Trinamic TMCM-343 User manual

MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
V 1.07
HARDWARE MANUAL
+ + TMCM-343
3-axis stepper
controller / driver
300mA up to 1.1A RMS
nominal supply: 8V… 34V DC
TMCL™/ CANopen firmware
+ +

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1Life support policy....................................................................................................................................................... 4
2Features........................................................................................................................................................................... 5
4Order codes.................................................................................................................................................................... 6
5Electrical and mechanical interfacing..................................................................................................................... 7
5.1 Dimensions ........................................................................................................................................................... 7
5.2 Connecting the module .................................................................................................................................... 8
5.3 Power supply requirements............................................................................................................................. 9
6Operational ratings.................................................................................................................................................... 11
7Functional description .............................................................................................................................................. 12
7.1 System architecture.......................................................................................................................................... 12
7.1.1 Microcontroller ........................................................................................................................................ 12
7.1.2 EEPROM...................................................................................................................................................... 12
7.1.3 TMC428 motion controller ................................................................................................................... 13
7.1.4 Stepper motor drivers........................................................................................................................... 13
7.2 Power supply ..................................................................................................................................................... 13
7.3 Motor connection.............................................................................................................................................. 13
7.4 Host communication........................................................................................................................................ 14
7.4.1 CAN 2.0b.................................................................................................................................................... 14
7.4.2 RS232.......................................................................................................................................................... 15
7.4.3 RS485.......................................................................................................................................................... 15
7.5 stallGuard™ - sensorless motor stall detection ...................................................................................... 16
7.5.1 stallGuard™ adjusting tool ................................................................................................................. 16
7.5.2 stallGuard™ profiler .............................................................................................................................. 17
7.6 Reference switches........................................................................................................................................... 18
7.6.1 Left and right limit switches .............................................................................................................. 18
7.6.2 Triple switch configuration ................................................................................................................. 18
7.6.3 One limit switch for circular systems .............................................................................................. 19
7.7 Serial peripheral interface (SPI).................................................................................................................... 19
7.8 Additional inputs and outputs...................................................................................................................... 19
7.9 Miscellaneous connections ............................................................................................................................ 19
7.10 Microstep resolution ........................................................................................................................................ 20
8Putting the TMCM-343 into operation.................................................................................................................. 21
9Migrating from the TMCM-303 to the TMCM-343............................................................................................... 22
10 TMCM-343 operational description........................................................................................................................ 23
10.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency ................................. 23
11 TMCL™........................................................................................................................................................................... 25
12 CANopen ....................................................................................................................................................................... 25
13 Revision history .......................................................................................................................................................... 26
13.1 Document revision ........................................................................................................................................... 26
13.2 Hardware revision............................................................................................................................................. 26
13.3 Firmware revision............................................................................................................................................. 26
14 References .................................................................................................................................................................... 27

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 3
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
List of figures
Figure 4.1: Front view of TMCM-343 (all values in mm)............................................................................................ 7
Figure 4.2: Ordering options for the connector........................................................................................................... 7
Figure 4.3: Pin order of the connector ........................................................................................................................... 8
Figure 4.4: Power supply requirements for TMCM-343 .............................................................................................. 9
Figure 4.5: Power supply requirements for TRINAMIC modules in a bus system .......................................... 10
Figure 6.1: Main parts of the TMCM-343....................................................................................................................... 12
Figure 6.2: Connecting the motors ................................................................................................................................ 14
Figure 6.3: Connecting CAN ............................................................................................................................................. 14
Figure 6.4: Connecting RS232.......................................................................................................................................... 15
Figure 6.5: Connecting RS485.......................................................................................................................................... 15
Figure 6.6: stallGuard™ adjusting tool......................................................................................................................... 16
Figure 6.7: The stallGuard™ profiler ............................................................................................................................. 17
Figure 6.8: Left and right limit switches...................................................................................................................... 18
Figure 6.9: Limit switch and reference switch ........................................................................................................... 18
Figure 6.10: One reference switch ................................................................................................................................. 19
List of tables
Table 3.1: Order codes......................................................................................................................................................... 6
Table 4.1: Pinout of the 68-Pin connector..................................................................................................................... 8
Table 5.1: Operational ratings ......................................................................................................................................... 11
Table 6.1: Pinning of power supply .............................................................................................................................. 13
Table 6.2: Pinout for motor connections ..................................................................................................................... 13
Table 6.3: Pinout for CAN connection........................................................................................................................... 14
Table 6.4: Pin out for RS232 connection...................................................................................................................... 15
Table 6.5: Pinout for RS485 connection ....................................................................................................................... 15
Table 6.6: stallGuard™ parameter SAP 205 ................................................................................................................. 16
Table 6.7: Pinout reference switches ............................................................................................................................ 18
Table 6.8: Pinout SPI.......................................................................................................................................................... 19
Table 6.9: Additional I/O pins ......................................................................................................................................... 19
Table 6.10: Miscellaneous connections......................................................................................................................... 20
Table 6.11: Microstep resolution setting ...................................................................................................................... 20
Table 9.1: TMC428 velocity parameters......................................................................................................................... 23
Table 12.1: Document revision........................................................................................................................................ 26
Table 12.2: Hardware revision......................................................................................................................................... 26
Table 12.3: Firmware revision ......................................................................................................................................... 26

