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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 2 Table of contents 1 2 4 5 6 7 8 9 10 11 12 13 14 Life support policy ....................................................................................................................................................... 4 Features........................................................................................................................................................................... 5 Order codes.........................................
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 3 List of figures Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 4.1: Front view of TMCM-343 (all values in mm)............................................................................................ 7 4.2: Ordering options for the connector ........................................................................................................... 7 4.3: Pin order of the connector ................
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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 5 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 6 4 Order codes Order code TMCM-343 (-option) Products related to TMCM-343 BB-303 (-option) BB-323-03 TMCM-323 TMCM-EVAL Options for TMCM-343 -H -V Description 3-axis controller/driver module 1.1A, 34V Dimensions 80 x 55 x 8 mm3 Baseboard for TMCM-343 Baseboard for TMCM-343 3-axis encoder Evaluation baseboard 80 x 50 x 15 mm3 96.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 7 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 1.2 39.1 36.9 R1.25 24.4 21.9 50 46 9.2 5.4 4 4 10 Figure 5.1: Front view of TMCM-343 (all values in mm) 6.7 53 50 Horizontal connector 9.7 50 Header connector Figure 5.2: Ordering options for the connector (all values in mm) Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 8 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 9 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 10 keep distance short V_ Motor (7...34V) CAN high TMCM-343 CAN low + + L Power supply C GND V_ Motor (7...34V) CAN high other devices on CAN bus (incl. master) CAN low GND CAN_ GND + L C keep distance short V_ Motor (7...34V) CAN high TMCM-343 CAN low + L C keep distance below a few meters with a single power supply - CAN_ GND GND CAN_ GND Figure 5.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 11 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 7 12 … 28 34 V 4.8 5.0 5.2 V 0 0.3 … 1.5 1.5 A VS DC Power supply voltage for operation V+5V +5V DC input (max.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 12 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. Please note, that the USB interface can be offered on demand.
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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 14 TMCM-343 Pin 68 Pin 67 B1 MOTOR 2 Pin 42 B0 Pin 40 A1 A0 Pin 38 Pin 36 B1 Pin 34 MOTOR 1 Pin 32 B0 Pin 30 A1 Pin 28 A0 B1 Pin 26 MOTOR 0 Pin 24 Pin 22 B0 Pin 20 A1 Pin 2 A0 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 15 7.4.2 RS232 Pin Direction in out in 66 68 2, 4, 6, 8, 10 Name RxD TxD GND Limits Description TTL RS232 receive data TTL RS232 transmit data 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). 68 - Pin - Connector level shifter ( e. g .
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.
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.
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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 19 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 _ 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) Pin 17 18 44 Direction Name in Reset out Alarm in Shutdown 20 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). 7.10 Microstep resolution The TMCM-343 supports a true 64 microstep resolution.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 21 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.
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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 23 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) Example: Signal f_CLK velocity a_max pulse_div ramp_div usrs msf 16 MHz 1000 21 2048 32 fsf [Hz] a value 16 MHz 1000 1000 1 1 6 122070.31 26 (16Mhz) 2 1000 2 11 29 122070.31Hz 1907.34Hz 119.21 MHz s MHz s 1.863 MHz 6 s 2 119.21 af Calculation of the number of rotations: A stepper motor has e.g. 72 fullsteps per rotation. RPS fsf 1907.34 26.49 fullstepsper rotation 72 RPM fsf 60 1907.34 60 1589.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 25 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 13 Revision history 13.1 Document revision Version 1.00 1.01 1.02 1.04 1.05 Date 2008-MAY-19 2009-DEC-15 2009-MAY-08 2009-JUN-12 2010-FEB-24 Author OK OK OE OK SD 1.06 2010-MAR-02 SD 1.07 2011-JUN-08 SD Description Some figures corrected 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 14 References [TMCM-343] [QSH-4218] [TMCM-323] [TMCM-EVAL] TMCM-343 Hardware Manual on www.trinamic.com QSH-4218 Manual on www.trinamic.com TMCM-323 Hardware Manual on www.trinamic.com TMCM-EVAL Hardware Manual on www.trinamic.com Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
