MODULE BAKENG SA STEPPER MOTORS MODULE
Mofuta oa Hardware V1.3
LITŠOANTŠISO TS'OANE
TMCM-1140
1-Axis Stepper Controller / Mokhanni
2 A / 24 V sensOstep™ Encoder
USB, RS485, le CAN
TMCM-1140 Single Axis Stepper Motor Controller / Driver Module
IKHETHEHILENG KA NAKO:
coolStep™
Likaroloana
TMCM-1140 ke mochini o le mong oa axis controller/driver module bakeng sa li-motor tsa 2-phase bipolar stepper tse nang le sebopeho sa boemo ba bonono. E kopantsoe haholo, e fana ka ts'ebetso e bonolo ebile e ka sebelisoa lits'ebetsong tse ngata tse arolelanoang. Mojule o ka beoa ka morao ho li-motor tsa NEMA 17 (42mm flange size) mme o etselitsoe maqhubu a coil ho fihla ho 2 A RMS le 24 V DC.tage. Ka matla a eona a holimo a matla a tsoang ho TRINAMIC's coolStep™ tekhenoloji ea theko ea tšebeliso ea matla e lula e le tlase. Firmware ea TMCL™ e lumella ka bobeli, ts'ebetso e ikemetseng le mokhoa o tobileng.
LIEKETSENG SEHOLO
- Molaoli oa motsamao
- Motion profile palo ka nako ea sebele
- Phetoho e fofang ea liparamente tsa makoloi (mohlala, boemo, lebelo, lebelo)
- Microcontroller e phahameng ea ts'ebetso bakeng sa taolo ea sistimi ka kakaretso le ho sebetsana le protocol ea serial communication
Bipolar stepper motor driver
- Ho fihla ho li-microstep tse 256 ka mohato o felletseng
- Ts'ebetso e sebetsang hantle haholo, ho felloa ke matla a fokolang
- Taolo ea hona joale e matla
- Tšireletso e kopaneng
- stallGuard2 tšobotsi bakeng sa ho fumanoa ha li-stall
- coolStep tšobotsi bakeng sa ho fokotsa tshebediso ya matla le ho qhala mocheso
Encoder
sensOstep magnetic encoder (1024 increments per rotation) mohlala bakeng sa ho lemoha tahlehelo ea mehato tlas'a maemo ohle a ts'ebetso le tlhokomelo ea boemo.
Li-interface
- RS485 2-sehokelo sa puisano sa terata
- Khokahano ea puisano ea CAN 2.0B
- Sehokelo sa sesebelisoa sa USB se felletseng (12Mbit/s).
- Litlhahiso tse 4 tsa merero e mengata:
- 3x lisebelisoa tsa digital tsa sepheo se akaretsang - (Mesebetsi e meng: STOP_L / STOP_R / HOME switjha tse kenyang kapa A/B/N encoder input)
- 1x tlhahiso ea analoge e inehetseng - Liphetho tse 2 tsa sepheo se akaretsang
– 1x open-drain 1A max.
- 1x + 5V phepelo e hlahisoang (e ka buloa / ea tima ho software)
Software
- 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, le software ea nts'etsopele ea ts'ebeliso e thehiloeng ho PC ea TMCL-IDE e fumanehang mahala.
Lintlha tsa motlakase le tsa mochini
- Phepelo voltage: +24 V DC lebitso (9… 28 V DC)
- Motlakase oa hajoale: ho fihla ho 2 A RMS / 2.8 A tlhoro (e hlophisehileng)
Sheba ho arola TMCL Firmware Manual, hape.
LINTLHA TSE KHETHEHILENG tsa TRINAMICS – HO BOnolo ho li SEBELISA LE TMCL
stallGuard2™ stallGuard2 ke tekanyo e phahameng ea boemo bo holimo e se nang kutlo e sebelisang mokokotlo oa EMF holim'a likhoele. E ka sebelisoa bakeng sa ho bona li-stall le litšebeliso tse ling ho mejaro e ka tlase ho e emisang koloi. Boleng ba tekanyo ea stallGuard2 bo fetoha ka tsela e lumellanang holim'a mefuta e mengata ea mojaro, lebelo le maemo a hona joale. Boemong bo phahameng ba motlakase, boleng bo ea ho zero kapa haufi le zero. Ena ke sebaka se sebetsang hantle ka ho fetisisa sa motlakase bakeng sa motlakase.
coolStep™ coolStep ke sekala sa othomathike se ikamahanyang le mojaro se ipapisitseng le tekanyo ea mojaro ka stallGuard2 ho ikamahanya le nako e hlokahalang ho mojaro. Tšebeliso ea matla e ka fokotsoa ka hoo e ka bang 75%. coolStep e lumella ho boloka matla a mangata, haholo bakeng sa lienjineri tse bonang meroalo e fapaneng kapa tse sebetsang ka nako e ngata ea mosebetsi. Hobane sesebelisoa sa motor stepper se hloka ho sebetsa le torque reserve ea 30% ho isa ho 50%, esita le ts'ebeliso e sa khaotseng ea mojaro e lumella ho boloka matla a bohlokoa hobane coolStep e etsa hore torque e bolokehe ha ho hlokahala. Ho fokotsa tšebeliso ea matla ho boloka sistimi e pholile, ho eketsa bophelo ba koloi, hape ho lumella ho fokotsa litšenyehelo. 
Likhoutu tsa Odara
| Odara khoutu | Tlhaloso | Boholo (mm3) |
| TMCM-1140-kgetho | Single axis bipolar stepper motor controller / mokhanni oa elektroniki o nang le sensOstep encoder e kopaneng le tšobotsi e ntle ea mohato. | 37 x 37 x 11.5 |
Lethathamo la 2.1 Likhoutu tsa odara
Likhetho tse latelang lia fumaneha:
| Firmware khetho | Tlhaloso | Odara khoutu exampLe: |
| -TMCL | Mojule o hlophisitsoe esale pele ka firmware ea TMCL | TMCM-1140-TMCL |
| -CANopen | Mojule o lokiselitsoe esale pele ka firmware ea CANopen | TMCM-1140-CANopen |
Lethathamo la 2.2 Likhetho tsa Firmware
Sete ea loom ea cable e teng bakeng sa mojule ona:
| Odara khoutu | Tlhaloso |
| TMCM-1140-CABLE | Lesela la thapo bakeng sa TMCM-1140: • 1x thapo ya motlakase le sehokedi sa kgokahanyo (bolelele ba 200mm) - thapo e le 'ngoe ea 1x bakeng sa sehokelo sa In/Out tse ngata (bolelele ba 200mm) - thapo e 1x bakeng sa sehokelo sa enjene (bolelele ba 200mm) - 1x sehokelo sa mofuta oa USB oa mofuta oa A ho thapo ea sehokelo sa mofuta oa B mini-USB (bolelele ba 1.5m) |
Lethathamo la 2.3 Likhoutu tsa odara tsa thapo
Ka kopo hlokomela hore TMCM-1140 e fumaneha ka li-motors tsa NEMA17 stepper, le tsona. Sheba litokomane tsa PD-1140 bakeng sa tlhaiso-leseling e batsi ka lihlahisoa tsena.
