User Manual

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TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 2

Table of Contents

1 Life support policy ....................................................................................................................................................... 3

2 Features ........................................................................................................................................................................... 4

3 Order codes .................................................................................................................................................................... 5

4 Mechanical and electrical interfacing ..................................................................................................................... 6

4.1 Dimensions ............................................................................................................................................................ 6

4.2 Connectors ............................................................................................................................................................. 7

4.2.1 Power connector ............................................................................................................................................ 9

4.2.2 Motor connector............................................................................................................................................. 9

4.2.3 Reference connector ................................................................................................................................... 10

4.2.4 Analog input connector ............................................................................................................................. 12

4.2.5 USB connector .............................................................................................................................................. 12

4.2.6 RS232 connector .......................................................................................................................................... 12

4.2.7 CAN connector .............................................................................................................................................. 13

4.2.8 RS485 connector .......................................................................................................................................... 13

4.2.9 SPI connector ............................................................................................................................................... 13

4.2.10 I/O connector ................................................................................................................................................ 14

4.2.11 Encoder_0/1/2 connector ........................................................................................................................... 16

4.3 Jumpers ................................................................................................................................................................. 17

4.3.1 J1: RS485 bus termination ......................................................................................................................... 17

4.3.2 J2: RS232 / RS485 interface selection ..................................................................................................... 17

4.3.3 J3: CAN bus termination ............................................................................................................................ 18

4.3.4 J4 – J12: Encoder input termination ....................................................................................................... 18

4.3.5 Enable all driver stages permanently .................................................................................................... 18

5 Operational Ratings ................................................................................................................................................... 19

6 Functional description .............................................................................................................................................. 21

6.1 System architecture ........................................................................................................................................... 21

6.1.1 Microcontroller ............................................................................................................................................. 21

6.1.2 EEPROM ........................................................................................................................................................... 22

6.1.3 TMC428 motion controller ......................................................................................................................... 22

6.1.4 Stepper motor drivers ................................................................................................................................ 22

6.2 stallGuard™ - sensorless motor stall detection ....................................................................................... 22

6.2.1 stallGuard™ adjusting tool ...................................................................................................................... 23

6.2.2 stallGuard™ profiler.................................................................................................................................... 23

6.3 Microstep resolution ......................................................................................................................................... 24

7 TMCM-351 operational description ........................................................................................................................ 25

7.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency .................................. 25

8 TMCL™ ........................................................................................................................................................................... 27

9 CANopen ....................................................................................................................................................................... 28

10 Revision history .......................................................................................................................................................... 29

10.1 Document revision ............................................................................................................................................ 29

10.2 Hardware revision ............................................................................................................................................. 29

11 References..................................................................................................................................................................... 30