokahale hore ho pholisoe ka likhoka) | tbd | °C |
| Letšoao | Paramethara | Min | Mofuta | Max | Yuniti |
| HLALELE | Pontšo voltage holong sensor input 1/2/3 (e ka ba push-pull (TTL) kapa open- collector (ka hare 2k7 hula-up)) | 0 | 5 | V | |
| VENCODER | Pontšo voltage ho encoder input a/b/n (e ka ba push-pull (TTL) kapa open-collector (ka hare 2k7 hula-up)) | 0 | 5 | V | |
| LEFEELA | Pontšo voltage ho kenya analoge AIN | 0 | 10 | V | |
| VDIN_1/DIN_2 | Pontšo voltage ka mokhoa oa digital DIN_1, DIN_2 | 0 | 24 | V | |
| VDIN_1/DIN_2_L | Pontšo voltage ka mokhoa oa dijithale DIN_1, DIN_2, boemo bo tlase | 0 | 0.8 | V | |
| VDIN_1/DIN_2_L | Pontšo voltage ka mokhoa oa digital DIN_1, DIN_2, boemo bo holimo | 2 | 24 | V |
Tlhaloso ea tšebetso
Setšoantšong sa 7.1 likarolo tse kholo tsa mojule oa TMCM-1640 li bontšitsoe. Module haholo-holo o na le Cortex™-M3 CPU, TRINAMICs TMC603A 3-phase pre-driver, mokhanni oa MOSFET.tage, le sebopeho sa USB 2.0.
Moralo oa sistimi
TMCM-1640 e kopanya microcontroller le sistimi ea ts'ebetso ea TMCL™ (Trinamic Motion Control Language). Mesebetsi ea taolo ea nako ea 'nete e etsoa ke TMC603A.
Microcontroller
Mojulung ona, processor ea ARM Cortex™-M3 CPU 32-bit e sebelisoa ho tsamaisa sistimi ea ts'ebetso ea TMCL™ le ho laola TMC603A. Flash ROM ea microcontroller e na le sistimi e sebetsang ea TMCL™. Memori ea EEPROM e sebelisoa ho boloka data ea tlhophiso ka ho sa feleng. Microcontroller e tsamaisa sistimi ea ts'ebetso ea TMCL™ e etsang hore ho khonehe ho etsa litaelo tsa TMCL™ tse romelloang mojuleng ho tsoa ho moamoheli ka sebopeho sa sebopeho. Microcontroller e toloka litaelo tsa TMCL™ le ho laola TMC603A e phethahatsang litaelo tsa motsamao.
Sistimi ea ts'ebetso ea TMCL™ e ka nchafatsoa ka sehokelo sa moamoheli. Ka kopo sebelisa mofuta oa morao-rao oa TMCL-IDE ho etsa sena.
TMC603A 3-mohato oa pele ho mokhanni
TMC603A ke mokhanni oa enjene ea mekhahlelo e meraro bakeng sa tharollo ea koloi e sebetsang hantle haholo le e sebetsang hantle. E na le lipotoloho tsohle tsa matla le tsa analog tse hlokahalang bakeng sa sistimi e phahameng ea ts'ebetso ea BLDC. TMC603A e etselitsoe ho fana ka sebaka se ka pele bakeng sa microcontroller e etsang phetoho ea enjene le ho laola li-algorithms. E kopanya tekanyo ea hona joale ea shunt resistor. Ts'ireletso le likarolo tsa tlhahlobo hammoho le taolo ea ho theola maemo ho fokotsa litšenyehelo tsa sistimi le ho eketsa ts'epo.
Nalane ea ntlafatso
Phetoho ea tokomane
| Phetolelo | Letsatsi | Mongoli
GE - Göran Eggers SD - Sonja Dwersteg |
Tlhaloso |
| 0.90 | 2010-MAY-05 | GE | Phetolelo ea pele |
| 1.00 | 2011-FEB-14 | SD | Phetolelo e felletseng ea pele |
| 1.01 | 2011-MAY-12 | SD | Liphetoho tse nyane |
| 1.02 | 2011-OCT-31 | SD | Lethathamo la lihokelo le tse nyallanang le liphetoho tse ncha, tse nyane |
| 1.03 | 2011-NOV-03 | SD | Odara likhoutu tse ncha |
| 1.04 | 2011-NOV-16 | GE | Tafole e felletseview lihokelo tsa ho nyalana li lokisitsoe |
| 1.05 | 2018-MAR-12 | GE | Tlhokomeliso mabapi le ts'ebetso e se nang kutlo (holoFx™) e tlositsoe |
| 1.06 | 2020-OCT-02 | GE | Tlhaloso Li-LED li ekelitsoe |
Hardware ntlafatso
| Phetolelo | Letsatsi | Tlhaloso |
| TMCM-164_V10 | 2010-APR-09 | Liboto tse 8 tsa pele tsa mohlala |
| TMCM-1640_V10 | 2010-DEC-10 | Letoto la pele la mofuta oa pele |
Lethathamo la 8.2: Phetoho ea lisebelisoa
Litšupiso
- [TMCM-1640] TMCM-1640 TMCL™ Firmware Manual
- [TMCL-IDE le TMCL-BLDC] Bukana ea Mosebelisi ea TMCL-IDE
- [TMC603A] Lethathamo la lintlha tsa TMC603A
- [QBL4208] Buka ea QBL4208
Ka kopo sheba leqephe la rona la lapeng http://www.trinamic.com.
Copyright © 2011-2020, TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Jeremane
www.trinamic.com
TMCM-1640 1-axis BLDC molaoli / mokhanni 5A / 24V DC RS485 + USB interface hall sensor interface encoder interface
Litokomane / Lisebelisoa
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TRINAMIC TMCM-1640 Bldc Motor Controller [pdf] Buka ea Taelo TMCM-1640 Bldc Motor Controller, TMCM-1640, Bldc Motor Controller, Motor Controller, Controller |