Tšebelisano ea Mechini le Motlakase
3.1 Litekanyo le Likoti tse Hobelang
Litekanyo tsa boto ea molaoli/bakhanni li ka ba. 37 mm x 37 mm x 11.5 mm e le hore e ka lekana ka morao ho enjene ea stepper ea 42 mm. Bolelele ba karolo e kholo (bolelele bo kaholimo ho boemo ba PCB) ntle le likhokahano tsa ho nyalana bo pota-potile 8mm ka holimo ho boemo ba PCB le 2 mm ka tlase ho boemo ba PCB. Ho na le masoba a mabeli a ntseng a hola bakeng sa li-screws tsa M3 bakeng sa ho kenngoa ho NEMA17 stepper motor. 
3.2 Mehato ea ho eketsa boto
TMCM-1140 e fana ka masoba a mabeli a tšepe a nang le tšepe. Likoti ka bobeli li hokahane le sistimi le sebaka sa matšoao (ho tšoana le sebaka sa phepelo ea motlakase).
E le ho fokotsa ho khopama ha matšoao le mahlaseli a matšoao a HF (ho ntlafatsa ho lumellana ha EMC) haholo-holo libakeng tse nang le lerata / lerata ho bohlokoa ho netefatsa hore ho na le khokahanyo e tiileng ea mobu ka har'a tsamaiso. E le ho tšehetsa sena, ho kgothaletswa hore o hokahane le masoba a mabeli a ntseng a eketseha a boto ho phaella ho khokahanyo ea fatše ea phepelo ea mobu oa tsamaiso ea motlakase.
Leha ho le joalo, sena se ka 'na sa se ke sa e-ba khetho kamehla, mohlala, haeba mochine oa tšepe oa mochine / TMCM-1140 o se o ntse o hokahane le lefats'e, 'me ho na le kamano e tobileng pakeng tsa sebaka sa phepelo (lehlakoreng la bobeli) le lefats'e la phepelo ea motlakase (lehlakore la mantlha) le sa batloe. eseng khetho. Tabeng ena, ho lokela ho sebelisoa polasetiki (mohlala, e entsoeng ka nylon) li-spacers / liboutu le likurufu.
3.3 Lihokelo tsa TMCM-1140
Boto ea taolo / mokhanni oa TMCM-1140 e fana ka likhokahano tse 'ne ho kenyelletsa le sehokelo sa enjene se sebelisetsoang ho hokela likhoele tsa enjene ho lisebelisoa tsa elektroniki. Sehokelo sa matla le puisano se sebelisetsoa phepelo ea motlakase, sehokelo sa CAN, le sehokelo sa RS485. Sehokelo sa 8pin multipurpose I/O se fana ka lintlha tse 'ne tsa merero e mengata le liphetho tse peli tse akaretsang. Ho feta moo, ho na le sehokelo bakeng sa sebopeho sa USB. 
| Label | Mofuta oa sehokelo | Mofuta oa sehokelo sa mating |
|
Sehokelo sa Matla le Puisano |
CI0106P1VK0-LF |
Mohokahanyi oa matlo CVIlux: CI01065000-A Mabitso CVIlux: CI01T011PE0-A or Ntlo ea likhokahanyo JST: PHR-6 Mabitso JST: SPH-002T-P0.5S Mohala: 0.22mm2 |
| Multipurpose I/O Connector | CI0108P1VK0-LF Letoto la CVIlux CI01, lithakhisa tse 8, molumo oa 2mm |
Ntlo ea likhokahanyo CVIlux: CI01085000-A Contacts CVIlux: CI01T011PE0-A or Ntlo ea likhokahanyo JST: PHR-8 Mabitso JST: SPH-002T-P0.5S Mohala: 0.22mm2 |
| Motlakase oa Motlakase | CI0104P1VK0-LF
Letoto la CVIlux CI01, lithakhisa tse 4, molumo oa 2mm |
Ntlo ea likhokahanyo CVIlux: CI01045000-A Contacts CVIlux: CI01T011PE0-A or Ntlo ea likhokahanyo JST: PHR-4 Mabitso JST: SPH-002T-P0.5S Mohala: 0.22mm2 |
| Sehokelo se senyane sa USB | Molex 500075-1517 Sebapali se theohileng sa mofuta oa B sa USB se senyenyane |
Polaka efe kapa efe e tloaelehileng ea mini-USB |
Lethathamo la 3.1 Lihokelo le likhokahanyo tsa ho nyalana, likhokahano le terata e sebetsang
3.3.1 Sehokelo sa Matla le Puisano
6pin CVIlux CI0106P1VK0-LF 2mm sehokelo sa mola o le mong se sebelisetsoa phepelo ea motlakase, RS485 le CAN puisano ea serial. Ka kopo hlokomela lintlha tse ling tsa phepelo ea motlakase khaolong ea 3.3.1.1.
Hlokomela: CAN segokanyimmediamentsi sa sebolokigolo se tla tima haeba USB e hoketswe ka lebaka la karohano ya ka hare ya mehlodi ya hardware.
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Pin | Label | Tataiso | Tlhaloso |
| 1 | GND | Matla (GND) | Sistimi le sebaka sa lipontšo | |
| 2 | VDD | Phepelo ea motlakase) | VDD (+9V…+28V) | |
| 3 | RS485+ | Ho iketsetsa liqeto | RS485 segokanyimmediamentsi sa sebolokigolo, diff. lets'oao (le sa fetoheng) | |
| 4 | EA-RS485 | Ho iketsetsa liqeto | RS485 segokanyimmediamentsi sa sebolokigolo, diff. lets'oao (inverting) | |
| 5 | TLHOKOMELISO | Ho iketsetsa liqeto | CAN interface, diff. lets'oao (le sa fetoheng) | |
| 6 | KA_L | Ho iketsetsa liqeto | CAN interface, diff. lets'oao (inverting) |
Lethathamo la 3.2 Sehokelo bakeng sa phepelo ea motlakase le likhokahano
3.3.1.1 Phepelo ea Matla
Bakeng sa ts'ebetso e nepahetseng, tlhokomelo e tlameha ho nkuoa mabapi le mohopolo oa phepelo ea motlakase le moralo. Ka lebaka la lithibelo tsa sebaka TMCM-1140 e kenyelletsa hoo e ka bang 40µF/35V ea li-capacitor tsa filthara ea phepelo. Tsena ke li-capacitor tsa ceramic tse khethiloeng bakeng sa ts'epo e phahameng le nako e telele ea bophelo. Mojule o kenyelletsa diode ea 28V suppressor bakeng sa over-voltagtshireletso.
TLHOKOMELO!
 |
Kenya li-capacitor tsa phepelo ea matla a kantle!
