TMCM-343 Hardware Manual Datasheet by Trinamic Motion Control GmbH

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A TRINAMIC MOTION CONTROL
MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
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
+ +
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1 Life support policy ....................................................................................................................................................... 4
2 Features........................................................................................................................................................................... 5
4 Order codes .................................................................................................................................................................... 6
5 Electrical and mechanical interfacing ..................................................................................................................... 7
5.1 Dimensions ........................................................................................................................................................... 7
5.2 Connecting the module .................................................................................................................................... 8
5.3 Power supply requirements............................................................................................................................. 9
6 Operational ratings .................................................................................................................................................... 11
7 Functional description .............................................................................................................................................. 12
7.1 System architecture .......................................................................................................................................... 12
7.1.1 Microcontroller ........................................................................................................................................ 12
7.1.2 EEPROM ...................................................................................................................................................... 12
7.1.3 TMC428 motion controller ................................................................................................................... 13
7.1.4 Stepper motor drivers ........................................................................................................................... 13
7.2 Power supply ..................................................................................................................................................... 13
7.3 Motor connection .............................................................................................................................................. 13
7.4 Host communication ........................................................................................................................................ 14
7.4.1 CAN 2.0b .................................................................................................................................................... 14
7.4.2 RS232 .......................................................................................................................................................... 15
7.4.3 RS485 .......................................................................................................................................................... 15
7.5 stallGuard™ - sensorless motor stall detection ...................................................................................... 16
7.5.1 stallGuard™ adjusting tool ................................................................................................................. 16
7.5.2 stallGuard™ profiler .............................................................................................................................. 17
7.6 Reference switches ........................................................................................................................................... 18
7.6.1 Left and right limit switches .............................................................................................................. 18
7.6.2 Triple switch configuration ................................................................................................................. 18
7.6.3 One limit switch for circular systems .............................................................................................. 19
7.7 Serial peripheral interface (SPI) .................................................................................................................... 19
7.8 Additional inputs and outputs ...................................................................................................................... 19
7.9 Miscellaneous connections ............................................................................................................................ 19
7.10 Microstep resolution ........................................................................................................................................ 20
8 Putting the TMCM-343 into operation .................................................................................................................. 21
9 Migrating from the TMCM-303 to the TMCM-343 ............................................................................................... 22
10 TMCM-343 operational description ........................................................................................................................ 23
10.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency ................................. 23
11 TMCL™ ........................................................................................................................................................................... 25
12 CANopen ....................................................................................................................................................................... 25
13 Revision history .......................................................................................................................................................... 26
13.1 Document revision ........................................................................................................................................... 26
13.2 Hardware revision ............................................................................................................................................. 26
13.3 Firmware revision ............................................................................................................................................. 26
14 References .................................................................................................................................................................... 27
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 3
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
List of figures
Figure 4.1: Front view of TMCM-343 (all values in mm) ............................................................................................ 7
