IMODYULI YEMODYULI YESITEPPER MOTORS
I-Hardware Version V1.3
ISIKHOKELO SOKUSEBENZA
I-TMCM-1140
1-Axis Stepper Controller / Umqhubi
2 A / 24 V sensOstep™ Encoder
USB, RS485, kunye CAN
TMCM-1140 Single Axis Stepper Motor Controller / Driver Module
IIMPAWU EZOHLUKENEYO:
coolStep™
Iimbonakalo
I-TMCM-1140 isilawuli se-axis esisodwa / imodyuli yomqhubi we-2-phase bipolar stepper motors kunye nemo yobugcisa obuseti. Idityaniswe kakhulu, inika ukuphatha kakuhle kwaye ingasetyenziswa kwizicelo ezininzi ezinatyisiweyo. Imodyuli inokunyuswa ngasemva kwe-NEMA 17 (42mm ubungakanani beflange) iimotor ezinyathelayo kwaye yenzelwe imisinga yecoil ukuya kuthi ga kwi-2 A RMS kunye ne-24 V DC yokubonelela ngevolthi.tage. Ngobuchule bayo obuphezulu bamandla avela kwi-TRINAMIC's coolStep™ iindleko zetekhnoloji zokusebenzisa amandla zigcinwa phantsi. I-firmware ye-TMCL™ ivumela zombini, ukusebenza ngokuzimeleyo kunye nemo ethe ngqo.
IIMPAWU EZIPHAMBILI
- Isilawuli sentshukumo
- Motion profile ukubala ngexesha lokwenyani
- Kubhabho ukuguqulwa kweeparamitha zemoto (umz. indawo, isantya, isantya)
- Ukusebenza okuphezulu kwe-microcontroller kulawulo lwenkqubo ngokubanzi kunye nokuphathwa kweprotocol yonxibelelwano olulandelelanayo
Bipolar stepper motor umqhubi
- Ukuya kuthi ga kwi-256 microsteps ngenyathelo elipheleleyo
- Ukusebenza okuphezulu, ukuchithwa kwamandla aphantsi
- Ulawulo lwangoku olunamandla
- Ukhuseleko oludibeneyo
- stallGuard2 inqaku lokuchongwa kwestall
- i-coolStep isici sokunciphisa ukusetyenziswa kwamandla kunye nokutshatyalaliswa kobushushu
Isifaki khowudi
i-sensOstep magnetic encoder (1024 increments per rotation) umz. ukubhaqwa kwelahleko yenyathelo phantsi kwazo zonke iimeko zokusebenza kunye nokubekwa kweliso
Ujongano
- I-RS485 i-2-wire interface yonxibelelwano
- CAN 2.0B ujongano lonxibelelwano
- Isantya esipheleleyo se-USB (12Mbit/s) ujongano lwesixhobo
- 4 amagalelo eenjongo ezininzi:
– 3x ngokubanzi-injongo amagalelo digital - (Eminye imisebenzi: STOP_L / STOP_R / HOME tshintsha amagalelo okanye iA/B/N igalelo leencoder)
– 1x igalelo analog ezinikezelweyo - Iziphumo ezi-2 zenjongo jikelele
– 1x open-drain 1A max.
– 1x +5V imveliso yonikezelo (inokuvulwa/icinywe kwisoftware)
Isoftware
- I-TMCL: ukusebenza okuzimeleyo okanye ukusebenza okude, imemori yeprogram (engaguqukiyo) ukuya kwi-2048 imiyalelo ye-TMCL, kunye ne-PC-based application development software TMCL-IDE ekhoyo mahhala.
Idatha yombane kunye noomatshini
- Ukubonelela ngevoltage: +24 V DC nominal (9… 28 V DC)
- Imotor yangoku: ukuya kuthi ga kwi-2 A RMS / 2.8 Incopho (eprogrammekayo)
Jonga ukwahlula Incwadi yeFirmware ye-TMCL, nayo.
I-TRINAMICS IMICIMBI EYODWA - KULULA UKUYISEBENZISA NGE-TMCL
I-stallGuard2™ i-stallGuard2 ngumlinganiselo ophezulu ochanekileyo womthwalo ongenazinzwa usebenzisa i-EMF yangasemva kwiikhoyili. Ingasetyenziselwa ukuchongwa kwesitali kunye nolunye usetyenziso kwimithwalo engaphantsi kwaleyo imisa imoto. Ixabiso lokulinganisa i-stallGuard2 litshintsha ngokulandelelana kuluhlu olubanzi lomthwalo, isantya, kunye nezicwangciso zangoku. Kumthwalo omkhulu wemoto, ixabiso liya ku-zero okanye kufutshane ne-zero. Le yeyona ndawo inamandla kakhulu ekusebenzeni kwenjini.
coolStep™ I-coolStep sisikali somthwalo esizenzekelayo esizenzekelayo ngokusekwe kumlinganiselo womthwalo nge-stallGuard2 ukulungelelanisa umsinga ofunekayo kumthwalo. Ukusetyenziswa kwamandla kungancitshiswa ukuya kuthi ga kwi-75%. I-coolStep ivumela ukonga amandla amaninzi, ngakumbi kwiinjini ezibona imithwalo eyahlukeneyo okanye ezisebenza kumjikelo womsebenzi ophezulu. Ngenxa yokuba i-stepper motor application kufuneka isebenze kunye ne-torque reserve ye-30% ukuya kwi-50%, kunye nesicelo sokulayisha rhoqo sivumela ukonga okubalulekileyo kwamandla kuba i-coolStep yenza ngokuzenzekelayo ukugcinwa kwetorque xa kuyimfuneko. Ukunciphisa ukusetyenziswa kwamandla kugcina inkqubo ipholile, yonyusa ubomi bemoto, kwaye ivumela ukunciphisa iindleko. 
Iikhowudi zoku-odola
| Ikhowudi yoku-odola | Inkcazo | Ubungakanani (mm3) |
| TMCM-1140-ukhetho | Umlawuli omnye we-axis bipolar stepper motor / umqhubi we-elektroniki one-encoder edibeneyo ye-sensOstep kunye ne-coolStep feature | 37 x 37 x 11.5 |
Uluhlu 2.1 Iikhowudi zoku-odola
Olu khetho lulandelayo luyafumaneka:
| Ukhetho lweFirmware | Inkcazo | Ikhowudi yeodolo example: |
| -TMCL | Imodyuli ecwangciswe kwangaphambili nge-firmware ye-TMCL | TMCM-1140-I-TMCL |
| -CANopen | Imodyuli ecwangciswe kwangaphambili ngeCANopen firmware | TMCM-1140-CANopen |
Uluhlu 2.2 iinketho zeFirmware
Iseti yentambo yokuluka iyafumaneka kule modyuli:
| Ikhowudi yoku-odola | Inkcazo |
| I-TMCM-1140-CABLE | Intambo yokuluka i-TMCM-1140: • Intambo ye-1x yamandla kunye nesinxibelelanisi sonxibelelwano (ubude buyi-200mm) -Intambo eyi-1x yeenjongo ezininzi zangaphakathi/zangaphandle (ubude obuyi-200mm) -Intambo eyi-1x yesiqhagamshelo semoto (ubude obuyi-200mm) – I-1x yohlobo lwe-USB yohlobo A isinxibelelanisi kwintambo yokudibanisa i-USB yohlobo lwe-B encinci (ubude obuyi-1.5m) |
Itheyibhuli 2.3 Iikhowudi zokuodola ngekhebhula
Nceda uqaphele ukuba i-TMCM-1140 iyafumaneka ngeenjini ze-NEMA17 stepper, nazo. Jonga kumaxwebhu e-PD-1140 ngolwazi oluthe kratya malunga nezi mveliso.