Ho kgothaletswa ho hokela electrolytic capacitor ea boholo ba bohlokoa (mohlala, bonyane 470µF/35V) ho lithapo tsa phepelo ea motlakase haufi le TMCM-1140! |
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Se ke oa hokela kapa oa khaola motlakase nakong ea ts'ebetso! Motlakase oa motlakase le motlakase oa motlakase o ka lebisa ho voltage spikes ha enjene e khaotsoe / e hokahantsoe ha e ntse e le matla. Tsena voltagli-spikes li ka feta voltage na le meeli ea li-MOSFET tsa mokhanni 'me e ka ba senya ruri. Ka hona, kamehla khaola phepelo ea motlakase pele o hokela / o hakolla enjene. |
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Boloka matla a phepelo ea matlatage ka tlase ho moeli o ka holimo oa 28V! Ho seng joalo, lisebelisoa tsa motlakase tsa mokhanni li tla senyeha haholo! Haholo-holo, ha a khetha tshebetso voltage haufi le moeli o ka holimo, phepelo ea motlakase e laoloang e khothaletsoa haholo. Ka kopo bona hape khaolo ea 7, litekanyetso tsa ts'ebetso. |
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Ha ho na tšireletso ea reverse polarity! Mojule o tla khutsufatsa phepelo efe kapa efe e fetotsoengtage ka lebaka la diode tse ka hare tsa mokhanni oa transistors. |
3.3.1.2 RS485
Bakeng sa taolo e hole le puisano le sistimi e amohelang TMCM-1140 e fana ka sehokelo sa libese tse peli tsa RS485.
Bakeng sa ts'ebetso e nepahetseng, lintlha tse latelang li lokela ho tsotelloa ha u theha marang-rang a RS485:
- SEBOPEHO SA BESE:
Topology ea marang-rang e lokela ho latela sebopeho sa libese haufi-ufi kamoo ho ka khonehang. Ke hore, kamano pakeng tsa node ka 'ngoe le bese ka boeona e lokela ho ba khutšoanyane ka hohle kamoo ho ka khonehang. Ha e le hantle, e lokela ho ba khutšoanyane ha e bapisoa le bolelele ba bese.
- HO FETSA BESE:
Haholo-holo bakeng sa libese tse telele le/kapa li-node tse ngata tse hokahaneng le bese le/kapa lebelo le phahameng la puisano, bese e lokela ho emisoa hantle lintlheng tse peli. TMCM-1140 ha e kenyelle mohanyetsi ofe kapa ofe oa ho felisa. Ka hona, li-resistors tsa 120 Ohm tsa ho emisa lipheletsong tse peli tsa bese li tlameha ho eketsoa kantle. - NUMBER OF NODE:
Tekanyetso ea sehokelo sa motlakase ea RS485 (EIA-485) e lumella li-node tse fihlang ho tse 32 ho hokela beseng e le 'ngoe. Li-transceivers tsa libese tse sebelisoang ho li-unit tsa TMCM-1140 (hardware V1.2: SN65HVD3082ED, kaha hardware V1.3: SN65HVD1781D) e na le boima ba libese bo fokolitsoeng haholo 'me e lumella boholo ba li-unit tsa 255 hore li hokahane le bese e le 'ngoe ea RS485 e sebelisang firmware ea TMCL. . Ka kopo hlokomela: hangata ho ke ke ha lebelloa ho fumana puisano e tšepahalang ka palo e kholo ea li-node tse amanang le bese e le 'ngoe le lebelo le phahameng le tšehetsoeng la puisano ka nako e le' ngoe. Ho e-na le hoo, ho tlameha ho fumanoa tumellano pakeng tsa bolelele ba cable ea bese, lebelo la puisano le palo ea li-node. - LEBELO LA PUISANO:
Lebelo le phahameng la puisano la RS485 le tšehetsoeng ke TMCM-1140 hardware V1.2 ke 115200 bit/s le 1Mbit/s ho tloha hardware V1.3. Boemo ba feme ke 9600 bit/s. Ka kopo, sheba bukana e arohaneng ea firmware ea TMCM-1140 TMCL bakeng sa tlhahisoleseling mabapi le lebelo le leng le ka bang teng la likhokahano ka tlase ho moeli o kaholimo ho Hardware. - HA HO LILINE TSA LIBOSE TSE PHAPANG:
Qoba litselana tsa libese tse phaphametseng ha moamoheli/monghali kapa le le leng la makhoba a tseleng ea bese a fetisang data (li-node tsohle tsa libese li fetotsoe ho amohela mokhoa oa ho amohela). Litsela tsa libese tse phaphametseng li ka baka liphoso tsa puisano. E le ho etsa bonnete ba hore matšoao a sebetsang ka beseng ho khothalletsoa ho sebelisa marang-rang a hanyetsanang a kopanyang litsela tse peli tsa libese ho ea ho maemo a hlalositsoeng hantle.
Ha e le hantle ho na le likhetho tse peli tse ka khothaletsoang:
Eketsa marang-rang a resistor (Bias) ka lehlakoreng le leng la bese, feela (120R termination resistor e ntse e le lipheletsong ka bobeli):
Kapa eketsa marang-rang a resistor (Bias) lipheletsong tse peli tsa bese (joalo ka ho emisoa ha Profibus™):
Li-converter tse ling tsa RS485 tse fumanehang bakeng sa li-PC li se li ntse li kenyelletsa lisebelisoa tsena tse ling (mohlala, USB-2485 e nang le marang-rang a leeme pheletsong e 'ngoe ea bese).
3.3.1.3 KA
Bakeng sa taolo e hole le puisano le sistimi e amohelang TMCM-1140 e fana ka sebopeho sa libese tsa CAN. Ka kopo hlokomela hore sebopeho sa CAN ha se fumanehe haeba USB e hokahane. Bakeng sa ts'ebetso e nepahetseng, lintlha tse latelang li lokela ho tsotelloa ha u theha marang-rang a CAN:
- SEBOPEHO SA BESE:
Topology ea marang-rang e lokela ho latela sebopeho sa libese haufi-ufi kamoo ho ka khonehang. Ke hore, kamano pakeng tsa node ka 'ngoe le bese ka boeona e lokela ho ba khutšoanyane ka hohle kamoo ho ka khonehang. Ha e le hantle, e lokela ho ba khutšoanyane ha e bapisoa le bolelele ba bese.
- HO FETSA BESE:
Haholo-holo bakeng sa libese tse telele le/kapa li-node tse ngata tse hokahaneng le bese le/kapa lebelo le phahameng la puisano, bese e lokela ho emisoa hantle lintlheng tse peli. TMCM-1140 ha e kenyelle mohanyetsi ofe kapa ofe oa ho felisa. Ka hona, li-resistors tsa 120 Ohm tsa ho emisa lipheletsong tse peli tsa bese li tlameha ho eketsoa kantle. -
NUMBER OF NODE:
Transceiver ea libese e sebelisoang ho li-unit tsa TMCM-1140 (TJA1050T) e ts'ehetsa bonyane li-node tse 110 tlas'a maemo a nepahetseng. Palo e ka finyelloang ea li-node ka bese ea CAN e itšetlehile haholo ka bolelele ba libese (bese e telele> libaka tse fokolang) le lebelo la puisano (lebelo le phahameng -> li-node tse fokolang).
