TMCM-343-H

MODULES FOR STEPPER MOTORS MODULES V 1.07 HARDWARE MANUAL + + TMCM-343 3-axis stepper controller / driver 300mA up to 1.1A RMS nominal supply: 8V… 34V DC TMCL™ / CANopen firmware + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com + TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 2 Table of contents 1 2 4 5 6 7 8 9 10 11 12 13 14 Life support policy ....................................................................................................................................................... 4 Features........................................................................................................................................................................... 5 Order codes.................................................................................................................................................................... 6 Electrical and mechanical interfacing ..................................................................................................................... 7 5.1 Dimensions ........................................................................................................................................................... 7 5.2 Connecting the module .................................................................................................................................... 8 5.3 Power supply requirements............................................................................................................................. 9 Operational ratings .................................................................................................................................................... 11 Functional description .............................................................................................................................................. 12 7.1 System architecture .......................................................................................................................................... 12 7.1.1 Microcontroller ........................................................................................................................................ 12 7.1.2 EEPROM ...................................................................................................................................................... 12 7.1.3 TMC428 motion controller ................................................................................................................... 13 7.1.4 Stepper motor drivers ........................................................................................................................... 13 7.2 Power supply ..................................................................................................................................................... 13 7.3 Motor connection .............................................................................................................................................. 13 7.4 Host communication ........................................................................................................................................ 14 7.4.1 CAN 2.0b .................................................................................................................................................... 14 7.4.2 RS232.......................................................................................................................................................... 15 7.4.3 RS485.......................................................................................................................................................... 15 7.5 stallGuard™ - sensorless motor stall detection ...................................................................................... 16 7.5.1 stallGuard™ adjusting tool ................................................................................................................. 16 7.5.2 stallGuard™ profiler .............................................................................................................................. 17 7.6 Reference switches ........................................................................................................................................... 18 7.6.1 Left and right limit switches .............................................................................................................. 18 7.6.2 Triple switch configuration ................................................................................................................. 18 7.6.3 One limit switch for circular systems .............................................................................................. 19 7.7 Serial peripheral interface (SPI) .................................................................................................................... 19 7.8 Additional inputs and outputs ...................................................................................................................... 19 7.9 Miscellaneous connections ............................................................................................................................ 19 7.10 Microstep resolution ........................................................................................................................................ 20 Putting the TMCM-343 into operation .................................................................................................................. 21 Migrating from the TMCM-303 to the TMCM-343 ............................................................................................... 22 TMCM-343 operational description ........................................................................................................................ 23 10.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency ................................. 23 TMCL™ ........................................................................................................................................................................... 25 CANopen ....................................................................................................................................................................... 25 Revision history .......................................................................................................................................................... 26 13.1 Document revision ........................................................................................................................................... 