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The Trinamic TMC429 is a triple-axis dedicated step and direction motion controller for both position and velocity control with acceleration and deceleration trapezoidal ramps.

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TMC429

Library Information

Name
TMC429
Version
2.3.1
License
BSD
URL
https://github.com/janelia-arduino/TMC429
Author
Peter Polidoro
Email
[email protected]

Description

The Trinamic TMC429 is a triple-axis dedicated step and direction motion controller for both position and velocity control with acceleration and deceleration trapezoidal ramps.

./images/TMC429.png

Stepper Motors

From Wikipedia, the free encyclopedia:

A stepper motor, also known as step motor or stepping motor, is a brushless DC electric motor that divides a full rotation into a number of equal steps. The motor’s position can be commanded to move and hold at one of these steps without any position sensor for feedback (an open-loop controller), as long as the motor is correctly sized to the application in respect to torque and speed.

Wikipedia - Stepper Motor

Stepper Motor Controllers and Drivers

Stepper motors need both a controller and a driver. These may be combined into a single component or separated into multiple components that communicate with each other, as is the case with the TMC429 stepper motor controller. One controller may be connected to more than one driver for coordinated multi-axis motion control.

Stepper Motor Controller

A stepper motor controller is responsible for the commanding either the motor kinetics, the torque, or the motor kinematics, the position, speed, and acceleration of one or more stepper motors.

./images/stepper_controller.png

Stepper Motor Driver

A stepper motor driver is responsible for commanding the electrical current through the motor coils as it changes with time to meet the requirements of the stepper motor controller.

./images/stepper_driver.png

TMC429

./images/block_diagram.png

Wiring

Example Circuit Board

Required

  • Power supply (3.3V or 5V)
  • Clock (4-32MHz)
  • SPI to microcontroller (MOSI, MISO, SCK, CS)
  • Step and Direction signals to each of the stepper drivers

Optional

  • INT and POSCOMP signals to microcontroller
  • Reference signals (left and/or right) from limit switches attached to each stepper motor

About

The Trinamic TMC429 is a triple-axis dedicated step and direction motion controller for both position and velocity control with acceleration and deceleration trapezoidal ramps.

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