3.3.2 Multipurpose I/O Connector
Sehokelo sa 8pin CVIlux CI0108P1VK0-LF 2mm se nang le mela e le 'ngoe se fumaneha bakeng sa lintho tsohle tse kenang le liphetho tse ngata.
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Pin | Label | Tataiso | Tlhaloso |
| 1 | GND | Matla (GND) | Sistimi le sebaka sa lipontšo | |
| 2 | VDD | Phepelo ea motlakase) | VDD, e hokahaneng le phini ea VDD ea matla le sehokelo sa puisano | |
| 3 | OUT_0 | Sephetho | Sehlahisoa se bulehileng (max. 1A) Diode ea freewheeling e kopantsoeng ho VDD | |
| 4 | OUT_1 | Sephetho | + 5V phepelo e hlahisoang (max. 100mA) E ka buloa/ea tima ho software | |
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5 |
IN_0 |
Kenyeletso |
Kenyelletso ea analoge e inehetseng, Input voltagmefuta e mengata: 0. + 10V Qeto: 12bit (0..4095) |
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6 |
IN_1, STOP_L, ENC_A | Kenyeletso | Sepheo se akaretsang sa ho kenya dijithale (+24V e tsamaisana) | |
| Mokhoa o mong oa 1: switjha e emisang ka ho le letšehali | ||||
| Mosebetsi o mong oa 2: mocha oa khouto e ntseng e eketseha ea A | ||||
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7 |
IN_2, STOP_R, ENC_B |
Kenyeletso |
Sepheo se akaretsang sa ho kenya dijithale (+24V e tsamaisana) | |
| Mokhoa o mong oa 1: ho kenya switjha ea ho emisa ka ho le letona | ||||
| Mosebetsi o mong oa 2: Kenyelletso ea kantle ea encoder channel B | ||||
| 8 | IN_3, HOME, ENC_N | Kenyeletso | Sepheo se akaretsang sa ho kenya dijithale (+24V e tsamaisana) | |
| Mosebetsi o mong oa 1: ho kenya switjha lapeng | ||||
| Mosebetsi o mong oa 2: index ea encoder ea kantle e ntseng e eketseha / kenyeletso ea zero |
Lethathamo la 3.3 sehokelo sa Multipurpose I/O
Hlokomela:
- Lisebelisoa tsohle li na le matla a matla a ho hanyetsatage kenya karohano ka diode tshireletso. Lihanyetsi tsena li boetse li netefatsa boemo bo nepahetseng ba GND ha bo siuoa bo sa hokahane.
- Bakeng sa lisebelisuoa tsohle tsa dijithale (IN_1, IN_2, IN_3) sehanyetsi sa 2k2 se hulela holimo ho +5V se ka kengoa tšebetsong (setting ea kamehla ka mefuta ea morao-rao ea firmware ea TMCL). Ebe lintho tsena tse kenang li na le boemo ba "logic" bo sa fetoheng (bo sa kopanngoeng) ba 1 mme switch ea kantle ho GND e ka hokahanngoa. Sena se ka khahla haholo haeba likenyelletso tsena li sebelisoa joalo ka STOP_L / STOP_R le HOME switch inputs (mosebetsi o mong oa 1) kapa e le kenyelletso ea encoder bakeng sa encoder ea ka ntle ea A/B/N e nang le lipoelo tse bulehileng (li-pull-ups ha li hlokahale. bakeng sa khouto e nang le diphetho tsa push-pull).
3.3.2.1 Litlhahiso tsa Digital IN_1, IN_2, IN_3
Sehokedi sa diphini tse robedi sa TMCM-1140 se fana ka disebediswa tse tharo tse ngata tsa dijithale IN_1, IN_2 le IN_3. Lisebelisoa tse tharo kaofela li amohela ho fihla ho +24V (nom.) matšoao a ho kenya le ho fana ka potoloho e tšoanang ea ho kenya ka voltage resistor dividers, limiting
diode kgahlanong le over-le under-voltage le programmable 2k2 hula-up resistors.
Li-pull-ups li ka buloa kapa tsa tima bakeng sa lisebelisoa tse tharo ka nako e le 'ngoe ho software.
Ka taelo ea firmware ea TMCL SIO 0, 0, 0 e tla tima lits'oants'o ebe e laela SIO 0, 0, 1 e tla li bulela (sheba buka e arohaneng ea firmware ea TMCL, laela SIO bakeng sa tlhaiso-leseling e batsi). 
Lisebelisoa tse tharo tsa dijithale li na le ts'ebetso e 'ngoe ho latela tlhophiso ea software. Mesebetsi e latelang e teng:
| Label (phini) | Mosebetsi oa kamehla | Mosebetsi o mong 1 | Mosebetsi o mong 2 |
| IN_1 (6) | Sepheo se akaretsang sa tlhahiso ea digital TMCL: GIO 1, 0 // fumana boleng ba dijithale ba ho kenya IN_1 |
STOP_L - sesebelisoa sa ho emisa ka ho le letšehali, se hokahaneng le processor le tlhahiso ea TMC429 REF (e tšehetsang ts'ebetso ea ho emisa ka ho le letšehali ho Hardware)
TMCL: GAP 11, 0 // fumana boleng ba dijithale ba ho kenya STOP_L |
ENC_A - mocha o kenang ka ntle oa encoder A, o hokahaneng le kenyeletso ea k'haontara ea processor |
| IN_2 (7) | Sepheo se akaretsang sa tlhahiso ea digital TMCL: GIO 2, 0 // fumana boleng ba dijithale ba ho kenya IN_2 |
STOP_R - sesebelisoa sa ho emisa ka ho le letona, se hokahaneng le processor le tlhahiso ea TMC429 REF (e ts'ehetsa ts'ebetso ea switch stop ka ho le letona ho Hardware) TMCL: GAP 10, 0 // fumana boleng ba dijithale ba ho kenya STOP_R |
ENC_B - mocha oa kenyelletso oa "encoder" oa kantle oa "Encoder", o hokahantsoeng le k'haontara ea processor encoder |
| IN_3 (8) | Sepheo se akaretsang sa tlhahiso ea digital TMCL: GIO 3, 0 // fumana boleng ba dijithale ba ho kenya IN_3 |
LEHAE - sesebelisoa sa lapeng, se hokahane le processor TMCL: GAP 9, 0 // fumana boleng ba dijithale ba ho kenya HOME |
ENC_N - index ea ka ntle ea encoder e kenyelletsang index / zero channel, e hokahaneng le ho kena-kenana ha processor |
Lethathamo la 3.4 Merero e mengata / mesebetsi e meng
- Lisebelisoa tsohle tse tharo tsa dijithale li hokahane le processor ea board, 'me li ka sebelisoa e le lisebelisoa tse akaretsang tsa dijithale (kamehla).
