BB-303 Manual Baseboard for TMCM-303

Transcription

1 BB-303 Manual Baseboard for TMCM-303 Trinamic Motion Control GmbH & Co. KG Sternstraße 67 D Hamburg, Germany

2 BB-303 Manual (V1.04 / Jul 9th, 2007) 2 Contents 1 Features Life Support Policy Electrical and Mechanical Interfacing Pinning Power Supply RS232 or CAN Limit Switches and Connectors SPI In- and Outputs Dimensions Operational Ratings Getting Started s Power Supply and Connection Power Supply Interface and Interface Options Functional Description Limit Switches Stop Jumper In- and Outputs AVR Direct ISP Port / SPI Interface Reset to Factory Default Baseboard overview with application examples Revision History Notes on Firmware Revision References Figures Figure 1.1 : Functional Block Diagram of the BB Figure 3.1 : Pinning of BB Figure 3.2 : Dimensions in mm... 8 Figure 5.1 : Power Supply and Connection... 9 Tables Table 3.1 : Power Supply (23 pin screw connector)... 5 Table 3.2 : RS232 or CAN... 6 Table 3.3 : Modem and null modem cable... 6 Table 3.4 : Limit Switches and Connectors (23 pin screw connector)... 6 Table 3.5 : SPI... 7 Table 3.6 : Header I/O (20 pin)... 7 Table 4.1 : Operational Ratings... 8 Table 6.1 : E/P jumper Table 6.5 : Baseboard overview with application examples Table 7.1 : Revision History Table 8.1 : Notes on Firmware Revision... 13

3 BB-303 Manual (V1.04 / Jul 9th, 2007) 3 1 Features The BB-303 provides a simple setup featuring the TMCM-303 controller/driver. All important signal and power lines are accessible via screw terminals. The integrated switch-mode regulator provides the required 5V supply voltage for the module. The supply voltage input is protected against wrong polarity. The integrated level shifter enables direct connection to a PC via RS-232 cable (CAN optionally). A USB option is available. 20 I/Os BB-303 SPI V DC RS-232 or USB 5V Power Supply TMCM Step Step Step REF-Switches Figure 1.1 : Functional Block Diagram of the BB-303 Applications fast prototyping of motion control applications with high current stepper motors (e.g. lab use) ad-hoc evaluation of TMCM-303 module w/o the need of developing an own PCB motion control system formed by BB TMCM-303 suitable for series production Highlights and Interface 1 slot for the TMCM-303 motion control and driver module integrated 5V power supply Electrical data 7V to 34V DC supply voltage all options of the TMCM-303 are supported, an USB interface is available as an option 6 x limit switch (two per axis), 8 general purpose digital/analog in, 8 general purpose digital out screw terminal connectors for motor signals size: 80 x 50 mm², 15 mm height Order code Description BB-303 (-option) Baseboard for TMCM-303 Option 232 RS232 interface (standard) CAN CAN interface USB USB interface

4 BB-303 Manual (V1.04 / Jul 9th, 2007) 4 2 Life Support Policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. TRINAMIC Motion Control GmbH & Co. KG 2006 Information given in this data sheet is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result form its use. Specifications subject to change without notice.

5 BB-303 Manual (V1.04 / Jul 9th, 2007) 5 3 Electrical and Mechanical Interfacing 3.1 Pinning TMCM Power Supply Interface (RS232/CAN/USB) Figure 3.1 : Pinning of BB Power Supply Pin Number Function 0V 1 GND (0V) for power supply V+ 2 power supply 7 34V Table 3.1 : Power Supply (23 pin screw connector)

6 BB-303 Manual (V1.04 / Jul 9th, 2007) RS232 or CAN The integrated level shifter allows direct connection of the module to a PC via RS 232 cable (modem cable female to male, see Table 3.3). CAN is an ordering option. Pin RS232 CAN 1 2 RxD CAN_L 3 TxD GND 4 5 GND 6 GND (optional) 7 CAN_H 8 9 Table 3.2 : RS232 or CAN Modem Null modem Female (Host) Male Female Table 3.3 : Modem and null modem cable Limit Switches and Connectors Please refer to [TMCM-303]. Pin Number TMCM-303 pin Function 0V 3 GND for limit switches R Right limit switch (axis 0) L Left limit switch (axis 0) 0V 6 GND for limit switches R Right limit switch (axis 1) L Left limit switch (axis 1) 0V 9 GND for limit switches R Right limit switch (axis 2) L Left limit switch (axis 2) 0A axis 0, motor coil phase A (A1) 0A axis 0, motor coil phase A (A2) 0B axis 0, motor coil phase B (B1) 0B axis 0, motor coil phase B (B2) 1A axis 0, motor coil phase A (A1) 1A axis 0, motor coil phase A (A2) 1B axis 1, axis 0, motor coil phase B (B1) 1B axis 1, axis 0, motor coil phase B (B2) 2A axis 0, motor coil phase A (A1) 2A axis 0, motor coil phase A (A2) 2B axis 2, axis 0, motor coil phase B (B1) 2B axis 2, axis 0, motor coil phase B (B2) Table 3.4 : Limit Switches and Connectors (23 pin screw connector)

7 BB-303 Manual (V1.04 / Jul 9th, 2007) SPI Six pin connector, refer to 6.4 page 11 and [TMCL-303] Manual. Pin Number TMCM-303 Pin Function MISO 1 14 SPI master in slave out (pin 1 marked with a point) +5V 2 +5V SCK 3 12 SPI serial clock MOSI 4 16 SPI serial output (master out slave in) nscs 5 11 (17) SPI low active device select (see 6.4, Table 6.1, page 11) GND 6 GND (0V) Table 3.5 : SPI In- and Outputs Please refer to [TMCM-303]. Pin Number TMCM-303 pin Function OUT_ output 0 OUT_ output 1 OUT_ output 2 OUT_ output 3 OUT_ output 4 OUT_ output 5 OUT_ output 6 OUT_ output 7 GND 9 ground (0V) +5V 10 +5V power supply (voltage output) IN_ input 0 IN_ input 1 IN_ input 2 IN_ input 3 IN_ input 4 IN_ input 5 IN_ input 6 IN_ input 7 GND 19 ground (0V) +5V 20 +5V power supply (voltage output) Table 3.6 : Header I/O (20 pin)

8 BB-303 Manual (V1.04 / Jul 9th, 2007) Dimensions Figure 3.2 : Dimensions in mm The height of the BB-303 is about 15mm. 4 Operational Ratings The operational ratings show the intended / the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded. Please refer to [TMCM-303]. Symbol Parameter Min Typ Max Unit VS Power supply voltage for operation 7 34 V T ENV1A5 Environment temperature at 1.5A RMS C Table 4.1 : Operational Ratings

9 BB-303 Manual (V1.04 / Jul 9th, 2007) 9 5 Getting Started The power supply has to be disconnected when plugging in a TMCM-303 module into the BB-303. Do not connect or disconnect the motor while the unit is powered. Connecting or disconnecting the motor while the unit is powered might damage it. 5.1 s The TMCM-303 operates a wide range of bipolar 2-phase stepper motors. Low supply voltage limits can be disregarded because the drivers operate in current regulating mode. s with nominal currents above 1.5 ampere can be used, too. The minimum coil resistance is not limited, even a short circuit does not lead to damage. High coil resistance (e.g. above 10 ohms) might cause limited dynamical performance and/or reduced maximum motor speed. A coil inductance in the range of 1 mh results in good current regulation with low current ripple. Even inductance lower than 1 mh is allowed but the inductance of typical stepper motors is above 1 mh. 5.2 Power Supply and Connection The stepper motor must not connected or disconnected when it is powered, because this can destroy the power stage of the TMCM-303 module due to high voltage generated by the inductance of the coils of the stepper motor Power Supply An unregulated supply voltage (V+) is sufficient for the BB-303, but it must not exceed the range from 7 to 34 Volts. Generally, high supply voltage (e.g. 24V, 34V) that is compatible with the stepper motor should be preferred. A higher supply voltage results in a better dynamic behavior of a stepper motor. Reverse currents might occur during fast deceleration at high currents. A low end power supply might be damaged by reverse currents. Figure 5.1 : Power Supply and Connection

10 BB-303 Manual (V1.04 / Jul 9th, 2007) Interface and Interface Options Standard version of the BB-303 is equipped with a RS-232 interface, CAN and USB versions are available on request. The RS-232 connection from the BB-303 to the serial interface of the host computer (often a PC) should be established by a straight nine wire cable (extension cable, not crossed). It is recommended to use the TMCL IDE Software to get started. This program can be downloaded from 6 Functional Description 6.1 Limit Switches Limit switches are normally closed switches to ground. In the active state (end position reached, switch open) the corresponding inputs are pulled internally to 5 volts, so no external pull-ups are required. Light barriers with open-collector outputs can be connected directly. The use of limit switches is not obligatory, so no connections have to be made for the first set up. Using one switch per axis for the reference point is sufficient in most cases. By default, the left limit switch is used for that purpose. The position value is normally counted upward (positive) in the right direction. Other configurations can be achieved by software. 6.2 Stop Jumper If active (jumper open), all motors are electrically switched off immediately. Please note that the actual position data becomes invalid in this case, so a reference search will be required. The Emergency Stop function can only be activated with the firmware versions 3.04 and higher (SET GLOBAL PARAMETER no. 80, value = 1. See TMCL reference manual). 6.3 In- and Outputs The general in- and outputs of the TMCM-303 module are accessible via the 20 pin header. Input voltages must exceed the range of volts. The maximum output current of the digital outputs is limited to 5mA. The inputs can be used in analog mode, too. No internal pull up resistors are provided, so no defined voltages are present when the pins are left open. When switches are used, make sure to connect appropriate pull-up/pull-down resistors. The 5V supply voltage can source 150mA max. The pinning of the in- and outputs is documented by Table 3.6 page 7.