Ukunxibelelana koomatshini kunye noMbane
3.1 Imilinganiselo kunye neMingxunya eYilwayo
Imilinganiselo yomlawuli/ibhodi yomqhubi imalunga. 37 mm x 37 mm x 11.5 mm ukuze ilingane ngasemva kwi-42 mm stepper motor. Ubude obuphezulu becandelo (ubude ngaphezu kwenqanaba le-PCB) ngaphandle kwezihlanganisi zokukhwelana zijikeleze i-8mm ngaphezu kwenqanaba le-PCB kunye ne-2 mm ngaphantsi kwinqanaba le-PCB. Kukho imingxunya emibini yokufaka izikrufu ze-M3 zokunyuselwa kwi-NEMA17 stepper motor. 
3.2 Iingqwalasela zebhodi
I-TMCM-1140 inikezela ngemingxunya emibini efakwe ngentsimbi. Yomibini imingxuma yokukhwela idityaniswe kwisixokelelwano kunye nomgangatho womqondiso (ufana nomhlaba wokubonelela ngombane).
Ukuze kuncitshiswe ukugqwethwa kwemiqondiso kunye nemitha yemitha yemiqondiso ye-HF (ukuphucula ukuhambelana kwe-EMC) ngakumbi kwiindawo ezinovakalelo / ezinengxolo kubalulekile ukuqinisekisa uqhagamshelo lomhlaba oluluqilima ngaphakathi kwenkqubo. Ukuze kuxhaswe oku, kucetyiswa ukuba udibanise imingxuma yomibini yokunyuka kwebhodi ngaphezu kokudibanisa komhlaba wokubonelela kumhlaba wokubonelela ngombane.
Nangona kunjalo, oku kusenokungasoloko kulukhetho umz. kwimeko apho inkqubo yentsimbi yetshisi / i-TMCM-1140 ipleyiti yokunyuka sele iqhagamshelwe emhlabeni kunye noqhagamshelo oluthe ngqo phakathi komhlaba wonikezelo (icala lesibini) kunye nonikezelo lomhlaba olungundoqo (icala lokuqala) alifunwa. hayi ukhetho. Kule meko iplastiki (umzekelo, eyenziwe ngenayiloni) izikhewu / iibholithi zomgama kunye nezikrufu kufuneka zisetyenziswe.
3.3 Iziqhagamshelo ze-TMCM-1140
Umlawuli / ibhodi yomqhubi we-TMCM-1140 inika iziqhagamshelo ezine ezibandakanya i-motor connector esetyenziselwa ukudibanisa iikhoyili zemoto kwi-electronics. Amandla kunye nonxibelelwano lonxibelelwano lusetyenziselwa ukubonelela ngombane, i-CAN interface, kunye ne-RS485 interface. Isidibanisi se-I/O se-I/O esinenjongo ezininzi sinikezela ngegalelo leenjongo ezininzi kunye neziphumo ezimbini zenjongo jikelele. Ngaphaya koko, kukho isinxibelelanisi sojongano lwe-USB. 
| Ileyibhile | Uhlobo lwesidibanisi | Uhlobo lwesihlanganisi sokukhwelana |
|
Amandla kunye noNxibelelwano lweConnector |
CI0106P1VK0-LF |
Izindlu zokudityaniswa kwe-CVIlux: CI01065000-A Abafowunelwa CVIlux: CI01T011PE0-A or Izindlu ezidityanisiweyo JST: PHR-6 Abafowunelwa JST: SPH-002T-P0.5S ucingo: 0.22mm2 |
| Multipurpose I/O Isidibanisi | CI0108P1VK0-LF CVIlux CI01 series, 8 izikhonkwane, 2mm pitch |
Uqhagamshelo lwezindlu CVIlux: CI01085000-A Uqhagamshelwano CVIlux: CI01T011PE0-A or Izindlu ezidityanisiweyo JST: PHR-8 Abafowunelwa JST: SPH-002T-P0.5S ucingo: 0.22mm2 |
| Isinxibelelanisi seMoto | CI0104P1VK0-LF
CVIlux CI01 series, 4 izikhonkwane, 2mm pitch |
Uqhagamshelo lwezindlu CVIlux: CI01045000-A Uqhagamshelwano CVIlux: CI01T011PE0-A or Izindlu ezidityanisiweyo JST: PHR-4 Abafowunelwa JST: SPH-002T-P0.5S ucingo: 0.22mm2 |
| Isidibanisi se-USB esincinci | I-Molex 500075-1517 Isixhobo se-USB esiNcinci se-B esithe nkqo |
Nayiphi na iplagi encinci ye-USB encinci |
Itheyibhile 3.1 Izihlanganisi kunye nezihlanganisi zokukhwelana, abafowunelwa kunye nocingo olusebenzayo
3.3.1 Amandla kunye neSiqhagamshelo soNxibelelwano
I-6pin CVIlux CI0106P1VK0-LF 2mm pitch isinxibelelanisi somqolo omnye sisetyenziselwa unikezelo lwamandla, i-RS485 kunye ne-CAN yonxibelelwano lwe-serial. Nceda uqaphele ulwazi olongezelelweyo lobonelelo lwamandla kwisahluko 3.3.1.1.
Phawula: Ujongano lwe-CAN luya kwenziwa lungasebenzi ukuba i-USB iqhagamshelwe ngenxa yokwabelana kwangaphakathi kwezixhobo zehardware.
 |
Iphini | Ileyibhile | Isalathiso | Inkcazo |
| 1 | GND | Amandla (GND) | Inkqubo kunye nomhlaba womqondiso | |
| 2 | VDD | Ukunikezwa Amandla) | I-VDD (+9V…+28V) | |
| 3 | RS485+ | I-Bidirectional | RS485 interface, diff. isignali (engaguqukiyo) | |
| 4 | RS485- | I-Bidirectional | RS485 interface, diff. uphawu (ukuguqula) | |
| 5 | NGOKU_ | I-Bidirectional | CAN ujongano, diff. isignali (engaguqukiyo) | |
| 6 | I-CAN_L | I-Bidirectional | CAN ujongano, diff. uphawu (ukuguqula) |
Uluhlu 3.2 Isiqhagamshelo sobonelelo lwamandla kunye nojongano
3.3.1.1 Ubonelelo lwaMandla
Kumsebenzi ofanelekileyo kufuneka kuthathelwe ingqalelo ingcamango yobonelelo lwamandla kunye noyilo. Ngenxa yezithintelo zesithuba i-TMCM-1140 ibandakanya malunga ne-40µF/35V yonikezelo lwe-capacitors yokucoca. Ezi zi-capacitors ze-ceramic ezikhethwe ukuthembeka okuphezulu kunye nexesha elide lobomi. Imodyuli ibandakanya i-28V suppressor diode ye-over-voltagUkukhusela.
ISILUMKO!
 |
Yongeza ii-capacitors zangaphandle zamandla!