- E le hore u sebelise IN_1 le IN_2 joalo ka STOP_L le STOP_R, ts'ebetso ena e tlameha ho etsoa ka mokhoa o hlakileng ho software (feme ea kamehla: e timiloe). Ka firmware ea TMCL ts'ebetso ea switch switch e ka nolofalloa ho sebelisoa SAP 12, 0, 0 (STOP_R / switch limit limit) le SAP 13, 0, 0 (STOP_L / left limit switch). Joalo ka ha mabitso a se a ntse a bonts'a: boemo ba switch ea moeli o ka letsohong le letšehali (STOP_L) e tla ba ea bohlokoa nakong ea ha koloi e thinyetsa ka letsohong le letšehali le boemo ba switch ea moeli o nepahetseng nakong ea ho tjeka ha koloi ka ho le letona (taelo e ntle), feela. Ho bala boleng ba ho kenya ka ho sebelisa litaelo tsa GAP joalo ka ha li thathamisitsoe tafoleng e ka holimo hoa khoneha neng kapa neng. Ka kopo, sheba bukana e arohaneng ea firmware ea TMCL bakeng sa lintlha tse ling.
- Encoder ea kantle: encoder ea ka ntle ea A/B/N e ka hokeloa ho TMCM-1140 'me ea sebelisoa ho ekelletsa kapa e le mokhoa o mong oa encoder ea kahare ea sensOstep™. Ka ho sebelisa TMCL boleng ba k'haontareng ea encoder bakeng sa encoder ena ea bobeli bo ka baloa ka taelo ea TMCL GAP 216, 0 (sheba buka e arohaneng ea firmware ea TMCL bakeng sa lintlha tse ling). Kakaretso ea kamehla ea fektheri ea k'haontareng ea encoder ke 1:1 - ke hore, ka mor'a ho potoloha ha khouto e le 'ngoe k'haontara ea encoder e tla eketsoa / e fokotsoe ke palo ea li-tick tsa encoder (mela ea encoder x 4). Ha o sebelisa sekhoudara sa kantle, hokela kanale ea khouto A ho IN_1, kanale B ho IN_2, kanale ea N kapa zero ho IN_3 (ka boikhethelo), sebaka sa encoder bakeng sa sebaka sa phepelo (mohlala, Pin 1 ea sehokelo sa Multipurpose I/O) le +5V. fana ka tlhahiso ea khouto ho OUT_1 (tsohle li ho sehokelo sa Multipurpose I/O). Ka kopo elelloa hore molemong oa ho fana ka encoder ka +5V tlhahiso ea OUT_1 e tlameha ho kengoa tšebetsong pele ho sebelisoa SIO 1, 2, 1 (sheba hape le khaolo ea 3.3.2.3).
3.3.2.2 Kenyelletso ea Analoji IN_0
Sehokelo sa phini tse robeli sa TMCM-1140 se fana ka tlhahiso e le 'ngoe ea analog IN_0. Kenyelletso ena e inehetseng ea analog e fana ka mefuta e felletseng ea tlhahiso ea hoo e ka bang. 0… +10 V (0..+ 10.56V nom.) ka qeto ea ka hare ea analoge-ho digital converter ea microcontroller ea 12bit (0… 4095).
Kenyelletso e sirelelitsoe khahlanong le matla a holimotage fihla ho +24 V ho sebelisa voltagli-resistor dividers hammoho le li-diode tse fokotsang khahlano le voltage ka tlase ho 0 V (GND) le ho feta +3.3 V DC (sheba setšoantšo se ka tlase). 
Ka firmware ea TMCL boleng ba analog ea tlhahiso ena bo ka baloa ho sebelisoa taelo ea GIO 0, 1. Taelo e tla khutlisa boleng bo tala ba 12bit analog-to-digital converter pakeng tsa 0 .. 4095. Hape hoa khoneha ho bala boleng ba digital. ea tlhahiso ena o sebelisa taelo ea TMCL GIO 0, 0. Sebaka sa leeto (pakeng tsa 0 le 1) se tla ba hoo e ka bang. +5V e kenyang matlatage (halofo ea tekanyo ea tlhahiso ea analoge).
3.3.2.3 Liphetho OUT_0, OUT_1
Sehokedi sa diphini tse robedi sa TMCM-1140 se fana ka dintlha tse pedi tsa sepheo se akaretsang OUT_0 le OUT_1. OUT_0 ke sehlahisoa se bulehileng se khonang ho fetoha (ho teba) ho fihla ho 1A. Tlhahiso ea li-transistors tsa N-channel MOSFET e hokahane le diode ea freewheeling bakeng sa ts'ireletso khahlanong le vol.tage spikes haholo-holo ho tloha ho inductive loads (relais joalo-joalo) ka holim'a phepelo ea voltage (sheba setšoantšo se ka tlase).
OUT_0 ha ea lokela ho hokahana le molumo ofe kapa ofetage ka holimo phepelo voltage ea mojule ka lebaka la diode ea kahare ea freewheeling.
Ka TMCL firmware OUT_0 e ka buloa (OUT_0 hulela tlase) ho sebelisa taelo SIO 0, 2, 1 le ho tima hape (OUT_0 floating) ho sebelisa taelo SIO 0, 2, 0 (ena hape ke tlhophiso ea kamehla ea feme ea tlhahiso ena). Haeba tlhahiso e phaphametseng
ha e lakatsehe ts'ebetsong sehanyetsi sa kantle ho mohlala ho fana ka voltage ka eketsoa.
Ho fapana le OUT_1 e khona ho fana ka +5V (sourcing 100mA max.) ho mojaro o kantle. MOSFET e kopantsoeng ea P-channel e lumella ho bulela / ho tima phepelo ena ea +5V ho software (sheba setšoantšo se ka tlase). Sehlahisoa sena se ka sebelisoa ho fana
+5V ho potoloho ea kantle ea khouto. Ka kopo hlokomela hore phepelo ea +5V e tlameha ho kengoa tšebetsong ka mokhoa o hlakileng ho software.
Ka TMCL firmware OUT_1 e ka buloa (phepelo +5V ho potoloho ea kantle) u sebelisa taelo SIO 1, 2, 1 le ho tima (sehlahisoa se huleloa tlase ka 10k hulela tlase) u sebelisa taelo SIO 1, 2, 0 (ena hape ke tlhophiso ea kamehla ea feme ea tlhahiso ena).