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 4
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
1Life 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 2011
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.

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 5
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
2Features
The TMCM-343 is a compact and versatile triple axis 2-phase stepper motor controller and driver
module. It provides a complete motion control solution at a very small size for embedded
applications. Using the integrated additional I/Os it even can do complete system control applications.
The board can be connected to a baseboard or customized electronics with a pin connector. The
TMCM-343 comes with the PC based software development environment TMCL-IDE. Using predefined
TMCL™(Trinamic Motion Control Language) high level commands like move to position or constant
rotation rapid and fast development of motion control applications is guaranteed. Host
communication is possible via the serial UART interface (e.g. using an RS232 or RS485 level shifter) or
via CAN. All time critical operations, e.g. ramp calculation are performed onboard. A user TMCL™
program can be stored in the on board EEPROM for stand-alone operation. The firmware of the
module can be updated via the serial interface. With the optional stallGuardTM feature it is possible to
detect overload and stall of the motor.
Applications
Controller/driver board for control of up to 3 axes
Versatile possibilities of applications in stand alone or PC controlled mode
Motor type
Coil current from 300mA to 1.1A RMS (1.5A peak)
8V to 34V nominal supply voltage
Highlights
Automatic ramp generation in hardware
stallGuardTM option for sensorless motor stall detection
Full step frequencies up to 20kHz
On the fly alteration of motion parameters (e.g. position, velocity, acceleration)
Local reference move using sensorless stallGuardTM feature or reference switch
Coil current adjustable by software
Up to 64 times microstepping
TRINAMIC driver technology: No heat sink required
Adjustment possibilities. Therefore this module offers solutions for a great field of demands
Software
Stand-alone operation using TMCL™or remote controlled operation
TMCL™program storage: 16 KByte EEPROM (2048 TMCL™commands)
PC-based application development software TMCL-IDE included
Special firmware for CANopen protocol support also available
Other
68 pin connector carries all signals
RoHS compliant latest from 1 July 2006
Size: 80 x 50mm²

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 6
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4Order codes
Order code
Description
Dimensions
TMCM-343 (-option)
3-axis controller/driver module 1.1A, 34V
80 x 55 x 8 mm3
Products related to TMCM-343
BB-303 (-option)
Baseboard for TMCM-343
80 x 50 x 15 mm3
BB-323-03
Baseboard for TMCM-343
96.5 x 79 x 60 mm3
TMCM-323
3-axis encoder
80 x 53 x 8 mm3
TMCM-EVAL
Evaluation baseboard
160 x 100 x 24 mm3
Options for TMCM-343
-H
horizontal pin connector (standard)
-V
vertical pin connector (on request)
Table 4.1: Order codes

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 7
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5Electrical and mechanical interfacing
5.1 Dimensions
The 68 pin connector has a 2.0mm pitch.
80
76
4
2.2
1.2
50 46 39.1
36.9
24.4
21.9
4
4
10
R1.25
R1.1
R1.6
5.49.2
Figure 5.1: Front view of TMCM-343 (all values in mm)
53
6.7
50
Horizontal
connector
50
Header
connector
9.7
Figure 5.2: Ordering options for the connector (all values in mm)

