济南希格玛充电机1140系列使用说明书

1140SVG调试作业指导一：上控制电前工作（一）一次系统检查1．系统主接线检查；检查系统进线x相，依次经过CTx、滤波电抗、缓充电电阻和旁路接触器、连接电抗和LEMx，到IGBTx。

（1）x为A，B或C相；（2）CT和LEM的方向均以为流出装置为正；2．直流母线检查；检查直流母线到IGBT，到直流电容，到信号板的接线是否正确（二）二次系统检查1．各电路板型号检查；检查各电路板的型号是否和整机明细相吻合；检查各电路板元器件是否和明细相吻合（重点检查信号板的LEM 采样电阻值，过压保护定值，以及过流保护定值）；2．交流电压采样检查；检查交流电压采样的A相对进线A相，B 相对B相，C相对C相，应该一一对应。

3．LEM电流采样检查；检查LEM的二次接线和一次接线的相别应该一一对应，即A相对A相，B相对B相，C相对C相；检查到各相LEM的+15V，-15V应正确，没有接错。

4．输出CT二次接线检查；输出CT的方向应以流出装置（流向母线）为正；当一次接线从CT的P1→P2时，CT二次的S1端子应接A（B 或C）端子，S2端子应接AN（BN或CN）端子。

5．系统CT二次接线检查；系统CT的方向应以流出母线（流向系统）为正；一次和二次的对应关系，同上；6．控制板和驱动板、门极板接线检查；检查控制板到驱动板接线，驱动板到门极板接线应正确；连线的1脚应对应；各相的相别对应关系正确；上下桥臂的对应关系正确；7．电源连线检查；检查各电源连线正确，无混接现象；包括电源AC220V，DC24V，DC15V，和DC±15V。

8．输入输出开关量连线检查；检查各开入开出量的接线是否正确，是否和图纸相吻合。

注意：（1）对三线系统，CT可以只装设两相CT，但LEM必须装设三相！！（2）输出CT和LEM，系统CT的正方向；（3）主回路和各电流测量回路，电压测量回路的相位应一一对应。

二：试验项目：（一）脉冲试验：1. 测试条件：（1）合上系统三相交流电压采样的空开；以及给装置供电AC220V。

2
速断定值
* *· * * I e
一 般整 定为 额 定电 流的8～1 1倍
3
欠压定值
*·* * ห้องสมุดไป่ตู้ U e
一 般设定电源 电压的30%～7 0%
4
欠压延时
* * ·* * S
可设 定为1～5秒
5
漏电检测电阻
* *· * * KΩ
指漏电动作允许上限值
6
漏电检测延时
* *· * * S
作 总开关时 一般设定0. 3 5秒， 此值 对 分开 关无效
A-5
5.3.2.1 按按“→”、“+”、“取消”或“确定”键进入一级菜单：
√定值查询 参数修改 出口选择 现场测试
√事件记录 信号复归 清除记数 软件版本
5.3.2.2 A、选中“定值查询”按“确定”键，将依次进入其子菜单，定值查询界面下有15个定值，只可查询， 不可修改。 同理： B、进入“参数修改”，在“定值修改”界面下中共有15个定值，配合“↓”，“→”，“取消”， “确定”等按键可以修改。进入定值修改时，首先显示
速断定值 欠压定值 欠压延时 漏电检测电阻 漏电检测延时 监视电压
监视电流 风电瓦斯闭锁延时
电压等级
电流等级 操作密码
装置地址
参数修改
操作 密 码
末端短路定值
相敏保护定值
页面同定值查询，可以修改定值，并增设了“时钟修改”
保护投退
跳闸投退，相敏保护投退，末端保护投退
软件选择
操作 密 码
规约选择
标准规 约， 定制 规约，M OD B US3. 0
3.1 额定电压：660V、1140V； 3.2 额定电流：200A、400A; 3.3 极限分断电流：9000A/660V，7500A/1140V; 3.4 短路保护动作时间：＜100毫秒; 3.5 本安参数:Uo:AC5V,Io:20mA; 3..5.1 经1KΩ电阻漏电动作时间：作分支开关时≤30ms；作总开关时，延时时间可调。 3.5.2 在电网每相对地电容不大于1μf，分支每相对地电容不大于0.3μf时，漏电电阻在20K(1140V)、11K