3.3.3 Sehokelo sa makoloi
Joalo ka sehokelo sa enjene sehokelo sa 4pin CVIlux CI0104P1VK0-LF 2mm sehokelo sa mola o le mong se fumaneha. Sehokelo sa enjene se sebelisetsoa ho hokahanya lithapo tse 'ne tsa enjene tsa likhoele tse peli tsa enjene ea bipolar stepper motor ho lisebelisoa tsa elektroniki.
 |
Pin | Label | Tataiso | Tlhaloso |
| 1 | OB2 | Sephetho | Pin 2 ea coil ea motor B | |
| 2 | OB1 | Sephetho | Pin 1 ea coil ea motor B | |
| 3 | OA2 | Sephetho | Pin 2 ea mochini oa khoele A | |
| 4 | OA1 | Sephetho | Pin 1 ea mochini oa khoele A |
Lethathamo la 3.5 Sehokelo sa makoloi
| Example bakeng sa ho hokahanya li-motors tsa QSH4218 NEMA 17 / 42mm stepper: | |||||
| TMCM-1140 | QS4218 Motor | ||||
| Pin ea sehokelo sa enjene | Cable mmala | Koele | Tlhaloso | ||
| 1 | Khubedu | B | Pini ea koloi ea B 1 | ||
| 2 | Boputsoa | B- | Pini ea koloi ea B 2 |
| 3 | Botala | A- | Motor coil A pin 2 |
| 4 | Ntsho | A | Motor coil A pin 1 |
3.3.4 Sehokelo se senyane sa USB
Sehokelo sa 5pin mini-USB se fumaneha botong bakeng sa puisano ea serial (e le mokhoa o mong oa sebopeho sa CAN le RS485). Mojule ona o tshehetsa dikgokelo tsa USB 2.0 Full-Speed (12Mbit/s).
CAN segokanyimmediamentsi sa sebolokigolo se tla tima hang ha USB e hoketswe ka lebaka la karohano ya ka hare ya mehlodi ya hardware.
 |
Pin | Label | Tataiso | Tlhaloso |
| 1 | V-BUS | Matla
(phepelo ea thepa) |
+ 5V phepelo e tsoang ho moamoheli | |
| 2 | D- | Ho iketsetsa liqeto | Lintlha tsa USB - | |
| 3 | D+ | Ho iketsetsa liqeto | Lintlha tsa USB + | |
| 4 | ID | Matla (GND) | E hokahane le lets'oao le sebaka sa sistimi | |
| 5 | GND | Matla (GND) | E hokahane le lets'oao le sebaka sa sistimi |
Tafole 3.6 Sehokelo sa USB
Bakeng sa taolo ea hole le puisano le sistimi e amohelang TMCM-1140 e fana ka sebopeho sa USB 2.0 se lebelo le felletseng (12Mbit/s) (sehokelo sa mini-USB). Hang ha USB-Host e hokahantsoe module e tla amohela litaelo ka USB.
TSAMAISO EA TS'EBETSO E TLA TS'OA KE USB
TMCM-1140 e ts'ehetsa ka bobeli, ts'ebetso e ikemetseng ea USB (ha matla a kantle a fanoa ka sehokelo sa phepelo ea motlakase) le ts'ebetso ea bese ea USB, (ha ho na motlakase o kantle ka sehokelo sa phepelo ea motlakase).
On-board digital core logic e tla tsamaisoa ka USB haeba ho se na phepelo e 'ngoe e hoketsoeng (ts'ebetso ea bese ea USB). The digital core logic e kenyelletsa microcontroller ka boeona le EEPROM. Mokhoa oa ts'ebetso oa libese tsa USB o kentsoe ts'ebetsong ho nolofalletsa tlhophiso, litlhophiso tsa paramethara, ho bala, liapdeite tsa firmware, joalo-joalo ka ho hokahanya thapo ea USB lipakeng tsa module le PC e amohelang. Ha ho na li-cabling tse eketsehileng kapa lisebelisoa tsa kantle (mohlala, phepelo ea motlakase) tse hlokahalang.
Ka kopo elelloa hore mochini o ka nka hajoale ho tsoa phepelong ea libese tsa USB + 5V esita le ts'ebetsong ea USB e ikemetseng ho latela bophahamo ba motlakase.tage boemo ba phepelo ena.
Ho tsamaisa likoloi ha ho khonehe ka mokhoa ona. Ka hona, kamehla hokela phepelo ea motlakase ho Sehokelo sa Matla le Puisano bakeng sa metsamao ea makoloi.
Mokhanni oa motlakase hona joale
Mokhanni oa on-board stepper motor o sebetsa ka mokhoa o laoloang hajoale. Mokhanni oa hona joale o ka hlophisoa ka har'a software bakeng sa likhoele tsa motlakase ho fihla ho 2A RMS ka mehato e 32 e sebetsang ea sekala ho hardware (CS e tafoleng e ka tlase).
Tlhaloso ea litšiea tse fapaneng tafoleng e ka tlase:
Boemo ba hona joale ba motlakase ho software (TMCL)
Tsena ke boleng ba TMCL axis parameter 6 (motor run current) le 7 (motor standby current). Li sebelisetsoa ho seta run/standby current ho sebelisa litaelo tse latelang tsa TMCL:
SAP 6, 0, // seta matha jwale
SAP 7, 0, // beha boemo ba hajoale (boleng ba ho bala ka GAP sebakeng sa SAP. Ka kopo, bona bukana e arohaneng ea firmware ea TMCM-1140 bakeng sa tlhaiso-leseling e batsi)
IRMS ea hona joale ea enjene [A] E hlahisoang e ipapisitse le boemo ba hajoale ba enjene
| Motor tlhophiso ea hajoale software (TMCL) | Mohato oa hajoale oa ho eketsa (CS) | Motlakase oa motlakase ICOIL_PEAK [A] | Motor kajeno 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 |
Ho phaella ho litlhophiso tse ka har'a tafole motlakase oa motlakase o ka tima ka ho feletseng (free-wheeling) ho sebelisa parameter ea axis 204 (sheba TMCM-1140 firmware manual).
Khutlisa ho Femethari ea Li-Defaults
Hoa khoneha ho seta bocha TMCM-1140 ho li-setting tsa kamehla tsa feme ntle le ho theha sehokelo sa puisano. Sena se ka thusa haeba maemo a puisano a sebopeho se ratoang a behiloe ho boleng bo sa tsejoeng kapa a lahleha ka phoso.Bakeng sa ts'ebetso ena lipampiri tse peli tse lehlakoreng le ka tlase la boto li tlameha ho khutsufatsoa.
Ka kopo, etsa mehato e latelang:
- Motlakase oa tima 'me thapo ea USB e khaotsoe
- Li-pads tse peli tse khutšoane joalo ka ha li tšoailoe ho Setšoantšo sa 5.1
- Power up board (matla ka USB a lekane molemong ona)
- Ema ho fihlela li-LED tse khubelu le tse tala tse ka board li qala ho benya ka potlako (sena se ka nka nakoana)
- Boto ea ho tima (khaola thapo ea USB)
- Tlosa e khuts'oane pakeng tsa li-pads
- Kamora ho bulela phepelo ea motlakase / ho hokela thapo ea USB litlhophiso tsohle tsa ka ho sa feleng li khutliselitsoe mekhoeng ea feme
Lisebelisoa tsa li-board
Boto e fana ka li-LED tse peli ho bontša boemo ba boto. Mosebetsi oa li-LED ka bobeli o ipapisitse le mofuta oa firmware. Ka firmware e tloaelehileng ea TMCL LED e tala e lokela ho benya butle nakong ea ts'ebetso le LED e khubelu
e lokela ho tima.
Ha ho se na firmware e nepahetseng e kentsoeng ka har'a boto kapa nakong ea ntlafatso ea firmware, li-LED tse khubelu le tse tala li bulehile ka ho sa feleng.