Kuyacetyiswa ukudibanisa i-electrolytic capacitor yobukhulu obubalulekileyo (umzekelo, ubuncinci i-470µF/35V) kwiintambo zombane ezisecaleni kwe-TMCM-1140! |
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Musa ukudibanisa okanye ukukhupha i-motor ngexesha lokusebenza! Intambo yemoto kunye ne-motor inductivity inokukhokelela kwi-voltagI-e spikes xa i-motor ivaliwe / idityanisiwe ngelixa inamandla. Ezi voltagii-e spikes zinokudlula umthamotagimida yomqhubi we-MOSFETs kwaye inokuyonakalisa ngokusisigxina. Ke ngoko, hlala uqhawula unikezelo lwamandla ngaphambi kokuqhagamshelwa / ukukhulula i-motor. |
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Gcina umthamo wombanetage ngaphantsi komda ophezulu we-28V! Kungenjalo i-electronics yomqhubi iya konakaliswa kakhulu! Ngokukodwa, xa i-voltage yokusebenza ekhethiweyotagi-e ikufuphi nomda ophezulu unikezelo lwamandla olulawulwayo luyacetyiswa kakhulu. Nceda ubone kwakhona isahluko sesi-7, amaxabiso okusebenza. |
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Alukho ukhuselo lwepolarity umva! Imodyuli iya kuba mfutshane kuyo nayiphi na ivolthi yonikezelo ebuyiselwe umvatage ngenxa yeediode zangaphakathi zomqhubi we-transistors. |
3.3.1.2 RS485
Ulawulo olukude kunye nonxibelelwano kunye nenkqubo yokusingatha i-TMCM-1140 ibonelela nge-interface yebhasi ye-RS485 yeentambo ezimbini.
Ukuze usebenze ngokufanelekileyo ezi zinto zilandelayo kufuneka zithathelwe ingqalelo xa useka inethiwekhi yeRS485:
- UKWAKHIWA KWEBHASI:
I-topology yothungelwano kufuneka ilandele isakhiwo sebhasi ngokusondeleyo kangangoko kunokwenzeka. Oko kukuthi, ukudibanisa phakathi kwe-node nganye kunye nebhasi ngokwayo kufuneka ibe mfutshane kangangoko kunokwenzeka. Ngokwenene, kufuneka ibe mfutshane xa kuthelekiswa nobude bebhasi.
- UKUPHISWA KWEBHASI:
Ngokukodwa kwiibhasi ezinde kunye / okanye iindawo ezininzi eziqhagamshelwe kwibhasi kunye / okanye isantya esiphezulu sonxibelelwano, ibhasi kufuneka ipheliswe ngokufanelekileyo kuzo zombini iziphelo. I-TMCM-1140 ayihlanganisi nayiphi na i-resistor yokuphelisa. Ke ngoko, i-120 Ohm yokuphelisa i-resistors kuzo zombini iziphelo zebhasi kufuneka zongezwe ngaphandle. - INANI LEENODE:
Umgangatho we-RS485 wonxibelelwano lombane (EIA-485) uvumela ukuya kuma-node angama-32 ukuba aqhagamshelwe kwibhasi enye. I-transceivers yebhasi esetyenziswe kwiiyunithi ze-TMCM-1140 (i-hardware V1.2: SN65HVD3082ED, ekubeni i-hardware V1.3: SN65HVD1781D) inomthwalo ophantsi kakhulu webhasi kwaye ivumela ubuninzi beeyunithi ze-255 ukuba zidibaniswe kwibhasi enye ye-RS485 usebenzisa i-TMCL firmware. . Nceda uqaphele: ngokuqhelekileyo akunakulindelwa ukufumana unxibelelwano oluthembekileyo kunye nenani eliphezulu leendawo ezixhunyiwe kwibhasi enye kunye nesantya esiphezulu sonxibelelwano oluxhasiweyo ngexesha elifanayo. Endaweni yoko, ukulungelelana kufuneka kufunyanwe phakathi kobude bentambo yebhasi, isantya sonxibelelwano kunye nenani leendawo. - INGXELO YONXIBELELWANO:
Isantya esiphezulu se-RS485 sonxibelelwano esixhaswa yi-TMCM-1140 hardware V1.2 yi-115200 bit / s kunye ne-1Mbit / s ukususela kwi-hardware V1.3. Ukumiselwa komzi-mveliso yi-9600 bit/s. Nceda ujonge eyahlukileyo i-TMCM-1140 TMCL firmware manual ngolwazi malunga nezinye izantya zonxibelelwano ezinokwenzeka ngaphantsi komda ongaphezulu kwihardware. - AKUKHO IMICELA YEBHASI Edadayo:
Ziphephe imigca yebhasi edadayo ngeli lixa inginginya/inkosi okanye elinye lamakhoboka ecaleni kwendlela yebhasi lithumela idatha (zonke iindawo zebhasi zitshintshelwe kwimowudi yokufumana). Iindlela zeebhasi ezidadayo zinokukhokelela kwiimpazamo zonxibelelwano. Ukuze kuqinisekiswe imiqondiso esebenzayo ebhasini kuyacetyiswa ukuba kusetyenziswe inethiwekhi ye-resistor edibanisa zombini imigca yebhasi ukuya kumanqanaba engqiqo achazwe kakuhle.
Kukho iinketho ezimbini ezinokucetyiswa:
Yongeza inethiwekhi ye-resistor (Bias) kwelinye icala lebhasi, kuphela (i-120R yokuphelisa isichasi esiseziphelweni zombini):
Okanye yongeza inethiwekhi ye-resistor (Bias) kuzo zombini iziphelo zebhasi (njengeProfibus™ ukupheliswa):
Iziguquli ezithile zojongano lwe-RS485 ezikhoyo kwiiPC sele zibandakanya ezi zixhasi zongezelelweyo (umz. i-USB-2485 enothungelwano olucalanye kwelinye icala lebhasi).
3.3.1.3 INGENZA
Ulawulo olukude kunye nonxibelelwano kunye nenkqubo yokusingatha i-TMCM-1140 ibonelela nge-CAN bus interface. Nceda uqaphele ukuba ujongano lwe-CAN alufumaneki kwimeko apho i-USB iqhagamshelwe. Ukuze usebenze ngokufanelekileyo ezi zinto zilandelayo kufuneka zithathelwe ingqalelo xa useka inethiwekhi ye-CAN:
- UKWAKHIWA KWEBHASI:
I-topology yothungelwano kufuneka ilandele isakhiwo sebhasi ngokusondeleyo kangangoko kunokwenzeka. Oko kukuthi, ukudibanisa phakathi kwe-node nganye kunye nebhasi ngokwayo kufuneka ibe mfutshane kangangoko kunokwenzeka. Ngokwenene, kufuneka ibe mfutshane xa kuthelekiswa nobude bebhasi.
- UKUPHISWA KWEBHASI:
Ngokukodwa kwiibhasi ezinde kunye / okanye iindawo ezininzi eziqhagamshelwe kwibhasi kunye / okanye isantya esiphezulu sonxibelelwano, ibhasi kufuneka ipheliswe ngokufanelekileyo kuzo zombini iziphelo. I-TMCM-1140 ayihlanganisi nayiphi na i-resistor yokuphelisa. Ke ngoko, i-120 Ohm yokuphelisa i-resistors kuzo zombini iziphelo zebhasi kufuneka zongezwe ngaphandle. -
INANI LEENODE:
I-transceiver yebhasi esetyenziswe kwiiyunithi ze-TMCM-1140 (TJA1050T) isekela ubuncinane ii-nodes ze-110 phantsi kweemeko ezifanelekileyo. Inani elifikelelekayo leenodi ngebhasi ye-CAN ixhomekeke kakhulu kubude bebhasi (ibhasi ende> iindawo ezincinci) kunye nesantya sonxibelelwano (isantya esiphezulu -> iindawo ezincinci).