Figure 4.2: Ordering options for the connector ........................................................................................................... 7
Figure 4.3: Pin order of the connector ........................................................................................................................... 8
Figure 4.4: Power supply requirements for TMCM-343 .............................................................................................. 9
Figure 4.5: Power supply requirements for TRINAMIC modules in a bus system .......................................... 10
Figure 6.1: Main parts of the TMCM-343 ....................................................................................................................... 12
Figure 6.2: Connecting the motors ................................................................................................................................ 14
Figure 6.3: Connecting CAN ............................................................................................................................................. 14
Figure 6.4: Connecting RS232 .......................................................................................................................................... 15
Figure 6.5: Connecting RS485 .......................................................................................................................................... 15
Figure 6.6: stallGuard™ adjusting tool ......................................................................................................................... 16
Figure 6.7: The stallGuard™ profiler ............................................................................................................................. 17
Figure 6.8: Left and right limit switches ...................................................................................................................... 18
Figure 6.9: Limit switch and reference switch ........................................................................................................... 18
Figure 6.10: One reference switch ................................................................................................................................. 19
List of tables
Table 3.1: Order codes ......................................................................................................................................................... 6
Table 4.1: Pinout of the 68-Pin connector ..................................................................................................................... 8
Table 5.1: Operational ratings ......................................................................................................................................... 11
Table 6.1: Pinning of power supply .............................................................................................................................. 13
Table 6.2: Pinout for motor connections ..................................................................................................................... 13
Table 6.3: Pinout for CAN connection ........................................................................................................................... 14
Table 6.4: Pin out for RS232 connection ...................................................................................................................... 15
Table 6.5: Pinout for RS485 connection ....................................................................................................................... 15
Table 6.6: stallGuard™ parameter SAP 205 ................................................................................................................. 16
Table 6.7: Pinout reference switches ............................................................................................................................ 18
Table 6.8: Pinout SPI .......................................................................................................................................................... 19
Table 6.9: Additional I/O pins ......................................................................................................................................... 19
Table 6.10: Miscellaneous connections ......................................................................................................................... 20
Table 6.11: Microstep resolution setting ...................................................................................................................... 20
Table 9.1: TMC428 velocity parameters ......................................................................................................................... 23
Table 12.1: Document revision ........................................................................................................................................ 26
Table 12.2: Hardware revision ......................................................................................................................................... 26
Table 12.3: Firmware revision ......................................................................................................................................... 26
w 4")va um.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 4
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 5
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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 stallGuardTM 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
stallGuardTM 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 stallGuardTM 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
887303 (ropuon) Base boa rd for TMCMrsAi 80x50x15 mm TMCMVEVAL Evaluation baseboard 160 x 100 x 24 mm 7H honzonlal pm (onnector (standard) 7V vemcal pm connetlor (on request)
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 6
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4 Order codes
Order code
Description
Dimensions
TMCM-343 (-option)
3-axis controller/driver module 1.1A, 34V
80 x 55 x 8 mm3
Products related to TMCM-343
BB-303 (-option)
Baseboard for TMCM-343
80 x 50 x 15 mm3
BB-323-03
Baseboard for TMCM-343
96.5 x 79 x 60 mm3
TMCM-323
3-axis encoder
80 x 53 x 8 mm3
TMCM-EVAL
Evaluation baseboard
160 x 100 x 24 mm3
Options for TMCM-343
-H
horizontal pin connector (standard)
-V
vertical pin connector (on request)
Table 4.1: Order codes
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 7
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5 Electrical and mechanical interfacing
5.1 Dimensions
The 68 pin connector has a 2.0mm pitch.
80
76
4
2.2
1.2
50 46 39.1
36.9
24.4
21.9
4
4
10
R1.25
R1.1
R1.6
5.49.2
Figure 5.1: Front view of TMCM-343 (all values in mm)
53
6.7
50
Horizontal
connector
50
Header
connector
9.7
Figure 5.2: Ordering options for the connector (all values in mm)
3 In IsVDC (*Ir 5%) 37 , Reserved 6 In GND 40 out Motor2 B0 9 In ViMotor (+7 to 34VDC) 43 , Reserved 12 Out SPI Clock 46 out General Purpose output 0 15 Out SPI Select 2 49 In General Purpose Input 2 18 Out Alarm 52 out General Purpose output 3 21 In Reference SWItch Motor 0 left 55 In General Purpose Input 5 21; Out Motoro Bo 58 out General Purpose output 6 27 In Reference SWItch Motor 2 rIgnt 61 In GND 30 Out Motor1 A1 61; out R5485 Dream 33 , Reserved 67 In and out CAN I DECIDED Ell] 27
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 8
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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.