26 13.2 Hardware revision ............................................................................................................................................. 26 13.3 Firmware revision ............................................................................................................................................. 26 References .................................................................................................................................................................... 27 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 3 List of figures Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 4.1: Front view of TMCM-343 (all values in mm)............................................................................................ 7 4.2: Ordering options for the connector ........................................................................................................... 7 4.3: Pin order of the connector ........................................................................................................................... 8 4.4: Power supply requirements for TMCM-343 .............................................................................................. 9 4.5: Power supply requirements for TRINAMIC modules in a bus system .......................................... 10 6.1: Main parts of the TMCM-343 ....................................................................................................................... 12 6.2: Connecting the motors ................................................................................................................................ 14 6.3: Connecting CAN ............................................................................................................................................. 14 6.4: Connecting RS232 .......................................................................................................................................... 15 6.5: Connecting RS485 .......................................................................................................................................... 15 6.6: stallGuard™ adjusting tool ......................................................................................................................... 16 6.7: The stallGuard™ profiler ............................................................................................................................. 17 6.8: Left and right limit switches ...................................................................................................................... 18 6.9: Limit switch and reference switch ........................................................................................................... 18 6.10: One reference switch ................................................................................................................................. 19 List of tables Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table 3.1: Order codes ......................................................................................................................................................... 6 4.1: Pinout of the 68-Pin connector ..................................................................................................................... 8 5.1: Operational ratings ......................................................................................................................................... 11 6.1: Pinning of power supply .............................................................................................................................. 13 6.2: Pinout for motor connections ..................................................................................................................... 13 6.3: Pinout for CAN connection ........................................................................................................................... 14 6.4: Pin out for RS232 connection ...................................................................................................................... 15 6.5: Pinout for RS485 connection ....................................................................................................................... 15 6.6: stallGuard™ parameter SAP 205 ................................................................................................................. 16 6.7: Pinout reference switches ............................................................................................................................ 18 6.8: Pinout SPI .......................................................................................................................................................... 19 6.9: Additional I/O pins ......................................................................................................................................... 19 6.10: Miscellaneous connections ......................................................................................................................... 20 6.11: Microstep resolution setting ...................................................................................................................... 20 9.1: TMC428 velocity parameters ......................................................................................................................... 23 12.1: Document revision ........................................................................................................................................ 26 12.2: Hardware revision ......................................................................................................................................... 26 12.3: Firmware revision ......................................................................................................................................... 26 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 1 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. © TRINAMIC Motion Control GmbH & Co. KG 2011 Information given in this data sheet is believed to be accurate and reliable. However neither 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. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG 4 TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 5 2 Features The TMCM-343 is a compact and versatile triple axis 2-phase stepper motor controller and driver module. It provides a complete motion control solution at a very small size for embedded applications. Using the integrated additional I/Os it even can do complete system control applications. The board can be connected to a baseboard or customized electronics with a pin connector. The TMCM-343 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. Host communication is possible via the serial UART interface (e.g. using an RS232 or RS485 level shifter) or via CAN. All time critical operations, e.g. ramp calculation are performed onboard. A user TMCL™ program can be stored in the on board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. With the optional stallGuardTM feature it is possible to detect overload and stall of the motor. Applications  Controller/driver board for control of up to 3 axes  Versatile possibilities of applications in stand alone or PC controlled mode Motor type  Coil current from 300mA to 1.1A RMS (1.5A peak)  8V to 34V nominal supply voltage Highlights  Automatic ramp generation in hardware  stallGuardTM option for sensorless motor stall detection  Full step frequencies up to 20kHz  On the fly alteration of motion parameters (e.g. position, velocity, acceleration)  Local reference move using sensorless stallGuardTM feature or reference switch  Coil current adjustable by software  Up to 64 times microstepping  TRINAMIC driver technology: No heat sink required  Adjustment possibilities. Therefore this module offers solutions for a great field of demands 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 latest from 1 July 2006  Size: 80 x 50mm² Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 6 4 Order codes Order code TMCM-343 (-option) Products related to TMCM-343 BB-303 (-option) BB-323-03 TMCM-323 TMCM-EVAL Options for TMCM-343 -H -V Description 3-axis controller/driver module 1.1A, 34V Dimensions 80 x 55 x 8 mm3 Baseboard for TMCM-343 Baseboard for TMCM-343 3-axis encoder Evaluation baseboard 80 x 50 x 15 mm3 96.5 x 79 x 60 mm3 80 x 53 x 8 mm3 160 x 100 x 24 mm3 horizontal pin connector (standard) vertical pin connector (on request) Table 4.1: Order codes Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 7 5 Electrical and mechanical interfacing 5.1 Dimensions The 68 pin connector has a 2.0mm pitch. 80 76 4 R1.6 2.2 R1.1 1.2 39.1 36.9 R1.25 24.4 21.9 50 46 9.2 5.4 4 4 10 Figure 5.1: Front view of TMCM-343 (all values in mm) 6.7 53 50 Horizontal connector 9.7 50 Header connector Figure 5.2: Ordering options for the connector (all values in mm) Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 8 5.2 Connecting the module The 68-pin connector provides communication to a host, configuration of the EEPROM and connection of motors 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. Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 Direction In In In In In In In In In In Out Out Out In Out Out In Out In Out In Out In Out In Out In Out In Out Out Out Description +5VDC (+/- 5%) Imax=300mA GND +5VDC (+/- 5%) GND V_Motor (+7 to 34VDC) GND V_Motor (+7 to 34VDC) GND V_Motor (+7 to 34VDC) GND SPI Select 0 SPI Clock SPI Select 1 SPI MISO SPI Select 2 SPI MOSI Reset, active low Alarm Reference Switch Motor 0 right Motor0 A0 Reference Switch Motor 0 left Motor0 A1 Reference Switch Motor 1 right Motor0 B0 Reference Switch Motor 1 left Motor0 B1 Reference Switch Motor 2 right Motor1 A0 Reference Switch Motor 2 left Motor1 A1 Reserved Motor1 B0 Reserved Motor1 B1 Pin 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 Direction out out out out in in out in out in out in out in out in out in out in out in in out in and out in in and out out Description Reserved Motor2 A0 Reserved Motor2 A1 Reserved Motor2 B0 Reserved Motor2 B1 Reserved Shutdown General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose General Purpose GND GND Reserved RS485 Direction CAN RS232 RxD CAN + RS232 TxD Table 5.1: Pinout of the 68-Pin connector 2 68 1 67 PCB Figure 5.3: Pin order of the connector Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG input 0 output 0 input 1 output 1 input 2 output 2 input 3 output 3 input 4 output 4 input 5 output 5 input 6 output 6 input 7 output 7 TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 9 5.3 Power supply requirements Two different power supplies have to be provided for the TMCM-343: +5VDC for the controller part and +7… 34VDC 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 module for the motor supply. This ensures a stable power supply and minimizes noise injected into the power supply cables. The choke especially becomes necessary in larger distributed systems using a common power supply. keep distance short L V_ Motor (7... 34V) + Local +5V regulator TMCM-343 + C (> 1000µF) Power Supply - GND supply for further modules on same base board Figure 5.4: Power supply requirements for TMCM-343 Especially in 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. The following hints help avoiding transmission problems in larger systems:      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 which are mounted in a distance of more than a few meters with the same power supply. 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 baseboard. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 10 keep distance short V_ Motor (7...34V) CAN high TMCM-343 CAN low + + L Power supply C GND V_ Motor (7...34V) CAN high other devices on CAN bus (incl. master) CAN low GND CAN_ GND + L C keep distance short V_ Motor (7...34V) CAN high TMCM-343 CAN low + L C keep distance below a few meters with a single power supply - CAN_ GND GND CAN_ GND Figure 5.5: Power supply requirements for TRINAMIC modules in a bus system  In large systems it may make sense to use an optically decoupled CAN bus for each number of nodes, e.g. for each base board with a number of TMCM-34x modules, 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. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 11 6 Operational ratings The operational ratings show the intended or rather the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded. Symbol Parameter Min Typ Max Unit 7 12 … 28 34 V 4.8 5.0 5.2 V 0 0.3 … 1.5 1.5 A VS DC Power supply voltage for operation V+5V +5V DC input (max. 50mA / no OUT load) ICOIL Motor coil current for sine wave peak (chopper regulated, adjustable via software) fCHOP Motor chopper frequency IS Power supply current (per motor) VINPROT Input voltage for StopL, StopR, GPI0 (internal protection diodes) VANA INx analog measurement range (resolution: 10bit / range: 0..1023) 0 ... 5.5 VINLO INx, StopL, StopR low level input 0 VINHI INx, StopL, StopR high level input (integrated 10k pull-up to +5V for Stop) IOUTI OUTx max +/- output current (CMOS output) (sum for all outputs max. 50mA) TENV Environment temperature at rated current (no cooling) 36.8 -0.5 Table 6.1: Operational ratings Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG 2 -40 kHz