Trinamic TMCM-343 Hardware Manual
Below you will find brief information for Stepper Motor Controller/Driver TMCM-343. The TMCM-343 is a compact, triple-axis stepper motor controller and driver module. It offers a complete motion control solution for embedded applications, featuring TMCL™ for rapid application development. The module includes I/Os, supports CAN, RS232, and RS485 communication, and offers stallGuard™ for stall detection.
Advertisement
Advertisement
+
MODULES FOR STEPPER MOTORS MODULES
V 1.07
+
HARDWARE MANUAL
+
TMCM-
343
3-axis stepper controller / driver
300mA up to 1.1A RMS nominal supply: 8V… 34V DC
TMCL ™ / CANopen firmware
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany www.trinamic.com
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
Table of contents
2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
List of figures
List of tables
3
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
1 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 2011
Information 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.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
2 Features
The TMCM-343 is a compact and versatile triple axis 2-phase stepper motor controller and driver module. It provides a complete motion control solution at a very small size for embedded applications. Using the integrated additional I/Os it even can do complete system control applications.
The board can be connected to a baseboard or customized electronics with a pin connector. The
TMCM-343 comes with the PC based software development environment TMCL-IDE. Using predefined
TMCL™ (Trinamic Motion Control Language) high level commands like move to position or constant rotation rapid and fast development of motion control applications is guaranteed. Host communication is possible via the serial UART interface (e.g. using an RS232 or RS485 level shifter) or via CAN. All time critical operations, e.g. ramp calculation are performed onboard. A user TMCL™ program can be stored in the on board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. With the optional stallGuard TM feature it is possible to detect overload and stall of the motor.
Applications
Controller/driver board for control of up to 3 axes
Versatile possibilities of applications in stand alone or PC controlled mode
Motor type
Coil current from 300mA to 1.1A RMS (1.5A peak)
8V to 34V nominal supply voltage
Highlights
Automatic ramp generation in hardware
stallGuard TM option for sensorless motor stall detection
Full step frequencies up to 20kHz
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Local reference move using sensorless stallGuard TM feature or reference switch
Coil current adjustable by software
Up to 64 times microstepping
TRINAMIC driver technology: No heat sink required
Adjustment possibilities. Therefore this module offers solutions for a great field of demands
Software
Stand-alone operation using TMCL™ or remote controlled operation
TMCL™ program storage: 16 KByte EEPROM (2048 TMCL™ commands)
PC-based application development software TMCL-IDE included
Special firmware for CANopen protocol support also available
Other
68 pin connector carries all signals
RoHS compliant latest from 1 July 2006
Size: 80 x 50mm²
5
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
4 Order codes
Order code Description Dimensions
TMCM-343 (-option)
Products related to TMCM-343
3-axis controller/driver module 1.1A, 34V 80 x 55 x 8 mm 3
BB-303 (-option)
BB-323-03
Baseboard for TMCM-343
Baseboard for TMCM-343
80 x 50 x 15 mm 3
96.5 x 79 x 60 mm 3
TMCM-323
TMCM-EVAL
3-axis encoder
Evaluation baseboard
80 x 53 x 8 mm 3
160 x 100 x 24 mm 3
Options for TMCM-343
-H
-V horizontal pin connector (standard) vertical pin connector (on request)
Table 4.1: Order codes
6
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
5 Electrical and mechanical interfacing
5.1
Dimensions
The 68 pin connector has a 2.0mm pitch.
80
76
4 R1.6
2.2
R1.1
7
50 46
9.2
5.4
4
1.2
R1.25
24.4
21.9
39.1
36.9
4
10
Figure 5.1: Front view of TMCM-343 (all values in mm)
6.7
9.7
53
50 50
Horizontal connector
Header connector
Figure 5.2: Ordering options for the connector (all values in mm)
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
5.2
Connecting the module
The 68-pin connector provides communication to a host, configuration of the EEPROM and connection of motors as well as connection of reference switches. Pin 1 of this connector is located in the lower left corner on the top site, while the connector is pointing towards the user.
