TMCM-310

TMCM-310 3-Axis Stepper Motor Motion Control Module The TMCM-310 is a triple axis 2-phase stepper motor controller and driver module. It provides a complete single board motion control solution at low cost. Using the integrated additional I/Os it even can do complete system control applications. The motors and switches can be connected easily with screw terminals. The connection of the multi purpose I/Os can be done via a dual-in-line pin connector. The TMCM-310 comes with the PC based software developer environment TMCL-IDE for the TRINAMIC Motion Control Language (TMCL). Using predefined TMCL high level commands like “move to position” or “constant rotation” rapid and fast development of motion control applications guaranteed. The TMCM-310 can be controlled via the RS-232 or the CAN interface. Communication traffic is very low since all time critical operations, e.g. ramp calculation are performed on board. A user TMCL program can be stored in the onboard EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. With the optional StallGuard feature it is possible to detect overload and stall of the motor. Features: Power, interface, motor, stop switch and I/O connectors: Screw VS GND Pin 2 3 5 6 7 Socket Function Pin Ring RS232 RxD TxD GND +7..34V DC Ground CAN (optional) CAN_L GND GND (optional) CAN_H Pin 1 2 3 4 1 2 3 4 Function Motor coil A0 Motor coil A1 Motor coil B0 Motor coil B1 Right limit switch Left limit switch Ground +5V power supply Connectors: Power supply, motors and stop switches are accessible by screw connectors. The RS232 interface has a DSUB, the optional CAN interface a 2x5 pin and the I/O connector a 2x10 pin industry standard connector. Do not connect or disconnect a motor while the board is powered, as this could damage the driver chips! Motor 0 M STOP 0 rev. 2.0 4321 4321 4321 +5v GND B1 B0 A1 A0 L R B1 B0 A1 A0 Motor 1 M STOP 1 rev. 2.0 4321 Motor 2 M STOP 2 rev. 2.0 4321 4321 for Hardware rev. 2.0: GND +Vs +Vs= 12..28V DC GND +VS +5v GND +5v GND L R B1 B0 A1 A0 L R Blank1 (J400) Motor X Blank2 (J401) J100, J101: rev 1.0 only X102: rev 2.0 only SPI jumpers (J200) (always closed, rev. 1.0 only) TMC428 CAN Termination (J500) ATmega 32 X102 J101 J100 STOP X Programmer / SPI Pin 1 Pin 1 Pin 1 CAN bus (optional) Additional Inputs and Outputs (X300) Reset button I/O connector (X300) Pin Signal Pin 1 Output 0 2 3 Output 2 4 5 Output 4 6 7 Output 6 8 rev. 2.0: Alarm Input 9 10 rev 1.1: +5V (Output) Signal Output Output Output Output GND 1 3 5 7 Pin 11 13 15 17 19 Signal Input 0 Input 2 Input 4 Input 6 +5V (Output) Pin 12 14 16 18 20 Signal Input 1 Input 3 Input 5 Input 7 GND RS232 TMC236 or TMC246 TMC236 or TMC246 TMC236 or TMC246 TMCL-IDE: 1. Make sure the COM port you intend to use is not blocked by an other program. 2. Open TMCL IDE (available at TechLibCD and www.trinamic.com) by clicking TMCL.exe. 5. Write a program code into the white field and save it with File/Save. Download Stop Assemble Run 3. Choose Setup and Options… and then the connection tab. "Direct Mode" 4. Choose COM port and type in parameters shown above (baudrate 9600). Click OK. 6. Click “Assemble” first, then “Download” and “Run” button to start the program. 7. Stop all running programs by clicking “Stop button” and start “Direct Mode”. 8. If communication is established the TMCM-310 is automatically detected. Issue a command by choosing Instruction, Type, Motor, Value and press Execute to send it to the TMCM-310. Following commands can be included into a program or used in “Direct Mode”. There are motion (ROR, ROL, MST, MVP) and SAP (Set Axis Parameter) commands to set motion and control parameters. GAP delivers their actual value. Instr. Type Value Description ROR (don´t care) 0..2047 Rotate right ROR , ROL (don´t care) 0..2047 Rotate left ROL , MST (don´t care) Motor stop MST , MVP ABS|REL|COORD 23 bit Move to pos. MVP , , SAP 2 23 bit Actual pos. 4 0..2047 Max speed 5 0..2047 Max accell. 6 0..1500 Max current 7 0..1500 Standby curr. 140 0..6 Microstep res. SAP ,, Sets motion and control parameters GAP , GAP Gives actual values of SAP parameters For full instruction set and further description refer to TMCL-Reference at TechLibCD or www.trinamic.com. Commands: Troubleshooting: If communication is not established: • Check if the power LED (D503) of the TMCM-310 lights. If not check your power supply. • Try to start “Direct Mode” and see if the TMCM-310 is detected automatically. If not close window. • Check if you are using the right COM port and it is not used by another program. • Check your connection settings, default: 9600 baud and address 1. • Check your interface connection. Are you really using a null modem cable? • Termination and telegram pause time OK ? • Refer to TMCM-310 manual or Trinamic discussion group for further information and help. If motor does not respond: • Usually it is a problem with the communication described above. • If you are using a TMCL program try a movement command in “Direct Mode” to see if there is a problem with your program. • If the activity LED (D100) is flashing the module should run normally, check the motor connection. • Restore factory settings to cancel all settings modified by user by issuing instruction 137. TMCM-310 Start Documentation (September 19, 2007 / Version 1.00)