User Manual

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TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 2

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