Pin Direction Description Pin Direction Description
In
Out
-
Out
-
Out
In
Out
In
Out
In
Out
In
Out
In
Out
In
In
Out
Out
Out
In
Out
Out
In
Out
In
In
In
In
In
In
In
In
29
30
31
32
33
34
24
25
26
27
28
19
20
21
22
23
14
15
16
17
18
9
10
11
12
13
5
6
7
8
1
2
3
4
+5VDC (+/- 5%) I max
=300mA
GND
+5VDC (+/- 5%)
GND
V_Motor (+7 to 34VDC)
GND
V_Motor (+7 to 34VDC)
GND
V_Motor (+7 to 34VDC)
GND
SPI Select 0
SPI Clock
SPI Select 1
SPI MISO
SPI Select 2
SPI MOSI
Reset, active low
Alarm
Reference Switch Motor 0 right 53
Motor0 A0 54
Reference Switch Motor 0 left
Motor0 A1
55
56
Reference Switch Motor 1 right 57
Motor0 B0
Reference Switch Motor 1 left
58
59
Motor0 B1 60
Reference Switch Motor 2 right 61
Motor1 A0 62
Reference Switch Motor 2 left
Motor1 A1
Reserved
Motor1 B0
Reserved
Motor1 B1
48
49
50
51
52
43
44
45
46
47
39
40
41
42
35
36
37
38
- out
- out
- out
- out out in out in out
- in in out in in out in out in out in out in in
Reserved
Motor2 A0
Reserved
Motor2 A1
Reserved
Motor2 B0
Reserved
Motor2 B1
Reserved
Shutdown
General Purpose input 0
General Purpose output 0
General Purpose input 1
General Purpose output 1
General Purpose input 2
General Purpose output 2
General Purpose input 3
General Purpose output 3
General Purpose input 4
General Purpose output 4
General Purpose input 5
General Purpose output 5
General Purpose input 6
General Purpose output 6
General Purpose input 7
General Purpose output 7
GND
GND
63
64
- out
Reserved
RS485 Direction
65 in and out CAN -
66 in RS232 RxD
67 in and out CAN +
68 out RS232 TxD
Table 5.1: Pinout of the 68-Pin connector
2
1
PCB
Figure 5.3: Pin order of the connector
68
67
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
8
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
5.3
Power supply requirements
Two different power supplies have to be provided for the TMCM-343: +5VDC for the controller part and
+7… 34VDC for the motor supply. Please connect all listed pins for the power supply inputs and ground in parallel. It is recommended to use capacitors of some 1000µF and a choke close to the module for the motor supply. This ensures a stable power supply and minimizes noise injected into the power supply cables. The choke especially becomes necessary in larger distributed systems using a common power supply. keep distance short
9
L
V_ Motor
(7... 34V)
+
TMCM-343
Local +5V regulator
+
C (> 1000µF) Power Supply
GND supply for further modules on same base board
Figure 5.4: Power supply requirements for TMCM-343
Especially in bus controlled systems (e.g. CAN or RS485) it is important to ensure a stable ground potential of all modules. The stepper driver modules draw peak currents of some ampere from the power supply. It has to be made sure, that this current does not cause a substantial voltage difference on the interface lines between the module and the master, as disturbed transmissions could result.
The following hints help avoiding transmission problems in larger systems:
Use power supply filter capacitors of some 1000µF on the base board for each module in order to take over current spikes. A choke in the positive power supply line will prevent current spikes from changing the GND potential of the base board, especially when a central power supply is used.
Optionally use an isolated power supply for the TMCM-Modules (no earth connection on the power supply, in case the CAN master is not optically decoupled)
Do not supply modules which are mounted in a distance of more than a few meters with the same power supply.
For modules working on the same power supply (especially the same power supply as the master) use a straight and thick, low-resistive GND connection.
Use a local +5V regulator on each baseboard.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) keep distance short
CAN high
TMCM-343
CAN low
V_ Motor
(7...34V)
GND
CAN_GND
+
C
L
-
+
Power supply
10
CAN high
CAN low
CAN_GND
V_ Motor
(7...34V) other devices on CAN bus (incl. master)
GND
+
C
L keep distance short
CAN high
TMCM-343
CAN low
V_ Motor
(7...34V)
GND
CAN_GND
+
C
L
Figure 5.5: Power supply requirements for TRINAMIC modules in a bus system
In large systems it may make sense to use an optically decoupled CAN bus for each number of nodes, e.g. for each base board with a number of TMCM-34x modules, especially when a centralized power supply is to be used.