3.3.2 I-Multipurpose I/O Connector
Isidibanisi se-8pin CVIlux CI0108P1VK0-LF 2mm pitch kumqolo omnye siyafumaneka kuwo onke amagalelo kunye neziphumo ezininzi.
 |
Iphini | Ileyibhile | Isalathiso | Inkcazo |
| 1 | GND | Amandla (GND) | Inkqubo kunye nomhlaba womqondiso | |
| 2 | VDD | Ukunikezwa Amandla) | I-VDD, eqhagamshelwe kwi-VDD pin yamandla kunye nesinxibelelanisi sonxibelelwano | |
| 3 | OUT_0 | Isiphumo | Ukukhutshwa kwe-Open-drain (max. 1A) Idiyode edibeneyo yamahhala kwi-VDD | |
| 4 | OUT_1 | Isiphumo | + 5V imveliso yonikezelo (ubuninzi. 100mA) Ingavulwa/icinywe kwisoftware | |
|
5 |
IN_0 |
Igalelo |
Igalelo le-analog enikezelweyo, Igalelo voltaguluhlu lwe-e: 0. + 10V Isisombululo: 12bit (0..4095) |
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6 |
IN_1, STOP_L, ENC_A | Igalelo | Injongo ngokubanzi igalelo ledijithali (+24V ehambelanayo) | |
| Umsebenzi ongomnye 1: igalelo lokutshintsha ukumisa ngasekhohlo | ||||
| Umsebenzi ongomnye wesi-2: umjelo wangaphandle wokufaka ikhowudi kwisixhobo A igalelo | ||||
|
7 |
IN_2, STOP_R, ENC_B |
Igalelo |
Injongo ngokubanzi igalelo ledijithali (+24V ehambelanayo) | |
| Umsebenzi ongomnye 1: igalelo lokumisa ukumisa ekunene | ||||
| Umsebenzi ongomnye wesi-2: igalelo langaphandle le-encoder langaphandle | ||||
| 8 | IN_3, IKHAYA, ENC_N | Igalelo | Injongo ngokubanzi igalelo ledijithali (+24V ehambelanayo) | |
| Umsebenzi ongomnye 1: igalelo lokutshintsha ikhaya | ||||
| Umsebenzi ongomnye wesi-2: isalathiso sangaphandle esongezelekayo se-encoder / zero igalelo lomjelo |
Itheyibhile 3.3 Isinxibelelanisi se-I/O esiNjongo ezininzi
Phawula:
- Onke amagalelo ane-resistor based voltage igalelo abahluli kunye diode zokhuselo. Ezi zixhasi zikwaqinisekisa umgangatho osebenzayo we-GND xa ushiywe ungaxhunywanga.
- Kuwo onke amagalelo edijithali (IN_1, IN_2, IN_3) isixhasi sokutsalwa kwe-2k2 ukuya ku-+5V sinokuvulwa (ulungiselelo oluhlala lukhona nazo zonke iinguqulelo ze-firmware zamva nje zeTMCL). Emva koko ezi galelo zinezinga elingagqibekanga (elingaxhunywanga) logic yenqanaba le-1 kunye nokutshintsha kwangaphandle kwi-GND kunokudityaniswa. Oku kunokuba nomdla ngakumbi kwimeko apho la magalelo asetyenziswa njenge STOP_L / STOP_R kunye ne HOME switsha amagalelo (omnye umsebenzi 1) okanye njengegalelo leencoder longezelelo lwangaphandle lweencoder A/B/N eneziphumo zomqokeleli ovulekileyo (utsalo-phezulu aluyomfuneko. ye encoder eneziphumo zokutyhala).
3.3.2.1 Amagalelo eDijithali IN_1, IN_2, IN_3
Isidibanisi se-pin esisibhozo se-TMCM-1140 sibonelela ngegalelo ledijithali leenjongo ezininzi IN_1, IN_2 kunye ne-IN_3. Onke amagalelo amathathu amkela ukuya kuthi ga kwi +24V (nom.) imiqondiso yokufaka kwaye anike isekethe yegalelo elifanayo kunye nevoltage resistor izahluli, umda
iidiode ngokuchasene ne-over-and under-voltage kunye neprogrammable 2k2 ukutsala-up resistors.
Ukutsalwa kungavulwa okanye kucinywe kuwo omathathu amagalelo ngaxeshanye kwisoftware.
Ngomyalelo we-firmware we-TMCL i-SIO 0, i-0, i-0 iya kucima i-tsall-ups kwaye iyalele i-SIO 0, i-0, i-1 iya kuzitshintsha (jonga i-TMCL firmware manual, umyalelo we-SIO ngolwazi oluthe kratya). 
Amagalelo amathathu edijithali anomsebenzi ongomnye ngokuxhomekeke kubumbeko kwisoftware. Le misebenzi ilandelayo iyafumaneka:
| Ileyibhile (iphini) | Umsebenzi omiselweyo | Umsebenzi ongomnye 1 | Umsebenzi ongomnye 2 |
| IN_1 (6) | Injongo ngokubanzi igalelo ledijithali TMCL: GIO 1, 0 // fumana ixabiso ledijithali lokufaka IN_1 |
STOP_L-igalelo lokumisa ukumisa ngasekhohlo, eliqhagamshelwe kwiprosesa kunye ne-TMC429 REF igalelo (ukuxhasa umsebenzi wokumisa ngasekhohlo kwihardware)
I-TMCL: I-GAP 11, 0 // fumana ixabiso ledijithali le-STOP_L igalelo |
ENC_A – ijelo le-encoder yangaphandle eyongezelelweyo yegalelo, eqhagamshelwe kwi-prosesa ye-encoder counter input |
| IN_2 (7) | Injongo ngokubanzi igalelo ledijithali TMCL: GIO 2, 0 // fumana ixabiso ledijithali lokufaka IN_2 |
STOP_R - igalelo lokumisa lokumisa ekunene, eliqhagamshelwe kwiprosesa kunye ne-TMC429 REF igalelo (ukuxhasa ukusebenza kokutshintsha kokumisa ekunene kwihardware) I-TMCL: I-GAP 10, 0 // fumana ixabiso ledijithali le-STOP_R igalelo |
ENC_B – ijelo le-encoder eyongezelelweyo yangaphandle yegalelo, eqhagamshelwe kwi-prosesa ye-encoder counter input |
| IN_3 (8) | Injongo ngokubanzi igalelo ledijithali TMCL: GIO 3, 0 // fumana ixabiso ledijithali lokufaka IN_3 |
IKHAYA - igalelo lokutshintsha ikhaya, eliqhagamshelwe kwiprosesa I-TMCL: I-GAP 9, 0 // fumana ixabiso ledijithali lokufakwa kwe-HOME |
ENC_N – isalathiso sokufakwa kwekhowudi yangaphandle eyongezelelweyo / itshaneli enguziro, eqhagamshelwe kwigalelo lokuphazamiseka kweprosesa |
Itheyibhile 3.4 Amagalelo eenjongo ezininzi / imisebenzi etshintshanayo
– Onke amagalelo amathathu edijithali aqhagamshelwe kwiprosesa ekwibhodi kwaye anokusetyenziswa njengeengeniso zedijithali zenjongo ngokubanzi (engagqibekanga).
