TRINAMIC MCM-351-E Modules for stepper motor Datasheet

MODULES FOR STEPPER MOTORS
MODULES
Hardware Version V1.20
HARDWARE MANUAL
+
+
TMCM-351
3-Axis Stepper
Controller / Driver
2.8 A / 24 V
SPI, RS232, RS485, CAN, and USB
Encoder Interface
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
Table of Contents
1
2
3
Features ........................................................................................................................................................................... 3
Order Codes ................................................................................................................................................................... 4
Mechanical and Electrical Interfacing ..................................................................................................................... 5
3.1
Dimensions ............................................................................................................................................................ 5
3.2
Connectors ............................................................................................................................................................. 6
3.2.1 Power Connector ........................................................................................................................................... 8
3.2.2 Motor Connector ............................................................................................................................................ 8
3.2.3 Reference Connector ..................................................................................................................................... 9
3.2.4 Analog Input Connector ............................................................................................................................ 11
3.2.5 USB Connector .............................................................................................................................................. 11
3.2.6 RS232 Connector .......................................................................................................................................... 11
3.2.7 CAN Connector ............................................................................................................................................. 11
3.2.8 RS485 Connector .......................................................................................................................................... 12
3.2.9 SPI Connector ............................................................................................................................................... 12
3.2.10 I/O Connector ............................................................................................................................................... 13
3.2.11 Encoder_0/1/2 Connector ........................................................................................................................... 15
3.3
Jumpers................................................................................................................................................................. 16
3.3.1 J1: RS485 Bus Termination ........................................................................................................................ 16
3.3.2 J2: RS232 / RS485 Interface Selection .................................................................................................... 16
3.3.3 J3: CAN Bus Termination ........................................................................................................................... 17
3.3.4 J4 – J12: Encoder Input Termination...................................................................................................... 17
3.3.5 Enable All Driver Stages Permanently ................................................................................................... 17
4
Operational Ratings ................................................................................................................................................... 18
5
Functional Description .............................................................................................................................................. 20
5.1
System Architecture .......................................................................................................................................... 20
5.1.1 Microcontroller ............................................................................................................................................. 20
5.1.2 EEPROM ........................................................................................................................................................... 20
5.1.3 Motion Controller ........................................................................................................................................ 21
5.1.4 Stepper Motor Drivers ................................................................................................................................ 21
5.2
stallGuard™ - Sensorless Motor Stall Detection ...................................................................................... 21
5.2.1 stallGuard Adjusting Tool ......................................................................................................................... 22
5.2.2 stallGuard Profiler ........................................................................................................................................ 22
5.3
Microstep Resolution ........................................................................................................................................ 23
6
TMCM-351 Operational Description ........................................................................................................................ 24
6.1
Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 24
7
TMCL™ ........................................................................................................................................................................... 26
8
CANopen ....................................................................................................................................................................... 26
9
Life Support Policy ..................................................................................................................................................... 27
10 Revision History .......................................................................................................................................................... 28
10.1 Document Revision ........................................................................................................................................... 28
10.2 Hardware Revision ............................................................................................................................................ 28
11 References..................................................................................................................................................................... 28
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2
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
3
1 Features
The TMCM-351 is a powerful three axes bipolar stepper motor controller/driver board with optional encoder
interface for all three axes and a large number of general purpose digital and analogue input/outputs.
Several different serial communication interfaces are available.
MAIN CHARACTERISTICS
Electrical data
Supply voltage: +24V DC nominal (28.5V DC max.)
Motor current: up to 2.8A RMS per axis (programmable)
Stepper motor data
two phase bipolar stepper motors with up to 2.8A RMS coil current
optional incremental encoder interface (a/b/n), accepts differential or single ended input signals
Interfaces
2 reference switch inputs per motor axis (6 altogether, internal pull-up resistors, +24V compatible)
8 general purpose inputs (+24V compatible)
8 general purpose outputs incl. two power outputs (all open-collector)
1 shutdown input (enable/disable driver stage in hardware)
4 dedicated analogue inputs (programmable 3.3V/10V input range)
SPI™1 connector with three chip select signals for I/O extension
RS232, RS485, CAN and USB serial communication interfaces
Features
High-efficient operation, low power-dissipation (TMC249 stepper driver with external MOSFETs)
Dynamic current control
Integrated Protection
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
Motion profile calculation in real-time (TMC429 motion controller)
Each axis individually and independently programmable
Supports up to 64 microsteps per fullstep
Integrated stallGuard™ for motor stall detection (e.g. elimination of end switches)
Closed-loop operation with TMCL possible (when using the optional incremental encoder interface)
Software
TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL commands)
Fully supported by TMCL-IDE (PC based integrated development environment)
Optional CANopen firmware
1
SPI™ is a trademark of Motorola
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
4
2 Order Codes
The TMCM-351 is available with encoder interface and with standard TMCL firmware or CANopen firmware.