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 8
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.2 Connecting the module
The 68-pin connector provides communication to a host, configuration of the EEPROM and connection
of motors as well as connection of reference switches. Pin 1 of this connector is located in the lower
left corner on the top site, while the connector is pointing towards the user.
Pin
Direction
Description
Pin
Direction
Description
1
In
+5VDC (+/- 5%) Imax=300mA
35
-
Reserved
2
In
GND
36
out
Motor2 A0
3
In
+5VDC (+/- 5%)
37
-
Reserved
4
In
GND
38
out
Motor2 A1
5
In
V_Motor (+7 to 34VDC)
39
-
Reserved
6
In
GND
40
out
Motor2 B0
7
In
V_Motor (+7 to 34VDC)
41
-
Reserved
8
In
GND
42
out
Motor2 B1
9
In
V_Motor (+7 to 34VDC)
43
-
Reserved
10
In
GND
44
in
Shutdown
11
Out
SPI Select 0
45
in
General Purpose input 0
12
Out
SPI Clock
46
out
General Purpose output 0
13
Out
SPI Select 1
47
in
General Purpose input 1
14
In
SPI MISO
48
out
General Purpose output 1
15
Out
SPI Select 2
49
in
General Purpose input 2
16
Out
SPI MOSI
50
out
General Purpose output 2
17
In
Reset, active low
51
in
General Purpose input 3
18
Out
Alarm
52
out
General Purpose output 3
19
In
Reference Switch Motor 0 right
53
in
General Purpose input 4
20
Out
Motor0 A0
54
out
General Purpose output 4
21
In
Reference Switch Motor 0 left
55
in
General Purpose input 5
22
Out
Motor0 A1
56
out
General Purpose output 5
23
In
Reference Switch Motor 1 right
57
in
General Purpose input 6
24
Out
Motor0 B0
58
out
General Purpose output 6
25
In
Reference Switch Motor 1 left
59
in
General Purpose input 7
26
Out
Motor0 B1
60
out
General Purpose output 7
27
In
Reference Switch Motor 2 right
61
in
GND
28
Out
Motor1 A0
62
in
GND
29
In
Reference Switch Motor 2 left
63
-
Reserved
30
Out
Motor1 A1
64
out
RS485 Direction
31
-
Reserved
65
in and out
CAN -
32
Out
Motor1 B0
66
in
RS232 RxD
33
-
Reserved
67
in and out
CAN +
34
Out
Motor1 B1
68
out
RS232 TxD
Table 5.1: Pinout of the 68-Pin connector
PCB
1
268
67
Figure 5.3: Pin order of the connector

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 9
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.3 Power supply requirements
Two different power supplies have to be provided for the TMCM-343: +5VDC for the controller part and
+7… 34VDC for the motor supply. Please connect all listed pins for the power supply inputs and
ground in parallel. It is recommended to use capacitors of some 1000µF and a choke close to the
module for the motor supply. This ensures a stable power supply and minimizes noise injected into
the power supply cables. The choke especially becomes necessary in larger distributed systems using
a common power supply.
TMCM-343
V_ Motor
(7...34V)
GND
+C (> 1000µF)
L
+
Power Supply
keep distance short
Local +5V
regulator
supply for further modules on
same base board
-
Figure 5.4: Power supply requirements for TMCM-343
Especially in bus controlled systems (e.g. CAN or RS485) it is important to ensure a stable ground
potential of all modules. The stepper driver modules draw peak currents of some ampere from the
power supply. It has to be made sure, that this current does not cause a substantial voltage
difference on the interface lines between the module and the master, as disturbed transmissions
could result.
The following hints help avoiding transmission problems in larger systems:
Use power supply filter capacitors of some 1000µF on the base board for each module in order to
take over current spikes. A choke in the positive power supply line will prevent current spikes
from changing the GND potential of the base board, especially when a central power supply is
used.
Optionally use an isolated power supply for the TMCM-Modules (no earth connection on the
power supply, in case the CAN master is not optically decoupled)
Do not supply modules which are mounted in a distance of more than a few meters with the
same power supply.
For modules working on the same power supply (especially the same power supply as the
master) use a straight and thick, low-resistive GND connection.
Use a local +5V regulator on each baseboard.

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 10
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-343
V_ Motor
(7...34V)
GND
+C
L+
Power supply
keep distance short
TMCM-343
V_ Motor
(7...34V)
GND
+C
L
keep distance short
keep distance below a few meters with a single power supply
CAN high
CAN low
CAN high
CAN low
other devices on CAN
bus (incl. master)
CAN high
CAN low
V_ Motor
(7...34V)
GND
+C
L
CAN_GND
CAN_GND
CAN_GND
-
Figure 5.5: Power supply requirements for TRINAMIC modules in a bus system
In large systems it may make sense to use an optically decoupled CAN bus for each number
of nodes, e.g. for each base board with a number of TMCM-34x modules, especially when a
centralized power supply is to be used.
Be aware that different ground potentials of the CAN sender (e.g. a PC) and the power supply
may damage the modules.
Please make sure that the GND lines of the CAN sender and the module(s) and power
supplies are connected by a cable.

