MODULES FOR STEPPER MOTORS MODULES V 1.06 HARDWARE MANUAL + + TMCM-351 3-axis stepper motor controller and driver board 2.8A RMS 7… 28.5V DC SPI, RS232, RS485, CAN, and USB Encoder interface + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) Table of Contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features ........................................................................................................................................................................... 4 Order codes ....................................................................
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 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-351 Hardware Manual (V1.06 / 2011-NOV-14) 4 2 Features The TMCM-351 is a powerful three axes bipolar stepper motor controller/driver board with encoder interface for all three axes and a large number of general purpose digital and analog input/outputs. Several different serial communication interfaces are available. Electrical data Supply voltage: Motor current: +24V DC nominal (28.5V DC max.) up to 2.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 5 3 Order codes The TMCM-351 is available with encoder interface and with standard TMCL™ firmware or CANopen firmware. Order code TMCM-351-E TMCM-351-E-CANopen Dimensions Description TMCM-351 with encoder interface and TMCL™ 160 x 100 x 29 mm3 firmware TMCM-351 with encoder interface and 160 x 100 x 29 mm3 CANopen firmware Related motors: QSH5718 57mm/NEMA23, 1.8˚ step angle QSH6018 60mm/NEMA24, 1.8˚ step angle Table 3.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 6 4 Mechanical and electrical interfacing 4.1 Dimensions The TMCM-351 three axes controller driver board has a board size of 160mm x 100mm (standard euro board format). There are four mounting holes altogether for M3 screws placed at a distance of 4mm from each corner of the board (Figure 4.1). The high measures 29mm. 160 4 Ø 3.2 4 4 4 100 TMCM-351 4 4 4 Ø 3.2 Figure 4.1: Dimensions of TMCM-351 Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 7 4.2 Connectors The TMCM-351 has connectors for three motors, related reference switches, three encoders, analog and digital inputs and outputs and several serial interfaces (RS232, RS485, CAN and USB). On the next page you will find a table with all connector types and their mating ones. The TMCM-351 TMCL™ Firmware Manual (see www.trinamic.com) includes a section about putting the TMCM351 into operation. Please refer to this manual, too.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) The following table shows which connector types and their mating connectors are used. Domain Power Motor Reference Analog input USB RS232 CAN SPI I/O Encoder Connector type RIA type 320, 2 pol., grid dimension 5 RIA type 183, 12 pol., grid dimension 3.5 MOLEX type 6410, 2.54 mm KK header, vertical friction lock RIA type 183, 12 pol., grid dimension 3.5 MOLEX type 6410, 2.54 mm KK header, 4 pol., vertical friction lock MOLEX type 6410, 2.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 9 4.2.1 Power connector A 2-pin detachable screw connector is used for power supply. Please connect the power as shown below: 1 2 Pin Label Description 1 2 GND VDD Module ground (power supply and signal ground) Power supply input, nom. +24V DC (+7… +28.5V DC) Table 4.2: Power connector 4.2.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 10 4.2.3 Reference connector For the reference switch inputs (two reference switch inputs are supported for each motor) there are two connector options: either one detachable screw connector (for prototyping, smaller series) or three separate crimp connectors (for higher volume series).
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 11 4.2.3.1 Left and right limit switches The TMCM-351 can be configured so that a motor has a left and a right limit switch (Figure 4.4). The motor stops when the traveler has reached one of the limit switches. REF _ R _x REF _ L _x motor right stop switch left stop switch traveler Figure 4.4: Left and right limit switches 4.2.3.2 Triple switch configuration It is possible to program a tolerance range around the reference switch position.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 12 4.2.4 Analog input connector The board has four dedicated analog inputs with programmable input range (0… +3.3V or 0… +10V). There are two connectors with two analog inputs connected to each connector Please connect as shown below: Pin 1 2 3 4 4 1 Label Analog_0/2 GND Analog_1/3 GND Description Analog input 0/2 System / module ground Analog input 1/3 System / module ground Table 4.7: Analog input connector 4.2.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 13 4.2.7 CAN connector The board includes a CAN interface for serial communication. A standard DSUB 9-pin male connector is used for this purpose. CAN is one out of four different interfaces available for communication with the board. Please connect as shown below: 5 1 9 6 Pin 2 7 3, 6 Label CAN_L CAN_H GND n.c. Description CAN differential bus CAN differential bus System / board ground Pins not used / not connected Table 4.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 14 4.2.10 I/O connector The I/O connector offers 8 digital and analog inputs and 8 digital outputs. All inputs are +24V compatible. All outputs offer open collector driver stages. OUT_0/1/2/3/4/5 can sink up-to 100mA, OUT_6/7 are more powerful and can drive up to 2A. A standard 2.54mm pitch two row header is used for this connector (refer to Figure 4.8 please).