Direction
Description
Pin
Direction
Description
In
+5VDC (+/- 5%) Imax=300mA
35
-
Reserved
In
GND
36
out
Motor2 A0
In
+5VDC (+/- 5%)
37
-
Reserved
In
GND
38
out
Motor2 A1
In
V_Motor (+7 to 34VDC)
39
-
Reserved
In
GND
40
out
Motor2 B0
In
V_Motor (+7 to 34VDC)
41
-
Reserved
In
GND
42
out
Motor2 B1
In
V_Motor (+7 to 34VDC)
43
-
Reserved
In
GND
44
in
Shutdown
Out
SPI Select 0
45
in
General Purpose input 0
Out
SPI Clock
46
out
General Purpose output 0
Out
SPI Select 1
47
in
General Purpose input 1
In
SPI MISO
48
out
General Purpose output 1
Out
SPI Select 2
49
in
General Purpose input 2
Out
SPI MOSI
50
out
General Purpose output 2
In
Reset, active low
51
in
General Purpose input 3
Out
Alarm
52
out
General Purpose output 3
In
Reference Switch Motor 0 right
53
in
General Purpose input 4
Out
Motor0 A0
54
out
General Purpose output 4
In
Reference Switch Motor 0 left
55
in
General Purpose input 5
Out
Motor0 A1
56
out
General Purpose output 5
In
Reference Switch Motor 1 right
57
in
General Purpose input 6
Out
Motor0 B0
58
out
General Purpose output 6
In
Reference Switch Motor 1 left
59
in
General Purpose input 7
Out
Motor0 B1
60
out
General Purpose output 7
In
Reference Switch Motor 2 right
61
in
GND
Out
Motor1 A0
62
in
GND
In
Reference Switch Motor 2 left
63
-
Reserved
Out
Motor1 A1
64
out
RS485 Direction
-
Reserved
65
in and out
CAN -
Out
Motor1 B0
66
in
RS232 RxD
-
Reserved
67
in and out
CAN +
Out
Motor1 B1
68
out
RS232 TxD
Table 5.1: Pinout of the 68-Pin connector
PCB
1
268
67
Figure 5.3: Pin order of the connector
The followmu hunts help avoudlnu lransmussuon problems m larqer systems:
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 9
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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.
TMCM-343
V_ Motor
(7... 34V)
GND
+C (> 1000µF)
L
+
Power Supply
keep distance short
Local +5V
regulator
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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 10
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343
V_ Motor
(7...34V)
GND
+C
L+
Power supply
keep distance short
TMCM-343
V_ Motor
(7...34V)
GND
+C
L
keep distance short
keep distance below a few meters with a single power supply
CAN high
CAN low
CAN high
CAN low
other devices on CAN
bus (incl. master)
CAN high
CAN low
V_ Motor
(7...34V)
GND
+C
L
CAN_GND
CAN_GND
CAN_GND
-
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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 11
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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
VS
DC Power supply voltage for operation
7
12 … 28
34
V
V+5V
+5V DC input (max. 50mA / no OUT load)
4.8
5.0
5.2
V
ICOIL
Motor coil current for sine wave peak
(chopper regulated, adjustable via
software)
0
0.3 … 1.5
1.5
A
fCHOP
Motor chopper frequency
36.8
kHz
IS
Power supply current (per motor)
<< ICOIL
1.4 * ICOIL
A
VINPROT
Input voltage for StopL, StopR, GPI0
(internal protection diodes)
-0.5
0 … 5
V+5V+0.5
V
VANA
INx analog measurement range
(resolution: 10bit / range: 0..1023)
0 ... 5.5
V
VINLO
INx, StopL, StopR low level input
0
0.9
V
VINHI
INx, StopL, StopR high level input
(integrated 10k pull-up to +5V for Stop)
2
5
V
IOUTI
OUTx max +/- output current (CMOS
output) (sum for all outputs max. 50mA)
+/-20
mA
TENV
Environment temperature at rated current
(no cooling)
-40
+80
°C
Table 6.1: Operational ratings
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 12
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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.
734V DC
High Power
Driver
TMC246
µC
TMCL
Memory
progammable
Motion
Controller
with TMC428
Step
Motor
CAN
RS232 or
RS485
Please note,
that the USB
interface can
be offered
on demand.
16additional
I/Os
3x2 Stop
switches
+5V
TMCM-343
Step
Motor
Step
Motor
High Power
Driver
TMC246
High Power
Driver
TMC246
UART
Special
option:
USB
5V DC
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.
