Trinamic TMCM-342 User Manual

TMCM-342

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

TMCM-342 Manual V1.01 2/26

Table of Contents

1 Features........................................................................................................................................................................... 4

2 Life support policy ....................................................................................................................................................... 5

3 Electrical and Mechanical Interfacing ..................................................................................................................... 6

3.1 Dimensions ........................................................................................................................................................... 6

3.2 Connecting the Module ..................................................................................................................................... 7

4 Operational Ratings ..................................................................................................................................................... 8

5 Functional Description ................................................................................................................................................ 8

5.1 System Architecture ........................................................................................................................................... 9

5.1.1 Microcontroller .......................................................................................................................................... 9

5.1.2 TMCL EEPROM............................................................................................................................................. 9

5.1.3 TMC428 Motion Controller ..................................................................................................................... 9

5.1.4 Interface to the external drivers .......................................................................................................... 9

5.2 Power Supply ....................................................................................................................................................... 9

5.3 Host Communication ....................................................................................................................................... 10

5.3.1 CAN 2.0b .................................................................................................................................................... 10

5.3.2 RS-232 ........................................................................................................................................................ 10

5.3.3 RS-485 ........................................................................................................................................................ 11

5.4 Step-/Direction output ..................................................................................................................................... 12

5.5 Connecting the drivers .................................................................................................................................... 12

5.5.1 Connecting the TMCM-342 to 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 and outputs ...................................................................................................................... 21

5.11 Miscellaneous Connections ............................................................................................................................ 21

6 Putting the TMCM-342 into Operation .................................................................................................................. 22

7 Migrating from the TMCM-302 to the TMCM-342 ............................................................................................... 23

8 TMCM-342 Operational Description ....................................................................................................................... 24

8.1 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep-Frequency............................... 24

9 TMCL ............................................................................................................................................................................... 25

10 CANopen ....................................................................................................................................................................... 25

11 Revision History .......................................................................................................................................................... 26

11.1 Documentation Revision ................................................................................................................................. 26

11.2 Hardware Revision ............................................................................................................................................ 26

11.3 Firmware Revision ............................................................................................................................................ 26

12 References .................................................................................................................................................................... 26

TMCM-342 Manual V1.01 3/26

List of Figures

Figure 3.1: Dimensions ........................................................................................................................................................ 6

Figure 3.2: Pin order of the connector ........................................................................................................................... 7

Figure 5.1: Main parts of the TMCM-342 ......................................................................................................................... 8

Figure 5.2: Connecting CAN ............................................................................................................................................. 10

Figure 5.3: Connecting RS-232 ......................................................................................................................................... 11

Figure 5.4: Connecting the RS-485 interface ............................................................................................................... 11

Figure 5.5: Step-/Direction output signals ................................................................................................................... 12

Figure 5.6: Application Environment using the Step/Direction-Interface ........................................................... 13

Figure 5.7: Application with power module Monopack 2 with a Step/Direction-Interface .......................... 13

Figure 5.8: Application with TMCM-023 with 3 Step/Direction-Interfaces (5V inputs required, please see

latest TMCM-023 documentation for modifications) ........................................................................................ 14

Figure 5.9: Application with TMCM-013 with a Step/Direction-Interface ............................................................ 14

Figure 5.10: Application Environment using the SPI-Interface ............................................................................. 15

Figure 5.11: Application with an SPI-stepper motor driver ................................................................................... 16

Figure 5.12: Power 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

Table 3.1: Pinout of the 68-Pin Connector .................................................................................................................... 7

Table 4.1: Operational Ratings .......................................................................................................................................... 8

Table 5.1: Pinning of Power supply ................................................................................................................................ 9

Table 5.2: Pinout for CAN Connection .......................................................................................................................... 10

Table 5.3: Pinout for RS-232 Connection ...................................................................................................................... 10

Table 5.4: Pinout for RS-485 Connection ...................................................................................................................... 11

Table 5.5: Pinout for using the Step/Direction-Interface ......................................................................................... 12

Table 5.6: Pinout for the connections using the SPI-Interface ............................................................................. 15