Order code
TMCM-351-E
TMCM-351-E-CANopen
Dimensions
Description
TMCM-351 with encoder interface and TMCL 160 x 100 x 29 mm3
firmware
TMCM-351 with encoder interface and 160 x 100 x 29 mm3
CANopen firmware
Related motors:
QSH5718
57mm/NEMA23, 1.8˚ step angle
QSH6018
60mm/NEMA24, 1.8˚ step angle
Table 2.1 Order codes
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57.2 x 57.2 x 41/55/ 78.5
mm
60.5 x 60.5 x 45/56/ 65/86
mm
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
5
3 Mechanical and Electrical Interfacing
3.1 Dimensions
The TMCM-351 three axes controller driver board has a board size of 160mm x 100mm (standard euro board
format). There are four mounting holes altogether for M3 screws placed at a distance of 4mm from each
corner of the board (Figure 4.1). The high measures 29mm.
160
4
Ø 3.2
4
4
4
100
TMCM-351
4
4
4
Ø 3.2
Figure 3.1 Dimensions of TMCM-351
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4
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
6
3.2 Connectors
The TMCM-351 has connectors for three motors, related reference switches, three encoders, analog and
digital inputs and outputs and several serial interfaces (RS232, RS485, CAN and USB). On the next page you
will find a table with all connector types and their mating ones.
The TMCM-351 TMCL Firmware Manual (see www.trinamic.com) includes a section about putting the TMCM351 into operation.
Analog input 0/1
connector
Power
connector
Motor
connector
Analog input 2/3
connector
Reference
connector
USB
connector
J1 : RS 485 bus termination
RS485
connector
RS232
connector
J2 : RS 232 / RS 485 selection
J 4 - J12 : Encoder input termination
J3 : CAN bus termination
Encoder_ 0
connector
Encoder_ 1
connector
Encoder_2
connector
Figure 3.2 Connectors of TMCM-351
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I/O
connector
SPI
connector
CAN
connector
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
7
CONNECTOR TYPES AND MATING CONNECTORS
Domain
Power
Motor
Reference
Analog input
USB
RS232
CAN
SPI
I/O
Encoder
Connector type
RIA type 320, 2 pol., grid dimension 5
RIA type 183, 12 pol., grid dimension 3.5
MOLEX type 6410, 2.54 mm KK header,
vertical friction lock
RIA type 183, 12 pol., grid dimension 3.5
MOLEX type 6410, 2.54 mm KK header, 4
pol., vertical friction lock
MOLEX type 6410, 2.54 mm KK header,
vertical friction lock
USB, type B, 4 pol., vertical, female
DSUB, vertical, 9 pol., female
DSUB, vertical, 9 pol., male
low profile box header without locking
bar, type 8289, 10 pol., DIN 41651, 2.54
(AVX 00 8380 010 000 01 0)
low profile box header without locking
bar, type 8380, 20 pol., DIN 41651, 2.54
(AVX 00 8380 020 000 01 0)
low profile box header without locking
bar, type 8289, 10 pol., DIN 41651, 2.54
(AVX 00 8380 010 000 01 0)
Mating connector type
RIA type 349, 2 poles, grid dimension 5
RIA type 169, 12 pol.., grid dimension 3.5
MOLEX type 2045, 2.54 mm crimp housing,
receptacle, 4 pol.
RIA type 169, 12 pol.., grid dimension 3.5
MOLEX type 2045, 2.54 mm crimp housing,
receptacle, 4 pol.
MOLEX type 2045, 2.54 mm crimp housing,
receptacle, 4 pol.
USB, type B, 4 pol., male
DSUB, 9 pol., male
DSUB, 9 pol., female
low profile IDC socket connector, 10pol.,
DIN41651, 2.54
(AVX 00 8290 010 001 01 1)
low profile IDC socket connector, 20pol.,
DIN41651, 2.54
(AVX 00 8290 020 001 01 1)
low profile IDC socket connector, 10pol.,
DIN41651, 2.54
(AVX 00 8290 010 001 01 1)
Table 3.1 Connectors and mating connectors of the TMCM-351
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.2.1 Power Connector
A 2-pin detachable screw connector is used for power supply.
1 2
Pin
Label
Description
1
2
GND
VDD
Module ground (power supply and signal ground)
Power supply input, nom. +24V DC (+7… +28.5V DC)
Table 3.2 Power connector
3.2.2 Motor Connector
For the three motors there are two connector options: either one detachable screw connector (for
prototyping, smaller series) or three separate crimp connectors (for higher volume series).
