Trinamic TMCM-342 Manual Download

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TMCM-342 Manual V1.01

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Revision History

11.1

Documentation Revision

Version

Date

Author

Description

1.00

14-May-2008

Initial version

1.01

8-Dec-08

Migration and CANopen chapters added

Table 11.1: Documentation Revisions

11.2

Hardware Revision

Version

Comment

Description

1.0

Initial release First version of new generation TMCM-342

1.1

Actual version

Table 11.2: Hardware Revisions

11.3

Firmware Revision

Version

Comment

Description

4.07

Initial release Please refer to TMCL documentation

4.15

Actual release

Table 11.3: Firmware Revisions

References

[TMCL]

TMCL manual (see

http://www.trinamic.com

)

[CANopen]

CANopen manual (see

http://www.trinamic.com

)

Summary of Contents for TMCM-342

Page 1: ...42 3 Axis Stepper Motor Motion Control Module with Step Direction outputs Manual Version 1 01 December 9th 2008 Trinamic Motion Control GmbH Co KG Sternstraße 67 D 20357 Hamburg Germany http www trinamic com ...

Page 2: ...a power driver module with Step Direction Interface 12 5 5 2 Connecting the TMCM 342 to drivers with an SPI Interface 15 5 6 Power supply requirements with drivers 16 5 7 Ramp Profiles 18 5 8 Reference switches 19 5 8 1 Left and right limit switches 19 5 8 2 Triple Switch Configuration 19 5 8 3 One Limit Switch for circular systems 20 5 9 Serial Peripheral Interface SPI 20 5 10 Additional inputs a...

Page 3: ...ower supply requirements for TMCM 342 with additional driver 16 Figure 5 13 Power supply requirements for TMC Modules in a bus system 17 Figure 5 14 Velocity profile in ramp mode 18 Figure 5 15 Velocity profile in velocity mode 18 Figure 5 16 Left and right limit switches 19 Figure 5 17 Limit switch and reference switch 19 Figure 5 18 One reference switch 20 List of Tables Table 1 1 Order codes 4 ...

Page 4: ... Applications Controller board for control of up to 3 Step Direction drivers e g TMCM 035 TMCM 023 triple driver IDX or PD 013 42 mechatronic module or TMCM 078 step direction driver Versatile possibilities of applications in stand alone or host controlled mode Electrical Data 5V DC logic power supply TTL CMOS step direction outputs Interface RS 232 RS 485 max 115200bps or CAN 2 0b max 1MBit s hos...

Page 5: ... 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 TRINAMIC Motion Control GmbH Co KG 2008 Information given in this data sheet is believed to be accurate and reliable However no responsibility is assumed for the consequences of its use nor for any infringemen...

Page 6: ...sions Horizontal Connector Header Connector 5 Note all dimensions in mm 6 2 PCB 2 PCB AT91SAM7X256 68 Pin Connector 4 36 9 39 1 50 2 2 3 2 4 80 Figure 3 1 Dimensions The size of the module 80x50mm is the same as of many other Trinamic motion control modules It also uses the same connector The 68 pin connector has a 2 0mm pitch ...

Page 7: ... input 1 14 In SPI MISO 48 Out General Purpose output 1 15 Out SPI Select 2 49 In General Purpose input 2 16 Out SPI MOSI 50 Out General Purpose output 2 17 In Reset active low 51 In General Purpose input 3 18 Out Alarm 52 Out General Purpose output 3 19 In Reference Switch Motor 0 left 53 In General Purpose input 4 20 Out nSCS0 54 Out General Purpose output 4 21 In Reference Switch Motor 0 right ...

Page 8: ...nge 0 5 V VINLO INx StopL StopR low level input 0 0 9 V VINHI INx StopL StopR high level input 2 5 V IOUTI OUTx max output current CMOS output sum for all outputs max 50mA 0 10 20 mA TENV Environment temperature at rated current no cooling 40 70 C Table 4 1 Operational Ratings 5 Functional Description In Figure 5 1 the main parts oft the TMCM 342 module are shown The module mainly consists of thre...

