TMCM-342 Manual V1.01
9/26
Copyright © 2008, TRINAMIC Motion Control GmbH & Co. KG
5.1
System Architecture
The TMCM-342 integrates a microcontroller with the TMCL (Trinamic Motion Control Language)
operating system. The motion control real-time tasks are realized by three TMC428 chips.
5.1.1
Microcontroller
On this module, the Atmel AT91SAM7X256 microcontroller is used to communicate with the host and
the EEPROM 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, RS-485
and CAN interface. These commands are interpreted by the microcontroller and then converted into
SPI-datagrams which are then sent to the TMC428.
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.
5.1.2
TMCL EEPROM
To store TMCL programs for stand-alone operation and for storing configuration data the TMCM-342
module is equipped 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 speed or acceleration are sent to the TMC428 via SPI
by the microcontroller. Calculation of ramps and speed profiles are done internally by hardware based
on the target motion parameters.
5.1.4
Interface to the external drivers
Drivers are not included on the module. To drive stepper motors with this module, stepper motor
drivers have to be added externally. To drive a stepper motor with the Step/Direction-Interface, a
power driver module has to be added, which can evaluate the Step/Direction-signals. Also stepper
motor drivers with an SPI-Interface can be added, but this module is mainly intended for use with
Step/Direction drivers.
5.2
Power Supply
The power supply for the TMCM-342 is +5VDC for module functionality. Please use all listed pins for
the power supply inputs and ground parallel. Refer to 6.
Pin
Function
1, 3
+5V DC (+/- 5%), I
max
=50mA power supply (plus current required for outputs)
2, 4, 6, 8, 10
Ground
Table 5.1: Pinning of Power supply