1
12
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Label
Motor_0_BMotor_0_B+
Motor_0_AMotor_0_A+
Motor_1_BMotor_1_B+
Motor_1_AMotor_1_A+
Motor_2_BMotor_2_B+
Motor_2_AMotor_2_A+
Description
Motor 0, coil
Motor 0, coil
Motor 0, coil
Motor 0, coil
Motor 1, coil
Motor 1, coil
Motor 1, coil
Motor 1, coil
Motor 2, coil
Motor 2, coil
Motor 2, coil
Motor 2, coil
B
B
A
A
B
B
A
A
B
B
A
A
Table 3.3 Motor connector (detachable screw connector)
1
4
Pin
1
2
3
4
Label
Motor_0/1/2_BMotor_0/1/2_B+
Motor_0/1/2_AMotor_0/1/2_A+
Table 3.4 Motor connector (crimp connector)
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Description
Motor 0/1/2,
Motor 0/1/2,
Motor 0/1/2,
Motor 0/1/2,
coil
coil
coil
coil
B
B
A
A
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.2.3 Reference Connector
For the reference switch inputs (two reference switch inputs are supported for each motor) there are two
connector options: either one detachable screw connector (for prototyping, smaller series) or three separate
crimp connectors (for higher volume series).
1
12
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Label
REF_0_R
REF_0_L
GND
+5V
REF_1_R
REF_1_L
GND
+5V
REF_2_R
REF_2_L
GND
+5V
Description
Motor 0, right reference / stop switch input
Motor 0, left reference / stop switch input
System / module ground
+5V supply output for active switches
Motor 1, right reference / stop switch input
Motor 1, left reference / stop switch input
System / module ground
+5V supply output for active switches
Motor 1, right reference / stop switch input
Motor 1, left reference / stop switch input
System / module ground
+5V supply output for active switches
Table 3.5 Reference connector (detachable screw connector)
1
4
Pin
1
2
3
4
Label
REF_0/1/2_R
REF_0/1/2_L
GND
+5V
Description
Motor 0/1/2, right reference / stop switch input
Motor 0/1/2, left reference / stop switch input
System / module ground
+5V supply output for active switches
Table 3.6 Reference connector (crimp connector)
To motion controller TMC428
To motion controller TMC428
Figure 3.3 Internal Reference connector circuit (for one motor axis)
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.2.3.1 Left and Right Limit Switches
The TMCM-351 can be configured so that a motor has a left and a right limit switch (Figure 3.4).
The motor stops when the traveler has reached one of the limit switches.
REF _ R _x
REF _ L _x
motor
right stop
switch
left stop
switch
traveler
Figure 3.4 Left and right limit switches
3.2.3.2 Triple Switch Configuration
It is possible to program a tolerance range around the reference switch position. This is useful for a triple
switch configuration, as outlined in Figure 3.5. In that configuration two switches are used as automatic
stop switches, and one additional switch is used as the reference switch between the left stop switch and
the right stop switch. The left stop switch and the reference switch are wired together. The center switch
(travel switch) allows for a monitoring of the axis in order to detect a step loss.
REF _ L _x
REF _ R_x
motor
left stop
reference
switch
switch
right stop
switch
traveler
Figure 3.5 Limit switch and reference switch
3.2.3.3 One Limit Switch for Circular Systems
If a circular system is used (Figure 3.6), only one reference switch is necessary, because there are no endpoints in such a system.
motor
REF _ L _x
ref switch
eccentric
Figure 3.6 One reference switch
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.2.4 Analog Input Connector
The board has four dedicated analog inputs with programmable input range (0… +3.3V or 0… +10V). There are
two connectors with two analog inputs connected to each connector
Pin
1
2
3
4
4
1
Label
Analog_0/2
GND
Analog_1/3
GND
Description
Analog input 0/2
System / module ground
Analog input 1/3
System / module ground
Table 3.7 Analog input connector
3.2.5 USB Connector
The board includes an USB interface for serial communication. A standard USB type B connector is used for
this purpose. USB is one out of four different interfaces available for communication with the board.
Pin
Label
1 4
1
+5V
2 3
2
3
4
USBUSB+
GND
Description
Board is self-powered – just use to detect availability
of attached host system (e.g. PC)
Differential USB bus
Differential USB bus
System / module ground
Table 3.8 USB connector
3.2.6 RS232 Connector
The board includes an RS232 interface for serial communication. A standard DSUB 9-pin female connector is
used for this purpose. RS232 is one out of four different interfaces available for communication with the
board.
5
1
9
6
Pin
2
3
5
1, 4, 6, 7, 8, 9
Label
RS232_TxD
RS232_RxD
GND
n.c.