组合开关使用手册电光防爆科技（上海）有限公司概 述QJZ-□/3300（1140、660）-2(4.6.8.矿用隔爆兼本质安全型组合开关(以下简称“多回路组合开关”)适用于煤矿井下有瓦斯、煤尘等爆炸危险的环境中，为综采工作面多电机、大功率机电设备设计的组合式起动控制设备。

多回路组合开关适用交流50Hz 、电压3300（1140、660）V 的供电系统中，可对采区的多台电机、单机双速电机、双机双速电机等电气设备的顺序起动、正转、反转、停止及双速切换进行控制，并能对电动机及供电线路进行保护。

根据组合开关的回路数，总电流为800-1800A,同时还提供两路（127V 或220V ）共5kVA 的辅助电源，组合开关工作面系统如见下图所示：工作环境a ．海拔不超过2000m ，周围环境压力为（~）×105Pa ；b ．运行环境温度一般为-5～+40℃；c ．周围空气相对湿度不大于95%（+25℃）；d ．在有沼气爆炸性混合物的矿井中；e ．与水平面的安装倾斜度不超过15°；f ．在无显著摇动和冲击振动的地方；g ．在无明显破坏绝缘的气体或蒸气的环境中；h ．能防止滴水的地方；i ．污染等级：3级；j ．安装类别：Ⅲ类。

组合开关控制系统图采煤机刮板运输机转载机破碎机泵站组合开关移动变电站产品使用储存环境组合开关为高价值产品，在使用前或是备用存储时，整机、模块和配件部分必须存放于库房干燥位置，尽量避免灰尘堆积，切勿露天存放，防止高温（50℃）或超低温（－20℃）的恶劣气温条件。

如果存储环境湿度较大，在设备或配件空隙部位放置干燥剂进行吸潮。

建议存储时间不超过24个月。

存储环境相关温度：－20℃～50℃。

保护措施组合开关在长时间存储时，需做相应的防锈措施，如：在隔爆面及时补涂防锈漆、在快开门内部密封部位涂黄油、每月至少对机械活动部位活动一次（包括开门手柄、隔离手柄、闭锁（解锁）手柄、闭锁（解锁）按钮、门轴等）、及时对机械活动部位及螺丝紧固处点滴润滑油。

MECHATRONIC DRIVE WITH STEPPER MOTORTRINAMIC Motion Control GmbH & Co. KGHamburg, GermanyHardware Version V1.2HARDWARE MANUAL+ +PD-1140+ +U NIQUE F EATURES :Table of Contents2Features (3)3Order Codes (5)4Mechanical and Electrical Interfacing (6)4.1Dimensions (6)4.2Stepper Motor Specifications (7)4.3Connectors of PD-1140 (8)4.3.1Power and Communication Connector (9)4.3.1.1Power Supply (9)4.3.1.2RS485 (10)4.3.1.3CAN (11)4.3.2Multipurpose I/O Connector (12)4.3.2.1Digital Inputs IN_1, IN_2, IN_3 (13)4.3.2.2Analog Input IN_0 (14)4.3.2.3Outputs OUT_0, OUT_1 (14)4.3.3Motor Connector (15)4.3.4Mini-USB Connector (16)5Reset to Factory Defaults (17)6On-Board LEDs (18)7Operational Ratings (19)8Torque Curves (20)8.1.1PD42-1-1140 Torque Curve (20)8.1.2PD42-2-1140 Torque Curve (20)8.1.3PD42-3-1140 Torque Curve (21)8.1.4PD42-4-1140 Torque Curve (21)9Functional Description (22)10PD-1140 Operational Description (23)10.1Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency (23)11Life Support Policy (25)12Revision History (26)12.1Document Revision (26)12.2Hardware Revision (26)13References (26)2FeaturesThe PANdrive™PD-1140 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD-1140 includes a stepper motor, controller/driver electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and has been designed for 0.20… 0.70Nm max. holding torque and 24V DC nominal supply voltage. With its high energy efficiency from TRINAMICs coolStep technology cost for power consumption is kept down. The TMCL™ firmware allows for standalone operation and direct mode.M AIN C HARACTERISTICSMotion controller-Motion profile calculation in real-time-On the fly alteration of motor parameters (e.g. position, velocity, acceleration)-High performance microcontroller for overall system control and serial communication protocol handlingBipolar stepper motor driver-Up to 256 microsteps per full step-High-efficient operation, low power dissipation-Dynamic current control-Integrated protection-stallGuard2 feature for stall detection-coolStep feature for reduced power consumption and heat dissipationEncoder-sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning supervisionInterfaces-RS485 2-wire communication interface-CAN 2.0B communication interface-USB full speed (12Mbit/s) device interface- 4 multipurpose inputs:-3x general-purpose digital inputs(Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input) -1x dedicated analog input- 2 general purpose outputs-1x open-drain 1A max.-1x +5V supply output (can be switched on/off in software)Software-TMCL: standalone operation or remote controlled operation,program memory (non volatile) for up to 2048 TMCL commands, andPC-based application development software TMCL-IDE available for free.Electrical and mechanical data-Supply voltage: +24V DC nominal (9… 28V DC)-Motor current: up to 2A RMS / 2.8A peak (programmable)-0.22… 0.70Nm max. holding torque (depends on motor)Refer to separate TMCL Firmware Manual, too.TRINAMIC S U NIQUE F EATURES – E ASY TO U SE WITH TMCLstallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on thecoils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value goes to zero or near to zero. This is the most energy-efficient point of operation for the motor.Load [Nm]stallGuard2Initial stallGuard2 (SG) value: 100%Max. loadstallGuard2 (SG) value: 0Maximum load reached. Motor close to stall. Motor stallsFigure 2.1 stallGuard2 load measurement SG as a function of loadcoolStep ™coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2 adapting the required current to the load. Energy consumption can be reduced by as much as 75%. coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant-load application allows significant energy savings because coolStep automatically enables torque reserve when required. Reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost.00,10,20,30,40,50,60,70,80,9050100150200250300350EfficiencyVelocity [RPM]Efficiency with coolStepEfficiency with 50% torque reserveFigure 2.2 Energy efficiency example with coolStep3Order CodesThe PD-1140 is currently available with four NEMA 17 stepper motors.The length of the PANdrives is specified without the length of the axis. For the overall length of the product please add 24mm.Table 3.1 PD-1140 order codesThe following options are available:Table 3.2 PD-1140 firmware optionsA cable loom set is available for this module:Table 3.2 Cable loom order codes4Mechanical and Electrical Interfacing4.1DimensionsThe PD-1140 includes the TMCM-1140 stepper motor controller/driver module, the magnetic encoder based on sensOstep technology and a NEMA17 bipolar stepper motor. Currently, there is a choice between four NEMA 17/42mm bipolar stepper motors with different lengths and different holding torques.Figure 4.1 PD-1140 dimensions4.2Stepper Motor SpecificationsM AIN CHARACTERISTICS OF FOUR DIFFERENT MOTORS AVAILABLE AS PART OF THE PD-1140Table 4.1: NEMA 17 / 42mm stepper motor technical data4.3 Connectors of PD-1140The controller/driver board of the PD-1140 offers four connectors including the motor connector which is used for attaching the motor coils to the electronics. The power and communication connector is used for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface.USBMotor14Multi-purposeI/O18Power and Communication16Figure 4.2 Overview connectorsFigure 4.3 Connectors and mating connectors, contacts