User Manuals: Trinamic TMCM-351 Motor Controller

Manuals and User Guides for Trinamic TMCM-351 Motor Controller. We have 4 Trinamic TMCM-351 Motor Controller manuals available for free PDF download: Manual, Firmware Manual, Hardware Manual

Trinamic TMCM-351 Manual (88 pages)

Brand: Trinamic | Category: Control Unit | Size: 1 MB

Table of Contents
2
1 Life Support Policy

6
2 About this Document

7
3 Features

8
4 Order Codes

13
5 Communication

14
- Reference Model
  14
- NMT State Machine
  15
- Figure 5.1: Overview Canopen NMT State Machine
  15
- Figure 5.2: Communication Architecture
  16
- Device Model
  17
- Figure 5.3: Device Model
  17
- Object Dictionary
  18
6 Communication Objects

19
- Detailed Object Specifications
  19
7 Device Profile Objects (Cia402) and Modes of Operation

37
8 Manufacturer Specific Area

70
- Detailed Object Specifications
  70
  - Object 2000
    70
- Microstep Resolution
  70
  - Object 2001
    70
- Fullstep Resolution
  70
  - Object 2002
    71
- And 2402 : Brake Delay Times
  71
  - Object 2003
    71
  - H : Maximum Current
    71
    
    Figure 8.1: Brake Output Timing
    71
    
    Object 2004
    72
- 2204 : Standby Current
  72
  - Object 2005
    72
  - Limit Switches
    72
    
    Object 2006
    73
- And 2406 : Mixed Decay Threshold
  73
  - Object 2007
    73
- And 2407 : Stall Detection Threshold
  73
  - Object 2009
    73
  - Fullstep Threshold
    73
    
    Object 200A , and 240A : Enable Drive Delay Time
    74
- 220A
  74
- And 2500 : Home Offset Display
  78
  - Object 2101 , and 2501 : Actual Stallguard™ Load Value
    78
  - Object 2102
    78
- And 2502 : Driver Error Flags
  78
  - Object 2103
    79
- And 2503 : Pulse Divisor Display
  79
  - Object 2104
    79
- And 2504 : Maximum Velocity Display
  79
  - Object 2105
    79
- And 2505 : Ramp Divisor Display
  79
  - Object 2106 , 2306 , and 2506 : Maximum Acceleration Display
    80
  - Object 2107
    80
- And 2507 : Microstep Resolution Display
  80
9 Emergency Messages

85
10 Revision History

87
- Firmware Revision
  87
- Document Revision
  87
11 References

88

Trinamic TMCM-351 Manual (89 pages)

Brand: Trinamic | Category: Control Unit | Size: 2 MB

Trinamic TMCM-351 Firmware Manual (80 pages)

3-Axis Stepper Controller / Driver 2.8 A / 24 V SPI, RS232, RS485, CAN, and USB Encoder Interface