Description
RS232 transmit serial data
RS232 receive serial data
System / board ground
Pins not used / not connected
Table 3.9 RS232 connector
Please verify the setting of J2 (selection of RS232 or RS485 interface in section 3.3.2) for a proper operation
of the RS232 connection.
3.2.7 CAN Connector
The board includes a CAN interface for serial communication. A standard DSUB 9-pin male connector is used
for this purpose. CAN is one out of four different interfaces available for communication with the board.
5
1
6
9
Pin
2
7
3, 6
Label
CAN_L
CAN_H
GND
n.c.
Description
CAN differential bus
CAN differential bus
System / board ground
Pins not used / not connected
Table 3.10 CAN connector
Please verify the setting of J3 (CAN bus termination in section 3.3.3) for a proper operation of the CAN
connection.
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.2.8 RS485 Connector
The board includes an RS485 interface for serial communication. A 4-pin detachable screw connector is used
for this purpose. RS485 is one out of four different interfaces available for communication with the board.
Pin
1
2
3
4
4
1
Label
RS485+
RS485RS485+
RS285-
Description
RS485 differential
RS485 differential
RS485 differential
RS485 differential
bus
bus
bus
bus
(connected
(connected
(connected
(connected
to
to
to
to
pin
pin
pin
pin
3)
4)
1)
2)
Table 3.11 RS485 connector
Please verify the settings of J1 (RS485 bus termination in section 3.3.1) and J2 (selection of RS232 or RS485
interface in section 3.3.2) for a proper operation of the RS485 connection.
3.2.9 SPI Connector
For extension of the available inputs and outputs an SPI interface is available. A standard 2.54mm pitch two
row header is used as connector for the external SPI interface.
9
1
10
2
Table 3.12 SPI connector
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Pin
1
3
5
7
9
Label
SPI_MOSI
SPI_MISO
SPI_CLK
SPI_SEL0
SPI_SEL1
Pin
2
4
6
8
10
Label
GND
GND
GND
SPI_SEL2
+5V_output
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.2.10 I/O Connector
The I/O connector offers 8 digital and analog inputs and 8 digital outputs. All inputs are +24V compatible. All
outputs offer open collector driver stages. OUT_0/1/2/3/4/5 can sink up-to 100mA, OUT_6/7 are more powerful
and can drive up to 2A. A standard 2.54mm pitch two row header is used for this connector (refer to Figure
3.8 please).
19
1
20
2
Pin
1
3
5
7
9
11
13
15
17
19
Label
OUT_0
OUT_2
OUT_4
OUT_6
+5V_output
IN_0
IN_2
IN_4
IN_6
/Shutdown*
Pin
2
4
6
8
10
12
14
16
18
20
Label
OUT_1
OUT_3
OUT_5
OUT_7
GND
IN_1
IN_3
IN_5
IN_7
VDD
Table 3.13 I/O connector
* The /Shutdown input pin has to be connected to the supply voltage in order to enable the driver stages
for all three stepper motor axes. A jumper between pin 19 and pin 20 can be used to permanently enable
drivers (please refer to section 3.3.5 for detailed information).
+24V
GPI
+24V
+24V
+24V
galvanic isolation
freewheeling
diode
integrated
on-board
opto-coupler
GPO
GPO
GPO
Figure 3.7 Examples for possible wirings for GPI and GPO
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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+24V
1kOO
100pF
+24V
100pF
OUT_0
GND
GND
GND
1kOO
GND
GND
+24V
GND
GND
GND
100pF
1kOO
OUT_3
1kOO
GND
100pF
OUT_4
GND
100pF
+24V
100pF
OUT_2
OUT_1
1kOO
OUT_5
1kOO
GND
GND
100pF
100pF
OUT_6
OUT_7
220R
220R
GND
GND
+5V
+5V
+5V
GND
+5V_FILTER
GND
1
3
5
7
9
11
13
15
17
19
+5V
2
4
6
8
10
12
14
16
18
20
GND
+5V
+5V
+5V
+5V
GND
GND
GND
GND
HEADER
GND
GND
GND
GND
10k
10k
IN_0
IN_1
10k
10k
IN_2
IN_3
10k
10k
IN_4
IN_5
10k
10k
+24V
IN_6
IN_7
100pF
100pF
100pF
100pF
100pF
100pF
100pF
100pF
10k
10k
10k
10k
10k
10k
10k
10k
GND GND GND GND GND GND GND GND
GND GND GND GND GND GND GND GND
/SHUTDOWN
+5V
>=1
10kO
100pF
GND
GND
GND
/DRIVER ENABLE
Figure 3.8 Internal I/O connector circuit
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>=1
>=1
/ENABLE
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.2.11 Encoder_0/1/2 Connector
Three connectors (one encoder interface connector per axis) are available. A standard 2.54mm pitch two row
header is used for connecting an encoder. Differential and single ended incremental encoders with/without
zero/index channel are supported.