Page 9: ...pped with a 16kByte EEPROM attached to the microcontroller The EEPROM can store TMCL programs consisting of up to 2048 TMCL commands 5 1 3 TMC428 Motion Controller The TMC428 is a high performance stepper motor control IC and can control up to three 2 phase stepper motors On the TMCM 342 three TMC428 are used to get fastest calculation of ramps and highest step frequencies Motion parameters like s...

Page 10: ...tion Name Limits Description 65 InOut CAN 8 18V CAN Input Output 67 InOut CAN 8 18V CAN Input Output Table 5 2 Pinout for CAN Connection Pin 2 Pin 1 TMCM 342 68 Pin Connector Pin67 CAN Pin65 CAN Host CAN CAN Figure 5 2 Connecting CAN 5 3 2 RS 232 Pin Number Direction Name Limits Description 66 In RxD TTL RS 232 Receive Data 68 Out TxD TTL RS 232 Transmit Data 2 4 6 8 10 In GND 0V Connect to ground...

Page 11: ...TL RS 485 Transmit Data 2 4 6 8 10 In GND 0V Connect to ground Table 5 4 Pinout for RS 485 Connection Note The TMCM 342 module only provides TTL level signals For using RS485 a suitable RS485 tansceiver like MAX485 has to be added by the user Pin 61 GND TxD RxD DIR RS485 RS485 GND TxD RxD DIR RS485 RS485 GND Transceiver e g MAX485 Transceiver e g MAX485 Pin 64 RS485_DIRECTION Pin 66 RS232_RxD Pin ...

Page 12: ...2DIR 1 8 µs tSPULSE 1 8 µs Step impulse new direction signal First step in new direction initiated by user Figure 5 5 Step Direction output signals 5 5 Connecting the drivers Because there are no stepper motor drivers included on the TMCM 342 an Add On Board has to be developed to drive the stepper motors Some examples of Trinamic s own driver modules are added below Please refer to www trinamic c...

Page 13: ...tion Interface Examples Connection of the TMCM 342 with the Monopack2 power driver module with a Step Direction Interface TMCM 023 or TMCM 013 Power module with Step Direction Interface e g Monopack 2 DIR DIR STEP STEP Max 45VDC Motor max 2 5A A1 A2 B1 B2 Pin 2 GND Pin 4 GND Pin 26 Pin 28 Pin 30 Pin 32 Pin 34 Pin 68 TMCM 342 GND Pin 2 4 6 8 5V Pin 1 3 33 31 Pin 6 5 A B IN A IN B OUT A OUT B OUT A ...

Page 14: ...r 2 Motor 1 VCOMM 5V DC TMCM 023 Figure 5 8 Application with TMCM 023 with 3 Step Direction Interfaces 5V inputs required please see latest TMCM 023 documentation for modifications DIR_M1 STEP_M1 DIR_M0 STEP_M0 DIR_M2 STEP_M2 for two other step direction modules Pin 2 Pin 4 Pin 32 Pin 34 Pin 36 Pin 38 Pin 40 Pin 68 TMCM 342 33 31 Pin 6 5 35 37 39 Pin 42 41 3 1 VS 7 28V TMCM 013 Motor connection OA...

Page 15: ... 26 Out SPI_M0_OUT TTL SPI Data In for Driver 0 28 Out SPI_M0_CLK TTL SPI Clock for Driver 0 30 Out SPI_M1_OUT TTL SPI Data In for Driver 1 32 Out SPI_M1_CLK TTL SPI Clock for Driver 1 34 Out SPI_M2_OUT TTL SPI Data In for Driver 2 36 Out SPI_M2_CLK TTL SPI Clock for Driver 2 38 In SPI_M0_IN TTL SPI Data Out for Driver 0 40 In SPI_M1_IN TTL SPI Data Out for Driver 1 42 In SPI_M2_IN TTL SPI Data Ou...