11 BB-303 Manual (V1.04 / Jul 9th, 2007) AVR Direct ISP Port / SPI Interface The E/P jumper defines the configuration of the 6 pin SPI header. The 6 pin header named SPI either acts as a programming header for the AVR micro controller of the TMCM-303 module or it acts as a SPI interface header for connection of external SPI devices. Connecting pins 1 and 2 (position "P") selects direct ISP (in system programming) of the AVR micro controller on the TMCM-301, ATMEL pin layout (pin 1 upper left corner). Caution: use only for customer specific firmware (without TMCL), firmware with TMCL can only be downloaded by the TMCL-IDE! Connecting pin 2 and 3 selects (position "E") that enables the header for special hardware extensions (e.g. an external ADC) via SPI. Pin Number Function P 1 connected with pin 2, => position "P" for direct programming of the AVR µc - 2 pin in the middle, either connected with pin 1 or with pin 3 E 3 connected with pin 2 => position "E" activates the SPI (Table 3.5, page 7) Table 6.1 : E/P jumper 6.5 Reset to Factory Default If it is still possible to access the module using the TMCL-IDE, the easiest way to reset the module is clicking the "Restore factory defaults" button on the "Others" tab of the "Configure Module" dialogue. If accessing is not possible, please do the following: 1) Set the E/P jumper on the board to the "P" setting, refer ) Short the pins 1 and 3 of the SPI connector 3) Turn on the power. The LED on the module now flashes fastly. 4) Turn off the power and remove the short of the SPI pins 1 and 3. Also set the E/P jumper. 5) Turn on the power and wait until the LED flashes normally again. The module is now reset to its factory default settings.

12 BB-303 Manual (V1.04 / Jul 9th, 2007) Baseboard overview with application examples The different baseboards support variable TMC-Modules. A possible combination of variable boards (especially controller and driver baseboards) serves most demands. BB-302 with up to three BB-035 driver boards BB-303 for up to three motors BB-302 BB-035 BB-303 TMCM-302 (controller) Step/Direction TMCM-035 or TMCM-090 TMCM-303 (controller and driver) The three BB-035 can be equipped with three TMCM-035, three TMCM-090 or a mixture of both for stepper motor and piezo motor applications BB with TMCM-302 and up to three BB-035 The BB-303 is equipped with a TMCM- 303 controller and driver module for up to three stepper motors. BB with TMCM-303 BB-323 BB-323 TMCM-323 ABN TMCM-323 ABN BB-035 Encoder Encoder TMCM-302 Step/Direction TMCM-035 or TMCM-090 TMCM-303 This application is similar to the application above but with encoder support for closed loop operation. The three BB-035 can be equipped with TMCM-035 or TMCM-090 also. Similar to the application above but with encoder support. It is for three stepper motors. BB-301 with up to three driver modules and optional encoder support through BB-323 BB-301 TMCM-035 or TMCM-090 Encoder BB-323 TMCM-301 TMCM-035 or TMCM-090 Encoder TMCM-323 TMCM-035 or TMCM-090 Encoder free slot This application is an alternative to the two solutions above. It uses a TMCM-301 controller module for SPI drivers. There are slots for either up to three TMCM-035 or up to three TMCM-090 drivers. The BB-323 is used for easy connection of the encoder board TMCM-323. Differences to BB-323 with TMCM-302: Control of drivers via SPI. Does not support all features of the TMCM-090 since variable waveforms and microstep resolutions up to 128 steps/fullstep (maximum for SPI is 64) are possible in step direction mode only. Please refer to TMCM-090 manual. Differences to BB-323 with TMCM-303: Higher motor power through extra drivers, support of the TMCM-090 piezo motor driver modules. The baseboards were not intended to be connected via the SPI connector. Thus there is no chip-select to activate the TMCM-323 module. This has to be done manually by soldering a cable from TMCM-301 pin11 to TMCM-323 pin11. Please refer to TMCM-323 manual chapter 6. Trinamic takes no warranty for modified modules. Thus it is recommended to investigate if other applications fit your demands. Table 6.2 : Baseboard overview with application examples SPI

13 BB-303 Manual (V1.04 / Jul 9th, 2007) 13 7 Revision History Version Date Comments 1.00 December 20, 2005 initial preliminary version 1.01 April 5, 2006 initial version 1.02 November 22, 2006 RS-232 cable information added 1.03 May 25, 2007 Baseboard overview with application examples added 1.04 July 9,2007 Mounting hole position added Table 7.1 : Revision History 8 Notes on Firmware Revision Version Comment Description 3.24 Initial Release Please refer to TMCL documentation Table 8.1 : Notes on Firmware Revision 9 References [TMCM-303] [TMCL] TMCM-303 Manual, TMCL manual,