PLEASE CONNECT AS FOLLOWS:
Single ended encoder
GND to pin 1 and/or 2
+5V to pin 7 and/or 8
A to pin 5
N to pin 3
B to pin 9
Differential encoder
GND to pin 1 and/or 2
+5V to pin 7 and/or 8
A+ to pin 5, A- to pin 6
N+ to pin 3, N- to pin 4
B+ to pin 9, B- to pin 10
9
1
10
2
Pin
1
3
5
7
9
Label
GND
Encoder_0/1/2_N+
Encoder_0/1/2_A+
+5V_output
Encoder_0/1/2_B+
Pin
2
4
6
8
10
Label
GND
Encoder_0/1/2_NEncoder_0/1/2_A+5V_output
Encoder_0/1/2_B-
Table 3.14 Encoder connector
B+
B-
A+
N+
AN-
Encoder A
Encoder B
Encoder N
Figure 3.9 Internal encoder connector circuit (for one encoder connector)
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.3 Jumpers
Most settings of the board are done through the software. Nevertheless, a few jumpers are available for
configuration.
RS485 bus
termination
RS232/RS485
interface
selection
CAN bus
termination
Encoder input termination
Enable all driver stages
Figure 3.10 Configuration with jumpers
3.3.1 J1: RS485 Bus Termination
The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface. When this jumper
is closed, the resistor will be placed between the two differential bus lines RS485+ and RS485-.
3.3.2 J2: RS232 / RS485 Interface Selection
This 3-pin single row header is used for selecting one of two desired serial interfaces: RS232 or RS485 using
a jumper:
RS 232 interface
selection
RS 485 interface
selection
Figure 3.11 RS232/RS485 interface selection
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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3.3.3 J3: CAN Bus Termination
The board includes a 120 Ohm resistor for proper bus termination of the CAN interface. When this jumper is
closed, the resistor will be placed between the two differential bus lines CAN_H and CAN_L.
3.3.4 J4 – J12: Encoder Input Termination
For enhanced reliability differential encoder signals should be terminated properly. The board offers
termination resistors (120 Ohm) for all three encoder interface signals (a/b/n) for all three encoders. By
setting jumpers, these resistors will be placed between the differential encoder signals. Do not set these
jumpers in case encoders with single ended signals are used.
Place jumpers for
proper temrination
Figure 3.12 Encoder input termination
3.3.5 Enable All Driver Stages Permanently
The /Shutdown input pin has to be connected to the supply voltage in order to enable the driver stages for
all three stepper motor axes. A jumper between pin 19 and pin 20 can be used to permanently enable
drivers.
19
1
20
2
Figure 3.13 Enable all driver stages permanently
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
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4 Operational Ratings
The operational ratings shown below should be used as design values. In no case should the maximum
values been exceeded during operation.
Symbol
VDD
ICOIL_peak
ICOIL_RMS
ISUPPLY
I+5V_OUTPUT
TENV
Parameter
Power supply voltage for operation
Motor coil current for sine wave peak
(chopper regulated, adjustable via software)
Continuous motor current (RMS)
Power supply current
Current available from on-board +5V output
(e.g. via Encoder connector 0/1/2, Reference
connector etc.) for external devices, e.g.
encoder supply, reference switches etc.
Summarized for all +5V connections together.
