User Manual

TMCM-102 Manual (V1.01 / 7 November 2007) 10
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
5 Functional Description
In Figure 5.1 the main parts oft the TMCM-102 module are shown. The module mainly consists of the
µC, a TMC428 motion controller, a TMC249 stepper motor driver, the TMCL program memory (EEPROM)
and the host interface (RS422 or RS232).
programmable
Motion
Controller
with TMC428
high power
Driver
TMC249
5V Power Supply
18..55V DC
3
TMCL
Memory
ABN
Encoder
Interface
Step
Motor
MOSFET
Driver
Stage
I/Os
TMCM-102
RS-485
RS-422
(RS-232)
TMCM-102 Standard
add-on board
CAN
Encoder
USB
REF-Switches
Soft Stop
Adress
switch
Figure 5.1: Main parts of the TMCM-102
5.1 Adapter Board
With the adapter board the large amount of possibilities provided by the base board can be
customized and easily accessed.
The standard adapter board provides four interface variants: RS422 (or RS232), CAN, RS485 and USB
interfaces, witch can be adjusted via onboard dip switches. Also it has 14 easily accessible I/Os such
as limit switches, encoder interface, etc. Please check for standard adapter board documentation.
5.2 System Architecture (Base)
The TMCM-102 integrates a microcontroller with the TMCL (Trinamic Motion Control Language)
operating system. The motion control real-time tasks are realized by the TMC428.
5.2.1 Microcontroller (µC)
The flash ROM of the microcontroller holds the TMCL operating system and the EEPROM memory of
the microcontroller is used to permanently store configuration data, while an additional EEPROM
memory holds the user TMCL programs.
The TMCL operating system can be updated only via the host interfaces. Please use the latest version
of the TMCL IDE to do this.
5.2.2 TMCL EEPROM
To store TMCL programs for stand alone operation the TMCM-102 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to
2047 TMCL commands.