Be aware that different ground potentials of the CAN sender (e.g. a PC) and the power supply may damage the modules.
Please make sure that the GND lines of the CAN sender and the module(s) and power supplies are connected by a cable.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
6 Operational ratings
The operational ratings show the intended or rather the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded.
Symbol Parameter Min Typ Max Unit
V
S
V
+5V
I
COIL
DC Power supply voltage for operation
+5V DC input (max. 50mA / no OUT load)
Motor coil current for sine wave peak
(chopper regulated, adjustable via software)
7
4.8
0
12 … 28
5.0
0.3 … 1.5
34
5.2
1.5
V
V
A f
CHOP
I
S
V
INPROT
Motor chopper frequency
-0.5
36.8
<< I
COIL
0 … 5
1.4 * I
COIL
V
+5V
+0.5 kHz
A
V
V
ANA
V
INLO
V
INHI
I
OUTI
T
ENV
Power supply current (per motor)
Input voltage for StopL, StopR, GPI0
(internal protection diodes)
INx analog measurement range
(resolution: 10bit / range: 0..1023)
INx, StopL, StopR low level input
INx, StopL, StopR high level input
(integrated 10k pull-up to +5V for Stop)
OUTx max +/- output current (CMOS output) (sum for all outputs max. 50mA)
Environment temperature at rated current
(no cooling)
2
-40
0 ... 5.5
0
5
0.9
+/-20
+80
V
V
V mA
°C
11
Table 6.1: Operational ratings
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
7 Functional description
In Figure 7.1 the main parts of the TMCM-343 module are shown. The module mainly consists of a
processor, a TMC428 motion controller, three TMC246 stepper motor drivers, the TMCL™ program memory (EEPROM) and the host interfaces RS232, RS485 and CAN.
12
Step
Please note, that the USB interface can be offered on demand.
TMCL
Memory
High Power
Driver
TMC246
CAN
RS232 or
RS485
UART additional
I/Os
16
µC
progammable
Motion
Controller
with TMC428
High Power
Driver
TMC246
Motor
Step
Special option:
USB
High Power
Driver
TMC246
Motor
Step
+5V
7… 34V DC
5V DC
Motor
TMCM-343
3x2 Stop switches
Figure 7.1: Main parts of the TMCM-343
7.1
System architecture
The TMCM-343 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 and CAN interface. The microcontroller interprets the TMCL™ commands and controls the TMC428 which executes the motion commands.
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-343 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.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 13
7.1.3
TMC428 motion controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phasestepper-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 drivers
On the TMCM-343 modules the TMCM246 chips are used. These chips have the stallGuard™ feature.
As the power dissipation of TMC246 chips is very low no heat sink or cooling fan is needed. The temperature of the chips does not get high. The coils will be switched off automatically when the temperature or the current exceeds the limits and automatically switched on again when the values are within the limits again.
The TMCM-343 module is equipped with a circuit that extends the microstep resolution of the TMC246 chips to true 64 times microstepping. The maximum peak coil current of each stepper motor driver chip is 1500mA.
7.2
Power supply
Two different power supplies have to be provided for the TMCM-343: +5VDC for the module functionality and +7… 34VDC for the motor supply. Please use all listed pins for the power supply inputs and ground parallel.
Pin Function
1, 3
2, 4
+5V DC (+/- 5%), I max
Ground
= 50mA power supply
5, 7, 9 +7… 34V DC motor power supply
6, 8, 10 Ground
Table 7.1: Pinning of power supply
7.3
Motor connection
Never connect or disconnect the motors while the TMCM-343 Module is switched on. Doing this will destroy the driver ICs!
The TMCM-343 controls up to three 2-phase stepper motors.