Environment temperature at rated current (no
forced cooling required)
Environment temperature at 80% of rated
current
or
50%
duty
cycle
(no forced cooling required)
Min
7
Typ
24
Max
28.5
Unit
V
4
A
2.8
1.4 * ICOIL
A
A
300
mA
-20
+40 *)
°C
-20
+60 **)
°C
0
0
<< ICOIL
Table 4.1 General operational ratings of the module
*) Please note: rated current of 2.8A RMS and 4A peak is reached with setting SAP 6, <motor>, 228 (see
TMCM-351 TMCL firmware manual [TMCL]). Same value for CANopen firmware (see CANopen manual
[CANopen])
**) Please note: tested with setting SAP 6, <motor>, 180 (see TMCM-351 TMCL firmware manual). Same value
for CANopen firmware (see CANopen manual)
Symbol
Parameter
VREF_0/1/2_L/R
Input voltage for reference switch inputs
REF_0/1/2_L and REF_0/1/2_R
VREF_0/1/2_L/R_L
VREF_0/1/2_L/R_H
Max
Unit
0
28.5
V
Low level voltage for reference switch inputs
REF_0/1/2_L / REF_0/1/2_R
0
0.8
V
High level voltage for reference switch inputs
REF_0/1/2_L / REF_0/1/2_R
2.0
28.5
V
Table 4.2 Operational ratings of the reference switch inputs
www.trinamic.com
Min
Typ
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
Symbol
Parameter
VOUT_0..7
Voltage at open collector / open drain output
IOUT_0/1/2/3/4/5
Output sink current for OUT_0/1/2/3/4/5
IOUT_6/7
Output sink current for OUT_6 and OUT_7
VIN_ 0/1/2/3/4/5/6/7
Input voltage for general purpose digital
inputs IN_0/1/2/3/4/5/6/7
VIN_0/1/2/3/4/5/6/7_L
19
Max
Unit
VDD
V
100
mA
1
A
0
28.5
V
Low level voltage for general purpose digital
inputs IN_1/2/3/4/5/6/7
0
1.6
V
VIN_0/1/2/3/4/5/6/7_H
High level voltage for general purpose digital
inputs IN_1/2/3/4/5/6/7
4
28.5
V
VAnalog_0!1/2/3
Full scale input voltage range for analog
voltage inputs
(programmable voltage divider switched off)
0
3.3
V
Full scale input voltage range for analog
voltage inputs
(programmable voltage divider switched on)
0
10
V
VAnalog_0!1/2/3
Min
Typ
0
Table 4.3 Operational ratings of the general purpose digital I/Os and dedicated analog inputs
Symbol
Parameter
NRS485
Number of nodes connected to single RS485
network
Min
Typ
Max
Unit
256*)
Table 4.4 Operational ratings of the RS485 interface
Symbol
Parameter
NCAN
Number of nodes connected to single CAN
network
Min
Typ
Max
Unit
110*)
Table 4.5 Operational ratings of the CAN interface
*) Number of nodes per CAN or RS485 network highly depends on communication speed and cable length.
Higher speeds and longer cables will reduce max. feasible number of nodes in one network.
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
20
5 Functional Description
In figure 5.1 the main parts of the TMCM-351 are shown. The module mainly consists of the µC (connected
to the EEPROM TMCL memory), the motion controller (which controls up to three axes), three stepper drivers,
three external MOSFETs, the interfaces (RS232, RS485, USB, and CAN), I/Os, and the encoder interface based
on the TMC423.
TMCM-351
Encoder
Interface
ABN
TMC423
MOSFET
Driver
Stage
High Power
Driver
CAN
Motion
Controller
RS232
High Power
Driver
µC
RS485
USB
add.
I/Os
MOSFET
Driver
Stage
MOSFET
Driver
Stage
High Power
Driver
20
Step
E
Motor
Step
E
Motor
Step
E
Motor
+5V
TMCL™
Memory
7… 28.5V DC
3x2 Stop
Switches
Figure 5.1 Main parts of the TMCM-351
5.1 System Architecture
The TMCM-351 integrates a microcontroller with the TMCL (TRINAMIC Motion Control Language) operating
system. The motion control real-time tasks are realized by the TMC428.
5.1.1 Microcontroller
On this module, the Atmel AT91SAM7X256 is used to run the TMCL operating system and to control the
TMC428. The CPU has 256KB flash memory and a 64KB RAM. The microcontroller runs the TMCL operating
system which makes it possible to execute TMCL commands which are sent to the module from the host via
the RS232, RS485, USB, or CAN interface. The microcontroller interprets the TMCL commands and controls the
TMC428 which executes the motion commands. In addition it is connected with the encoder interface and
processes the inputs.
The flash ROM of the microcontroller holds the TMCL operating system. The TMCL operating system can be
updated via the RS232 interface or via the CAN interface. Use the TMCL-IDE to do this.
5.1.2 EEPROM
To store TMCL programs for stand-alone operation the TMCM-351 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048
TMCL commands. The EEPROM is also used to store configuration data.
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
21
5.1.3 Motion Controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-steppermotors. Motion parameters like speed or acceleration are sent to the TMC428 via SPI by the microcontroller.
Calculation of ramps and speed profiles are done internally by hardware based on the target motion
parameters.
5.1.4 Stepper Motor Drivers
On the TMCM-351 modules the TMCM249 chips are used. These chips have the stallGuard feature.
As the power dissipation of TMC249 chips is very low no heat sink or cooling fan is needed. The
temperature of the chips does not get high. The coils will be switched off automatically when the
temperature or the current exceeds the limits and automatically switched on again when the values are
within the limits again.
The TMCM-351 module is equipped with a circuit that extends the microstep resolution of the TMC249 chips
to true 64 times microstepping. The maximum peak coil current of each stepper motor driver chip is
1500mA.
