TMCM-035 Manual (V2.09 / February 27th, 2009) 2/18
Copyright © 2007-2009, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1Features........................................................................................................................................................................................3
Life support policy.............................................................................................................................................................................4
2Electrical and Mechanical Interfacing..................................................................................................................................5
2.1 Dimensions ........................................................................................................................................................................5
2.2 Connecting the Module ..................................................................................................................................................6
3Operational Ratings..................................................................................................................................................................7
4Functional Description.............................................................................................................................................................7
4.1 Power Supply ....................................................................................................................................................................8
4.2 Motor Connection.............................................................................................................................................................8
4.3 Interfaces ............................................................................................................................................................................8
4.3.1 SPI ..................................................................................................................................................................................8
4.3.2 Analog ...........................................................................................................................................................................9
4.3.3 Step / Direction.........................................................................................................................................................11
4.4 Current setting ................................................................................................................................................................12
4.4.1 Fine current adjustment in SPI mode: ..............................................................................................................12
4.4.2 Standby current reduction for Step-/ Direction mode...................................................................................13
4.4.3 Continuous Current restrictions / Thermal conditions..................................................................................13
4.5 Mixed decay and slow decay ......................................................................................................................................14
4.6 Microstep resolution adjustments.............................................................................................................................14
4.6.1 Microstep resolution with step / direction interface.....................................................................................14
4.6.2 Increasing Microstep resolution with SPI interface ......................................................................................14
4.6.3 64 Microstep resolution with SPI interface since TMCM-035 V2.0 .............................................................15
5Hardware Revision..................................................................................................................................................................18
6Documentation Revision.......................................................................................................................................................18
7References .................................................................................................................................................................................18
List of Figures
Figure 2.1: Dimensions.....................................................................................................................................................................5
Figure 2.2: Pin order of the connector ........................................................................................................................................5
Figure 4.1: Main parts of the TMCM-035......................................................................................................................................7
Figure 4.2: How to connect the motor........................................................................................................................................8
Figure 4.3: Analog control.............................................................................................................................................................10
Figure 4.4: Step / Direction signal timing ................................................................................................................................11
Figure 4.5: SPI word assignment in 64 microstep mode ....................................................................................................15
Figure 4.6: Application with 3 TMCM-035 controlled by a TMCM-301...............................................................................16
Figure 4.7: Driver chain configuration for up to 3 TMCM-035 in use with TMCM-301.................................................17
Figure 4.8: Microstep table for 64 microsteps in use with TMCM-301 .............................................................................17
List of Tables
Table 1.1: Order codes......................................................................................................................................................................3
Table 2.1: Pinout 68-Pin Connector...............................................................................................................................................6
Table 3.1: Operational Ratings .......................................................................................................................................................7
Table 4.1: SPI interface connections ............................................................................................................................................8
Table 4.2: Connecting a TMCM-035 to a TMCM-301 ..................................................................................................................9
Table 4.3: Analog interface connections .....................................................................................................................................9
Table 4.4: Connecting a TMCM-035 to a TMCM-100 (analog) ...............................................................................................10
Table 4.5: Step / Direction interface connections...................................................................................................................11
Table 4.6: Connecting a TMCM-035 to a TMCM-100 (step / direction)...............................................................................11
Table 4.7: Current setting ..............................................................................................................................................................12
Table 4.8: Current fine adjustment with RSA and RSB.........................................................................................................13
Table 5.1: Hardware revision ........................................................................................................................................................18
Table 6.1: Documentation Revisions ..........................................................................................................................................18