Table 7.2 shows how to connect the three motors with the 68-pin connector:
Pin Number Direction Name Motor Numbers and Coils
20
22
24
26
28
30
32
34
36
38
40
42 out out out out out out out out out out out out
Motor0_A0
Motor0_A1
Motor0_B0
Motor0_B1
Motor1_A0
Motor1_A1
Motor1_B0
Motor1_B1
Motor2_A0
Motor2_A1
Motor2_B0
Motor2_B1
Motor #0, Coil A0
Motor #0, Coil A1
Motor #0, Coil B0
Motor #0, Coil B1
Motor #1, Coil A0
Motor #1, Coil A1
Motor #1, Coil B0
Motor #1, Coil B1
Motor #2, Coil A0
Motor #2, Coil A1
Motor #2, Coil B0
Motor #2, Coil B1
Table 7.2: Pinout for motor connections
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
TMCM-343
Pin 68 Pin 67
14
Pin 42
Pin 40
Pin 38
Pin 36
Pin 34
Pin 32
Pin 30
Pin 28
Pin 26
Pin 24
Pin 22
Pin 20
B 1
MOTOR
2
B 0
A 1 A 0
B 1
MOTOR
1
B 0
A 1 A 0
B 1
B 0
MOTOR
0
A 1 A 0
Pin 2 Pin 1
Figure 7.2: Connecting the motors
7.4
Host communication
The communication to a host takes place via one or more of the onboard interfaces. The module provides a range of different interfaces, like CAN, RS232, and RS485. The following chapters explain how the interfaces are connected with the 68-pin connector.
7.4.1
CAN 2.0b
Pin Direction Name Limits Description
65 in and out CAN - -8… +18V CAN input/output
67 In and out CAN + -8… +18V CAN input/output
Table 7.3: Pinout for CAN connection
68 - Pin - Connector
Pin 67: CAN++
Pin 65: CAN--
CAN+
CAN--
Host
TMCM-343 Pin 2 Pin 1
Figure 7.3: Connecting CAN
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 15
7.4.2
RS232
Pin
66
68
2, 4, 6, 8, 10
Direction Name Limits in out in
RxD
TxD
GND
TTL
TTL
0V
Description
RS232 receive data
RS232 transmit data
Connect to ground
Table 7.4: Pinout for RS232 connection
The module only provides a serial interface at TTL level. For using RS232 a suitable level shifter has to be added by the user (e.g. MAX202).
68 - Pin - Connector level shifter
( e. g . MAX 202 )
Pin 68 : RS232_TxD
Pin 66 : RS232_RxD TTL
TxD
RxD
Pin61: GND
GND
Host
TMCM-343 Pin 2 Pin 1
Figure 7.4: Connecting RS232
7.4.3
RS485
Pin Number Direction
64 Out
Name
RS485_DIR
66
68
2, 4, 6, 8, 10
In
Out
In
RxD
TxD
GND
Table 7.5: Pinout for RS485 connection
Limits
TTL
Description
TTL
Driver/receiver enable for RS485 transceiver.
0: receiver enable
1: driver enable
TTL RS485 receive data
0V
RS485 transmit data
Connect to ground
The TMCM-343 module only provides a serial interface at TTL level. To use RS485 a suitable RS485 transceiver (like MAX485) has to be added by the user.
68 - Pin - Connector
Transceiver e . g . MAX 485
Transceiver e. g . MAX 485 HOST
Pin 68 : RS232_TxD
Pin 66 : RS232_RxD
Pin 64 : RS485_ DIRECTION
Pin 61 : GND
TxD
RxD
DIR
GND
RS485+
RS485-
RS485+
RS485-
TxD
RxD
GND
DIR
TxD
RxD
GND
DIR
TMCM-343 Pin 2 Pin 1
Figure 7.5: Connecting RS485
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 16
7.5
stallGuard™ - sensorless motor stall detection
The TMCM-343 modules are equipped with the stallGuard™ feature. The stallGuard™ feature makes it possible to detect if the mechanical load on a stepper motor is too high or if the traveler has been obstructed. The load value can be read using a TMCL™ command or the module can be programmed so that the motor will be stopped automatically when it has been obstructed or the load has been too high. stallGuard™ can also be used for finding the reference position without the need for a reference switch: Activate stallGuard™ and then let the traveler run against a mechanical obstacle that is placed at the end of the way. When the motor has stopped it is definitely at the end of its way, and this point can be used as the reference position.
For using stallGuard™ in an actual application, some manual tests should be done first, because the stallGuard™ level depends upon the motor velocities and on the occurrence of resonances.
Mixed decay should be switched off while stallGuard is in use in order to get usable results.
Value Description
0 stallGuard™ function is deactivated (default)
1… 7 Motor stops when stallGuard™ value is reached and position is not set zero.