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 11
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
6Operational ratings
The operational ratings show the intended or rather the characteristic range for the values and should
be used as design values. In no case shall the maximum values be exceeded.
Symbol
Parameter
Min
Typ
Max
Unit
VS
DC Power supply voltage for operation
7
12 … 28
34
V
V+5V
+5V DC input (max. 50mA / no OUT load)
4.8
5.0
5.2
V
ICOIL
Motor coil current for sine wave peak
(chopper regulated, adjustable via
software)
0
0.3 … 1.5
1.5
A
fCHOP
Motor chopper frequency
36.8
kHz
IS
Power supply current (per motor)
<< ICOIL
1.4 * ICOIL
A
VINPROT
Input voltage for StopL, StopR, GPI0
(internal protection diodes)
-0.5
0 … 5
V+5V+0.5
V
VANA
INx analog measurement range
(resolution: 10bit / range: 0..1023)
0 ... 5.5
V
VINLO
INx, StopL, StopR low level input
0
0.9
V
VINHI
INx, StopL, StopR high level input
(integrated 10k pull-up to +5V for Stop)
2
5
V
IOUTI
OUTx max +/- output current (CMOS
output) (sum for all outputs max. 50mA)
+/-20
mA
TENV
Environment temperature at rated current
(no cooling)
-40
+80
°C
Table 6.1: Operational ratings

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 12
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7Functional description
In Figure 7.1 the main parts of the TMCM-343 module are shown. The module mainly consists of a
processor, a TMC428 motion controller, three TMC246 stepper motor drivers, the TMCL™program
memory (EEPROM) and the host interfaces RS232, RS485 and CAN.
7… 34V DC
High Power
Driver
TMC246
µC
TMCL
Memory
progammable
Motion
Controller
with TMC428
Step
Motor
CAN
RS232 or
RS485
Please note,
that the USB
interface can
be offered
on demand.
16additional
I/Os
3x2 Stop
switches
+5V
TMCM-343
Step
Motor
Step
Motor
High Power
Driver
TMC246
High Power
Driver
TMC246
UART
Special
option:
USB
5V DC
Figure 7.1: Main parts of the TMCM-343
7.1 System architecture
The TMCM-343 integrates a microcontroller with the TMCL™(Trinamic Motion Control Language)
operating system. The motion control real-time tasks are realized by the TMC428.
7.1.1 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™
(Trinamic Motion Control Language) operating system which makes it possible to execute TMCL™
commands that are sent to the module from the host via the RS232, RS485 and CAN interface. The
microcontroller interprets the TMCL™commands and controls the TMC428 which executes the motion
commands.
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.
7.1.2 EEPROM
To store TMCL™programs for stand-alone operation the TMCM-343 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.

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 13
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.1.3 TMC428 motion controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-
stepper-motors. 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.
7.1.4 Stepper motor drivers
On the TMCM-343 modules the TMCM246 chips are used. These chips have the stallGuard™feature.
As the power dissipation of TMC246 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-343 module is equipped with a circuit that extends the microstep resolution of the TMC246
chips to true 64 times microstepping. The maximum peak coil current of each stepper motor driver
chip is 1500mA.
7.2 Power supply
Two different power supplies have to be provided for the TMCM-343: +5VDC for the module
functionality and +7… 34VDC for the motor supply. Please use all listed pins for the power supply
inputs and ground parallel.
Pin
Function
1, 3
+5V DC (+/- 5%), Imax = 50mA power supply
2, 4
Ground
5, 7, 9
+7… 34V DC motor power supply
6, 8, 10
Ground
Table 7.1: Pinning of power supply
7.3 Motor connection
Never connect or disconnect the motors while the TMCM-343 Module is switched on. Doing this
will destroy the driver ICs!
The TMCM-343 controls up to three 2-phase stepper motors.
Table 7.2 shows how to connect the three motors with the 68-pin connector:
Pin Number
Direction
Name
Motor Numbers and Coils
20
out
Motor0_A0
Motor #0, Coil A0
22
out
Motor0_A1
Motor #0, Coil A1
24
out
Motor0_B0
Motor #0, Coil B0
26
out
Motor0_B1
Motor #0, Coil B1
28
out
Motor1_A0
Motor #1, Coil A0
30
out
Motor1_A1
Motor #1, Coil A1
32
out
Motor1_B0
Motor #1, Coil B0
34
out
Motor1_B1
Motor #1, Coil B1
36
out
Motor2_A0
Motor #2, Coil A0
38
out
Motor2_A1
Motor #2, Coil A1
40
out
Motor2_B0
Motor #2, Coil B0
42
out
Motor2_B1
Motor #2, Coil B1
Table 7.2: Pinout for motor connections