Table 5.7: Pinout of the reference switch inputs ...................................................................................................... 19

Table 5.8: Pinout Serial Peripheral Interface .............................................................................................................. 20

Table 5.9: Additional I/O pins ......................................................................................................................................... 21

Table 5.10: Miscellaneous Connections ........................................................................................................................ 21

Table 7.1: TMC428 Velocity parameters ........................................................................................................................ 24

Table 9.1: Documentation Revisions ............................................................................................................................. 26

Table 9.2: Hardware Revisions ........................................................................................................................................ 26

Table 9.3: Firmware Revisions......................................................................................................................................... 26

TMCM-342 Manual V1.01 4/26

Order code

Description

TMCM-342 (-option)

3-axis controller module with step/dir. Outputs

Related products

BB-302, TMCM-EVAL, BB-323-02

Option

-H

horizontal pin connector (standard)

-V

vertical pin connector (on request)

1 Features

The TMCM-342 is a triple axis stepper motor controller module for external power drivers with step / direction interface. With its very small size it is dedicated to embedded applications, where centralized or de-centralized high power drivers are desired. The board can be connected to a baseboard or customized electronics with a pin connector. The TMCM-342 comes with the PC based software development environment TMCL-IDE. Using predefined TMCL (Trinamic Motion Control Language) high

level commands like “move to position” or “constant rotation” rapid and fast development of motion

control applications is guaranteed. The TMCM-342 can be controlled via the serial UART interface (e.g. using a RS-232 or RS-485 level shifter) or via CAN. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation, are performed on board. The TMCL operations can be stored in the onboard EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface as well as via the CAN interface.

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) host interface Inputs for reference and stop switches, general purpose analog and digital I/Os

Highlights

Three motion controllers for high step frequency Automatic ramp generation in Hardware On the fly alteration of motion parameters (e.g. position, velocity, acceleration) High dynamics: step frequencies up to 300kHz

1.8µs step pulse length and step to direction delay

Software

Stand-alone operation using TMCL or remote controlled operation TMCL program storage: 16 KByte EEPROM (2048 TMCL commands) PC-based application development software TMCL-IDE included Special firmware for CANopen protocol support also available

Other

68 pin connector carries all signals RoHS compliant Size: 80x50mm²

Table 1.1: Order codes

TMCM-342 Manual V1.01 5/26

2 Life support policy

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.

Life support systems are equipment 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.

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 infringement of patents or other rights of third parties, which may result from its use.

Specifications are subject to change without notice.

TMCM-342 Manual V1.01 6/26

Horizontal

Connector:

Header

Connector:

5

Note: all dimensions in mm

6

2 (PCB)

AT91SAM7X256

68-Pin Connector

4

36.9

39.1

50

2.2

3.2

4

80

3 Electrical and Mechanical Interfacing

3.1 Dimensions

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.

TMCM-342 Manual V1.01 7/26

Direction

Description

Direction

Description

1 +5VDC (+/- 5%) I

max

=50mA

35

Out

STEP_M1

2 GND

36

Out

SPI_M2_CLK

3 +5VDC (+/- 5%)