- Ukuze usebenzise i-IN_1 kunye ne-IN_2 njenge-STOP_L kunye ne-STOP_R igalelo, lo msebenzi kufuneka uvulwe ngokucacileyo kwi-software (i-factory default: icinyiwe). Nge-firmware ye-TMCL i-stop switch function inokwenziwa ngokusebenzisa i-SAP 12, 0, 0 (STOP_R / right limit switch) kunye ne-SAP 13, 0, 0 (STOP_L / switch limit limit limit). Njengoko amagama sele ebonisile: ubume bokutshintsha komda wasekhohlo (STOP_L) iya kubaluleka ngexesha lokujika kwemoto ekhohlo kunye nobume bokutshintsha komda wasekunene ngexesha lokujika kwemoto ekunene (indlela elungileyo), kuphela. Ukufunda amaxabiso egalelo usebenzisa imiyalelo ye-GAP njengoko idweliswe kwitheyibhile engasentla kunokwenzeka nangaliphi na ixesha. Nceda ujonge eyahlukileyo i-TMCL firmware manual ngolwazi olongezelelweyo.
-I-encoder yangaphandle: i-encoder yangaphandle eyongezelelweyo ye-A/B/N inokudityaniswa kwi-TMCM-1140 kwaye isetyenziswe ukongeza okanye njengenye indlela kwi-encoder yangaphakathi ye-sensOstep™. Ukusebenzisa i-TMCL i-encoder counter value ye-encoder yesibini inokufundwa nge-TMCL yomyalelo we-GAP 216, 0 (jonga i-TMCL firmware manual manual ukuze ufumane iinkcukacha ezingaphezulu). Ukulinganisa okungagqibekanga kwasefektri kwekhawuntara yekhowudi ngu-1:1 – oko kukuthi, emva kokujikeleziswa kwekhowudi ye-encoder enye iyakunyuswa / icuthwe ngenani lamanqaku ophawu lwe-encoder (imigca ye-encoder x 4). Xa usebenzisa i-encoder yangaphandle qhagamshela itshaneli ye-encoder A ukuya ku-IN_1, itshaneli B ukuya IN_2, itshaneli engu-N okanye enguziro ukuya IN_3 (ukhetho), umhlaba we-encoder kumhlaba wobonelelo lwemodyuli (umz. I-Pin 1 ye-Multipurpose I/O isidibanisi) kunye ne +5V nikezela ngegalelo lothunyelo lwekhowudi kwi OUT_1 (zonke kwiMultipurpose I/O isidibanisi). Nceda qaphela ukuba ukuze unikeze i-encoder nge +5V imveliso OUT_1 kufuneka ivulwe kuqala kusetyenziswa SIO 1, 2, 1 (jonga kwakhona isahluko 3.3.2.3).
3.3.2.2 Igalelo leAnalog IN_0
Isidibanisi se-pin esisibhozo se-TMCM-1140 sibonelela ngegalelo elinye elizinikeleyo le-analog IN_0. Eli galelo linikezelweyo le-analog libonelela ngoluhlu olupheleleyo lwegalelo lomlinganiselo. 0… +10 V (0..+ 10.56V nom.) kunye nesisombululo se-analog yangaphakathi-kwi-converter yedijithali ye-microcontroller ye-12bit (0… 4095).
Igalelo likhuselwe kumthamo ophezulutages ukuya kuthi ga kwi +24 V usebenzisa umthamotagIzahluli ze-e resistor kunye nokunciphisa iidiode ngokuchasene nomthamotages ngaphantsi kwe-0 V (GND) nangaphezulu +3.3 V DC (jonga umfanekiso ongezantsi). 
Nge-TMCL firmware ixabiso le-analog yeli galelo linokufundwa kusetyenziswa umyalelo we-GIO 0, 1. Umyalelo uyakubuyisela ixabiso elikrwada le-12bit analog-to-digital converter phakathi kwe-0 .. 4095. Kuyenzeka nokufunda ixabiso ledijithali yeli galelo usebenzisa i-TMCL command GIO 0, 0. Indawo yohambo (phakathi kwe-0 kunye ne-1) iya kuba malunga. +5V igalelo lomthamotage (isiqingatha soluhlu lwegalelo le-analog).
3.3.2.3 Iziphumo OUT_0, OUT_1
Isidibanisi se-pin esisibhozo se-TMCM-1140 sibonelela ngeemveliso ezimbini zenjongo jikelele OUT_0 kunye ne-OUT_1. I-OUT_0 yimveliso ye-open-drain ekwazi ukutshintshela (ukuzika) ukuya ku-1A. Imveliso ye-N-channel ye-MOSFET transistors iqhagamshelwe kwi-freewheeling diode yokukhusela ngokuchasene nombane.tage spikes ingakumbi ukusuka kwimithwalo inductive (relais njl.) ngaphezu konikezelo voltage (jonga umfanekiso ongezantsi).
OUT_0 akufuneki idityaniswe nakweyiphi ivoltage ngasentla umthamo wonikezelotage yemodyuli ngenxa yediode yangaphakathi ejikelezayo.
Nge-TMCL firmware OUT_0 ingavulwa (OUT_0 itsalwe phantsi) usebenzisa umyalelo SIO 0, 2, 1 kwaye ucime kwakhona (OUT_0 edadayo) usebenzisa umyalelo SIO 0, 2, 0 (oku ikwalulungiselelo olungagqibekanga lwasefektri yale mveliso). Kwimeko yemveliso edadayo
ayifunwa kwisicelo isichasi sangaphandle umz. unikezelo voltage inokongezwa.
Ngokuchaseneyo OUT_1 iyakwazi ukubonelela +5V (i-sourcing 100mA max.) kumthwalo wangaphandle. Isitishi esihlanganisiweyo se-P-MOSFET sivumela ukulayita / ukucima le +5V yobonelelo kwisoftware (jonga umfanekiso ongezantsi). Le mveliso ingasetyenziselwa ukubonelela
+5V ukuya kwisekethe yekhowudi yangaphandle. Nceda uqaphele ukuba ubonelelo lwe +5V kufuneka luvulwe ngokucacileyo kwisoftware.
Nge-TMCL firmware OUT_1 inokuvulwa (ubonelelo +5V kwisekethe yangaphandle) usebenzisa umyalelo SIO 1, 2, 1 kunye nokucima (imveliso yatsalwa phantsi nge-10k yokutsala-phantsi isixhasi) usebenzisa umyalelo SIO 1, 2, 0 (le ikwayiyo useto olungagqibekanga lwasefektri yale mveliso).
3.3.3 Isiqhagamsheli seMoto
Njengesidibanisi semoto i-4pin CVIlux CI0104P1VK0-LF 2mm pitch isinxibelelanisi somqolo omnye siyafumaneka. Isidibanisi semoto sisetyenziselwa ukudibanisa iingcingo ezine zeemoto ezimbini zeekhoyili zeemoto ze-bipolar stepper motor kwizinto zombane.
 |
Iphini | Ileyibhile | Isalathiso | Inkcazo |
| 1 | OB2 | Isiphumo | I-Pin 2 yekhoyili yemoto B | |
| 2 | OB1 | Isiphumo | I-Pin 1 yekhoyili yemoto B | |
| 3 | OA2 | Isiphumo | I-Pin 2 yekhoyili yemoto A | |
| 4 | OA1 | Isiphumo | I-Pin 1 yekhoyili yemoto A |
Itheyibhile 3.5 Isiqhagamshelo seMotor
| Example yokuqhagamshela i-QSH4218 NEMA 17 / 42mm iinjini zokunyathela: | |||||
| I-TMCM-1140 | IMoto ye-QS4218 | ||||
| Iphini yokuqhagamshela imoto | Umbala wekhebula | Ikhoyili | Inkcazo | ||
| 1 | Bomvu | B | Ikhoyili yemoto B pin 1 | ||
| 2 | Luhlaza | B- | Ikhoyili yemoto B pin 2 |
| 3 | Luhlaza | A- | Ikhoyili yemoto Iphini loku-2 |
| 4 | Mnyama | A | Ikhoyili yemoto Iphini loku-1 |
3.3.4 Isidibanisi se-USB esiNcinane
Isidibanisi se-5pin mini-USB sifumaneka kwibhodi yonxibelelwano lwe-serial (njengenye indlela ye-CAN kunye ne-RS485 interface). Le modyuli ixhasa USB 2.0 Full-Speed (12Mbit/s) uqhagamshelwano.
