User Manual

TMCM-351 Hardware Manual (V1.06 / 2011-NOV-14) 21
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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.
7… 28.5V DC
High Power
Driver
TMC249
µC
TMCL™
Memory
Motion
Controller
TMC428
Step
Motor
CAN
RS232
20
add.
I/Os
3x2 Stop
Switches
+5V
Step
Motor
Step
Motor
High Power
Driver
TMC249
High Power
Driver
TMC249
USB
RS485
MOSFET
Driver
Stage
MOSFET
Driver
Stage
MOSFET
Driver
Stage
E
E
E
Encoder
Interface
TMC423
ABN
TMCM-351
Figure 6.1: Main parts of the TMCM-351
6.1 System architecture
The TMCM-351 integrates a microcontroller with the TMCL™ (Trinamic Motion Control Language) operating
system. The motion control real-time tasks are realized by the TMC428.
6.1.1 Microcontroller
On this module, the Atmel AT91SAM7X256 is used to run the TMCL™ operating system and to control the
TMC428. The CPU has 256KB flash memory and a 64KB RAM. The microcontroller runs the TMCL™ (Trinamic
Motion Control Language) operating system which makes it possible to execute TMCL™ commands that are
sent to the module from the host via the RS232, RS485, USB, or CAN interface. The microcontroller interprets
the TMCL™ commands and controls the TMC428 which executes the motion commands. In addition it is
connected with the encoder interface and processes the inputs.
The flash ROM of the microcontroller holds the TMCL™ operating system. The TMCL™ operating system can
be updated via the RS232 interface or via the CAN interface. Use the TMCL-IDE to do this.