Controller/driver module up to 10a rms/12...48v dc can, rs232/rs485 optional, mechatronic device with 57 mm bldc servo motor up to 10a rms/12...48v dc can, rs232/rs485 optional incremental encoder hall sensors (18 pages)
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 10 TMCM-343 operational description ........................23 10.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency ......... 23 11 TMCL™...
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Figure 4.3: Pin order of the connector ........................... 8 Figure 4.4: Power supply requirements for TMCM-343 ....................9 Figure 4.5: Power supply requirements for TRINAMIC modules in a bus system .......... 10 Figure 6.1: Main parts of the TMCM-343 ........................12 Figure 6.2: Connecting the motors ..........................
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 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.
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TMCM-343 CAN low 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.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 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.
The TMCM-343 module is equipped with a circuit that extends the microstep resolution of the TMC246 chips to true 64 times microstepping. The maximum peak coil current of each stepper motor driver chip is 1500mA.
2, 4, 6, 8, 10 Connect to ground Table 7.5: Pinout for RS485 connection The TMCM-343 module only provides a serial interface at TTL level. To use RS485 a suitable RS485 transceiver (like MAX485) has to be added by the user. Transceiver...
7.5 stallGuard™ - sensorless motor stall detection The TMCM-343 modules are equipped with the stallGuard™ feature. The stallGuard™ feature makes it possible to detect if the mechanical load on a stepper motor is too high or if the traveler has been obstructed.
10k pull-up resistors for reference switches are included on the module. 7.6.1 Left and right limit switches The TMCM-343 can be configured so that a motor has a left and a right limit switch (Figure 7.8). The motor stops when the traveler has reached one of the limit switches.
(please see the TMCM-341/342/343 TMCL™ Firmware Manual for information on this). 7.10 Microstep resolution The TMCM-343 supports a true 64 microstep resolution. To meet your needs, the microstep resolution can be set using the TMCL™ software. The default setting is 64 microsteps, which is the highest resolution.
TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 8 Putting the TMCM-343 into operation On the basis of a small example it is shown step by step how the TMCM-343 is set into operation. Experienced users could skip this chapter and proceed to chapter 9.
The connector of the TMCM-343 is identical to the connector of the TMCM-303, so that a TMCM-343 can just be plugged into the slot for a TMCM-303 (it can also use the same base boards as the TMCM-303). Also the TMCL™ firmware of the TMCM-343 is highly compatible with the TMCM-303.
12 CANopen The TMCM-343 module can also be used with the CANopen protocol. For this purpose, a special CANopen firmware has to be installed. To do that, download the latest version of the TMCM-343 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).
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