37

Out

DIR_M1 4

GND

38

In

SPI_M0_IN

5 Internally not connected

39

Out

STEP_M2

6 GND

40

In

SPI_M1_IN

7 Internally not connected

41

Out

DIR_M2

8 GND

42

In

SPI_M2_IN

9 Internally not connected

43

In

Shutdown

10 GND

44

-

Reserved

11

Out

SPI Select 0

45

In

General Purpose input 0

12

Out

SPI Clock

46

Out

General Purpose output 0

13

Out

SPI Select 1

47

In

General Purpose 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

55

In

General Purpose input 5

22

Out

nSCS1

56

Out

General Purpose output 5

23

In

Reference Switch Motor 1 left

57

In

General Purpose input 6

24

Out

nSCS2

58

Out

General Purpose output 6

25

In

Reference Switch Motor 1 right

59

In

General Purpose input 7

26

Out

SPI_M0_OUT

60

Out

General Purpose output 7

27

In

Reference Switch Motor 2 left

61

GND

28

Out

SPI_M0_CLK

62

GND

29

In

Reference Switch Motor 2 right

63

-

Reserved

30

Out

SPI_M1_OUT

64

Out

RS-485 Direction

31

Out

STEP_M0

65

InOut

CAN -

32

Out

SPI_M1_CLK

66

In

RS-232 RxD

33

Out

DIR_M0

67

InOut

CAN +

34

Out

SPI_M2_OUT

68

Out

RS-232 TxD

PCB

1

2

68

67

3.2 Connecting the Module

The 68-pin connector provides communication to a host, configuration of the EEPROM and connection of step / direction drivers as well as connection of reference switches. Pin 1 of this connector is located in the lower left corner on the top site, while the connector is pointing towards the user.

Table 3.1: Pinout of the 68-Pin Connector

Figure 3.2: Pin order of the connector

TMCM-342 Manual V1.01 8/26

Symbol

Parameter

Min

Typ

Max

Unit

V

+5V

+5V DC input (max. 300mA)

4.75

5.0

5.25

V

f

STEP

Maximum step frequency

300

kHz

t

SPulse

Step pulse length

1.5

1.8

2.4

µs

t

S2D

Step to direction delay

1.5

1.8

2.4

µs

V

INPROT

Input voltage for StopL, StopR, GPI0 (internal protection diodes)

-0.5

0 … 5

V

+5V

+0.5

V

ANA

INx analog measurement range

0 ... 5

V

INLO

INx, StopL, StopR low level input

0 0.9

V

INHI

INx, StopL, StopR high level input

2 5

V

I

OUTI

OUTx max +/- output current (CMOS output) (sum for all outputs max. 50mA)

0..10

+/-20

mA

T

ENV

Environment temperature at rated current (no cooling)

-40 +70

°C

RS-232

or

RS-485

3x

programmable

Motion

Controller

with TMC428

TMCM-342

TMCL

Memory

step/dir

Driver

e.g. TMCM-035

Step

Motor

5V DC

REF-Switches

I/Os

16

6

step/dir

Driver

e.g. TMCM-035

Step

Motor

step/dir

Driver

e.g. TMCM-035

Step

Motor

UART

CAN

4 Operational Ratings

The operational ratings show the intended / the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded.

5 Functional Description

In Figure 5.1 the main parts oft the TMCM-342 module are shown. The module mainly consists of three TMC428 motion controllers, the TMCL program memory (EEPROM) and the host interfaces (RS232, RS-485 and CAN).

Table 4.1: Operational Ratings

Figure 5.1: Main parts of the TMCM-342

TMCM-342 Manual V1.01 9/26

Function

1, 3

+5V DC (+/- 5%), I

max

=50mA power supply (plus current required for outputs)

2, 4, 6, 8, 10

Ground

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-phasestepper-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.

Table 5.1: Pinning of Power supply

TMCM-342 Manual V1.01 10/26

Pin Number

Direction

Name

Limits

Description

65

InOut

CAN -

-8…+18V

CAN Input / Output

67

InOut

CAN +

-8…+18V

CAN Input / Output

Pin 2 Pin 1

TMCM-342

68-Pin-Connector

Pin67: CAN+

Pin65: CAN-

Host

CAN+

CAN-

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

5.3 Host Communication

Communication to a host takes place via one or more of the onboard interfaces. The module provides a wide range of different interfaces, like CAN, RS-232 and RS-485. The following chapters explain how the interfaces are connected with the 68-pin connector.

5.3.1 CAN 2.0b

Table 5.2: Pinout for CAN Connection

Figure 5.2: Connecting CAN

5.3.2 RS-232

Table 5.3: Pinout for RS-232 Connection

Note: The module only provides serial signals with TTL level. For using RS232, a suitable RS232 level shifter (like MAX202) has to be added by the user.

