Trinamic TMCM-310 User guide

Download

TMCM-310

Stepper Motor Motion Control

Module

Manual

Version: 1.13

January 11

, 2006

Trinamic Motion Control GmbH & Co. KG

D - 20357 Hamburg, Germany

Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60

http://www.trinamic.com

Sternstraße 67

TMCM-310 Manual V1.13

Life support policy

TRINAMIC Motion Contr ol GmbH & Co KG does not a uthor i ze or war rant any of its products f or us e i n life support system s, without the specific written cons ent of TRINAMIC Motion Control Gm bH & Co KG. Life support system s are equipment intended to supp ort or sustain life, and whose failure to perform , when properly used in accordance with instruct ions provided, can be reaso nably expected to result in personal injury or death.

Information given in th is manual is believed t o be accurate and reliabl e. However no responsibi lity is assumed for the co nsequences of its use nor for any infringement of patents or other rights of th ird parties which may result from its use. Specification subject to change without notice.

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D - 20357 Hamburg, Germany

Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60

http://www.trinamic.com

TMCM-310 Manual V1.13

Version

Version Date Author(s) Remarks

1.00 13-Jun-03 OK Initial version

1.01 7-Nov-03 OK Chapter 3.3.4 added

1.10 21-Jul-04 OK Revised, updated and extended

1.11 27-Jul-04 OK Mounting hole drawing added

1.12 1-Oct-04 OK Address changed

1.13 11-Jan-06 OK Covers hardware rev. 1.1 and 2.0

Table of Contents

1 General Description..........................................................................................................................4

1.1 Ordering information..................................................................................................................4

2 Technical Data..................................................................................................................................5

3 Main Features...................................................................................................................................6

3.1 The TMCM-310 Module ............................................................................................................6

3.2 TMCM-310 Application Environment.........................................................................................7

3.2.1 Communication Interface...................................................................................................7

3.2.2 Power Supply.....................................................................................................................7

3.2.3 Microcontroller....................................................................................................................8

3.2.4 EEPROM............................................................................................................................8

3.2.5 TMC428..............................................................................................................................8

3.2.6 Stepper Motor Drivers........................................................................................................8

3.3 StallGuard..................................................................................................................................8

4 Connecting the Module.....................................................................................................................9

4.1 Host communication..................................................................................................................9

4.2 Connecting the motors ..............................................................................................................9

4.3 Reference switches.................................................................................................................10

4.3.1 Left and right limit switches..............................................................................................10

4.3.2 Triple Switch Configuration..............................................................................................10

4.3.3 One reference switch .......................................................................................................10

4.4 Additional inputs and outputs..................................................................................................11

4.5 Jumpers, other connectors and LEDs.....................................................................................11

4.5.1 Blank time.........................................................................................................................11

4.5.2 Programmer connector and jumper J101 (rev. 1.1).........................................................12

4.5.3 Programmer connector (rev. 2.0).....................................................................................12

4.5.4 SPI jumpers......................................................................................................................12

4.5.5 Shutdown jumper .............................................................................................................12

4.5.6 Reset button.....................................................................................................................12

4.5.7 Power LED.......................................................................................................................13

4.5.8 Activity LED......................................................................................................................13

5 Putting the TMCM-310 into Operation............................................................................................14

6 TMCM-310 Operational Description...............................................................................................16

6.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency......................16

7 TMCL..............................................................................................................................................18

8 Differences between Hardware rev. 1.1 and 2.0............................................................................19

TMCM-310 Manual V1.13

1 General Description

The TMCM-310 is a triple axis 2-phase stepper motor motion control module based on the highperformance TMC-428 m otion controller. The module pr ovides a complete motion control s ystem at low cost and small physical size. The TMCM-310 can be rem ote controlled via the RS-232 or the optional CAN interface. Stan d-alone operation is also pos sible by executing T MCL programs . Communication traf fic is kept very lo w since all CPU-intensive operations, e.g. ramp calculation are performed by the TMC-428 motion controller. The StallGuard ( SG ) opt io n al lo ws det ec tin g of s tep l o s s c aused by too high load s on t he motors or by obstructing the m otors. StallGuard can a lso be used to detect a mechanical reference p oint, without the need for reference switches. The TMCM-310 provid es of a com plete sof tware deve lopm ent environm ent and b y using the T rinam ic Motion Control Language (TMCL) rapid and fast development of motion control applications is guaranteed. TMCL programs can be downloaded to the module via its different interfaces and are stored in the on-board 16K B yte EEPROM. So a TMCL program can then be ex ec uted i n a s tand a lon e mode, without the need for a host computer.

1.1 Ordering information

The following table summarises the available options:

Order code Features

TMCM-310 Only RS232 interface, no StallGuar d (sta ndar d produc t ) TMCM-310/SG Only RS232 interface, StallGuard (standard product) TMCM-310-CAN RS232 and CAN interface, no StallGuard (available on demand) TMCM-310/SG-CAN RS232 and CAN interface, StallGuard (standard product)

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D - 20357 Hamburg, Germany

Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60

http://www.trinamic.com

TMCM-310 Manual V1.13

2 Technical Data

• Directly controls and drives up to three 2-phase stepper motors

• CPU: ATmega32, 16MHz clock frequency

• Motion controller: TMC428 high-performance motion controller

o Hardware ramp generator for autonomous positioning and speed control o Hardware sequencing o On the f ly alteration of target m otion parameters (e.g. pos ition, velocity, acce leration)

possible

o Full step frequencies up to 20 KHz

• Limit and reference switch inputs

• Motor drivers: TMC236 (TMCM-310 and TMCM-310-CAN) or TMC246 (TMCM-310/SG and

TMCM-301/SG-CAN)

• Maximum coil current: 1500mA (adjustable by software)

• Smart multi level current control to keep driver and motor cool

• Microstepping: Max. 16 microsteps

• H ost communication:

o RS232, default 9600bps, max. 115200bps (software selectable) o optional: CAN 2.0B, max 500kBit/s (software selectable), controller: MCP2510,

transceiver: PCA82C250

• Operating system: Trinamic Motion Control Language (TMCL)

• Firmware update possible via RS232 interface

• TMCL program storage: 16 KByte EEPROM (2048 TMCL commands)

• Supply voltage: rev 1.1: 9 to 30 VDC or 7..21 VAC, rev 2.0: 7..28VDC only

• Size: 160x100mm

• Height: 20mm

Dimensions and mounting holes

TMCM-310 Manual V1.13

3 Main Features

3.1 The TMCM-310 Module

Figure 1 gives an over view of the module a nd helps to locate all im portant parts. I t also sh ows how t o connect the stepper motors and reference switches (if needed).

Motor 0 Motor 1 Motor 2 M

M M

for Hardware

rev. 2.0:

GND

7..28V DC

Blank1

(J400)

Blank2

(J401)

CAN Termination

Pin 1

CAN bus

(optional)

TMC236

TMC246

(J500)

TMC236

TMC246

TMC428

SPI jumpers (J200)

(always closed,

rev. 1.0 only)

Pin 1

Additional Inputs and

Figure 1: TMCM-310 Overview

TMC236

TMC246

Outputs (X300)

J100, J101: rev 1.0 only

X102: rev 2.0 only

ATmega

Programmer / SPI

J101

J100

Reset button

RS232

X102

Pin 1

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D - 20357 Hamburg, Germany

Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60

http://www.trinamic.com

+ 13 hidden pages

Trinamic TMCM-310 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual