User manual

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 20
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.1 System architecture
The TMCM-1180 integrates a microcontroller with the TMCL™ (Trinamic Motion Control Language) operating
system. The motion control real-time tasks are realized by the TMC428.
7.1.1 Microcontroller
On this module, the Atmel AT91SAM7X256 is used to run the TMCL™ operating system and to control the
TMC428. The CPU has 256KB flash memory and a 64KB RAM. The microcontroller runs the TMCL™ (Trinamic
Motion Control Language) operating system which makes it possible to execute TMCL™ commands that are
sent to the module from the host via the RS232, RS485, USB, or CAN interface. The microcontroller interprets
the TMCL™ commands and controls the TMC428 which executes the motion commands. In addition it is
connected with the encoder interface and processes the inputs.
The flash ROM of the microcontroller holds the TMCL™ operating system. The TMCL™ operating system can
be updated via the RS232 interface or via the CAN interface. Use the TMCL-IDE to do this.
7.1.2 EEPROM
To store TMCL™ programs for stand-alone operation the TMCM-1180 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL™ programs consisting of up to 2048
TMCL™ commands. The EEPROM is also used to store configuration data.
7.1.3 TMC428 motion controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper-
motors. 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.
7.1.4 Stepper motor driver
The TMC262A-PC is an energy efficient high current high precision microstepping driver
IC for bipolar stepper motors. This driver on the TMCM-1180 module is a special version
of the TMC262 power driver for PANdrives™ with QSH8618 motors.
Its unique high resolution sensorless load detection stallGuard2™ is used for a special
integrated load dependent current control feature called coolStep™. The ability to read
out the load and detect an overload makes the TMC262 an optimum choice for drives
where a high reliability is desired. The TMC262 can be driven with step/direction signals
as well as by serial SPI™.
stallGuard2 reading
0=maximum load
motor current increment area
motor current reduction area
stall possible
SEMIN
SEMAX+SEMIN+1
Zeit
motor current
current setting CS
(upper limit)
½ or ¼ CS
(lower limit)
mechanical load
current increment due to
increased load
slow current reduction due
to reduced motor load
load angle optimized load angle optimized
load
angle
optimized
Figure 7.2: Motor current control via coolStep™ adapts motor current to motor load