Ujongano lwe-CAN luya kwenziwa lungasebenzi nje ukuba i-USB iqhagamshelwe ngenxa yokwabelana kwangaphakathi kwezixhobo zehardware.
 |
Iphini | Ileyibhile | Isalathiso | Inkcazo |
| 1 | I-V-BUS | Amandla
(unikezelo longeniso) |
+5V unikezelo oluvela kumamkeli | |
| 2 | D- | I-Bidirectional | Idatha ye-USB- | |
| 3 | D+ | I-Bidirectional | Idatha ye-USB + | |
| 4 | ID | Amandla (GND) | Iqhagamshelwe kumqondiso kunye nomhlaba wenkqubo | |
| 5 | GND | Amandla (GND) | Iqhagamshelwe kumqondiso kunye nomhlaba wenkqubo |
Itheyibhile 3.6 Isiqhagamshelo se-USB
Ulawulo olukude kunye nonxibelelwano kunye nenkqubo yokusingatha i-TMCM-1140 ibonelela nge-USB 2.0 ye-speed-speed (12Mbit / s) interface (i-mini-USB connector). Nje ukuba i-USB-Host iqhagamshelwe imodyuli iya kwamkela imiyalelo nge-USB.
IMANDLA YOKUSEBENZA IBHASI ye-USB
I-TMCM-1140 ixhasa zombini, i-USB self-powered operation (xa amandla angaphandle anikezelwa nge-connector yonikezelo lwamandla) kunye nokusebenza okuqhutywa kwebhasi ye-USB, (akukho mbane wangaphandle usebenzisa isidibanisi sombane).
Ebhodini i-digital core logic iya kunikwa amandla nge-USB kwimeko apho akukho nkonzo idityanisiweyo (ibhasi ye-USB esebenza ngamandla). I-digital core logic ibandakanya i-microcontroller ngokwayo kunye ne-EEPROM. Imowudi yokusebenza yebhasi ye-USB iphunyeziwe ukwenza uqwalaselo, useto lweparameter, ukufunda, uhlaziyo lwe-firmware, njl. Akukho zixhobo zongezelelweyo zekhebhili okanye izixhobo zangaphandle (umz. umbane) ezifunekayo.
Nceda uqaphele ukuba imodyuli ingazoba yangoku kwi-USB +5V yebhasi yonikezelo nakwi-USB self powered operation ngokuxhomekeke kumbane.tage inqanaba lonikezelo.
Iintshukumo zeemoto azinakwenzeka kule ndlela. Ke ngoko, hlala unxibelelanisa unikezelo lwamandla kwiSidibaniso saMandla kunye noNxibelelwano lweentshukumo zeemoto.
Umqhubi wemoto okwangoku
Umqhubi we-motor stepper on-board usebenza ngokulawulwa ngoku. Umqhubi wangoku unokucwangciswa kwisoftware yeekhoyili zemotor ukuya kuthi ga kwi-2A RMS enamanyathelo angama-32 okukala asebenzayo kwihardware (CS kwitheyibhile engezantsi).
Ingcaciso yeekholamu ezahlukeneyo kwitheyibhile engezantsi:
Ukusetwa kweMotor yangoku kwisoftware (TMCL)
La ngamaxabiso e-TMCL axis parameter 6 (motor run current) kunye ne-7 (motor standby current). Zisetyenziselwa ukuseta ukubaleka / ukulinda okwangoku usebenzisa le miyalelo ilandelayo ye-TMCL:
SAP 6, 0, // seta ukubaleka okwangoku
SAP 7, 0, // seta i-standby yangoku (ixabiso lokufunda ngaphandle nge-GAP endaweni ye-SAP. Nceda ujonge i-TMCM-1140 incwadana ye-firmware eyahlukileyo ngolwazi oluthe vetshe)
I-IRMS yangoku yeMoto [A] Isiphumo semotor yangoku esekwe kwisetingi yangoku yemoto
| Imoto useto lwangoku isoftwe (TMCL) | Inyathelo langoku lokukala (CS) | Imoto yangoku ICOIL_PEAK [A] | Imoto ngoku 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 |
Ukongeza kwizicwangciso kwitheyibhile i-motor current inokucima ngokupheleleyo (i-free-wheeling) usebenzisa i-axis parameter 204 (jonga i-TMCM-1140 i-firmware manual).
Phinda umisele iFactory Defaults
Kunokwenzeka ukuseta kwakhona i-TMCM-1140 kwimimiselo engagqibekanga yasefektri ngaphandle kokuseka ikhonkco lonxibelelwano. Oku kunokuba luncedo xa iparameters zonxibelelwano zojongano olukhethiweyo zimiselwe kumaxabiso angaziwayo okanye ilahleke ngempazamo.Kule nkqubo iipadi ezimbini kwicala elisezantsi lebhodi kufuneka zicuthwe.
Nceda wenze la manyathelo alandelayo:
- Umbane ucimile kwaye intambo ye-USB icinyiwe
- Iiphedi ezimbini ezimfutshane njengoko ziphawulwe kuMfanekiso 5.1
- Ukunyusa amandla ibhodi (amandla nge-USB anele kule njongo)
- Linda de ii-LED ezisebhodini ezibomvu neziluhlaza ziqale ukudanyaza ngokukhawuleza (oku kungathatha ixesha)
- Ibhodi yokucima umbane (khulula intambo ye-USB)
- Susa omfutshane phakathi kweepads
- Emva kokuvula unikezelo lwamandla / ukudibanisa intambo ye-USB zonke iisetingi ezisisigxina zibuyiselwe kwi-defaults defaults
Ii-LED ezikwibhodi
Ibhodi inikezela ngee-LED ezimbini ukuze zibonise isimo sebhodi. Umsebenzi wazo zombini ii-LED uxhomekeke kuguqulelo lwe-firmware. Nge-firmware eqhelekileyo ye-TMCL i-LED eluhlaza kufuneka idanyaze kancinci ngexesha lokusebenza kunye ne-LED ebomvu
kufuneka ivaliwe.
Xa kungekho firmware esebenzayo ecwangciswe ebhodini okanye ngexesha lohlaziyo lwe-firmware ii-LED ezibomvu neziluhlaza zisebenza ngokusisigxina.
UKUZIPHATHA KWE-LED EZINE-FIRMWARE YOMGANGATHO TMCL
| Ubume | Ileyibhile | Inkcazo |
| Ukubetha kwentliziyo | Baleka | Le LED eluhlaza idanyaza kancinci ngexesha lokusebenza. |
| Impazamo | Impazamo | Le LED ibomvu ikhanyisa ukuba kukho impazamo. |
Amanqaku okusebenza
Iireyithingi zokusebenza zibonisa okucetyiweyo okanye uluhlu lweempawu kwaye kufuneka zisetyenziswe njengexabiso loyilo.
