TRINAMIC TMCM-1076 2-Phase 3A 10 to 30 Vdc Stepper Motor Driver User Manual

The TMCM-1076 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 Stealth- Chop™ for absolute silent motor control and SpreadCycle™ for high speed. A TTL UART interface allows for more advanced configuration and permanent parameter storage via TMCL™-IDE.

Features

Supply Voltage +10. . . +30V DC

Up to 3A RMS motor current
Step and direction interface

MicroPlyer™ to 256 micro steps
StealthChop™ silent PWM mode

SpreadCycle™ smart mixed decay
StallGuard2™ load detection

CoolStep™ auto. current scaling
UART con˝guration interface

Applications

Lab-Automation
Manufacturing

Robotics
Factory Automation

Simpli˝ed Block Diagram

Features

The TMCM-1076 is an easy-to-use stepper driver unit with state of an art feature set. It is highly integrated and offers convenient handling. TMCM-1076 can be used with a simple step and direction interface and can be con˝gured using a TTL UART interface. stallGuard2 and coolStep can be con˝gured via TTL UART interface and are disabled by default.

General Features

Main Characteristics

Supply Voltage +10V to +30V DC

3A RMS phase current (ca. 4.2A peak phase current)
Highest micro step resolution, up to 256 micro steps per full step

MicroPlyer™ micro step interpolator for obtaining increased smoothness of micro stepping over a low-frequency STEP/DIR interface
With housing and motor mounted

Permanent onboard parameter storage
Simple step & direction mode

Noiseless StealthChop™ chopper mode for slow to medium velocities
High-performance SpreadCycle™ chopper mode

High-precision sensorless load measurement with StallGuard2™
Automatic current scaling algorithm CoolStep™ 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/-o˙ driver H-bridges
Mode select input to switch between the two chopper modes

TTL UART Interface

TTL-level UART interface for parameter con˝guration
Interface speed 9600-115200 bps (default 9600 bps)
TMCL-based protocol for online con˝guration and permanent parameter settings
Bootloader for ˝rmware updates

TRINAMIC’s Unique Features

stealthChop™

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, stealth-Chop-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 e˙ective voltage into the coil, using a voltage mode PWM. There are no more con˝gurations required except for the regulation of the PWM voltage to yield the motor target current.

spreadCycle™

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 the highest smoothness. The true target current is powered into the motor coils.

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 that 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-e°cient point of operation for the motor.

cool step

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 that 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.

Order Codes

Order Code	Description	Size (LxWxH)
TMCM-1076	Controller/Driver Module without motor, +24V DC, 3A RMS, TTL UART interface (9600bps default), S/D interface, Enable, Mode Select	60mm x 60mm x 13mm

Table 1: Order codes modules

Order Code

Description

TMCM-1076-CABLE

Cable loom for TMCM-1076. Contains:

• 1x cable loom for motor connector with 4-pin JST EH female connector

• 1x cable loom for Power + I/O connector with 9-in JST EH female connector

Table 2: Order codes cable loom

Mechanical and Electrical Interfacing

TMCM-1076 Dimensions and Weight

The dimensions of the TMCM-1076 are approximately 60mm x 60mm x 13mm. There are four mounting holes for M3 screws for mounting the TMCM-1076. These mounting holes are located in the bottom /base plate and accessible after removing the top cover (see 5, right ˝gure, mounting holes marked red). Two of them at opposite positions can be used for mounting the module to the backside of our NEMA23 stepper motors (screw/thread length depends on motor size). The other two can be used for mounting the module to the backside of our NEMA24 stepper motors (screw/thread length depends on motor size).

Order Code	Dimension in mm	Weight in g
TMCM-1076	60mm x 60mm x 13mm	≈ 68

Table 3: TMCM-1076 dimensions and weight

Mounting Considerations

TMCM-1076 is designed to be mountable on the back of our NEMA23 and NEMA24 motors. Alternatively, it can be mounted standalone.

Connectors and LEDs

Motor Connector

Pin no.	Pin name	Description
1	B1	Motor phase B pin 1
2	B2	Motor phase B pin 2
3	A1	Motor phase A pin 1
4	A2	Motor phase A pin 2

Table 4: Motor connector pinning

NOTICE Do not connect or disconnect the motor during operation! Motor cable and mo-tor 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 o˙ or disconnect the power supply before (dis)connecting the motor.