TMCM-342 Manual V1.01 11/26

Pin 66: RS232_RxD

Pin 68: RS232_TxD

Pin 2 Pin 1

Pin61: GND

TMCM-342

68-Pin-Connector

Host

TxD

RxD

GND

level shifter

(e.g. MAX202)

TTL

Pin Number

Direction

Name

Limits

Description

64

Out

RS485_DIR

TTL

Driver / Receiver enable for RS-485 Transceiver. 0: Receiver enable 1: Driver enable

66

In

RxD

TTL

RS-485 Receive Data

68

Out

TxD

TTL

RS-485 Transmit Data

2, 4, 6, 8, 10

In

GND

0V

Connect to ground

Pin 61: GND

TxD

RxD

DIR

RS485+

RS485-

GND

TxD

RxD

DIR

RS485+

RS485-

GND

Transceiver, e.g. MAX485

Pin 64: RS485_DIRECTION

Pin 66: RS232_RxD

Pin 68: RS232_TxD

Pin 2 Pin 1

TMCM-342

68-Pin-Connector

TxD RxD

DIR

GND

HOST

Figure 5.3: Connecting RS-232

5.3.3 RS-485

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.

Figure 5.4: Connecting the RS-485 interface

Via RS-485 Interface it is possible to build up systems with of 31 (with repeater 254) modules, which are addressable by one host.

Table 5.4: Pinout for RS-485 Connection

TMCM-342 Manual V1.01 12/26

old direction signalDIR output

STEP output

internal

TMC428 step

signal

t

S2DIR

=1.8 µs t

SPULSE

=1.8 µs

Step impulse

new direction signal

First step in new direction initiated by user

Pin Number

Direction

Name

Limits

Description

31

Out

STEP_M0

TTL

Step-Signal for Driver 0

33

Out

DIR_M0

TTL

Direction-Signal for Driver 0

35

Out

STEP_M1

TTL

Step-Signal for Driver 1

37

Out

DIR_M1

TTL

Direction-Signal for Driver 1

39

Out

STEP_M2

TTL

Direction-Signal for Driver 2

41

Out

DIR_M2

TTL

Serial Clock for the Driver 2

5.4 Step-/Direction output

The TMCM-342 generates step- and direction output signals, which are pre-conditioned in order to be directly connected to microstep driver units with 5V inputs. See Figure 5.5 for the output timing. Some driver units might require inverters / level shifters in order to adapt step polarity and voltage. You can use standard open collector level shifters like the SN7407 or inverters like SN7406. These devices allow level translation to 12V or 24V, or inversion of the step signal, if the device timing requires this. One 7406 or 7407 can shift all six output signals. In order not to loose any steps, please make sure that your driver unit can work with the step-to-direction delay and with the step impulse length.

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.com for more information. Normally, a step/direction interface is used to connect the driver. Using the SPI interface would also be possible, but is normally not used with this module (compare TMCM-301 for SPI applications).

5.5.1 Connecting the TMCM-342 to a power driver module with

Step/Direction-Interface

Table 5.5: Pinout for using the Step/Direction-Interface

TMCM-342 Manual V1.01 13/26

TMCM-342

µC

EEPROM

CAN

Host

Communication

5 VDC

RS-232 / RS-485 /

SPI

TMC428

Reference Switches

TMC428 TMC428

step/dirconverter

STEP0

DIR0

STEP1

DIR1

STEP2

DIR2

power

driver

module

Motor 0

power

driver

module

Motor 1

power

driver

module

Motor 2

Reference Switches

step/dirconverter

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

OUT B

GND

VCC

e.g. DS9638

A

B

C

D

IN A

IN B

IN D

IN C

OUT A

OUT B

OUT C

OUT D

OUT A

OUT B

OUT C

OUT D

VCC

GND

e.g. DS26C31

DIR_M0

STEP_M0

for two other Monopack

2

Motor 1

Examples: Connection of the TMCM-342 with the Monopack2 (power driver module with a Step/Direction-Interface), TMCM-023 or TMCM-013.

Figure 5.6: Application Environment using the Step/Direction-Interface

Figure 5.7: Application with power module Monopack 2 with a Step/Direction-Interface

TMCM-342 Manual V1.01 14/26

DIR_M1

STEP_M1

DIR_M0

STEP_M0

DIR_M2

STEP_M2

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

B2 B1 A2 A1

VS = 7..28.5 V

GND

Motor 0

Motor 2

Motor 1

V

COMM

= +5V DC

TMCM-023

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

OA1

OA2

OB1

OB2

+5V DC

Figure 5.8: Application with TMCM-023 with 3 Step/Direction-Interfaces (5V inputs required, please

see latest TMCM-023 documentation for modifications)

Figure 5.9: Application with TMCM-013 with a Step/Direction-Interface

TMCM-342 Manual V1.01 15/26

Pin Number

Direction

Name

Limits

Description

20

Out

nSCS0

TTL

Chip Select for Driver 0

22

Out

nSCS1

TTL

Chip Select for Driver 1

24

Out

nSCS2

TTL

Chip Select for Driver 2

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 Out for Driver 2

TMCM-342

µC

EEPROM

TMC428

CAN

Host

Communication

5 VDC

RS-232 / RS-485

Reference

Switches

Driver,

w/o SDO

Driver

Driver,

w/o SDO

nSCS0

nSCS1

nSCS2

nSCS1

nSCS2

nSCS3

SDI_S

SCK_S

SDO_S

Motor 0

Motor 1

Motor 2

+5V

external pullups

5.5.2 Connecting the TMCM-342 to drivers with an SPI-Interface

The pins connecting the TMCM-342 with the Add-On-Board using the SPI-Interface are listed in Table

5.6. This is only listed here for the sake of completeness. It is not directly supported by the firmware of the TMCM-342. Please use the TMCM-341 for using SPI motor drivers.

Table 5.6: Pinout for the connections using the SPI-Interface

Figure 5.10: Application Environment using the SPI-Interface

TMCM-342 Manual V1.01 16/26

Pin 2

Pin 20

Pin 22

Pin 24

Pin 26

Pin 28

Pin 38

Pin 68

TMCM-342

M

TMC236

CSN

SDI

SCK

SDO

OUTA1 OUTA2

OUTB1 OUTB2

GND: Pin 2, 4, 6, 8 5V: Pin 1, 3

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

Example : Using the TMC236 stepper motor driver with an SPI-interface

Figure 5.11: Application with an SPI-stepper motor driver

5.6 Power supply requirements with drivers

The TMCM-342 is supplied with +5VDC, the drivers need an additional power supply for the motor supply. Please connect all listed pins for the power supply inputs and ground in parallel. It is recommended to use capacitors of some 1000µF and a choke 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.

Especially with bus controlled systems (e.g. CAN or RS485) it is important to ensure a stable ground 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 difference on the interface lines between the module and the master, as disturbed transmissions could result.

Figure 5.12: Power supply requirements for TMCM-342 with additional driver

TMCM-342 Manual V1.01 17/26

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 (especially the same power supply as the master) use a straight and thick, low-resistive GND connection.

other devices

on CAN bus

(incl. Master)

CAN high

CAN low

V_Motor

GND

+

C

L

CAN_GND

The following hints help avoiding transmission problems in larger systems. Not all hints have to be followed:

Use power supply filter capacitors of some 1000µF on the base board for each module in order to

take over current spikes. A choke in the positive power supply line will prevent current spikes from changing the GND potential of the base board, especially when a central power supply is used.

Optionally use an isolated power supply for the TMCM-Modules (no earth connection on the

power supply, in case the CAN master is not optically decoupled)

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 (especially the same power supply as the

master) use a straight and thick, low-resistive GND connection.

Use a local +5V regulator on each base-board.

Figure 5.13: Power supply requirements for TMC-Modules in a bus system

For large systems, an optically decoupled CAN bus for each number of nodes, e.g. for each base board with a number of TMCM-34X modules with drivers may make sense, especially when a centralized power supply is to be used. Be aware that different ground potentials of the CAN sender (e.g. a PC) and the power supply may damage the modules. Please make sure that the GND lines of the CAN sender and the module(s) and power supplies are connected by a cable.