Page 16: ...hoke close to the drivers This ensures a stable power supply and minimizes noise injected into the power supply cables The choke especially becomes necessary with larger distributed systems using a common power supply V_Motor GND C 1000µF L Power Supply keep distance short local 5V regulator supply for further modules on same base board TMCM 342 Driver 5V GND Figure 5 12 Power supply requirements ...

Page 17: ...ch base board TMCM 342 with driver V_Motor 14 50V GND C L Power Supply keep distance short TMCM 342 with driver V_Motor 14 50V GND C L keep distance short keep distance below a few meters with a single power supply CAN high CAN low CAN high CAN low Do not supply modules with the same power supply which are mounted in a distance of more than a few meters For modules working on the same power supply...

Page 18: ... a x a _ m a x maximum velocity reached v_max target position reached close to target position start deceleration t0 t1 t2 t3 acceleration constant velocity decele ration t5 t6 t7 a _ m a x a _ m a x v_max acceleration decele ration v_min v_ min v_ min t4 new target position Figure 5 14 Velocity profile in ramp mode In Velocity Mode the acceleration and the maximum speed is specified in the TMCM 3...

Page 19: ...erence switch inputs 5 8 1 Left and right limit switches The TMCM 342 can be configured so that a motor has a left and a right limit switch Figure 5 16 The motor stops when the traveler has reached one of the limit switches left stop switch right stop switch REF_L_x REF_R_x motor traveler Figure 5 16 Left and right limit switches 5 8 2 Triple Switch Configuration It is possible to program a tolera...

Page 20: ...uture two and three limit switches will also be supported 5 9 Serial Peripheral Interface SPI On board communication is performed via the Serial Peripheral Interface SPI where the microcontroller acts as master For adaptation to user requirements the user has access to this interface via the 68 pin connector Furthermore three chip select lines can be used for addressing of external devices Pin Num...

Page 21: ...nd analog input 5 57 In INP_6 TTL digital and analog input 6 59 In INP_7 TTL digital and analog input 7 46 Out Out_0 TTL digital output 0 48 Out Out_1 TTL digital output 1 50 Out Out_2 TTL digital output 2 52 Out Out_3 TTL digital output 3 54 Out Out_4 TTL digital output 4 56 Out Out_5 TTL digital output 5 58 Out Out_6 TTL digital output 6 60 Out Out_7 TTL digital output 7 Table 5 9 Additional I O...

Page 22: ...ur driver module Step 5 Switch on the power supply and the motor supply An on board LED should starting to flash This indicates the correct configuration of the microcontroller Step 6 Start the TMCL IDE Software development environment Open file test2 tmc The following source code appears on the screen A description for the TMCL commands can be found in Appendix A Step 7 Click on Icon Assemble to ...

Page 23: ...y 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 se...

Page 24: ...ider for the acceleration The higher the value is the less is the maximum acceleration default value 0 0 13 Usrs microstep resolution microsteps per fullstep 2usrs 0 7 a value of 7 is internally mapped to 6 by the TMC428 Table 8 1 TMC428 Velocity parameters The microstep frequency of the stepper motor is calculated with 32 2048 2 velocity Hz f Hz usf div _ pulse CLK where usf means microstep frequ...

Page 25: ... trinamic com Please refer to these sources for updated data sheets and application notes The TMC TechLib CD ROM including data sheets application notes schematics of evaluation boards software of evaluation boards source code examples parameter calculation spreadsheets tools and more is available from TRINAMIC by request to info trinamic com 10 CANopen The TMCM 342 module can also be used with th...

Page 26: ...e 11 1 Documentation Revisions 11 2Hardware Revision Version Comment Description 1 0 Initial release First version of new generation TMCM 342 1 1 Actual version Table 11 2 Hardware Revisions 11 3 Firmware Revision Version Comment Description 4 07 Initial release Please refer to TMCL documentation 4 15 Actual release Table 11 3 Firmware Revisions 12 References TMCL TMCL manual see http www trinamic...

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