Table 7.6: stallGuard™ parameter SAP 205
To activate the stallGuard™ feature use the TMCL™ command SAP 205 and set the stallGuard™
threshold value according to Table 7.6. The actual load value is given by GAP 206. The TMCL-IDE has
some tools which let you try out and adjust the stallGuard™ function in an easy way. They can be found at stallGuard™ in the Setup menu and are described in the following chapters. Please refer to the TMCM-341/342/343 TMCL™ Firmware Manual for further information about working with TMCL-IDE.
7.5.1
stallGuard™ adjusting tool
The stallGuard™ adjusting tool helps to find the necessary motor parameters when stallGuard™ is to be used. This function can only be used when a module is connected that features stallGuard™. This is checked when the stallGuard™ adjusting tool is selected in the Setup menu. After this has been successfully checked the stallGuard™ adjusting tool is displayed.
First, select the axis that is to be used in the Motor area. Now you can enter a velocity and an acceleration value in the Drive area and then click Rotate Left or Rotate Right . Clicking one of these buttons will send the necessary commands to the module so that the motor starts running. The red bar in the stallGuard™ area on the right side of the windows displays the actual load value. Use the slider to set the stallGuard™ threshold value. If the load value reaches this value the motor stops. Clicking the Stop button also stops the motor.
Figure 7.6: stallGuard™ adjusting tool
All commands necessary to set the values entered in this dialogue are displayed in the Commands area at the bottom of the window. There, they can be selected, copied and pasted into the TMCL™ editor.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 17
7.5.2
stallGuard™ profiler
The stallGuard™ profiler is a utility that helps you find the best parameters for using stall detection.
It scans through given velocities and shows which velocities are the best ones. Similar to the stallGuard™ adjusting tool it can only be used together with a module that supports stallGuard™.
This is checked right after the stallGuard™ profiler has been selected in the Setup menu. After this has been successfully checked the stallGuard™ profiler window will be shown.
First, select the axis that is to be used. Then, enter the Start velocity and the End velocity . The start velocity is used at the beginning of the profile recording. The recording ends when the end velocity has been reached. Start velocity and end velocity must not be equal. After you have entered these parameters, click the Start button to start the stallGuard™ profile recording. Depending on the range between start and end velocity this can take several minutes, as the load value for every velocity value is measured ten times. The Actual velocity value shows the velocity that is currently being tested and so tells you the progress of the profile recording. You can also abort a profile recording by clicking the Abort button.
The result can also be exported to Excel or to a text file by using the Export button.
Figure 7.7: The stallGuard™ profiler
7.5.2.1
The result of the stallGuard™ profiler
The result is shown as a graphic in the stallGuard™ profiler window. After the profile recording has finished you can scroll through the profile graphic using the scroll bar below it. The scale on the vertical axis shows the load value: A higher value means a higher load. The scale on the horizontal axis is the velocity scale. The color of each line shows the standard deviation of the ten load values that have been measured for the velocity at that point. This is an indicator for the vibration of the motor at the given velocity.
There are three colors used:
Green: The standard deviation is very low or zero. This means that there is effectively no
Red: vibration at this velocity.
Yellow: This color means that there might be some low vibration at this velocity.
The red color means that there is high vibration at that velocity.
7.5.2.2
Interpreting the result
In order to make effective use of the stallGuard™ feature you should choose a velocity where the load value is as low as possible and where the color is green. The very best velocity values are those where the load value is zero (areas that do not show any green, yellow or red line). Velocities shown in yellow can also be used, but with care as they might cause problems (maybe the motor stops even if it is not stalled).
Velocities shown in red should not be chosen. Because of vibration the load value is often unpredictable and so not usable to produce good results when using stall detection.
As it is very seldom that exactly the same result is produced when recording a profile with the same parameters a second time, always two or more profiles should be recorded and compared against each other.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 18
7.6
Reference switches
With reference switches, an interval for the movement of the motor or the zero point can be defined.
Also a step loss of the system can be detected, e.g. due to overloading or manual interaction, by using a travel-switch.