5.2 stallGuard™ - Sensorless Motor Stall Detection
The TMCM-351 module offers the stallGuard feature. The stallGuard feature makes possible to detect if the
mechanical load on a stepper motor is too high or if the traveler has been obstructed. The load value can
be read using a TMCL command or the module can be programmed so that the motor will be stopped
automatically when it has been obstructed or the load has been too high.
stallGuard can also be used for finding the reference position without the need for a reference switch:
Activate stallGuard and then let the traveler run against a mechanical obstacle that is placed at the end of
the way. When the motor has stopped it is definitely at the end of its way, and this point can be used as
the reference position.
For using stallGuard in an actual application, some manual tests should be done first, because the stallGuard
level depends upon the motor velocities and on the occurrence of resonances.
Mixed decay should be switched off while stallGuard is in use in order to get usable results.
Value
0
1… 7
Description
stallGuard function is deactivated (default)
Motor stops when stallGuard value is reached and position is not set zero.
Table 5.1 stallGuard parameter SAP 205
To activate the stallGuard feature use the TMCL command SAP 205 and set the stallGuard threshold value
according to Table 5.1. The actual load value is given by GAP 206. The TMCL-IDE has some tools which let
you try out and adjust the stallGuard function in an easy way. They can be found at stallGuard in the Setup
menu and are described in the following chapters. Please refer to the TMCM-351 TMCL Firmware Manual for
further information about working with TMCL-IDE.
www.trinamic.com
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
22
5.2.1 stallGuard Adjusting Tool
The stallGuard adjusting tool helps to find the necessary motor parameters
when stallGuard is to be used. This function can only be used when a
module is connected that features stallGuard. This is checked when the
stallGuard adjusting tool is selected in the Setup menu. After this has been
successfully checked the stallGuard adjusting tool is displayed.
First, select the axis that is to be used in the Motor area. Now you can enter
a velocity and an acceleration value in the Drive area and then click Rotate
Left or Rotate Right. Clicking one of these buttons will send the necessary
commands to the module so that the motor starts running. The red bar in
the stallGuard area on the right side of the windows displays the actual load
value. Use the slider to set the stallGuard threshold value. If the load value
reaches this value the motor stops. Clicking the Stop button also stops the
motor.
Figure 5.2 stallGuard adjusting tool
All commands necessary to set the values entered in this dialogue are displayed in the Commands area at
the bottom of the window. There, they can be selected, copied and pasted into the TMCL editor.
5.2.2 stallGuard Profiler
The stallGuard profiler is a utility that helps you find the best parameters for using stall detection. It scans
through given velocities and shows which velocities are the best ones. Similar to the stallGuard adjusting
tool it can only be used together with a module that supports stallGuard. This is checked right after the
stallGuard profiler has been selected in the Setup menu. After this has been successfully checked the
stallGuard profiler window will be shown.
First, select the axis that is to be used. Then, enter the Start velocity
and the End velocity. The start velocity is used at the beginning of
the profile recording. The recording ends when the end velocity has
been reached. Start velocity and end velocity must not be equal.
After you have entered these parameters, click the Start button to
start the stallGuard profile recording. Depending on the range
between start and end velocity this can take several minutes, as the
load value for every velocity value is measured ten times. The Actual
velocity value shows the velocity that is currently being tested and
so tells you the progress of the profile recording. You can also abort
a profile recording by clicking the Abort button.
The result can also be exported to Excel or to a text file by using the
Export button.
Figure 5.3: The stallGuard profiler
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
23
5.2.2.1 The Result of the stallGuard Profiler
The result is shown as a graphic in the stallGuard profiler window. After the profile recording has finished
you can scroll through the profile graphic using the scroll bar below it. The scale on the vertical axis shows
the load value: A higher value means a higher load. The scale on the horizontal axis is the velocity scale.
The color of each line shows the standard deviation of the ten load values that have been measured for the
velocity at that point. This is an indicator for the vibration of the motor at the given velocity.
THERE ARE THREE COLORS USED:
Green:
Yellow:
Red:
The standard deviation is very low or zero. This means that there is effectively no
vibration at this velocity.
This color means that there might be some low vibration at this velocity.
The red color means that there is high vibration at that velocity.
5.2.2.2 Interpreting the Result
In order to make effective use of the stallGuard feature you should choose a velocity where the load value
is as low as possible and where the color is green. The very best velocity values are those where the load
value is zero (areas that do not show any green, yellow or red line). Velocities shown in yellow can also be
used, but with care as they might cause problems (maybe the motor stops even if it is not stalled).
Velocities shown in red should not be chosen. Because of vibration the load value is often unpredictable
and so not usable to produce good results when using stall detection.
As it is very seldom that exactly the same result is produced when recording a profile with the same
parameters a second time, always two or more profiles should be recorded and compared against each
other.
5.3 Microstep Resolution
The TMCM-351 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. Use
command SAP 140 to set a specific microstep resolution.
You can find the appropriate value in Table 5.2.
