User manual

TMCM-110-42 Manual 9

5 Functional Description

In Figure 5.1 the main parts oft the TMCM-110 module are shown. The module mainly consists of the µC, a

TMC428 motion controller, a TMC246 stepper motor driver, the TMCL program memory (EEPROM) and the

host interfaces (RS232, RS485, IIC and CAN).

PD-110-42

Driver

TMC246

5V Power Supply

7..30V DC

RS-232

RS-485

IIC

CAN

Step

Motor

REF-

Switches

+5V

TMC428

µC

I/O

Host

TMCL

EEPROM

Figure 5.1: Application Environment

5.1 System Architecture

The TMCM-110 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 ATmega32 is used to run the TMCL operating system and to control the TMC428.

The CPU has 32Kbyte flash memory and a 1Kbyte EEPROM. 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 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 and the EEPROM memory of the

microcontroller is used to permanently store configuration data.

The TMCL operating system can be updated via the host interface. Please use the latest version of the

TMCL IDE to do this. As already mentioned above the Trinamic CANnes card or the Trinamic USB2X

interface is needed to connect the module with CAN or IIC interface to the PC to update the OS.

5.1.2 EEPROM

To store TMCL programs for stand alone operation the TMCM-110 module is equipped with a 16kByte

EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048

TMCL commands.

5.1.3 TMC428 Motion Controller

The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper-

motors (on this module, only one motor can be used). Motion parameters like speed or acceleration are sent