TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08)
12
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7
Functional description
In Figure 7.1 the main parts of the TMCM-343 module are shown. The module mainly consists of a
processor, a TMC428 motion controller, three TMC246 stepper motor drivers, the TMCL™ program
memory (EEPROM) and the host interfaces RS232, RS485 and CAN.
7… 34V DC
High Power
Driver
TMC246
µC
TMCL
Memory
progammable
Motion
Controller
with TMC428
Step
Motor
CAN
RS232 or
RS485
Please note,
that the USB
interface can
be offered
on demand.
16
additional
I/Os
3x2 Stop
switches
+5V
TMCM-343
Step
Motor
Step
Motor
High Power
Driver
TMC246
High Power
Driver
TMC246
UART
Special
option:
USB
5V DC
Figure 7.1: Main parts of the TMCM-343
7.1
System architecture
The TMCM-343 integrates a microcontroller with the TMCL™ (Trinamic Motion Control Language)
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
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 and CAN interface. The
microcontroller interprets the TMCL™ commands and controls the TMC428 which executes the motion
commands.
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.
7.1.2
EEPROM
To store TMCL™ programs for stand-alone operation the TMCM-343 module is equipped with a
16kByte EEPROM attached to the microcontroller. The EEPROM can store TMCL™ programs consisting
of up to 2048 TMCL™ commands. The EEPROM is also used to store configuration data.