TMCM-351 Hardware Manual (V1.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 16 4.2.11 Encoder_0/1/2 connector Three connectors (one encoder interface connector per axis) are available. A standard 2.54mm pitch two row header is used for connecting an encoder. Differential and single ended incremental encoders with/without zero/index channel are supported.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 17 4.3 Jumpers Most settings of the board are done through the software. Nevertheless, a few jumpers are available for configuration. RS485 bus termination RS232/RS485 interface selection CAN bus termination Encoder input termination Enable all driver stages Figure 4.10: Configuration with jumpers 4.3.1 J1: RS485 bus termination The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 18 4.3.3 J3: CAN bus termination The board includes a 120 Ohm resistor for proper bus termination of the CAN interface. When this jumper is closed, the resistor will be placed between the two differential bus lines CAN_H and CAN_L. 4.3.4 J4 – J12: Encoder input termination For enhanced reliability differential encoder signals should be terminated properly.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 19 5 Operational Ratings The operational ratings shown below should be used as design values. In no case should the maximum values been exceeded during operation. Symbol Parameter Min Typ Max Unit VDD ICOIL_peak Power supply voltage for operation Motor coil current for sine wave peak (chopper regulated, adjustable via software) Continuous motor current (RMS) Power supply current Current available from on-board +5V output (e.g.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 20 Symbol Parameter Min VOUT_0..7 Voltage at open collector / open drain output 0 IOUT_0/1/2/3/4/5 Typ Max Unit VDD V Output sink current for OUT_0/1/2/3/4/5 100 mA IOUT_6/7 Output sink current for OUT_6 and OUT_7 1 A VIN_ 0/1/2/3/4/5/6/7 Input voltage for general purpose digital inputs IN_0/1/2/3/4/5/6/7 0 28.5 V VIN_0/1/2/3/4/5/6/7_L Low level voltage for general purpose digital inputs IN_1/2/3/4/5/6/7 0 1.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 21 6 Functional description In figure 6.1 the main parts of the TMCM-351 are shown. The module mainly consists of the µC (connected to the EEPROM TMCL™ memory), the TMC428 motion controller (which controls up to three axes), three TMC249 stepper drivers, three external MOSFETs, the interfaces (RS232, RS485, USB, and CAN), I/Os, and the encoder interface based on the TMC423.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 22 6.1.2 EEPROM To store TMCL™ programs for stand-alone operation the TMCM-351 module is equipped with a 16kByte EEPROM attached to the microcontroller. The EEPROM can store TMCL™ programs consisting of up to 2048 TMCL™ commands. The EEPROM is also used to store configuration data. 6.1.3 TMC428 motion controller The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-steppermotors.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 23 6.2.1 stallGuard™ adjusting tool The stallGuard™ adjusting tool helps to find the necessary motor parameters when stallGuard™ is to be used. This function can only be used when a module is connected that features stallGuard™. This is checked when the stallGuard™ adjusting tool is selected in the Setup menu. After this has been successfully checked the stallGuard™ adjusting tool is displayed. First, select the axis that is to be used in the Motor area.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 24 6.2.2.1 The result of the stallGuard™ profiler The result is shown as a graphic in the stallGuard™ profiler window. After the profile recording has finished you can scroll through the profile graphic using the scroll bar below it. The scale on the vertical axis shows the load value: A higher value means a higher load. The scale on the horizontal axis is the velocity scale.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 25 7 TMCM-351 operational description 7.1 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-351 Hardware Manual (V1.06 / 2011-NOV-14) 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-351 Hardware Manual (V1.06 / 2011-NOV-14) 27 8 TMCL™ TMCL™, the TRINAMIC Motion Control Language, is described in separate documentations, which refer to the specific products (e.g. TMCM-351 TMCL™ Firmware Manual [TMCL]). 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-351 Hardware Manual (V1.06 / 2011-NOV-14) 28 9 CANopen The TMCM-351 module can also be used with the CANopen protocol. For this purpose, a special CANopen firmware has to be installed. To do that, download the latest version of the TMCM-351 CANopen firmware from the Trinamic website or use the version provided on the TechLib CD and install it using the firmware update function of the TMCL-IDE (Setup/Install OS). The TMCM-351 module is then ready to be used with CANopen.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 10 Revision history 10.1 Document revision Version 1.00 1.01 Date 2008-OCT-22 2009-MAY-25 Author GE OE 1.02 2010-MAY-05 SD 1.03 2010-SEP-25 SD 1.04 2011-APR-12 SD 1.05 1.06 2011-NOV-04 2011-NOV-14 GE GE Description Initial version Encoder input pinning corrected Functional and operational description added. More information about I/Os appended Order codes renewed minor changes. Table of connector and mating connector types added.
TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 11 References [TMCL] [CANopen] [TMCL-IDE] [QSH5718] [QSH6018] TMCM-351 TMCL™ Firmware Manual (see www.trinamic.com) TMCM-351 / TMCM-43x CANopen Manual (see www.trinamic.com) TMCL-IDE User Manual (see www.trinamic.com) QSH5718 Manual (see www.trinamic.com) QSH6018 Manual (see www.trinamic.com) Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