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 14
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Pin2 Pin1
Pin67Pin68
B 1
B 0
A 0A 1
MOTOR
0
B 1
B 0
A 0A 1
MOTOR
1
B 1
B 0
A 0A 1
MOTOR
2
Pin20
Pin22
Pin24
Pin26
Pin28
Pin30
Pin32
Pin34
Pin36
Pin38
Pin42
Pin40
TMCM-343
Figure 7.2: Connecting the motors
7.4 Host communication
The communication to a host takes place via one or more of the onboard interfaces. The module
provides a range of different interfaces, like CAN, RS232, and RS485. The following chapters explain
how the interfaces are connected with the 68-pin connector.
7.4.1 CAN 2.0b
Pin
Direction
Name
Limits
Description
65
in and out
CAN -
-8… +18V
CAN input/output
67
In and out
CAN +
-8… +18V
CAN input/output
Table 7.3: Pinout for CAN connection
Pin 2 Pin 1
Pin 67: CAN++
Pin 65: CAN--
Host
CAN+
CAN--
TMCM-343
68 - Pin - Connector
Figure 7.3: Connecting CAN

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 15
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.4.2 RS232
Pin
Direction
Name
Limits
Description
66
in
RxD
TTL
RS232 receive data
68
out
TxD
TTL
RS232 transmit data
2, 4, 6, 8, 10
in
GND
0V
Connect to ground
Table 7.4: Pinout for RS232 connection
The module only provides a serial interface at TTL level. For using RS232 a suitable level shifter has to
be added by the user (e.g. MAX202).
Pin 66 : RS232_RxD
Pin 68 : RS232_ TxD
Pin2 Pin1
Pin61: GND
TMCM-343
68 - Pin - Connector
Host
TxD
RxD
GND
level shifter
( e . g . MAX 202 )
TTL
Figure 7.4: Connecting RS232
7.4.3 RS485
Pin Number
Direction
Name
Limits
Description
64
Out
RS485_DIR
TTL
Driver/receiver enable for RS485 transceiver.
0: receiver enable
1: driver enable
66
In
RxD
TTL
RS485 receive data
68
Out
TxD
TTL
RS485 transmit data
2, 4, 6, 8, 10
In
GND
0V
Connect to ground
Table 7.5: Pinout for RS485 connection
The TMCM-343 module only provides a serial interface at TTL level. To use RS485 a suitable RS485
transceiver (like MAX485) has to be added by the user.
Pin 61 : GND
TxD
RxD
DIR
RS485+
RS485-
GND
TxD
RxD
DIR
RS485+
RS485-
GND
Transceiver
e. g . MAX 485
Transceiver
e. g . MAX 485
Pin 64 : RS485_ DIRECTION
Pin 66 : RS232_ RxD
Pin 68 : RS232_TxD
Pin2 Pin1
TxD
RxD
DIR
GND
HOST
TMCM-343
68 - Pin - Connector
Figure 7.5: Connecting RS485

TMCM-343 Hardware Manual (V1.07 / 2011-JUN-08) 16
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7.5 stallGuard™ - sensorless motor stall detection
The TMCM-343 modules are equipped with the stallGuard™feature. The stallGuard™ feature makes it
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
Description
0
stallGuard™ function is deactivated (default)
1… 7
Motor stops when stallGuard™ value is reached and position is not set zero.
Table 7.6: stallGuard™ parameter SAP 205
To activate the stallGuard™ feature use the TMCL™ command SAP 205 and set the stallGuard™
threshold value according to Table 7.6. 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-341/342/343 TMCL™ Firmware Manual for further information about working with TMCL-IDE.
7.5.1 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 7.6: 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.

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7.5.2 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 7.7: The stallGuard™ profiler
7.5.2.1 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: The standard deviation is very low or zero. This means that there is effectively no
vibration at this velocity.
Yellow: This color means that there might be some low vibration at this velocity.
Red: The red color means that there is high vibration at that velocity.
7.5.2.2 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.