Pin Direction Name Limits
19 in STOP0R TTL
Description
Right reference switch input for Motor #0
21 in STOP0L TTL Left reference switch input for Motor #0
23
25
27
29 in in in in
STOP1R TTL Right reference switch input for Motor #1
STOP1L TTL Left reference switch input for Motor #1
STOP2R TTL Right reference switch input for Motor #2
STOP2L TTL Left reference switch input for Motor #2
Table 7.7: Pinout reference switches
10k pull-up resistors for reference switches are included on the module.
7.6.1
Left and right limit switches
The TMCM-343 can be configured so that a motor has a left and a right limit switch (Figure 7.8).
The motor stops when the traveler has reached one of the limit switches.
REF _ L _x REF _ R_x motor left stop switch traveler
Figure 7.8: Left and right limit switches right stop switch
7.6.2
Triple switch configuration
It is possible to program a tolerance range around the reference switch position. This is useful for a
automatic stop switches, and one additional switch is used as the reference switch between the left stop switch and the right stop switch. The left stop switch and the reference switch are wired together. The center switch (travel switch) allows for a monitoring of the axis in order to detect a step loss.
REF _ L_x REF _ R_x motor left stop switch reference switch traveler
Figure 7.9: Limit switch and reference switch right stop switch
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 19
7.6.3
One limit switch for circular systems
end-points in such a system. motor
REF _ L _x ref switch eccentric
Figure 7.10: One reference switch
7.7
Serial peripheral interface (SPI)
On-board communication is performed via the Serial Peripheral Interface (SPI). The microcontroller acts as master. For adaptation to user requirements, the user has access to this interface via the 68pin connector. Furthermore three chip select lines can be used for addressing of external devices.
Pin Direction Name Limits
11 out SPI_SEL0 TTL
Description
Chip Select Bit0
13
15
12
14
16 out out out in out
SPI_SEL1
SPI_SEL2
SPI_CLK
SPI_MISO
SPI_MOSI
TTL Chip Select Bit1
TTL Chip Select Bit2
TTL SPI Clock
TTL SPI Serial Data In
TTL SPI Serial Data Out
Table 7.8: Pinout SPI
7.8
Additional inputs and outputs
The module is equipped with eight TTL input pins and eight TTL output pins, which are accessible via the 68-pin connector. The input pins can also be used as analogue inputs.
Pin Direction Name Limits Description in in in in in in in in out out out out out out out out
45
47
49
51
53
55
57
54
56
58
60
59
46
48
50
52
INP_0 TTL digital and analogue input pin 0, input
INP_1 TTL digital and analogue input pin 1, input
INP_2 TTL digital and analogue input pin 2, input
INP_3 TTL digital and analogue input pin 3, input
INP_4 TTL digital and analogue input pin 4, input
INP_5 TTL digital and analogue input pin 5, input
INP_6 TTL digital and analogue input pin 6, input
INP_7 TTL digital and analogue input pin 7, input
Out_0 TTL digital output pin 0, output
Out_1 TTL digital output pin 1, output
Out_2 TTL digital output pin 2, output
Out_3 TTL digital output pin 3, output
Out_4 TTL digital output pin 4, output
Out_5 TTL digital output pin 5, output
Out_6 TTL digital output pin 6, output
Out_7 TTL digital output pin 7, output
Table 7.9: Additional I/O pins
7.9
Miscellaneous connections
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 20
Pin Direction
17
18
44 in out in
Name
Reset
Alarm
Shutdown
Limits Description
TTL Reset, active low
TTL Alarm, active high
TTL Emergency stop
Table 7.10: Miscellaneous connections
The functionality of the shutdown pin is configurable using in TMCL™ with global parameter 80
(please see the TMCM-341/342/343 TMCL™ Firmware Manual for information on this).
4
5
6
0
1
2
3
7.10
Microstep resolution
The TMCM-343 supports a true 64 microstep resolution. To meet your needs, the microstep resolution can be set using the TMCL™ software. The default setting is 64 microsteps, which is the highest resolution. For setting the microstep resolution with the TMCL™ firmware use instruction 5: SAP, type
140: microstep resolution.
You can find the appropriate value in Table 7.11.
Value microsteps
Do not use: for fullstep please see fullstep threshold
2
4
8
16
32
64
Table 7.11: Microstep resolution setting
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
8 Putting the TMCM-343 into operation
On the basis of a small example it is shown step by step how the TMCM-343 is set into operation.
