User Manual

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.

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 0… 255 and no longer 0… 1500. These parameter settings must be adapted.

 Axis parameters 194 and 195: The reference search speeds are now specified directly (1… 2047)

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.