BOITŠOARO BA LI-LED LE FIRMWARE EA STANDARD TMCL
| Boemo | Label | Tlhaloso |
| Ho otla ha pelo | Matha | LED ena e tala e bonesa butle nakong ea ts'ebetso. |
| Phoso | Phoso | LED ena e khubelu ea bonesa haeba phoso e etsahala. |
Litekanyetso tsa Ts'ebetso
Lintlha tsa ts'ebetso li bonts'a mefuta e reriloeng kapa e ikhethang 'me e lokela ho sebelisoa e le boleng ba moralo.
Ho hang ha ho na maemo a tla fetisoa litekanyetso tse phahameng!
| Letšoao | Paramethara | Min | Tlanya | Max | Yuniti |
| VDD | Phepelo ea motlakase voltage bakeng sa ts'ebetso | 9 | 12… 24 | 28 | V |
| ICOIL_tlhoro | Motor coil current bakeng sa leqhubu la sine tlhoro (chopper e laoloa, e ka fetoloa ka software) | 0 | 2.8 | A | |
| ICOIL_RMS | Mohaho oa motlakase o tsoelang pele (RMS) | 0 | 2.0 | A | |
| IDD | Motlakase oa motlakase | << ICOIL | 1.4 *Ikela | A | |
| TENV | Mocheso oa tikoloho ka nako e lekantsoeng (ha ho hlokahale hore ho pholisoe ka likhoka) | -30 | +50 | °C | |
| TENV_1A | Mocheso oa tikoloho ho 1A RMS motlakase oa hona joale / halofo ea boholo. hona joale (ha ho hlokahale hore ho pholisoe ka likhoka) | -30 | +70 | °C |
Lethathamo la 7.1 Litekanyetso tse akaretsang tsa ts'ebetso ea mojule
LITEKELO TSA TŠEBELETSO TSA MULTIPURPOSE I/OS
| Letšoao | Paramethara | Min | Tlanya | Max | Yuniti |
| VOUT_0 | Moqtage sebakeng se bulehileng sa drainage OUT_0 | 0 | +VDD | V | |
| IOUT_0 | Sehlahisoa sa sink sa metsi se bulehileng se hlahisoang ke OUT_0 | 1 | A | ||
| VOUT_1 | Moqtage ka tlhahiso OUT_1 (ha e buletsoe) | +5 | V | ||
| IOUT_1 | Mohloli oa hona joale oa OUT_1 | 100 | mA | ||
| VIN_1/2/3 | Keletso voltage bakeng sa IN_1, IN_2, IN_3 (lisebelisoa tsa digital) | 0 | +VDD | V | |
| VIN_L 1/2/3 | Boemo bo tlase ba molumotage bakeng sa IN_1, IN_2 le IN_3 | 0 | 1.1 | V | |
| VIN_H 1/2/3 | Boemo bo phahameng voltage bakeng sa IN_1, IN_2 le IN_3 | 3.4 | +VDD | V | |
| VIN_0 | Litekanyo tsa tlhahiso ea analoge IN_0 | 0 | +10*) | V |
Lethathamo la 7.2 Litekanyetso tsa ts'ebetso ea li-I/O tse ngata
*) hoo e ka bang. 0…+10.56V ho kenyelletso ea analoge IN_0 e fetoleloa ho 0..4095 (12bit ADC, litekanyetso tse tala). Ka holimo hoo e ka bang.
+ 10.56V tlhahiso ea analoge e tla tlala empa, e sa senyehe (ho fihlela ho VDD).
LITEKO TSA TŠEBELETSO EA RS485 INTERFACE
| Letšoao | Paramethara | Min | Tlanya | Max | Yuniti |
| NRS485 | Palo ea li-node tse hokahaneng le marang-rang a le mong a RS485 | 256 | |||
| fRS485 | Sekhahla se phahameng sa biti se tšehelitsoe khokahanong ea RS485 | 9600 | 115200 1000000*) | hanyane/s |
Lethathamo la 7.3: Litekanyetso tsa ts'ebetso ea sebopeho sa RS485
*) ntlafatso ea lisebelisoa tsa V1.2: max. 115200 bit/s, hardware revision V1.3: max. 1Mbit/s
TŠEBELETSO RATINGS OF KA SEBELISA
| Letšoao | Paramethara | Min | Tlanya | Max | Yuniti |
| NCAN | Palo ea li-node tse hokahaneng le marang-rang a le mong a RS485 | > 110 | |||
| fCAN | Sekhahla se phahameng sa biti se tšehetsoa ho khokahanyo ea CAN | 1000 | 1000 | kbit/s |
Lethathamo la 7.4 Litekanyetso tsa ts'ebetso ea sebopeho sa CAN
Tlhaloso ea Ts'ebetso
TMCM-1140 ke mojule oa taolo / mokhanni o kopantsoeng haholo o ka laoloang ka li-interfaces tse 'maloa tsa serial. Sephethephethe sa puisano se lula se le tlase ho tloha nakong eohle ea ts'ebetso ea bohlokoa (mohlala, ramp calculations) li etsoa ka boto. Phepelo ka lebitso voltagE ea yuniti ke 24V DC. Mojule o etselitsoe ka bobeli, ts'ebetso e ikemetseng le mokhoa o tobileng. Taolo e felletseng ea sesebelisoa se nang le maikutlo e ka khoneha. Firmware ea module e ka ntlafatsoa ka li-interfaces tsa serial.
Setšoantšong sa 8.1 likarolo tse kholo tsa TMCM-1140 li bontšitsoe:
- microprocessor, e tsamaisang sistimi ea ts'ebetso ea TMCL (e hokahaneng le memori ea TMCL),
– molaoli oa motsamao, ea balang ramps le lebelo la profiles ka hare ka hardware,
- mokhanni oa matla ea nang le stallGuard2 le tšobotsi ea eona ea matla a coolStep,
– mokhanni oa MOSFET stage, le
- sensOstep encoder e nang le liqeto tsa 10bit (mehato e 1024) ka phetoho e 'ngoe le e 'ngoe. 
TMCM-1140 e tla le tikoloho ea nts'etsopele ea software e thehiloeng ho PC TMCL-IDE bakeng sa Puo ea Taolo ea Motion oa Trinamic (TMCM). Ho sebelisa litaelo tsa boemo bo holimo tsa TMCL tse boletsoeng esale pele joalo ka ho falla ho beha nts'etsopele e potlakileng le e potlakileng ea lits'ebetso tsa taolo ea motsamao ho netefalitsoe.
Ka kopo, sheba Bukana ea Firmware ea TMCM-1140 bakeng sa lintlha tse ling mabapi le litaelo tsa TMCL.
TMCM-1140 Tlhaloso ea Ts'ebetso
9.1 Palo: Velocity le Acceleration vs. Microstep le Fullstep Frequency
Boleng ba liparamente tse rometsoeng ho TMC429 ha li na boleng bo tloaelehileng ba makoloi joalo ka ho potoloha ka motsotsoana joalo ka lebelo. Empa boleng bona bo ka baloa ho tsoa ho li-parameter tsa TMC429 joalo ka ha ho bonts'itsoe karolong ena.
