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 Socket Function 4 3 2 1 4 3 2 1 4 3 2 1 4 3 2 1 for Hardware rev. 2.0: 4 3 2 1 B1 B0 A1 A0 R TMC236 or TMC246 L R B1 B0 A1 A0 TMC236 or TMC246 GND Blank1 (J400) L +5v B1 B0 A1 A0 GND +Vs +Vs= 12..28V DC GND Function Motor coil A0 Motor coil A1 Motor coil B0 Motor coil B1 Right limit switch Left limit switch Ground +5V power supply L +VS R TMC236 or TMC246 J100, J101: rev 1.0 only X102: rev 2.0 only Blank2 (J401) TMC428 CAN Termination (J500) SPI jumpers (J200) (always closed, rev. 1.0 only) ATmega 32 X102 J101 J100 Programmer / SPI Pin 1 Pin 1 CAN bus (optional) 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) M STOP 2 rev. 2.0 4 3 2 1 GND STOP X CAN (optional) CAN_L GND GND (optional) CAN_H Pin 1 2 3 4 1 2 3 4 M +5v Motor X M Motor 2 STOP 1 rev. 2.0 RS232 RxD TxD GND STOP 0 GND Pin 2 3 5 6 7 Motor 1 Motor 0 +7..34V DC Ground +5v Pin Ring rev. 2.0 VS GND 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! RS232 Connectors: Signal Output Output Output Output GND 1 3 5 7 Pin 1 Additional Inputs and Outputs (X300) 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 Reset button TMCL-IDE: 2. 1. Make sure the COM port you intend to use is not blocked by an other program. 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 Assemble 3. Choose Setup and Options… and then the connection tab. 6. Stop Run Click “Assemble” first, then “Download” and “Run” button to start the program. 4. Choose COM port and type in parameters shown above (baudrate 9600). Click OK. 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. "Direct Mode" 7. Stop all running programs by clicking “Stop button” and start “Direct Mode”. 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 <motor no.>, <Value> ROL (don´t care) 0..2047 Rotate left ROL <motor no.>, <Value> MST (don´t care) Motor stop MST <motor no.>, <Value> MVP ABS|REL|COORD 23 bit Move to pos. MVP <type>, <motor no.>, <Value> 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 <type no.>,<motor no.>,<Value> Sets motion and control parameters GAP <type no.>, <motor no.> 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)