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Trinamic TMCM-343, Hardware Manual

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MODULES FOR STEPPER MOTORS                                       

MODULES

    

 

 

 
 
 
 
 

TRINAMIC Motion Control GmbH & Co. KG 

 

Hamburg, Germany 
 

www.trinamic.com 

 

 
 
 

 

V 1.07 

HARDWARE MANUAL 

 

+ 

+

 

TMCM-

343

 

 

 

 

3-axis stepper 

 

 

controller / driver  

 

 

300mA up to 1.1A RMS  

 

 

nominal supply: 8V… 34V DC  

 

 

TMCL

™

 / CANopen firmware 

 

 

 

 

 

 

+ 

+    

 
 
 
 
 
 
 
 

Summary of Contents for TMCM-343

Page 1: ...R MOTORS MODULES TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com V 1 07 HARDWARE MANUAL TMCM 343 3 axis stepper controller driver 300mA up to 1 1A RMS nominal supply 8V 34V DC TMCL...

Page 2: ...5 7 4 3 RS485 15 7 5 stallGuard sensorless motor stall detection 16 7 5 1 stallGuard adjusting tool 16 7 5 2 stallGuard profiler 17 7 6 Reference switches 18 7 6 1 Left and right limit switches 18 7 6...

Page 3: ...profiler 17 Figure 6 8 Left and right limit switches 18 Figure 6 9 Limit switch and reference switch 18 Figure 6 10 One reference switch 19 List of tables Table 3 1 Order codes 6 Table 4 1 Pinout of...

Page 4: ...pment 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 TRIN...

Page 5: ...of the module can be updated via the serial interface With the optional stallGuardTM feature it is possible to detect overload and stall of the motor Applications Controller driver board for control o...

Page 6: ...river module 1 1A 34V 80 x 55 x 8 mm3 Products related to TMCM 343 BB 303 option Baseboard for TMCM 343 80 x 50 x 15 mm3 BB 323 03 Baseboard for TMCM 343 96 5 x 79 x 60 mm3 TMCM 323 3 axis encoder 80...

Page 7: ...hanical interfacing 5 1 Dimensions The 68 pin connector has a 2 0mm pitch 80 76 4 2 2 1 2 50 46 39 1 36 9 24 4 21 9 4 4 10 R1 25 R1 1 R1 6 5 4 9 2 Figure 5 1 Front view of TMCM 343 all values in mm 53...

Page 8: ...t 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...

Page 9: ...ound potential of all modules The stepper driver modules draw peak currents of some ampere from the power supply It has to be made sure that this current does not cause a substantial voltage differenc...

Page 10: ..._Motor 7 34V GND C L CAN_GND CAN_GND CAN_GND Figure 5 5 Power supply requirements for TRINAMIC modules in a bus system In large systems it may make sense to use an optically decoupled CAN bus for each...

Page 11: ...r coil current for sine wave peak chopper regulated adjustable via software 0 0 3 1 5 1 5 A fCHOP Motor chopper frequency 36 8 kHz IS Power supply current per motor ICOIL 1 4 ICOIL A VINPROT Input vol...

Page 12: ...uage operating system The motion control real time tasks are realized by the TMC428 7 1 1 Microcontroller On this module the Atmel AT91SAM7X256 is used to run the TMCL operating system and to control...

Page 13: ...rostepping The maximum peak coil current of each stepper motor driver chip is 1500mA 7 2 Power supply Two different power supplies have to be provided for the TMCM 343 5VDC for the module functionalit...

Page 14: ...The communication to a host takes place via one or more of the onboard interfaces The module provides a range of different interfaces like CAN RS232 and RS485 The following chapters explain how the i...

Page 15: ...AX 202 TTL Figure 7 4 Connecting RS232 7 4 3 RS485 Pin Number Direction Name Limits Description 64 Out RS485_DIR TTL Driver receiver enable for RS485 transceiver 0 receiver enable 1 driver enable 66 I...

Page 16: ...L command SAP 205 and set the stallGuard threshold value according to Table 7 6 The actual load value is given by GAP 206 The TMCL IDE has some tools which let you try out and adjust the stallGuard fu...

Page 17: ...lGuard 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...

Page 18: ...re included on the module 7 6 1 Left and right limit switches The TMCM 343 can be configured so that a motor has a left and a right limit switch Figure 7 8 The motor stops when the traveler has reache...

Page 19: ...able 7 8 Pinout SPI 7 8 Additional inputs and outputs The module is equipped with eight TTL input pins and eight TTL output pins which are accessible via the 68 pin connector The input pins can also b...

Page 20: ...341 342 343 TMCL Firmware Manual for information on this 7 10Microstep resolution The TMCM 343 supports a true 64 microstep resolution To meet your needs the microstep resolution can be set using the...

Page 21: ...ect the motor supply voltage 10 to 30 VDC to pins 5 7 9 Step 5 Switch on the power supply and the motor supply An on board LED should start to flash This indicates the correct configuration of the mic...

Page 22: ...n on the TMCM 303 module In general the developer of a TMCL program should not make assumptions about command execution times Axis parameters 6 and 7 run current and stand by current The range of thes...

Page 23: ...e 0 0 13 ramp_div divider 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...

Page 24: ..._div 1 ramp_div 1 usrs 6 Hz 31 122070 32 2048 2 1000 MHz 16 msf 1 Hz 34 1907 2 31 122070 Hz fsf 6 s MHz 21 119 2 1000 Mhz 16 a 29 1 1 2 s MHz 863 1 2 s MHz 21 119 af 6 Calculation of the number of rot...

Page 25: ...uation boards software of evaluation boards source code examples parameter calculation spreadsheets tools and more 12 CANopen The TMCM 343 module can also be used with the CANopen protocol For this pu...

Page 26: ...orrected 1 05 2010 FEB 24 SD Dimensions corrected minor changes 1 06 2010 MAR 02 SD New front page analog measurement range in chapter 6 completed 1 07 2011 JUN 08 SD Minor changes Table 13 1 Document...

Page 27: ...1 TRINAMIC Motion Control GmbH Co KG 14 References TMCM 343 TMCM 343 Hardware Manual on www trinamic com QSH 4218 QSH 4218 Manual on www trinamic com TMCM 323 TMCM 323 Hardware Manual on www trinamic...

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