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7.6 Reference switches
With reference switches, an interval for the movement of the motor or the zero point can be defined.
Also a step loss of the system can be detected, e.g. due to overloading or manual interaction, by
using a travel-switch.
Pin
Direction
Name
Limits
Description
19
in
STOP0R
TTL
Right reference switch input for Motor #0
21
in
STOP0L
TTL
Left reference switch input for Motor #0
23
in
STOP1R
TTL
Right reference switch input for Motor #1
25
in
STOP1L
TTL
Left reference switch input for Motor #1
27
in
STOP2R
TTL
Right reference switch input for Motor #2
29
in
STOP2L
TTL
Left reference switch input for Motor #2
Table 7.7: Pinout reference switches
10k pull-up resistors for reference switches are included on the module.
7.6.1 Left and right limit switches
The TMCM-343 can be configured so that a motor has a left and a right limit switch (Figure 7.8).
The motor stops when the traveler has reached one of the limit switches.
left stop
switch
right stop
switch
REF _ L_ x REF _ R_x
motor
traveler
Figure 7.8: Left and right limit switches
7.6.2 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 7.9. 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.
left stop
switch
motor
traveler
REF _ L_ x
right stop
switch
REF _ R_x
reference
switch
Figure 7.9: Limit switch and reference switch

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7.6.3 One limit switch for circular systems
If a circular system is used (Figure 7.10), only one reference switch is necessary, because there are no
end-points in such a system.
motor
ref switch
REF _L _x
eccentric
Figure 7.10: One reference switch
7.7 Serial peripheral interface (SPI)
On-board communication is performed via the Serial Peripheral Interface (SPI). The microcontroller
acts as master. For adaptation to user requirements, the user has access to this interface via the 68-
pin connector. Furthermore three chip select lines can be used for addressing of external devices.
Pin
Direction
Name
Limits
Description
11
out
SPI_SEL0
TTL
Chip Select Bit0
13
out
SPI_SEL1
TTL
Chip Select Bit1
15
out
SPI_SEL2
TTL
Chip Select Bit2
12
out
SPI_CLK
TTL
SPI Clock
14
in
SPI_MISO
TTL
SPI Serial Data In
16
out
SPI_MOSI
TTL
SPI Serial Data Out
Table 7.8: Pinout SPI
7.8 Additional inputs and outputs
The module is equipped with eight TTL input pins and eight TTL output pins, which are accessible via
the 68-pin connector. The input pins can also be used as analogue inputs.
Pin
Direction
Name
Limits
Description
45
in
INP_0
TTL
digital and analogue input pin 0, input
47
in
INP_1
TTL
digital and analogue input pin 1, input
49
in
INP_2
TTL
digital and analogue input pin 2, input
51
in
INP_3
TTL
digital and analogue input pin 3, input
53
in
INP_4
TTL
digital and analogue input pin 4, input
55
in
INP_5
TTL
digital and analogue input pin 5, input
57
in
INP_6
TTL
digital and analogue input pin 6, input
59
in
INP_7
TTL
digital and analogue input pin 7, input
46
out
Out_0
TTL
digital output pin 0, output
48
out
Out_1
TTL
digital output pin 1, output
50
out
Out_2
TTL
digital output pin 2, output
52
out
Out_3
TTL
digital output pin 3, output
54
out
Out_4
TTL
digital output pin 4, output
56
out
Out_5
TTL
digital output pin 5, output
58
out
Out_6
TTL
digital output pin 6, output
60
out
Out_7
TTL
digital output pin 7, output
Table 7.9: Additional I/O pins
7.9 Miscellaneous connections

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Pin
Direction
Name
Limits
Description
17
in
Reset
TTL
Reset, active low
18
out
Alarm
TTL
Alarm, active high
44
in
Shutdown
TTL
Emergency stop
Table 7.10: Miscellaneous connections
The functionality of the shutdown pin is configurable using in TMCL™with global parameter 80
(please see the TMCM-341/342/343 TMCL™ Firmware Manual for information on this).
7.10Microstep resolution
The TMCM-343 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. For setting the microstep resolution with the TMCL™ firmware use instruction 5: SAP, type
140: microstep resolution.
You can find the appropriate value in Table 7.11.
Value
microsteps
0
Do not use: for fullstep please see fullstep threshold
1
2
2
4
3
8
4
16
5
32
6
64
Table 7.11: Microstep resolution setting