1, 3 av DC (4, 5°Iu)‘ 1W: somA power supply 6,8,10 Gvound Table 7.2 shows how to connect the three motovs With the EE'DII'I connettor:
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 13
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.1.3 TMC428 motion controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-
stepper-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
+5V DC (+/- 5%), Imax = 50mA power supply
2, 4
Ground
5, 7, 9
+734V 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
out
Motor0_A0
Motor #0, Coil A0
22
out
Motor0_A1
Motor #0, Coil A1
24
out
Motor0_B0
Motor #0, Coil B0
26
out
Motor0_B1
Motor #0, Coil B1
28
out
Motor1_A0
Motor #1, Coil A0
30
out
Motor1_A1
Motor #1, Coil A1
32
out
Motor1_B0
Motor #1, Coil B0
34
out
Motor1_B1
Motor #1, Coil B1
36
out
Motor2_A0
Motor #2, Coil A0
38
out
Motor2_A1
Motor #2, Coil A1
40
out
Motor2_B0
Motor #2, Coil B0
42
out
Motor2_B1
Motor #2, Coil B1
Table 7.2: Pinout for motor connections
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 14
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Pin 2 Pin 1
Pin 67Pin 68
B 1
B 0
A 0A 1
MOTOR
0
B 1
B 0
A 0A 1
MOTOR
1
B 1
B 0
A 0A 1
MOTOR
2
Pin 20
Pin 22
Pin 24
Pin 26
Pin 28
Pin 30
Pin 32
Pin 34
Pin 36
Pin 38
Pin 42
Pin 40
TMCM-343
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
Pin 2 Pin 1
Pin 67: CAN++
Pin 65: CAN--
Host
CAN+
CAN--
TMCM-343
68 - Pin - Connector
Figure 7.3: Connecting CAN
2, 4, 6, a, 10 GND 0V Connect to vound 1: drwev enable 2, 4, 6, 8. 1o In GND 0V Connect to gvound
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 15
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.4.2 RS232
Pin
Direction
Name
Limits
Description
66
in
RxD
TTL
RS232 receive data
68
out
TxD
TTL
RS232 transmit data
2, 4, 6, 8, 10
in
GND
0V
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).
Pin 66 : RS232_RxD
Pin 68 : RS232_TxD
Pin 2 Pin 1
Pin61: GND
TMCM-343
68 - Pin - Connector
Host
TxD
RxD
GND
level shifter
( e. g . MAX 202 )
TTL
Figure 7.4: Connecting RS232
7.4.3 RS485
Pin Number
Direction
Name
Limits
Description
64
Out
RS485_DIR
TTL
Driver/receiver enable for RS485 transceiver.
0: receiver enable
1: driver enable
66
In
RxD
TTL
RS485 receive data
68
Out
TxD
TTL
RS485 transmit data
2, 4, 6, 8, 10
In
GND
0V
Connect to ground
Table 7.5: Pinout for RS485 connection
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.
Pin 61 : GND
TxD
RxD
DIR
RS485+
RS485-
GND
TxD
RxD
DIR
RS485+
RS485-
GND
Transceiver
e. g . MAX 485
Transceiver
e. g . MAX 485
Pin 64 : RS485_ DIRECTION
Pin 66 : RS232_RxD
Pin 68 : RS232_TxD
Pin 2 Pin 1
TxD
RxD
DIR
GND
HOST
TMCM-343
68 - Pin - Connector
Figure 7.5: Connecting RS485
mum.“ awn." m: smns,n,s usmsmnm
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 16
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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)
17
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.
mm Mm. M v . Sm mm» m . [mm W . Amwawyr AMI There are three (olors used:
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 17
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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
vibration at this velocity.
Yellow: This color means that there might be some low vibration at this velocity.
Red: 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.
19 In STOPoR TTL RIght IefeIence SWItth Input for MotoI $0 23 In STOP1R TTL RIght IefeIence SWItth Input for Motor m 25 In STOP1L TTL Left reference SWItch Input for Motor 331 29 In STOPZL TTL Left reference SWItch Input for Motor 332
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 18
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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
Description
19
in
STOP0R
TTL
Right reference switch input for Motor #0
21
in
STOP0L
TTL
Left reference switch input for Motor #0
23
in
STOP1R
TTL
Right reference switch input for Motor #1
25
in
STOP1L
TTL
Left reference switch input for Motor #1
27
in
STOP2R
TTL
Right reference switch input for Motor #2
29
in
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.
