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) 2 Table of Contents 1 Features ........................................................................................................................................................................... 3 2 Order Codes ................................................................................................................................................................... 4 3 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 www.trinamic.com