TMCM-342 Manual V1.01
23/26
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
7
Migrating from the TMCM-302 to the
TMCM-342
Migrating TMCM-302 applications to the TMCM-342 module is easy, as the TMCM-342 can replace a
TMCM-302 without problems. The connector of the TMCM-342 is identical to the connector of the
TMCM-302, so that a TMCM-342 can just be plugged into a slot that has originally been designed for a
TMCM-302 (it can also use the same base boards as the TMCM-302). Also the TMCL firmware of the
TMCM-342 module is highly compatible with the TMCM-302. However there are some slight differences
that have to be observed (due to the fact that the TMCM-342 has many enhancements compared to
the TMCM-302):
Speed of TMCL program execution: TMCL programs run up twenty times faster than on the
TMCM-302 module. In general, the developer of a TMCL program should not make
assumptions about command execution times.
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 [TMCL] for details. The usage of this command also has
to be adapted.
Default CAN bit rate: the default CAN bit rate of the TMCM-342 module (e.g. after resetting it to
factory default settings) is 1000kBit/s (in contrast to 250kBit/s on the TMCM-302.
All other TMCL commands and parameters are the same as with the TMCM-302 module.