left stop
switch
right stop
switch
REF _ L_ x REF _ R_x
motor
traveler
Figure 7.8: Left and right limit switches
7.6.2 Triple switch configuration
It is possible to program a tolerance range around the reference switch position. This is useful for a
triple switch configuration, as outlined in Figure 7.9. In that configuration two switches are used as
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.
left stop
switch
motor
traveler
REF _ L_ x
right stop
switch
REF _ R_x
reference
switch
Figure 7.9: Limit switch and reference switch
13 out SPI_SEL1 m ChIp Setect Bu 1; out SPI_SEL2 m ChIp Setect BItz 14 In SPI_MISO TTL SP1 SerIat Data In 16 out SPI_MOSI TTL SP1 SerIat Data Out 45 In INP_o TTL dIgItal and anatogue Input pm 0, Input 47 In INP_1 TTL dIgItal and anatogue Input pm 1, Input 51 In INP_Z TTL dIgItal and anatogue Input pm 3. Input 53 In INP_A TTL dIgItal and anatogue Input pm 4, Input 57 In INP_6 TTL dIgItal and anatogue Input pm 6, Input 59 In INP_7 TTL dIgItal and anatogue Input pm 7. Input 50 out Out 2 TTL dIgItal output pm 2, output 54 out Out A TTL dIgItal output pm 4, output 56 out 0ut_5 TTL dIgItal output pm 5, output 60 out 0ut_7 TTL dIgItal output pm 7, output
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 19
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.6.3 One limit switch for circular systems
If a circular system is used (Figure 7.10), only one reference switch is necessary, because there are no
end-points in such a system.
motor
ref switch
REF _L _x
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 68-
pin connector. Furthermore three chip select lines can be used for addressing of external devices.
Pin
Direction
Name
Limits
Description
11
out
SPI_SEL0
TTL
Chip Select Bit0
13
out
SPI_SEL1
TTL
Chip Select Bit1
15
out
SPI_SEL2
TTL
Chip Select Bit2
12
out
SPI_CLK
TTL
SPI Clock
14
in
SPI_MISO
TTL
SPI Serial Data In
16
out
SPI_MOSI
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
45
in
INP_0
TTL
digital and analogue input pin 0, input
47
in
INP_1
TTL
digital and analogue input pin 1, input
49
in
INP_2
TTL
digital and analogue input pin 2, input
51
in
INP_3
TTL
digital and analogue input pin 3, input
53
in
INP_4
TTL
digital and analogue input pin 4, input
55
in
INP_5
TTL
digital and analogue input pin 5, input
57
in
INP_6
TTL
digital and analogue input pin 6, input
59
in
INP_7
TTL
digital and analogue input pin 7, input
46
out
Out_0
TTL
digital output pin 0, output
48
out
Out_1
TTL
digital output pin 1, output
50
out
Out_2
TTL
digital output pin 2, output
52
out
Out_3
TTL
digital output pin 3, output
54
out
Out_4
TTL
digital output pin 4, output
56
out
Out_5
TTL
digital output pin 5, output
58
out
Out_6
TTL
digital output pin 6, output
60
out
Out_7
TTL
digital output pin 7, output
Table 7.9: Additional I/O pins
7.9 Miscellaneous connections
Shutdown 17L Emeven slo You can find the aggropnate value In ;
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 20
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Pin
Direction
Name
Limits
Description
17
in
Reset
TTL
Reset, active low
18
out
Alarm
TTL
Alarm, active high
44
in
Shutdown
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).
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 TMCLfirmware use instruction 5: SAP, type
140: microstep resolution.
You can find the appropriate value in Table 7.11.
Value
microsteps
0
Do not use: for fullstep please see fullstep threshold
1
2
2
4
3
8
4
16
5
32
6
64
Table 7.11: Microstep resolution setting
Examgle Slag 1: Slag 2: Slag 3: Slag 4: Slag 5: Slag 6: A description for the TMCL (ommands (an be found m ADDEfldIX A. //A simple example for using may“ and making Slag 1: Slag B:
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 21
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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: Connect the motors as specified in 7.3.
Step 3: Connect the power supply.
