Trinamic 30-0104 PD3-109-57-RS V2 Stepper Motor With Integrated Controller 30-0104 Datenbogen
Produktcode
30-0104
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25)
16
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6 Functional description
In figure 6.1 the main parts of the PDx-109-57-RS V2 are shown. The module mainly consists of the
µC, a TMC428 motion controller, a TMC249 stepper motor driver, the TMCL™ program memory
(EEPROM) and the host interfaces RS232 and RS485.
5V Power Supply
18… 55V DC
PDx-109-57-RS V2
High Power
Driver
TMC249
µC
TMCL
Memory
progammable
Motion
Controller
TMC428
Step
Motor
additional
I/Os /
Disable
RS232
RS485
2
additional
I/Os
Stop
Switches
+5V
TMCM-109
MOSFET
Driver
Stage
Opto-
isolation
Figure 6.1: Main parts of the PDx-109-57 V2
6.1 System architecture
The TMCM-109 integrates a microcontroller with the TMCL™ (Trinamic Motion Control Language)
operating system. The motion control real-time tasks are realized by the TMC428.
operating system. The motion control real-time tasks are realized by the TMC428.
6.1.1 Microcontroller (µC)
The flash ROM of the microcontroller holds the TMCL™ operating system and the EEPROM memory of
the microcontroller is used to permanently store configuration data, while an additional EEPROM
memory holds the user TMCL™ programs.
The TMCL™ operating system can be updated only via the host interfaces. Please use the latest
version of the TMCL-IDE to do this.
the microcontroller is used to permanently store configuration data, while an additional EEPROM
memory holds the user TMCL™ programs.
The TMCL™ operating system can be updated only via the host interfaces. Please use the latest
version of the TMCL-IDE to do this.
6.1.2 TMCL™ EEPROM
To store TMCL™ programs for standalone operation the TMCM-109 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL™ programs consisting of up to
2047 TMCL™ commands.
EEPROM attached to the microcontroller. The EEPROM can store TMCL™ programs consisting of up to
2047 TMCL™ commands.
6.1.3 TMC428 motion controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-
stepper-motors (on this module, only one motor can be used). Motion parameters like speed or
acceleration are sent to the TMC428 via SPI by the microcontroller. Calculation of ramps and speed
profiles are done internally by hardware based on the target motion parameters.
stepper-motors (on this module, only one motor can be used). Motion parameters like speed or
acceleration are sent to the TMC428 via SPI by the microcontroller. Calculation of ramps and speed
profiles are done internally by hardware based on the target motion parameters.