TMCM-342 Manual V1.01 18/26

target position reached

v(t)

t

a

_

m

a

x

-

a

_

m

a

x

maximum velocity reached

v_max

target position reached

close to target position

-> start deceleration

t

0

t

1

t

2

t

3

acceleration constant velocity

decele-

ration

t

5

t

6

t

7

a

_

m

a

x

-

a

_

m

a

x

v_max

acceleration

decele-

ration

v_min

v_

min

v_

min

t

4

new target position

v(t)

t

a

_

m

a

x

1

-

a

_

m

a

x

3

t

0

t

1

acceleration

constant

velocity

t

8

t

9

a

_

m

a

x

5

-

a

_

m

a

x

6

v_max

acceleration

decele-

ration

a

_

m

a

x

2

a

_

m

a

x

4

maximum velocity reached

maximum velocity not yet reached

acceleration

constant

velocity

deceleration

accele-

ration

constant

velocity

maximum velocity not yet reached

t

2

t

3

t4t

5

t

6

t

7

5.7 Ramp Profiles

The speed profile is automatically worked out by the TMCM-342 from the values for the minimum speed, maximum speed and acceleration specified by the user with the TMCL. Two modes of operation for the course of velocity are available for selection.

In the Ramp-Mode the maximum acceleration (a_max), maximum (v_max) and minimum (v_min)

speed and the target position (x_target) are specified to calculate the actual velocity. By giving the target position, the TMCM-342 calculates the speed profile of each stepper motor from the current position and the specified parameters and immediately converts it into a motion sequence. In Figure 5.14, an example of the motion sequence is shown. Here the motor accelerates from t0 onwards with a_max till it reaches v_max in t1, then it moves itself with v_max up to t2, it then slows down with a_max till it reaches v_min in t3 and then it travels with v_min till it reaches its target (x_target) in t4. On the right side of the Figure it can be seen that v_max cannot be reached if a_max is too small or the target (x_target) is too close.

Figure 5.14: Velocity profile in ramp mode

In Velocity-Mode the acceleration and the maximum speed is specified in the TMCM-342. Then the

motor accelerates immediately with the specified value to the maximum speed and continues to run at constant speed till new values are sent to the TMCM-342. In Figure 5.15 the motion sequence for the velocity mode is shown as an example. Here the motor accelerates with a_max till it reaches the maximum velocity and then continues to run at constant speed with v_max till new a_max and v_max is specified. On the right side and at t5 the v_max is not distinctly reached if a new parameter is prematurely given.

Figure 5.15: Velocity profile in velocity mode

A detailed explanation of the parameters and its calculation is given in the software description.

TMCM-342 Manual V1.01 19/26

Pin Number

Direction

Name

Limits

Description

19

In

STOP0L

TTL

Left reference switch input for Motor #0

21

In

STOP0R

TTL

Right reference switch input for Motor #0

23

In

STOP1L

TTL

Left reference switch input for Motor #1

25

In

STOP1R

TTL

Right reference switch input for Motor #1

27

In

STOP2L

TTL

Left reference switch input for Motor #2

29

In

STOP2R

TTL

Right reference switch input for Motor #2

left stop

switch

right stop

switch

REF_L_x REF_R_x

motor

traveler

left stop

switch

motor

traveler

REF_L_x

right stop

switch

REF_R_x

reference

switch

5.8 Reference switches

With reference switches, an interval for the movement of the motor or the zero point can be defined. Also a step loss of the system can be detected, e.g. due to overloading or manual interaction, by using a travel-switch. All reference switch inputs are equipped with pull-up resistors.

Table 5.7: Pinout of the reference 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.

Figure 5.16: Left and right limit switches

5.8.2 Triple Switch Configuration

It is possible to program a tolerance range around the reference switch position. This is useful for a triple switch configuration, as outlined in Figure 5.17. In that configuration two switches are used as automatic stop switches, and one additional switch is used as the reference switch between the left stop switch and the right stop switch. The left stop switch and the reference switch are wired together. The center switch (travel switch) allows for a monitoring of the axis in order to detect a step loss.