Akukho mzekelo uya kugqithiswa amaxabiso aphezulu!
| Uphawu | Ipharamitha | Min | Chwetheza | Max | Iyunithi |
| VDD | Ukunikezelwa kwamandla voltage yokusebenza | 9 | 12… 24 | 28 | V |
| ICOIL_peak | Ikhoyili yeMotor yangoku ye-sine wave incopho (i-chopper ilawulwa, ihlengahlengiswa ngesoftware) | 0 | 2.8 | A | |
| ICOIL_RMS | Imoto yangoku eqhubekayo (RMS) | 0 | 2.0 | A | |
| IDD | Unikezelo lwamandla lwangoku | << ICOIL | 1.4 *IIkhoyili | A | |
| I-TENV | Ubushushu bemekobume kwireyithingi yangoku (akukho kupholisa ngenkani okufunekayo) | -30 | +50 | °C | |
| TENV_1A | Ubushushu bemo engqongileyo 1A RMS motor yangoku / isiqingatha max. yangoku (akukho kupholisa kunyanzelekileyo okufunekayo) | -30 | +70 | °C |
Uluhlu 7.1 Amanqaku okusebenza ngokubanzi kwimodyuli
IIRELELO ZOKUSEBENZA KWEENJONGO EZININZI I/OS
| Uphawu | Ipharamitha | Min | Chwetheza | Max | Iyunithi |
| VOUT_0 | Umqulutage kwindawo evulekileyo yokukhutshwa kwamanzi OUT_0 | 0 | +VDD | V | |
| IOUT_0 | Isiphumo sesinki yangoku yesiphumo esivulekileyo sombhobho OUT_0 | 1 | A | ||
| VOUT_1 | Umqulutage kwimveliso OUT_1 (xa ilayitiwe) | +5 | V | ||
| IOUT_1 | Umthombo wemveliso wangoku weOUT_1 | 100 | mA | ||
| VIN_1/2/3 | Igalelo voltage ye IN_1, IN_2, IN_3 (amagalelo edijithali) | 0 | +VDD | V | |
| VIN_L 1/2/3 | Umgangatho ophantsi umthamotagi-e ye-IN_1, IN_2 kunye ne-IN_3 | 0 | 1.1 | V | |
| VIN_H 1/2/3 | Inqanaba eliphezulu voltagi-e ye-IN_1, IN_2 kunye ne-IN_3 | 3.4 | +VDD | V | |
| VIN_0 | Uluhlu lomlinganiselo wegalelo le-analog IN_0 | 0 | +10*) | V |
Uluhlu 7.2 Amanqaku okusebenza kwii-I/Os ezinenjongo ezininzi
*) malunga. 0…+10.56V kwi-analog input IN_0 iguqulelwe ku-0..4095 (12bit ADC, amaxabiso aluhlaza). Ngaphezulu malunga.
+ 10.56V igalelo le-analog liya kuhlutha kodwa, lingonakali (ukuya kwi-VDD).
IIRELELO ZOKUSEBENZA KWE-RS485 INTERFACE
| Uphawu | Ipharamitha | Min | Chwetheza | Max | Iyunithi |
| NRS485 | Inani leendawo eziqhagamshelwe kwinethiwekhi enye ye-RS485 | 256 | |||
| fRS485 | Esona santya siphezulu sixhaswa kuqhagamshelwano lweRS485 | 9600 | 115200 1000000*) | bps |
Itheyibhile 7.3: Imilinganiselo yokusebenza ye-RS485 interface
*) uhlaziyo lwehardware V1.2: max. I-115200 bit / s, ukuhlaziywa kwe-hardware V1.3: max. 1Mbit/s
IIREYITHISO ZOKUSEBENZA KOMNTU WOKUSEBENZA
| Uphawu | Ipharamitha | Min | Chwetheza | Max | Iyunithi |
| I-NCAN | Inani leendawo eziqhagamshelwe kwinethiwekhi enye ye-RS485 | > 110 | |||
| fCAN | Ubuninzi bebit rate buxhaswe kuqhagamshelo lwe-CAN | 1000 | 1000 | kbit/s |
Itheyibhile 7.4 Iireyithingi zokusebenza kojongano lwe-CAN
Inkcazo esebenzayo
I-TMCM-1140 yimodyuli edibeneyo yomlawuli / umqhubi enokuthi ilawulwe ngeendlela ezininzi ze-serial interfaces. Uthungelwano lonxibelelwano lugcinwa lusezantsi ukusukela ngalo lonke ixesha imisebenzi ebalulekileyo (umz. ramp izibalo) zenziwa ebhodini. Unikezelo lwesiqhelo voltage yeyunithi yi 24V DC. Imodyuli yenzelwe zombini, ukusebenza ngokuzimeleyo kunye nemodi ethe ngqo. Ulawulo olupheleleyo olukude lwesixhobo kunye nengxelo lunokwenzeka. I-firmware yemodyuli inokuhlaziywa ngayo nayiphi na i-serial interfaces.
KuMfanekiso 8.1 iindawo eziphambili zeTMCM-1140 zibonisiwe:
I-microprocessor, eqhuba inkqubo yokusebenza ye-TMCL (edityaniswe kwimemori ye-TMCL),
– umlawuli wentshukumo, obala u-ramps kunye nesantya profilengaphakathi ngehardware,
-umqhubi wamandla nge-stallGuard2 kunye ne-coolStep yayo eyonga amandla,
– umqhubi weMOSFET stage, kwaye
– i-sensOstep encoder enezigqibo ze-10bit (1024 amanyathelo) ngokwenguquko nganye. 
I-TMCM-1140 iza kunye ne-PC esekelwe kwi-software yophuhliso lwe-software ye-TMCL-IDE ye-Trinamic Motion Control Language (TMCM). Ukusebenzisa imiyalelo yenqanaba eliphezulu le-TMCL echazwe kwangaphambili njengokuhamba kwindawo yophuhliso olukhawulezayo nolukhawulezayo lwezicelo zolawulo lwentshukumo luqinisekisiwe.
Nceda ujonge kwi-TMCM-1140 Firmware Manual ngolwazi oluthe vetshe malunga nemiyalelo ye-TMCL.
TMCM-1140 Inkcazo yokuSebenza
9.1 Ukubala: Isantya kunye nokuKhawuleza ngokuchasene neMicrostep kunye neFullstep Frequency
Amaxabiso eeparamitha ezithunyelwe kwi-TMC429 azinamaxabiso aqhelekileyo eemoto afana nokujikeleza ngesekhondi njengesantya. Kodwa la maxabiso angabalwa kwiiparamitha ze-TMC429 njengoko kubonisiwe kweli candelo.
IIMIGAQO YE-TMC429
| Umqondiso | Inkcazo | Uluhlu |
| fCLK | ikloko-frequency | 16 MHz |
| isantya | – | 0… 2047 |
| a_ubuninzi | isantya esiphezulu | 0… 2047 |
| pulse_div | isahluli sesantya. Ixabiso eliphezulu lilo, elingaphantsi lilona xabiso liphezulu lesantya esimiselweyo = 0 | 0… 13 |
|
ramp_div |
isahluli sokukhawulezisa. Ixabiso eliphezulu lilo, elingaphantsi kolona kukhawuleza liphezulu
ixabiso elimiselweyo = 0 |
0… 13 |
| Usrs | microstep-resolution (microsteps per fullstep = 2usrs) | 0… 8 |
Uluhlu 9.1 TMC429 iiparamitha zesantya
I-MICROSTEP FREQUENCY
I-microstep frequency ye-stepper motor ibalwa kunye 
UKUQHUBEKA OKUPHELELEYO
Ukubala i-frequency ye-fullstep ukusuka kwi-frequency ye-microstep, i-frequency microstep kufuneka ihlulwe ngenani le-microsteps nganye.