and applicable wire4.3.1 Power and Communication ConnectorA 6pin JST PH-series 2mm pitch single row connector is used for power supply, RS485 and CAN serial communication. Please note the additional power supply information in chapter 4.3.1.1.61Table 4.1 Connector for power supply and interfaces4.3.1.1 Power SupplyFor proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the TMCM-1140 includes about 40µF/35V of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. The module includes a 28V suppressor diode for over-voltage protection. There is no reverse polarity protection. The module will short any reversed supply voltage due to the suppressor diode (uni-directional version) and the internal diodes of the driver transistors.It is important that the power supply voltage is kept below the upper limit of 28V (please see also chapter 6, operating values). Otherwise the driver electronics might be seriously damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any voltage spikes which might otherwise occur from a combination of high inductance power supply wires and the ceramic capacitors. In addition it will limit slew-rate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors may cause stability problems with some switching power supplies.4.3.1.2RS485For remote control and communication with a host system the TMCM-1140 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network:1.BUS STRUCTURE:The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus.termination resistor (120 Ohm)termination resistor (120 Ohm)Figure 4.4 Bus structure2.BUS TERMINATION:Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1140 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.3.NUMBER OF NODES:The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the PD-1140 units (SN65HVD3082ED) has just 1/8th of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus. 4.NO FLOATING BUS LINES:Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well defined logic levels. In contrast to the termination resistors this network is normally required just once per bus. Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485).terminationresistor(120 Ohm)RS485- / RS485BRS485+ / RS485AFigure 4.5 Bus lines with resistor network4.3.1.3CANFor remote control and communication with a host system the TMCM-1140 provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken into account when setting up a CAN network:1.BUS STRUCTURE:The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus.termination resistor (120 Ohm)terminationresistor(120 Ohm) Figure 4.6: CAN bus structure2.BUS TERMINATION:Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1140 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.3.NUMBER OF NODES:The bus transceiver used on the TMCM-1140 units (TJA1050T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depends on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).4.3.2Multipurpose I/O ConnectorAn 8pin JST PH-series 2mm pitch single row connector is available for all multipurpose inputs and outputs.18Table 4.4 Multipurpose I/O connector4.3.2.1 Digital Inputs IN_1, IN_2, IN_3The eight pin connector of the TMCM-1140 provides three multipurpose digital inputs IN_1, IN_2 and IN_3.All three inputs accept up-to +24V input signals. They are protected against these higher voltages using voltage resistor dividers together with limiting diodes against voltages below 0V (GND) and above +3.3V DC (see figure below).IN_1IN_2IN_3microcontroller (all)and TMC429 (IN_0, IN_1)common switch for allFigure 4.7 General purpose inputs (simplified input circuit)The three digital inputs have alternate functionality depending on configuration in software. The following functions are available:Table 4.7 Multipurpose inputs / alternate functions4.3.2.2 Analog Input IN_0The eight pin connector of the TMCM-1140 provides one dedicated analog input IN_0.This dedicated analog input offers a full scale input range of 0… +10 V with a resolution of the internal analog-to-digital converter of the microcontroller of 12bit (0… 4095).The input is protected against higher voltages up-to +24 V using voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below).IN_0ADC input (microcontroller)Figure 4.8 General purpose inputs (simplified input circuit)4.3.2.3 Outputs OUT_0, OUT_1The eight pin connector of the TMCM-1140 offers two general purpose outputs OUT_0 and OUT_1. OUT_0 is an open-drain output capable of switching up to 1A. The output of the N-channel MOSFET transistors is connected to a freewheeling diode for protection against voltage spikes especially from inductive loads (relais etc.) above supply voltage (see figure below).microcontrollerFigure 4.9 General purpose output OUT_0In contrast OUT_1 is able to supply +5V (100mA max.) to an external load. An integrated P-channel MOSFET allows to switch on / off this +5V supply in software (see figure below). This output might be used in order to supply +5V to an external encoder circuit.microcontrollerOUT_0Figure 4.10 General purpose output OUT_14.3.3Motor ConnectorAs motor connector a 4pin JST PH-series 2mm pitch single row connector is available. The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics.41Table 4.5 Motor connector4.3.4 Mini-USB ConnectorA 5pin mini-USB connector is available on-board for serial communication (as alternative to the CAN and RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.15Table 4.6 Connector for USBFor remote control and communication with a host system the TMCM-1140 provides a USB 2.0 full-speed(12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept commands via USB.USB B US P OWERED O PERATION M ODEThe TMCM-1140 supports both, USB self powered operation (when an external power is supplied via the power supply connector) and USB bus powered operation, (no external power supply via power supply connector).On-board digital core logic will be powered via USB in case no other supply is connected (USB bus powered operation). The digital core logic comprehends the microcontroller itself and also the EEPROM. The USB bus powered operation mode has been implemented to enable configuration, parameter settings, read-outs, firmware updates, etc. by just connecting an USB cable between module and host PC. No additional cabling or external devices (e.g. power supply) are required.Please note that the module might draw current from the USB +5V bus supply even in USB self powered operation depending on the voltage level of this supply.5Reset to Factory DefaultsIt is possible to reset the PD-1140 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost.For this procedure two pads on the bottom side of the board have to be shortened.Please perform the following steps:1.Power supply off and USB cable disconnected2.Short two pads as marked in Figure 5.13.Power up board (power via USB is sufficient for this purpose)4.Wait until the on-board red and green LEDs start flashing fast (this might take a while)5.Power-off board (disconnect USB cable)6.Remove short between pads7.After switching on power-supply / connecting USB cable all permanent settings have beenrestored to factory defaultsShort these two padsFigure 5.1 Reset to factory default settings6On-Board LEDsThe board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation and the red LED should be off.When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on.B EHAVIOR OF LED S WITH S TANDARD TMCL F IRMWARERed LEDGreen LEDFigure 6.1 On-board LEDs7Operational RatingsThe operational ratings show the intended or the characteristic ranges and should be used as design values.In no case shall the maximum values be exceeded!Table 7.1 General operational ratings of moduleO PERATIONAL RATINGS OF MULTIPURPOSE I/O STable 7.2 Operational ratings of multipurpose I/Os8Torque Curves8.1.1PD42-1-1140 Torque CurveFigure 8.1 PD42-1-1140 torque vs. velocity 24V / 2A, 256µsteps 8.1.2PD42-2-1140 Torque CurveFigure 8.2 PD42-2-1140 torque vs. velocity 24V / 2A, 256µsteps8.1.3PD42-3-1140 Torque CurveFigure 8.3 PD42-3-1140 torque vs. velocity 24V / 2A, 256µsteps 8.1.4PD42-4-1140 Torque CurveFigure 8.4 PD42-4-1140 torque vs. velocity 24V / 2A, 256µsteps9Functional DescriptionThe PD-1140 is a highly integrated mechatronic device which can be controlled via several serial interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are performed on board. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both: direct mode and standalone operation. Full remote control of device with feedback is possible. The firmware of the module can be updated via any of the serial interfaces.In Figure 9.1 the main parts of the PD-1140 are shown:-the microprocessor, which runs the TMCL operating system (connected to TMCL memory),-the motion controller, which calculates ramps and speed profiles internally by hardware,-the power driver with stallGuard2 and its energy efficient coolStep feature,-the MOSFET driver stage,-the QSH stepper motor, and-the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.9…Figure 9.1 Main parts of the PD-114010 PD-1140 Operational Description10.1 C alculation: Velocity and Acceleration vs. Microstep andFullstep FrequencyThe values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC429 parameters as shown in this section.Table 10.1 TMC429 velocity parametersM ICROSTEP F REQUENCYThe microstep frequency of the stepper motor is calculated with3220482][][_⋅⋅⋅=divpulse CLK velocityHz f Hz usf with usf: microstep-frequencyF ULLSTEP F REQUENCYTo calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided by the number of microsteps per fullstep.usrsHz usf Hz fsf 2][][=with fsf: fullstep-frequencyThe change in the pulse rate per time unit (pulse frequency change per second – the acceleration a ) is given by 29__max 22++⋅=div ramp div pulse CLK a f aThis results in acceleration in fullsteps of:usrs aaf 2=with af: acceleration in fullstepsE XAMPLE :Hz MHz msf 31.12207032204821000161=⋅⋅⋅=Hz Hz fsf 34.1907231.122070][6==sMHzMhz a 21.11921000)16(29112=⋅=++s MHzs MHzaf 863.1221.1196==C ALCULATION OF THE NUMBER OF ROTATIONSA stepper motor has e.g. 72 fullsteps per rotation.49.267234.1907===rotation per fullsteps fsf RPS46.1589726034.190760=⋅=⋅=rotation per fullsteps fsf RPM11Life Support PolicyTRINAMIC 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 2013Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use.Specifications are subject to change without notice.All trademarks used are property of their respective owners.12Revision History12.1Document RevisionTable 12.1 Document revision12.2H ardware RevisionTable 12.2 Hardware revision13References[PD-1140 TMCL] PD-1140 TMCL Firmware Manual [TMC262] TMC262 Datasheet[TMC429] TMC429 Datasheet[TMCL-IDE] TMCL-IDE User ManualPlease refer to .。