LITŠOANTŠISO TSA TMC429
| Letshwao | Tlhaloso | Range |
| fCLK | tshupanako-nako | 16 MHz |
| lebelo | – | 0… 2047 |
| a_max | matsapa a maholohali | 0… 2047 |
| pulse_div | karohano bakeng sa lebelo. Ha boleng bo phahame, bo tlase ke boleng bo phahameng ba lebelo la kamehla = 0 | 0… 13 |
|
ramp_div |
karohano bakeng sa ho potlakisa. Ha boleng bo phahame, bo tlase ke ho potlakisa ho hoholo
boleng ba kamehla = 0 |
0… 13 |
| Usrs | microstep-resolution (microsteps per fullstep = 2usrs) | 0… 8 |
Lethathamo la 9.1 li-parameter tsa lebelo la TMC429
MICROSTEP MOEKETSI
Maqhubu a microstep ea motor stepper e baloa ka 
PHETHA MOHATO
Ho bala lebelo le felletseng ho tsoa ho frequency ea microstep, frequency ea microstep e tlameha ho aroloa ka palo ea microsteps ka botlalo.
Phetoho ea sekhahla sa sekhahla sa lebelo ka nako (phetoho ea maqhubu a pulse motsotsoana - ho potlakisa a) e fanoa ke
Sena se fella ka ho potlakisa ka mehato e felletseng ea:
EXAMPLE
| Letshwao | boleng |
| f_CLK | 16 MHz |
| lebelo | 1000 |
| a_max | 1000 |
| pulse_div | 1 |
| ramp_div | 1 |
| usrs | 6 |
PAKALA MOTSOALI OA LIPOTO
Enjene ea stepper e na le mohlala, li-fluster tse 72 ka ho potoloha.
Leano la Tšehetso 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 2013 – 2015
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.
Matšoao ohle a sebelisoang ke thepa ea beng ba ona.
Nalane ea Phetoho
11.1 Phetoho ea Litokomane
| Phetolelo | Letsatsi | Mongoli | Tlhaloso |
| 0.90 | 2011-DEC-22 | GE | Phetolelo ea pele |
| 0.91 | 2012-MAY-02 | GE | E ntlafalitsoe bakeng sa mofuta oa TMCM-1140_V11 pcb |
| 1.00 | 2012-JUN-12 | SD | Mofuta oa pele o felletseng o kenyelletsa likhaolo tse ncha mabapi le: – seta botjha ho tse ding tsa feme, le - li-LED |
| 1.01 | 2012-JUL-30 | SD | Potoloho e ka hare ea lintho tse kenang e lokisitsoe. |
| 1.02 | 2013-MAR-26 | SD | Mabitso a tse kentsoeng a fetotsoe: AIN_0 IN_0 IN_0 IN_1 IN_1 IN_2 IN_2 IN_3 Mabitso a liphetho a fetohile: OUT_1 = OUT_0 OUT_0 = OUT_1 |
| 1.03 | 2013-JUL-23 | SD | - Mefuta ea likhokahanyo e ntlafalitsoe. – Khaolo ea 3.3.1.1 e ntlafalitsoeng. |
| 1.04 | 2015-JAN-05 | GE | - Mofuta o mocha oa V13 o kentsoe - Litlhophiso tsa hajoale tsa mokhanni oa likoloi li ekelitsoe (khaolo ea 4) - Keketso tse 'maloa |
Lethathamo la 11.1 Phetoho ea Litokomane
11.2 Phetoho ea Hardware
| Phetolelo | Letsatsi | Tlhaloso |
| TMCM-1040_V10*) | 2011-MAR-08 | Phetolelo ea pele |
| TMCM-1140_V11*) | 2011-JUL-19 | - Ntlafatso ea lipotoloho tse ngata tsa I/O - Phetoho ea lioache le kabo li fetohile (16MHz oscillator) |
| TMCM-1140_V12**) | 2012-APR-12 | - Ho ntlafatsa litšenyehelo tse ling ho kenyelletsa. IC ea sensor e fapaneng e nang le 10bit max. qeto |
| TMCM-1140_V13**) | 2013-AUG-22 | – Stepper motor driver MOSFETs: The MOSFETs of driver stage fetohile. Li-MOSFET tse ncha li fana ka phallo e fokolang ea mocheso ho feta tse fetileng / tse sebelisoang hajoale. Ntle le moo, ts'ebetso le litlhophiso tse kenyelletsang tlhahiso ea mokhanni le li-waveform li hlile li tšoana. – Liphello tsa sepheo se akaretsang OUT_0 / OUT_1: Li-MOSFET tse sebelisoang ho bulela / tima liphetho tsena li fetotsoe. Li-MOSFET tse ncha li fana ka phallo e fokolang ea mocheso ho feta tse fetileng / tse sebelisoang hajoale. Ntle le moo, ts'ebetso le litekanyetso li ts'oana. - RS485 transceiver: RS485 transceiver e nkeloe sebaka ke SN65HVD1781 transceiver e fanang ka tšireletso e ntle ea phoso (ho fihlela ho 70V ts'ireletso ea phoso) le ho tšehetsa lebelo le phahameng la puisano (ho fihlela ho 1Mbit / s). - E ntse e tsoela pele (e tla tla haufinyane): Ho roala ka mokhoa o hlophisitsoeng oa mahlakore ka bobeli a PCB. E fana ka tšireletso e ntlafetseng khahlanong le mongobo le lerōle / swarf (mohlala, haeba ho na le liphetolelo tsa motlakase PD42-x-1140: likaroloana tse nyenyane tsa tšepe holim'a |
| Phetolelo | Letsatsi | Tlhaloso |
| PCB e hoheloa ke makenete ea encoder e ka lebisa ho se sebetseng hantle ha sesebelisoa se sa sireletsoang). |
Lethathamo la 11.2 Phetoho ea lisebelisoa
*): V10, V11: prototypes feela.
**) V12: mofuta oa sehlahisoa sa letoto. E nkeloa sebaka ke mofuta oa sehlahisoa sa V13 ka lebaka la EOL (qetellong ea bophelo) ea li-MOSFET. Ke kopa o bone
"PCN_1014_08_29_TMCM-1140.pdf" ho rona Web- sebaka, hape
Litšupiso
| [TMCM-1140 TMCL] | TMCM-1140 TMCL Firmware Manual |
| [TMC262] | Lethathamo la lintlha tsa TMC262 |
| [TMC429] | Lethathamo la lintlha tsa TMC429 |
| [TMCL-IDE] | Buka ea mosebelisi ea TMCL-IDE |
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Jeremane
www.trinamic.com
Ka kopo sheba ho www.trinamic.com.
www.trinamic.com
E jarollotsoe ho tsoa Arrow.com.
Litokomane / Lisebelisoa
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TRINAMIC TMCM-1140 Single Axis Stepper Motor Controller/Driver Module [pdf] Bukana ea Mosebelisi 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 Mojule, Mojule |