Brand: Trinamic | Category: Computer Hardware | Size: 2 MB

Table of Contents
2
Features
4
Putting the TMCM-351 into Operation
5
Starting up
5
Testing with a Simple TMCL Program
8
Testing Without Encoder
8
Testing with Encoder
9
Operating the Module in Direct Mode
10
Overview
11
TMCL and TMCL-IDE
11
Binary Command Format
11
Checksum Calculation
12
Reply Format
12
Status Codes
13
Standalone Applications
13
TMCL Command Overview
14
TMCL Commands
14
Commands Listed According to Subject Area
15
The ASCII Interface
20
Command Line Format
20
Format of a Reply
20
Commands Used in ASCII Mode
20
Configuring the ASCII Interface
21
Commands
22
ROR (Rotate Right)
22
ROL (Rotate Left)
23
MST (Motor Stop)
24
MVP (Move to Position)
25
SAP (Set Axis Parameter)
27
GAP (Get Axis Parameter)
28
STAP (Store Axis Parameter)
29
RSAP (Restore Axis Parameter)
30
SGP (Set Global Parameter)
31
GGP (Get Global Parameter)
32
STGP (Store Global Parameter)
33
RSGP (Restore Global Parameter)
34
RFS (Reference Search)
35
SIO (Set Output)
36
GIO (Get Input/Output)
38
CALC (Calculate)
41
COMP (Compare)
42
JC (Jump Conditional)
43
JA (Jump Always)
44
CSUB (Call Subroutine)
45
RSUB (Return from Subroutine)
46
WAIT (Wait for an Event to Occur)
47
STOP (Stop TMCL Program Execution)
48
SAC (SPI Bus Access)
49
SCO (Set Coordinate)
50
GCO (Get Coordinate)
51
CCO (Capture Coordinate)
52
ACO (Accu to Coordinate)
53
CALCX (Calculate Using the X Register)
54
AAP (Accumulator to Axis Parameter)
55
AGP (Accumulator to Global Parameter)
56
CLE (Clear Error Flags)
57
VECT (Set Interrupt Vector)
58
EI (Enable Interrupt)
59
DI (Disable Interrupt)
61
RETI (Return from Interrupt)
63
Customer Specific TMCL Command Extension (User Function)
64
Request Target Position Reached Event
65
BIN (Return to Binary Mode)
65
TMCL Control Functions
66
Axis Parameters
67
Global Parameters
71
Bank 0
71
Bank 1
71
Bank 2
74
Bank 3
75
Hints and Tips
76
Reference Search
76
Changing the Prescaler Value of an Encoder
77
Stall Detection
78
Fixing Microstep Errors
78
Using the RS485 Interface
78
Life Support Policy
79
Revision History
80
Firmware Revision
80
Document Revision
80
References
80

Trinamic TMCM-351 Hardware Manual (30 pages)

3-axis stepper motor controller and driver board 2.8A RMS 7...28.5V DC SPI, RS232, RS485, CAN, and USB Encoder interface

Brand: Trinamic | Category: Controller | Size: 0 MB

Table of Contents
2
1 Life Support Policy

3
2 Features

4
3 Order Codes

5
4 Mechanical and Electrical Interfacing

6
- Dimensions
  6
- Connectors
  7
  - Power Connector
    9
  - Motor Connector
    9
  - Reference Connector
    10
  - Analog Input Connector
    12
  - USB Connector
    12
  - RS232 Connector
    12
  - CAN Connector
    13
  - RS485 Connector
    13
  - SPI Connector
    13
  - I/O Connector
    14
  - Encoder_0/1/2 Connector
    16
- Jumpers
  17
5 Operational Ratings

19
6 Functional Description

21
- System Architecture
  21
  - Microcontroller
    21
  - Eeprom
    22
  - TMC428 Motion Controller
    22
  - Stepper Motor Drivers
    22
- Stallguard™ - Sensorless Motor Stall Detection
  22
  - Stallguard™ Adjusting Tool
    23
  - Stallguard™ Profiler
    23
- Microstep Resolution
  24
7 TMCM-351 Operational Description

25
- Calculation: Velocity and Acceleration Vs. Microstep and Fullstep Frequency
  25
8 Tmcl

27
9 Canopen

28
10 Revision History

29
- Document Revision
  29
- Hardware Revision
  29
11 References

30

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More Trinamic Manuals

User Manuals: Trinamic TMCM-351 Motor Controller

Trinamic TMCM-351 Manual (88 pages)

Table of Contents

1 Life Support Policy

2 About this Document

3 Features

4 Order Codes

5 Communication

6 Communication Objects

7 Device Profile Objects (Cia402) and Modes of Operation

8 Manufacturer Specific Area

9 Emergency Messages

10 Revision History

11 References

Trinamic TMCM-351 Manual (89 pages)

Table of Contents

Trinamic TMCM-351 Firmware Manual (80 pages)

Table of Contents

Trinamic TMCM-351 Hardware Manual (30 pages)

Table of Contents

1 Life Support Policy

2 Features

3 Order Codes

4 Mechanical and Electrical Interfacing

5 Operational Ratings

6 Functional Description

7 TMCM-351 Operational Description

8 Tmcl

9 Canopen

10 Revision History

11 References

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