Value
0
1
2
3
4
5
6
Microsteps
Do not use! For fullstep mode set command SAP 211 (fullstep threshold) to meet your needs.
2
4
8
16
32
64
Table 5.2 Microstep resolution setting
Please refer to the TMCM-351 TMCL Firmware Manual (www.trinamic.com) for more information.
www.trinamic.com
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
24
6 TMCM-351 Operational Description
6.1 Calculation: Velocity and Acceleration vs. Microstep and
Fullstep Frequency
The values of the parameters sent to the TMC428 do not have typical motor values like rotations per second
as velocity. But these values can be calculated from the TMC428-parameters as shown in this document.
PARAMETERS FOR THE TMC428
Signal
fCLK
velocity
a_max
pulse_div
ramp_div
Description
clock-frequency
Maximum acceleration
Divider for the velocity. The higher the value is, the less
is the maximum velocity
default value = 0
Divider for the acceleration. The higher the value is, the
less is the maximum acceleration
default value = 0
Microstep-resolution (microsteps per fullstep = 2usrs)
Usrs
Range
0… 16 MHz
0… 2047
0… 2047
0… 13
0… 13
0… 7 (a value of 7 is
internally mapped to
6 by the TMC428)
Table 6.1 TMC428 velocity parameters
The microstep-frequency of the stepper motor is calculated with
usf [Hz] 
fCLK [Hz]  velocity
2pulse_ div  2048  32
with usf: microstep-frequency
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be divided by
the number of microsteps per fullstep.
fsf [Hz] 
usf [Hz]
2usrs
with fsf: fullstep-frequency
The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a) is given
by
2
a
f CLK  a max
2 pulse_ divramp _ div29
This results in acceleration in fullsteps of:
af 
a
2
usrs
www.trinamic.com
with af: acceleration in fullsteps
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
EXAMPLE:
Signal
f_CLK
velocity
a_max
pulse_div
ramp_div
usrs
msf 
16 MHz  1000
21  2048 32
fsf [Hz] 
a
value
16 MHz
1000
1000
1
1
6
122070.31
26
(16Mhz) 2  1000
2
11 29
 122070.31Hz
 1907.34Hz
 119.21
MHz
s
MHz
s  1.863 MHz
6
s
2
119.21
af 
Calculation of the number of rotations:
A stepper motor has e.g. 72 fullsteps per rotation.
RPS 
fsf
1907.34

 26.49
fullstepsper rotation
72
RPM 
fsf  60
1907.34  60

 1589.46
fullstepsper rotation
72
www.trinamic.com
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TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
26
7 TMCL™
TMCL, the TRINAMIC Motion Control Language, is described in separate documents, which refer to the
specific product (e.g. TMCM-351 TMCL Firmware Manual). The manuals are provided on www.trinamic.com.
Please refer to these sources for updated data sheets and application notes.
8 CANopen
The TMCM-351 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-351 CANopen firmware
from the TRINAMIC website and install it using the firmware update function of the TMCL-IDE (Setup/Install
OS). The TMCM-351 module is then ready to be used with CANopen. Please see the specific CANopen manual
provided on the TRINAMIC website.
www.trinamic.com
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
9 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 2012
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.
All trademarks used are property of their respective owners.
www.trinamic.com
27
TMCM-351 Hardware Manual (Rev. 1.07 / 2012-DEC-17)
10 Revision History
10.1 Document Revision
Version
1.00
1.01
Date
2008-OCT-22
2009-MAY-25
Author
GE
OE
1.02
2010-MAY-05
SD
1.03
2010-SEP-25
SD
1.04
2011-APR-12
SD
1.05
1.06
2011-NOV-04
2011-NOV-14
GE
GE
1.07
2012-DEC-17
SD
Description
Initial version
Encoder input pinning corrected
Functional and operational description added. More information
about I/Os appended
Order codes renewed minor changes.
Table of connector and mating connector types added. New
front page
Operation ratings added
REF switch and encoder input circuits added
Changes related to the design of the document. Changes related
to the wording.
Table 10.1 Document revision
10.2 Hardware Revision
Version
1.00
1.10
1.20
Date
2008-AUG-25
2008-DEC-22
2009-DEC-14
Description
First prototypes
Series version
New encoder interface IC
Table 10.2 Hardware revision
11 References
[TMCL]
[CANopen]
[TMCL-IDE]
[QSH5718]
[QSH6018]
www.trinamic.com
TMCM-351 TMCL Firmware Manual (see www.trinamic.com)
TMCM-351 / TMCM-34x CANopen Manual (see www.trinamic.com)
TMCL-IDE User Manual (see www.trinamic.com)
QSH5718 Manual (see www.trinamic.com)
QSH6018 Manual (see www.trinamic.com)
28