Power + I/O Connector

Pin no.	Pin name	Description
1	GND	Supply ground connection, also used for USB serial converter ground connection
2	V+	Supply voltage (V DD) +10V to +30V DC
3	DIR	Optically isolated direction input of S/D interface
4	STEP	Optically isolated step input of S/D interface
5	EN	Optically isolated enable input of motor driver H-bridges
6	CHOP	Optically isolated chopper mode selection input
7	COMM	Opto-coupler common anode or cathode, connect to ground or VCCIO (3.3V to 6V – higher voltages possible with additional external resistors)
8	RXD	TTL-level UART receive line, use with USB serial converter TXD line to connect to PC
9	TXD	TTL-level UART transmit line, use with USB serial converter RXD line to connect to PC

Table 5: Power + I/O connector pinning

NOTICE Supply Voltage Bu˙ering / Add External Power Supply Capacitors A su°ciently bu˙ered 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-1076. Rule of thumb for size of electrolytic capacitor: C = 1000 µF ∗ ISUP P LY A The TMCM-1076 comes with approximately 40µF of onboard ceramic capacitors.

NOTICE There is no reverse polarity protection on the supply input! The module will short any reversed supply voltage and board electronics will get damaged.

NOTICE Power Up Sequence The TMCM-1076 must be powered up with a disabled driver stage only. Depending on your con˝guration the EN input should be logically OFF (EN input either open or at the same voltage level as the COMM input).

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 the 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 Default Baud Rates The default baud rate is 9600 bps. In bootloader mode, the baud rate is 115200 bps.

Info 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 a 5V level. Take special care when selecting a converter cable for a USB connection.

Status LEDs

The TMCM-1076 has one green status LED. See ˝gure 6 for its location.

State	Description
Blinking	MCU active, normal operation
Permanent on	Bootloader mode
Off	Power Off

Table 6: LED state description

Functional Description

Typical Application Wiring

Wire the TMCM-1076 as shown in the following ˝gures.

Connect 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 o˙ (= driver stage disabled)!
Optional: Connect UART to a TTL UART interface with 5V logic levels. To con˝gure your TMCM-1076 start the TMCL-IDE and use the parameterization tools. For detailed instructions refer to the TMCM-1076-˝rmware-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-1076.

Optically Isolated Inputs with Common Anode Input

The control inputs of the TMCM-1076 are optically isolated (not the TTL UART interface). All optocouplers share one common anode (COMM) input as shown in the ˝gure above.

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 the 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.

The series resistors in the TMCM-1076 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 a reference for additional external resistor values.

COMM Voltage (V)	Value of R_external (Ω)
3.3	–
5	–
9	300
12	500
15	700
24	1K5

Note Rexternal Selection Take care when selecting an additional external resistor. The resistor type must have a ˝tting power rating. This depends on the voltage used at COMM input.

Optically Isolated Inputs with Common Cathode Input

The optocouplers inside TMCM-1076 are bidirectional types (AC/DC). Thus, COMM can also be used as a common cathode connection with high-side (pnp style) switches instead of low-side (npn style) as shown in previous ˝gures 9, 8, or 7.

Input Logic

The logic of the optically isolated inputs depends on the usage of common anode input or common cath-ode input. The following table shows the logic of the CHOP input and the logic of the EN input.

	COMM=3.3. . . 5V (Common anode)	COMM=GND (Common cathode)
CHOP=GND	SpreadCycle	StealthChop
CHOP=3.3. . . 5V	StealthChop	SpreadCycle
EN=GND	Motor enable	Motor disable
EN=3.3. . . 5V	Motor disable	Motor enable

Table 7: Additional resistor reference values

Thermal Behavior

The motor current may be set to the speci˝ed maximum current of 3A RMS / 4.2A peak for the TMCM-1076 which is slightly above the maximum speci˝ed current for the stepper motor options (available as PD57/PD60-x-1076). 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.

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 con˝gured 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 ˛ange must be mounted to the application’s mechanical interface with good contact.