+5 VDC to pins 1 or 3
Ground to pins 2, 4, 6, 8 or 10
Step 4: Connect the motor supply voltage
+10 to 30 VDC to pins 5, 7, 9
Step 5: 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.
Step 6: 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.
Step 7: Click on Icon Assemble to convert the TMCL into machine code.
Then download the program to the TMCM-343 module via the Icon Download.
Step 8: Press Icon Run. The desired program will be executed.
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.
//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
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 22
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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 0255 and no longer 01500. These parameter settings must be adapted.
Axis parameters 194 and 195: The reference search speeds are now specified directly (12047)
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.
The garametevs for the TMnga a1 Fm velocity , o... 2047 a_max maximum accelevatlon O... 2047 default vaLue = o 6 by the TMCAZB)
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 23
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
10 TMCM-343 operational description
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
fCLK
clock-frequency
16 MHz
velocity
-
02047
a_max
maximum acceleration
02047
pulse_div
divider for the velocity. The higher the value is, the less
is the maximum velocity
default value = 0
013
ramp_div
divider for the acceleration. The higher the value is, the
less is the maximum acceleration
default value = 0
013
Usrs
microstep-resolution (microsteps per fullstep = 2usrs)
07 (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
3220482
velocity]Hz[f
]Hz[usf div_pulse
CLK
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.
usrs
2
]Hz[usf
]Hz[fsf
with fsf: fullstep-frequency
The change in the pulse rate per time unit (pulse frequency change per second the acceleration a)
is given by
29div_rampdiv_pulse
max
2
CLK
2
af
a
This results in acceleration in fullsteps of:
usrs
2
a
af
with af: acceleration in fullsteps
Examgle Signal value flux 16 MHz 3 max 1000 pulse_div 1 usrs 6 Calculation of the number of ratations;
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 24
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Example:
Signal
value
f_CLK
16 MHz
velocity
1000
a_max
1000
pulse_div
1
ramp_div
1
usrs
6
Hz31.122070
3220482
1000MHz16
msf 1
Hz34.1907
2
31.122070
]Hz[fsf 6
s
MHz
21.119
2
1000)Mhz16(
a2911
2
s
MHz
863.1
2
s
MHz
21.119
af 6
Calculation of the number of rotations:
A stepper motor has e.g. 72 fullsteps per rotation.
49.26
72
34.1907
rotationperfullsteps
fsf
RPS
46.1589
72
6034.1907
rotationperfullsteps
60fsf
RPM
www.mna m mmm
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 25
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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 TMCLFirmware 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.
1.02 20097MAV708 0E Dwmensuon Fxgure extended 1.07 20117JUN708 SD Mmor (hanges 1.00 Initial release First versuon of new generatxon TMCM7343 1.01 Artual versuon 4.20 Actual release
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 26
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
13 Revision history
13.1 Document revision
Version
Date
Author
Description
1.00
2008-MAY-19
OK
Some figures corrected
1.01
2009-DEC-15
OK
Migration and CANopen chapters added
1.02
2009-MAY-08
OE
Dimension Figure extended
1.04
2009-JUN-12
OK
Chapter 5.5. corrected
1.05
2010-FEB-24
SD
Dimensions corrected, minor changes
1.06
2010-MAR-02
SD
New front page, analog measurement
range in chapter 6 completed
1.07
2011-JUN-08
SD
Minor changes
Table 13.1: Document revision
13.2 Hardware revision
Version
Comment
Description
1.00
Initial release
First version of new generation TMCM-343
1.01
Actual version
Table 13.2: Hardware revision
13.3 Firmware revision
Version
Comment
Description
4.07
Initial release
Please refer to the TMCM-341/342/343 TMCL
Firmware Manual
4.20
Actual release
Table 13.3: Firmware revision
www.mnammmm www.mnamxmom wwwmnamxc (om www.mnamxmom
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 27
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
14 References
[TMCM-343] TMCM-343 Hardware Manual on www.trinamic.com
[QSH-4218] QSH-4218 Manual on www.trinamic.com
[TMCM-323] TMCM-323 Hardware Manual on www.trinamic.com
[TMCM-EVAL] TMCM-EVAL Hardware Manual on www.trinamic.com

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