Figure 5.17: Limit switch and reference switch

TMCM-342 Manual V1.01 20/26

motor

ref switch

REF_L_x

eccentric

Pin Number

Direction

Name

Limits

Description

11

Out

SPI_SEL0

TTL

Chip Select Bit0

13

Out

SPI_SEL1

TTL

Chip Select Bit1

15

Out

SPI_SEL2

TTL

Chip Select Bit2

12

Out

SPI_CLK

TTL

SPI Clock

14

In

SPI_MISO

TTL

SPI Serial Data In

16

Out

SPI_MOSI

TTL

SPI Serial Data Out

5.8.3 One Limit Switch for circular systems

If a circular system is used (Figure 5.18), only one reference switch is necessary, because there are no end-points in such a system.

Figure 5.18: One reference switch

Note: In the actual TMCL, a function is available, which turns the motor left until the reference switch

has been detected. Then the actual and target position are set to zero. In the future, 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.

Table 5.8: Pinout Serial Peripheral Interface

TMCM-342 Manual V1.01 21/26

Pin Number

Direction

Name

Limits

Description

45

In

INP_0

TTL

digital and analog input pin 0

47

In

INP_1

TTL

digital and analog input 1

49

In

INP_2

TTL

digital and analog input 2

51

In

INP_3

TTL

digital and analog input 3

53

In

INP_4

TTL

digital and analog input 4

55

In

INP_5

TTL

digital and 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

Pin Number

Direction

Name

Limits

Description

17

In

Reset

TTL

Reset, active low

18

Out

Alarm

TTL

Alarm, active high

43

In

Shutdown

TTL

Emergency stop

5.10 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 be used as analog inputs.

Table 5.9: Additional I/O pins

5.11 Miscellaneous Connections

Table 5.10: Miscellaneous Connections

The functionality of the shutdown pin is configurable using in TMCL with global parameter 80 (please see the TMCL reference manual for information on this).

TMCM-342 Manual V1.01 22/26

//A simple example for using TMCL and TMCL-IDE

ROL 0, 500 //Rotate motor 0 with speed 500 WAIT TICKS, 0, 500 MST 0 ROR 1, 250 //Rotate motor 1 with 250 WAIT TICKS, 0, 500 MST 1

SAP 4, 2, 500 //Set max. Velocity SAP 5, 2, 50 //Set max. Acceleration Loop: MVP ABS, 2, 10000 //Move to Position 10000 WAIT POS, 2, 0 //Wait until position reached MVP ABS, 2, -10000 //Move to Position -10000 WAIT POS, 2, 0 //Wait until position reached JA Loop //Infinite Loop

6 Putting the TMCM-342 into Operation

On the basis of a small example it is shown step by step how the TMCM-342 is set into operation. Experienced users could skip this chapter and proceed to chapter 6.

Example: The following application is to implement with the TMCL-IDE Software development environment in the TMCM-342 module. For data transfer between the host PC and the module the RS232 interface is employed.

A formula how “speed” is converted into a physical unit like rotations per seconds can be found in

chapter 8.1.

Turn Motor 0 left with speed 500 Turn Motor 1 right with speed 500 Turn Motor 2 with speed 500, acceleration 5 and move between position +10000 and –10000.

Step 1: Connect the RS-232 Interface as specified in 5.3.2.

Step 2: Connect the motor drivers as specified in 5.4

Step 3: Connect the power supply.

+5 VDC to pins 1 or 3 Ground to pins 2, 4, 6, 8 or 10

Step 4: Connect the motor supply voltage to your 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 convert the TMCL into machine code. Then download the program to the TMCM-342 module via the Icon “Download”.

Step 8: Press Icon “Run”. The desired program will be executed.

A documentation about the TMCL operations can be found in “TMCL Reference and Programming Manual”. The next chapter discusses additional operations to turn the TMCM-342 into a high

performance motion control system.

TMCM-342 Manual V1.01 23/26

7 Migrating from the TMCM-302 to the

TMCM-342

Migrating TMCM-302 applications to the TMCM-342 module is easy, as the TMCM-342 can replace a TMCM-302 without problems. The connector of the TMCM-342 is identical to the connector of the TMCM-302, so that a TMCM-342 can just be plugged into a slot that has originally been designed for a TMCM-302 (it can also use the same base boards as the TMCM-302). Also the TMCL firmware of the TMCM-342 module is highly compatible with the TMCM-302. However there are some slight differences that have to be observed (due to the fact that the TMCM-342 has many 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 settings have to be adapted.

MVP COORD: The parameter of the MVP COORD command is different (to make it compatible

with the six axis modules). Please see [TMCL] for details. The usage of this command also has to be adapted.

Default CAN bit rate: the default CAN bit rate of the TMCM-342 module (e.g. after resetting it to

factory default settings) is 1000kBit/s (in contrast to 250kBit/s on the TMCM-302.

All other TMCL commands and parameters are the same as with the TMCM-302 module.

TMCM-342 Manual V1.01 24/26

Signal

Description

Range

f

CLK

clock-frequency

0..16 MHz

velocity

-

0..2047

a_max

maximum acceleration

0..2047

pulse_div

divider for the velocity. The higher the value is, the less is the maximum velocity default value = 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 = 2

usrs

)

0..7 (a value of 7 is internally mapped to 6 by the TMC428)

3220482

velocity]Hz[f

]Hz[usf

div_pulse

CLK

usrs

2

]Hz[usf

]Hz[fsf

29div_rampdiv_pulse

max

2

CLK

2

af

a

usrs

2

a

af

8 TMCM-342 Operational Description

8.1 Calculation: Velocity and Acceleration vs. Microstep- and

Fullstep-Frequency

The values of the parameters, sent to the TMC428 do not have typical motor values, like rotations per second as velocity. But these values can be calculated from the TMC428-parameters, as shown in this document. The parameters for the TMC428 are:

Table 8.1: TMC428 Velocity parameters

The microstep-frequency of the stepper motor is calculated with

where “usf” means microstep-frequency

To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be multiplied with the number of microsteps per fullstep.

where “fsf” means fullstep-frequency

The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a is given by

This results in an acceleration in fullsteps of:

where “af” means acceleration in fullsteps

TMCM-342 Manual V1.01 25/26

Hz31.122070

3220482

1000MHz16

msf

1

Hz34.1907

2

31.122070

]Hz[fsf

6

s

MHz

21.119

2

1000)Mhz16(

a

2911

2

s

MHz

863.1

2

s

MHz

21.119

af

6

49.26

72

34.1907

rotationperfullsteps

fsf

RPS

46.1589

72

6034.1907

rotationperfullsteps

60fsf

RPM

Example:

f_CLK = 16 MHz velocity = 1000 a_max = 1000 pulse_div = 1 ramp_div = 1 usrs = 6

If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is:

9 TMCL

TMCL, the TRINAMIC Motion Control Language, is described in a separate documentation, the TMCL Reference and Programming Manual. This manual is provided on the TMC TechLib CD and on the web site of TRINAMIC: www.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 the CANopen protocol. For this purpose, a special CANopen firmware has to be installed. To do this, download the latest version of the TMCM-342 CANopen firmware from the Trinamic website or use the version provided on the TechLib CD and install it using the firmware update function of the TMCL-IDE (Setup/Install OS). The TMCM-342 module is then ready to be used with CANopen. Please see the CANopen manual provided on the Trinamic website and on the TechLibCD on how to use the TMCM-342 module with the CANopen protocol.

TMCM-342 Manual V1.01 26/26

Version

Date

Author

Description

1.00

14-May-2008

OK

Initial version

1.01

8-Dec-08

OK

Migration and CANopen chapters added

Version

Comment

Description

1.0

Initial release

First version of new generation TMCM-342

1.1

Actual version

Version

Comment

Description

4.07

Initial release

Please refer to TMCL documentation

4.15

Actual release

11 Revision History

11.1 Documentation Revision

Table 11.1: Documentation Revisions

11.2 Hardware Revision

Table 11.2: Hardware Revisions

11.3 Firmware Revision

Table 11.3: Firmware Revisions

12 References

[TMCL] TMCL manual (see http://www.trinamic.com)

[CANopen] CANopen manual (see http://www.trinamic.com)