Related Manuals for Trinamic TMCM-310
Summary of Contents for Trinamic TMCM-310
- Page 1 TMCM-310 Hardware Manual Version: 1.25 2009-SEP-15 Trinamic Motion Control GmbH & Co KG Sternstraße 67 D - 20 357 Hamburg, Germany http://www.trinamic.com Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG...
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Page 2: Table Of Contents
Calculation: velocity and acceleration vs. microstep- and fullstep frequency ........ 21 TMCL ....................................23 10 Differences between hardware rev. 1.1 and 2.0 ....................24 11 Revision history ................................25 11.1 Document revision ............................25 11.2 Firmware revision ............................. 25 Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... - Page 3 List of Figures Figure 3.1: Dimensions ................................ 7 Figure 3.2: TMCM-310 Overview ............................8 Figure 5.1: Main parts of the TMCM-310 ........................12 Figure 5.2: StallGuard™ adjusting tool ........................14 Figure 5.3: The StallGuard™ Profiler ..........................15 Figure 5.4: Left and right limit switches ........................16 Figure 5.5: Limit switch and reference switch ......................
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Page 4: Life Support Policy
Specifications are subject to change without notice. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 5: Features
TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 2 Features 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. -
Page 6: Order Codes
42.3 x 42.3 x 33,5 QSH4218-41-10-035 QMot stepper motor 42mm, 1A, 0.35Nm 42.3 x 42.3 x 38 QSH4218-51-10-049 QMot stepper motor 42mm, 1A, 0.49Nm 42.3 x 42.3 x 47 Table 3.1: Order codes Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 7: Electrical And Mechanical Interfacing
CAN connector is upright. The dimensions in Figure 4.1 are the same for rev. 1.x and 2.0. 160,00 155,00 80,00 97,10 5,00 4,50 15,00 10,70 8,40 10,80 14,50 5,00 50,00 155,00 Figure 4.1: Dimensions of TMCM-310 Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 8: Connecting The Module
Figure 4.2: TMCM-310 overview 4.2.1 Power supply The power supply can either be connected to the X504 / X505 "Trinamic Standard" 5.08mm power plug or to the power socket X503 (industry standard power socket with 2.0mm pin diameter). Both connections are electrically identical. -
Page 9: Motor And Stop / Reference Switches
Warning: Never connect or disconnect the motors while the TMCM-310 Module is switched on as this may destroy the driver ICs! The TMCM-310 controls up to three 2-phase stepper motors. The screw terminals for the motors are marked on the board with Motor 0, Motor 1 and Motor 2 (2.54mm pitch). Additionally there are electrically identical 4-pin connectors (2.54mm pitch) for motor and stop switches. -
Page 10: Spi / Programmer
1.1: +5V (Output) Input 0 Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 +5V (Output) Table 4.6: Pinning of additional in- and outputs Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 11: Operational Ratings
(integrated 10k pullup to +5V for Stop) OUTx max +/- output current (CMOS +/-20 OUTI output) (sum for all outputs max. 50mA) Environment temperature at rated current °C (no cooling) Table 5.1: Operational Ratings Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 12: Functional Description
The TMCL operating system can be updated via the RS232 interface. Use the TMCL IDE to do this. 6.1.2 TMCL EEPROM To store TMCL programs for stand alone operation the TMCM-310 module is equipped with a 16kByte EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048 TMCL commands. -
Page 13: Stepper Motor Drivers
2 of the TMCM-310 with pin 3 of the PC, pin 3 of the TMCM-310 with pin 2 of the PC and pin 5 of the TMCM-310 with pin 5 of the PC (so you have to cross pin 2 and 3). -
Page 14: Stallguard™ - Sensorless Motor Stall Detection
TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) stallGuard™ - sensorless motor stall detection The TMCM-310/SG and TMCM-310/SG-CAN modules are equipped with the StallGuard™ option. The stallGuard™ option makes it possible to detect if the mechanical load on a stepper motor is too high or if the traveler has been obstructed. -
Page 15: Stallguard™ Profiler
Yellow: This colour means that there might be some low vibration at this velocity. Red: The red colour means that there is high vibration at that velocity. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 16: Reference Switches
TMCL. 6.4.1 Left and right limit switches The TMCM-310 can be configured so that a motor has a left and a right limit switch (Figure 6.4). The motor then stops when the traveler has reached one of the limit switches. -
Page 17: Triple Switch Configuration
TMCL command SGP 80, 0, n. These inputs and outputs are located on the 20-way box header on the module. For the pin assignments refer to 4.2.5. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 18: Microstep Resolution
If the jumper J101 connects its pins 2 and 3 the programmer port can be used to attach external devices with SPI interface. To access such a device special software drivers must be written. Please get in touch with the Trinamic customer support if you wish to attach external SPI devices. -
Page 19: Programmer Connector (Rev. 2.0)
Normally this is not needed and all these jumpers always have to be closed. On hardware revision 2.0 these jumpers have been eliminated, but it is still possible to connect a different CPU, by cutting four wires on the PCB. Please get in touch with TRINAMIC if you wish to do this. -
Page 20: Putting The Tmcm-310 Into Operation
7 Putting the TMCM-310 into operation On the basis of a small example it is shown step by step how the TMCM-310 is set into operation. For more detailed instructions refer to the TMCM-310 Firmware Manual please. Users who are already familiar with TMCL and other Trinamic modules may skip this chapter. -
Page 21: Tmcm-310 Operational Description
The change in the pulse rate per time unit (pulse frequency change per second – the acceleration (a) is given by: pulse_div ramp_div This results in acceleration in fullsteps of: with af: acceleration in fullsteps usrs Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... - Page 22 1000 119.208 119.208 1,863 If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is: 1907.35 26.49 fullsteps rotation 1907.35 1589.458 fullsteps rotation Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG...
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Page 23: Tmcl
TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 9 TMCL TMCL, the Trinamic Motion Control Language is used to send commands from the host to the TMCM- 310 module and to write programs that can be stored in the EEPROM of the module so that the module can execute the TMCL commands in a stand-alone mode. -
Page 24: Differences Between Hardware Rev. 1.1 And 2.0
10 Differences between hardware rev. 1.1 and 2.0 There are two versions of the TMCM-310: hardware rev 1.1 and hardware rev. 2.0. Both of these versions of the TMCM-310 are compatible with each other, but there are some slight differences. These differences are: Power supply: rev. -
Page 25: Revision History
Chapter 5.3 corrected 1.25 2009-SEP-15 Minor changes Table 11.1: Document revision 11.2 Firmware revision Version Comment Description 3.24 Initial Release Please refer to the TMCM-310 Firmware Manual Table 11.2: Firmware revision Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... - Page 26 TMCM-310 TMCL Hardware Manual (V1.25/2009-SEP-15) 12 References [TMCM-310] TMCM-310 Firmware Manual (see www.trinamic.com) [QSH-4218] QMot Motor QSH-4218 Manual (see www.trinamic.com) Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG...
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