Utshintsho kwisantya se-pulse kwiyunithi yexesha (utshintsho lwe-pulse frequency ngomzuzwana - i-acceleration a) lunikezelwa
Oku kukhokelela ekukhawulezisweni kwamanyathelo apheleleyo:
EXAMPLE
| Umqondiso | ixabiso |
| f_CLK | 16 MHz |
| isantya | 1000 |
| a_ubuninzi | 1000 |
| pulse_div | 1 |
| ramp_div | 1 |
| usrs | 6 |
UKUBALA INANI LOSHISHINO
I-stepper motor ine-72 flusters ngokujikeleza.
Umgaqo-nkqubo weNkxaso yoBomi
I-TRINAMIC Motion Control GmbH & Co. KG ayigunyazisi okanye iqinisekisa nayiphi na imveliso yayo ukuba isetyenziswe kwiinkqubo zokuxhasa ubomi, ngaphandle kwemvume ebhaliweyo ye-TRINAMIC Motion Control GmbH & Co. KG.
Iinkqubo zokuxhasa ubomi zizixhobo ezijoliswe ekuxhaseni okanye ukugcina ubomi, kwaye ukungaphumeleli kwayo ukwenza, xa kusetyenziswe ngokufanelekileyo ngokuhambelana nemiyalelo enikeziweyo, kunokulindeleka ngokufanelekileyo ukuba kubangele ukulimala okanye ukufa komntu.
© TRINAMIC Ulawulo lweMotion GmbH & Co. KG 2013 – 2015
Ulwazi olunikwe kolu xwebhu lwedatha lukholelwa ukuba luchanekile kwaye luthembekile. Nangona kunjalo, alukho uxanduva oluthathwayo ngenxa yeziphumo zokusetyenziswa kwayo okanye ngako nakuphi na ukunyhashwa kwamalungelo awodwa omenzi wechiza okanye amanye amalungelo abantu besithathu, okunokuthi kwenzeke ngenxa yokusetyenziswa kwayo.
Iinkcukacha zinokutshintshwa ngaphandle kwesaziso.
Zonke iimpawu zokuthengisa ezisetyenzisiweyo ziyimpahla yabanini bazo.
Imbali yohlaziyo
11.1 Uhlaziyo lwamaxwebhu
| Inguqulelo | Umhla | Umbhali | Inkcazo |
| 0.90 | 2011-DEC-22 | GE | Inguqulelo yokuqala |
| 0.91 | 2012-MAY-02 | GE | Ihlaziywe inguqulo ye-PCM-1140_V11 pcb |
| 1.00 | 2012-JUN-12 | SD | Inguqulelo yokuqala epheleleyo kuquka izahluko ezitsha malunga: – ukuseta kwakhona kwiziseko zasefektri, kunye – ii-LEDs |
| 1.01 | 2012-JUL-30 | SD | Isekethe yangaphakathi yamagalelo alungisiweyo. |
| 1.02 | 2013-MAR-26 | SD | Amagama amagalelo atshintshiwe: AIN_0 IN_0 IN_0 IN_1 IN_1 IN_2 IN_2 IN_3 Amagama eziphumo atshintshiwe: OUT_1 = OUT_0 OUT_0 = OUT_1 |
| 1.03 | 2013-JUL-23 | SD | -Iintlobo zesiqhagamshelo zihlaziyiwe. – Isahluko 3.3.1.1 sihlaziywe. |
| 1.04 | 2015-JAN-05 | GE | -Inguqulo entsha ye-V13 yongezwa -Useto lwangoku lomqhubi wemoto longeziweyo (isahluko 4) -Izongezo ezininzi |
Uluhlu 11.1 Uhlaziyo loxwebhu
11.2 Uhlaziyo lweHardware
| Inguqulelo | Umhla | Inkcazo |
| TMCM-1040_V10*) | 2011-MAR-08 | Inguqulelo yokuqala |
| TMCM-1140_V11*) | 2011-JUL-19 | -Ukuphuculwa kweesekethe ze-I/O ezineenjongo ezininzi -Ukuveliswa kwewotshi kunye nokuhanjiswa kwatshintsha (16MHz oscillator) |
| TMCM-1140_V12**) | 2012-APR-12 | -Ukwandisa iindleko ezingaphezulu kubandakanywa. Uluvo olwahlukileyo lwe-IC ene-10bit max. isisombululo |
| TMCM-1140_V13**) | 2013-AUG-22 | – I-Stepper motor driver MOSFETs: I-MOSFETs yomqhubi stage zitshintshiwe. Ii-MOSFET ezintsha zibonelela ngokunciphisa ubushushu okuncinci kunezo zangaphambili / ezisetyenziswayo ngoku. Ngaphandle koko ukusebenza kunye noseto olubandakanya imveliso yangoku kunye nemveliso yamaza iyafana. – Iziphumo zenjongo gabalala OUT_0 / OUT_1: Ii-MOSFETs ezisetyenziselwa ukucima ezi ziphumo zitshintshiwe. Ii-MOSFET ezintsha zibonelela ngokunciphisa ubushushu okuncinci kunezo zangaphambili / ezisetyenziswayo ngoku. Ngaphandle koko ukusebenza kunye neereyithingi ziyafana. - I-transceiver ye-RS485: i-transceiver ye-RS485 ithathelwe indawo kunye ne-SN65HVD1781 i-transceiver enikezela ukhuseleko olungcono lokukhusela (ukuya kwi-70V ukukhuselwa kwempazamo) kunye nokuxhasa ukukhawuleza konxibelelwano oluphezulu (ukuya kwi-1Mbit / s). – Iyaqhubeka (iyeza kwakamsinya): Ukwaleka ngokusesikweni macala omabini ePCB. Ibonelela ngokhuseleko oluphuculweyo ngokuchasene nokufuma kunye nothuli / i-swarf (umzekelo, kwimeko ye-motor PD42-x-1140: iindawo ezincinci zentsimbi kwi |
| Inguqulelo | Umhla | Inkcazo |
| I-PCB etsalwe yimagnethi yekhowudi ingakhokelela ekungasebenzini kakuhle kwesixhobo esingakhuselekanga). |
Uluhlu 11.2 Uhlaziyo lwezixhobo zokusebenza
*): V10, V11: prototypes kuphela.
**) V12: uthotho imveliso version. Ithatyathelwa indawo ngenguqulelo yemveliso ye-V13 ngenxa ye-EOL (ukuphela kobomi) bee-MOSFETs. Nceda ubone
“PCN_1014_08_29_TMCM-1140.pdf” kweyethu Web-indawo, nayo
Iimbekiselo
| [TMCM-1140 TMCL] | TMCM-1140 TMCL Firmware Manual |
| [TMC262] | Idatha ye-TMC262 |
| [TMC429] | Idatha ye-TMC429 |
| [TMCL-IDE] | Incwadi yoMsebenzisi ye-TMCL-IDE |
I-TRINAMIC yoLawulo lweMotion GmbH & Co. KG
IHamburg, eJamani
www.trinamic.com
Nceda bhekisa ku www.trinamic.com.
www.trinamic.com
Ikhutshelwe kwi Arrow.com.
Amaxwebhu / Izibonelelo
 |
I-TRINAMIC TMCM-1140 i-Single Axis Stepper isilawuli seMoto/Imodyuli yomqhubi [pdf] Incwadi yokusebenzisa I-V1.3, i-TMCM-1140, i-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. Imodyuli, iModyuli |