MODULE FOR STEPPER MOTORS MODULE Hardware Version V1.3 HARDWARE MANUAL + + TMCM-1140 1-Axis Stepper Controller / Driver 2 A / 24 V sensOstep Encoder USB, RS485, and CAN + + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 2 Table of Contents 1 Features ........................................................................................................................................................................... 3 2 Order Codes ................................................................................................................................................................... 5 3 Mechanical and Electrical Interfacing ..................................................................................................................... 6 3.1 Dimensions and Mounting Holes ................................................................................................................... 6 3.2 Board mounting considerations ..................................................................................................................... 6 3.3 Connectors of TMCM-1140 ................................................................................................................................. 7 3.3.1 Power and Communication Connector ................................................................................................... 8 3.3.1.1 Power Supply .......................................................................................................................................... 8 3.3.1.2 RS485 ......................................................................................................................................................... 9 3.3.1.3 CAN ........................................................................................................................................................... 10 3.3.2 Multipurpose I/O Connector ..................................................................................................................... 11 3.3.2.1 Digital Inputs IN 1, IN 2, IN 3 ........................................................................................................ 12 3.3.2.2 Analog Input IN 0 ............................................................................................................................... 13 3.3.2.3 Outputs OUT 0, OUT 1 ........................................................................................................................ 13 3.3.3 Motor Connector .......................................................................................................................................... 14 3.3.4 Mini-USB Connector .................................................................................................................................... 15 4 Motor driver current .................................................................................................................................................. 16 5 Reset to Factory Defaults ......................................................................................................................................... 17 6 On-Board LEDs............................................................................................................................................................. 18 7 Operational Ratings ................................................................................................................................................... 19 8 Functional Description .............................................................................................................................................. 21 9 TMCM-1140 Operational Description ..................................................................................................................... 22 9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 22 10 Life Support Policy ..................................................................................................................................................... 24 11 Revision History .......................................................................................................................................................... 25 11.1 Document Revision ........................................................................................................................................... 25 11.2 Hardware Revision ............................................................................................................................................ 25 12 References .................................................................................................................................................................... 26 www.trinamic.com