Experienced users could skip this chapter and proceed to chapter 9.
Example: The following application is to implement with the TMCL-IDE Software development environment in the TMCM-343 module. For data transfer between the host PC and the module the
RS232 interface is employed.
A formula how speed is converted into a physical unit like rotations per seconds can be found in
chapter Calculation: Velocity and acceleration vs. microstep and fullstep frequency.
Turn Motor 0 left with speed 500
Turn Motor 1 right with speed 500
Turn Motor 2 with speed 500, acceleration 5 and move between position +10000 and –10000.
Step 1:
Connect the RS232 Interface as specified in 7.7.
Step 2:
Step 3:
Connect the motors as specified in 7.3.
Step 4:
Step 5:
Step 6:
Connect the power supply.
+5 VDC to pins 1 or 3
Ground to pins 2, 4, 6, 8 or 10
Connect the motor supply voltage
+10 to 30 VDC to pins 5, 7, 9
Switch on the power supply and the motor supply. An on-board LED should start to flash. This indicates the correct configuration of the microcontroller.
Start the TMCL-IDE Software development environment. Open file test2.tmc. The following source code appears on the screen:
A description for the TMCL commands can be found in Appendix A.
//A simple example for using TMCL ™ and TMCL-IDE
ROL 0, 500 //Rotate motor 0 with speed 500
WAIT TICKS, 0, 500
MST 0
ROR 1, 250 //Rotate motor 1 with 250
WAIT TICKS, 0, 500
MST 1
SAP 4, 2, 500 //Set max. Velocity
SAP 5, 2, 50 //Set max. Acceleration
Loop: MVP ABS, 2, 10000 //Move to Position 10000
WAIT POS, 2, 0 //Wait until position reached
MVP ABS, 2, -10000 //Move to Position -10000
WAIT POS, 2, 0 //Wait until position reached
JA Loop //Infinite Loop
Step 7:
Step 8:
Click on Icon
Press Icon
Assemble
Then download the program to the TMCM-343 module via the Icon
Run
to convert the TMCL™ into machine code.
. The desired program will be executed.
Download .
Please refer to the TMCM-341/342/343 TMCL™ Firmware Manual for further information about the commands.
The next chapter discusses additional operations to turn the TMCM-343 into a high performance motion control system.
21
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 22
9 Migrating from the TMCM-303 to the
TMCM-343
Migrating TMCM-303 applications to the TMCM-343 is easy, as the TMCM-343 can replace a TMCM-303 without problems. The connector of the TMCM-343 is identical to the connector of the TMCM-303, so that a TMCM-343 can just be plugged into the slot for a TMCM-303 (it can also use the same base boards as the TMCM-303). Also the TMCL™ firmware of the TMCM-343 is highly compatible with the
TMCM-303.
However there are some slight differences that have to be observed (due to the fact that the TMCM-
343 has some enhancements compared to the TMCM-303):
Speed of TMCL™ program execution: TMCL™ programs run up twenty times faster than on the
TMCM-303 module. In general, the developer of a TMCL™ program should not make assumptions about command execution times.
Axis parameters 6 and 7 (run current and stand by current): The range of these parameters is now 0… 255 and no longer 0… 1500. These parameter settings must be adapted.
Axis parameters 194 and 195: The reference search speeds are now specified directly (1… 2047) and no longer as fractions of the maximum positioning speed. These settings have to be adapted.
MVP COORD: The parameter of the MVP COORD command is different (to make it compatible with the six axis modules). Please see the TMCM-341/342/343 TMCL™ Firmware Manual for details. The usage of the MVP COORD command also has to be adapted.
Default CAN bit rate: the default CAN bit rate of the TMCM-343 module (e.g. after resetting it to factory default settings) is 1000kBit/s (in contrast to 250kBit/s on the TMCM-303.
All other TMCL™ commands and parameters are the same as with the TMCM-303.
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
10 TMCM-343 operational description
23
10.1
Calculation: Velocity and acceleration vs. microstep and fullstep frequency
The values of the parameters sent to the TMC428 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC428-parameters as shown in this document.
