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Module for Stepper

MODULE

TMCM-3230 Hardware Manual

Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01

The TMCM-3230 is a compact and easy to use 3-axes stepper motor controller and driver unit for

embedded applications. It oﬀers CAN bus, UART and USB interfaces for communication and sup-

ports stand-alone operation, also. The TMCM-3230 features stealthChop™ for absolute silent mo-

tor control, spreadCycle™ for high speed stepper motor commutation, a fully integrated hardware

motion controller with sixPoint™ motion ramps, as well as stallGuard2™ and coolStep™.

Features

•

3-axes stepper motor controller /

driver

•

Supply Voltage +12 to +24V DC (9V

.. 28.5V max.)

• CAN, UART and USB interfaces

• TMCL or CANopen protocol

•

Integrated

sixPoint™

ramp motion

controller

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

µC

(ARM)

USB

Inputs

Outputs

12..24V

EEPROM

I2C

TMCM-3230

TMC5130

+5V

REF0L, REF0R

CAN

UART

SPI

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (22 pages)

PAGE 1
MODULE Module for Stepper TMCM-3230 Hardware Manual Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 The TMCM-3230 is a compact and easy to use 3-axes stepper motor controller and driver unit for embedded applications. It offers CAN bus, UART and USB interfaces for communication and supports stand-alone operation, also.
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/ 22 TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 Contents 1 Features 1.1 General Features . . . . . . . . . 1.2 TRINAMIC’s Unique Features . . 1.2.1 stealthChop™ . . . . . . . 1.2.2 spreadCycle™ . . . . . . . 1.2.3 stallGuard2 . . . . . . . . . 1.2.4 coolStep . . . . . . . . . . 1.2.5 sixPoint Motion Controller 2 Order Codes 7 3 Mechanical and Electrical Interfacing 3.1 TMCM-3230 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 1 3 / 22 Features The TMCM-3230 is a compact three axes 2-phase stepper motor controller and driver module. It provides a complete motion control solution at a very small size for embedded applications. The board can be easily plugged into a customized baseboard offering a single 68pin connector. Host communication is possible via the serial UART interface (e.g.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 1.2 1.2.1 4 / 22 TRINAMIC’s Unique Features stealthChop™ stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 5 / 22 stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value reaches zero or is near zero. This is the most energy-eﬃcient point of operation for the motor. stallGuard2 Load [Nm] Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 6 / 22 the acceleration ramps to the torque curves of a stepper motor and uses two different acceleration settings each for the acceleration phase and for the deceleration phase Figure 5: Typical motion proﬁle with TRINAMIC’s sixPoint motion controller ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 7
TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 2 Order Codes Order Code Description Size (LxWxH) TMCM-3230-TMCL 3-axes stepper motor controller / driver +24V / 1A RMS TMCL ﬁrmware installed 80mm x 50mm x 6mm TMCM-3230-CANopen 3-axes stepper motor controller / driver +24V / 1A RMS CANopen ﬁrmware installed 80mm x 50mm x 6mm Table 1: Order Codes ©2019 TRINAMIC Motion Control GmbH & Co.
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/ 22 TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 3 Mechanical and Electrical Interfacing 3.1 TMCM-3230 Dimensions The dimensions of the controller/driver unit are approx. 80mm x 50mm. There are three mounting holes for M3 screws and two slots on each side for optional card holders. (80/50) (4/46) Horizontal Connector: (76/46) (0/39.1) (0/36.9) (2.2/38) (0/24.4) (1.2/23.15) (0/21.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 4 4.1 9 / 22 Connectors and LEDs Main Connector The TMCM-3230 has been designed as plug-in module. It offers one 68pin connector with 2mm pitch for connection of supply (driver and optional +5V digital supply), communication interfaces (CAN, UART - e.g. RS232, RS422 or RS485 with external transceiver), up-to eight digital outputs (0..+5V), up-to eight analog or digital inputs (0..
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 11 / 22 an alternative to the other serial interfaces. Please note that the module might draw current via the USB connection in this mode, also. USB Connector Figure 8: TMCM-3230 USB Connector 4.3 CAN Connection For remote control and communication with a host system the TMCM-3230 provides a CAN bus interface with on-board CAN transceiver.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 4.4 12 / 22 LEDs The TMCM-3230 offers two LEDs: one green and one red LED. Both LEDs are connected to the processor. Function of the LEDs depends on the ﬁrmware version / type of ﬁrmware (e.g. TMCL / CANopen). See ﬁgure 10 for the LED location. Red LED Green LED Figure 10: TMCM-3230 Location of LEDs Status LEDs with TMCL Firmware Green LED Red LED TMCL Firmware Blinking Off Operational, ﬁrmware is running.
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/ 22 TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 5 Motor driver current The on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 effective current scaling steps (CS) in hardware. Explanation of different columns in table below: Motor current setting in software (TMCL) These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current).
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/ 22 TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 Motor current setting in software (TMCL) Current scaling step in hardware (CS) Motor IPEAK [A] current Motor IRMS [A] 144..151 18 0.891 0.630 152..159 19 0.938 0.663 160..167 20 0.984 0.696 168..175 21 1.031 0.729 176..183 22 1.078 0.762 184..191 23 1.125 0.795 192..199 24 1.172 0.829 200..207 25 1.219 0.862 208..215 26 1.266 0.895 216..223 27 1.313 0.928 224..
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/ 22 TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.
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/ 22 TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 7 7.1 Operational Ratings and Characteristics Absolute Maximum Ratings Parameter Min Max Unit DC Power supply voltage for operation 9 28.5 V +5V DC input (optional) 4.8 5.2 V Motor coil current / sine wave peak 1.4 A Continuous motor current (RMS) 1 A +40**) °C Working / environmental temperature -30*) Table 5: Absolute Maximum Ratings *) limited by test equipment.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 7.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 9 18 / 22 Figures Index 1 2 3 4 5 Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . spreadCycle principle . . . . . . . . . . stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . . Energy Eﬃciency Example with coolStep Typical motion proﬁle with TRINAMIC’s sixPoint motion controller . . . . . . . .
PAGE 19
TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 10 1 2 3 5 6 19 / 22 Tables Index Order Codes . . . . . . . . . . . . . Main Connector Pin Assignment . Status LEDs with TMCL Firmware . Absolute Maximum Ratings . . . . Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . 7 10 12 16 16 ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.
PAGE 20
TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 11 20 / 22 Supplemental Directives 11.1 Producer Information 11.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 21 / 22 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
PAGE 22
TMCM-3230 Hardware Manual • Hardware Version V1.30 | Document Revision V1.20 • 2019-MAR-01 12 12.1 22 / 22 Revision History Hardware Revision Version Date Author Description 1.00 2016-JUN-30 GE Initial prototpyes. 1.10 2016-NOV-11 GE Major redesign. 1.20 2107-FEB-28 GE Minor corrections in order to improve compatibility with previous generation TMCM-343 / TMCM-303 1.30 2017-APR-12 GE Power supply buffer capacitors added and mounting holes for heatsink removed. First series version.