Operational Ratings and Characteristics

Absolute Maximum Ratings

Parameter	Min	Max	Unit
Supply voltage	+10	+30	V
Working temperature	-30	+40	° C
Motor coil current/sine wave peak		4.2	A
Continuous motor current (RMS)		3	A

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 speci˝cation 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 +30V! 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.

Electrical Characteristics (Ambient Temperature 25° C)

Parameter	Symbol	Min	Typ	Max	Unit
Supply voltage	V DD	10	24	30	V
Motor coil current/sine wave peak (chopper regulated, adjustable via TTL UART interface)	ICOILpeak	0		4.2	A
Continuous motor current (RMS)	ICOILRMS	0		3	A
Power supply current	ADD		ICOIL	1.4∗I_C_O_I_L	A

Table 9: Electrical Characteristics

I/O Ratings (Ambient Temperature 25° C)

Parameter	Symbol	Min	Typ	Max	Unit
COMM input voltage	VCOMM	3.3	5	6	V
Input frequency of optically isolated I/Os	fin			45	kHz
TTL UART input voltage	VTTL_IN		5	5.5	V
TTL UART low-level voltage	VTLL_L	0		1.75	V
TTL UART high-level voltage	VTTL_H	3.25		5	V

TTL UART output voltage

VTTL_OUT

Table 10: Operational ratings of optically isolated inputs and TTL UART interface

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, a 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 cool step
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

Other Requirements

Specifications	Description or Value
Cooling	Free air
Working environment	Avoid dust, water, oil mist, and corrosive gases, no condensation, no frosting
Working temperature	-30° C to +40° C

Table 12: Other Requirements and Characteristics

Abbreviations used in this Manual

Abbreviation	Description
COMM	Common Anode or common cathode
IDE	Integrated Development Environment
LED	Light Emmitting Diode
RMS	Root Mean Square value
TMCL	TRINAMIC Motion Control Language
TTL	Transistor Transistor Logic
UART	Universal Asynchronous Receiver Transmitter
USB	Universal Serial Bus

Table 13: Abbreviations Used in this Manual

Supplemental Directives

Producer Information

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, the complete data sheet, user manual, and documentation of this product including associated application notes; and a reference to other available product-related documentation.

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 ˝rst time in the document. All trademarks and brand names used are the property of their respective owners.

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.

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. Speci˝cations are subject to change without notice.

Disclaimer: Intended Use

The data speci˝ed in this user manual is intended solely for the purpose of product description. No representation or warranties, either express or implied, of merchantability, ˝tness for a particular purpose or of any other nature are made hereunder with respect to information/speci˝cation 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 trademark right to this product. TRINAMIC assumes no liability for any patent and/or other trademark rights of a third party resulting from processing or handling of the product and/or any other use of the product.

Collateral Documents & Tools

This product documentation is related and/or associated with additional tool kits, ˝rmware, and other items, as provided on the product page at: www.trinamic.com.

Revision History

Hardware Revision

Version	Date	Author	Description
1.00	2018-FEB-28	GE	First prototype version.
1.10	2018-APR-09	GE	Pull-ups for the opto-isolator changed to lower values (to be compatible with TMCM-1070).

Table 14: Hardware Revision

Document Revision

Version	Date	Author	Description
1.00	2018-JUN-25	GE	First release.
1.01	2019-AUG-01	OK	The product picture updated.
1.02	2021-JUN-03	OK	Notice about EN input corrected.
1.03	2021-SEP-03	OK	Notice about step pulse length extended.
1.04	2022-JAN-07	OK	New section 5.4.

Table 15: Document Revision

Downloaded from Arrow.com.

Documents / Resources

TRINAMIC TMCM-1076 2-Phase 3A 10 to 30 Vdc Stepper Motor Driver [pdf] User Manual
TMCM-1076 2-Phase 3A 10 to 30 Vdc Stepper Motor Driver, TMCM-1076, 2-Phase 3A 10 to 30 Vdc Stepper Motor Driver, 3A 10 to 30 Vdc Stepper Motor Driver, 30 Vdc Stepper Motor Driver, Stepper Motor Driver, Motor Driver, Driver

References

User Manual

TRINAMIC TMCM-1076 2-Phase 3A 10 to 30 Vdc Stepper Motor Driver