The parameters for the TMC428 are:
Signal Description Range f
CLK clock-frequency velocity - a_max maximum acceleration pulse_div divider for the velocity. The higher the value is, the less is the maximum velocity default value = 0 ramp_div divider for the acceleration. The higher the value is, the less is the maximum acceleration default value = 0
16 MHz
0… 2047
0… 2047
0… 13
0… 13
Usrs microstep-resolution (microsteps per fullstep = 2 usrs )
0… 7 (a value of 7 is internally mapped to
6 by the TMC428)
Table 10.1: TMC428 velocity parameters
The microstep-frequency of the stepper motor is calculated with usf [ Hz ]
f
CLK
[ Hz ]
2 pulse _ div
velocity
2048
32 with usf: microstep-frequency
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be divided by the number of microsteps per fullstep. fsf [ Hz ]
usf [ Hz ] with fsf: fullstep-frequency
2 usrs
The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a ) is given by a
2 f
CLK pulse _
2 a max div
ramp _ div
29
This results in acceleration in fullsteps of: af
a
2 usrs with af: acceleration in fullsteps
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
Example:
Signal f_
CLK velocity value
16 MHz
1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 msf
16 MHz
1000
122070 .
31 Hz
2
1
2048
32 fsf [ Hz ]
122070 .
31
2
6
1907 .
34 Hz a
( 16 Mhz )
2
2
1
1
29
1000
119 .
21
MHz s af
119 .
21
MHz s
2
6
1 .
863
MHz s
Calculation of the number of rotations:
A stepper motor has e.g. 72 fullsteps per rotation.
RPS
fsf fullsteps per rotation
1907 .
34
72
26 .
49
RPM
fsf fullsteps
60 per rotation
1907 .
34
60
72
1589 .
46
24
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
11 TMCL™
TMCL™, the TRINAMIC Motion Control Language, is described in separate documentations, which refer to the specific products (e.g. TMCM-341/342/343 TMCL™ Firmware Manual). The manuals are provided on the TMC TechLibCD and on www.trinamic.com
. Please refer to these sources for updated data sheets and application notes.
The TMC TechLibCD includes data sheets, application notes, and schematics of evaluation boards, software of evaluation boards, source code examples, parameter calculation spreadsheets, tools, and more.
12 CANopen
The TMCM-343 module can also be used with the CANopen protocol. For this purpose, a special
CANopen firmware has to be installed. To do that, download the latest version of the TMCM-343
CANopen firmware from the Trinamic website or use the version provided on the TechLib CD and install it using the firmware update function of the TMCL-IDE (Setup/Install OS). The TMCM-343 module is then ready to be used with CANopen. Please see the specific CANopen manual provided on the
TRINAMIC website and on the TechLibCD on how to use the TMCM-343 module with the CANopen protocol.
25
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
13 Revision history
13.1
Document revision
Version Date
1.00
Author Description
2008-MAY-19 OK Some figures corrected
1.01
1.02
1.04
1.05
1.06
1.07
2009-DEC-15 OK
2009-MAY-08 OE
2009-JUN-12 OK
2010-FEB-24 SD
2010-MAR-02 SD
2011-JUN-08 SD
Migration and CANopen chapters added
Dimension Figure extended
Chapter 5.5. corrected
Dimensions corrected, minor changes
New front page, analog measurement range in chapter 6 completed
Minor changes
Table 13.1: Document revision
13.2
Hardware revision
Version
1.00
1.01
Comment Description
Initial release First version of new generation TMCM-343
Actual version
Table 13.2: Hardware revision
13.3
Firmware revision
Version
4.07
4.20
Comment Description
Initial release Please refer to the TMCM-341/342/343 TMCL™
Firmware Manual
Actual release
Table 13.3: Firmware revision
26
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
14 References
[TMCM-343] TMCM-343 Hardware Manual on www.trinamic.com
[QSH-4218]
[TMCM-323]
QSH-4218 Manual on www.trinamic.com
TMCM-323 Hardware Manual on www.trinamic.com
[TMCM-EVAL] TMCM-EVAL Hardware Manual on www.trinamic.com
27
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG

Public link updated
The public link to your chat has been updated.
Advertisement
Key features
- 3-axis stepper motor control
- 300mA to 1.1A RMS coil current
- 8V to 34V DC nominal supply
- TMCL™ / CANopen firmware
- Automatic ramp generation
- stallGuard™ sensorless stall detection
- Full step frequencies up to 20kHz