TMCM-G4-CABLE_技术文档

MODULES FOR STEPPER MOTORS

MODULES

Hardware Version V 1.10

HARDWARE MANUAL

+

TMCM-3214

TMCM-3215

3-Axes

Stepper Controller / Driver

Up-to 6.5A RMS / 48V DC

Encoder / HOME / STOP inputs

4x analog / digital inputs

4x digital outputs

Brake chopper support

CAN, RS485, USB (TMCM-3214)

EtherCAT™, USB (TMCM-3215)

+

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

2

Table of contents

1

2

3

4

Life support policy.......................................................................................................................................................3

Features...........................................................................................................................................................................4

Order codes....................................................................................................................................................................5

Mechanical and Electrical Interfacing.....................................................................................................................6

4.1

4.2

Dimensions and Mounting Holes ...................................................................................................................6

Board mounting considerations......................................................................................................................7

5

Connectors of TMCM-3214 and TMCM-3215...........................................................................................................8

5.1

TMCM-3214 Interface Brick................................................................................................................................8

5.1.1 RS485 connector............................................................................................................................................9

5.1.2 CAN connector................................................................................................................................................9

5.1.3 USB connector..............................................................................................................................................10

5.1.4 Inputs..............................................................................................................................................................10

5.1.5 Outputs...........................................................................................................................................................11

5.2

TMCM-3215 Interface Brick..............................................................................................................................11

5.2.1 EtherCAT™ connector.................................................................................................................................12

5.2.2 USB connector..............................................................................................................................................12

5.2.3 Inputs..............................................................................................................................................................12

5.2.4 Outputs...........................................................................................................................................................13

5.3

TMCM-3214 + TMCM-3215 Driver Brick..........................................................................................................13

5.3.1 Motor connector...........................................................................................................................................14

5.3.2 REF / HOME connector................................................................................................................................15

5.3.3 Encoder connector.......................................................................................................................................15

5.4

TMCM-3214 + TMCM-3215 Power supply Brick...........................................................................................16

5.4.1 Power connector..........................................................................................................................................17

5.4.2 Control connector........................................................................................................................................17

5.4.3 Resistor connector.......................................................................................................................................18

5.5

5.6

5.7

Power supply......................................................................................................................................................18

RS485.....................................................................................................................................................................18

CAN ........................................................................................................................................................................20

5.7.1 CAN adapter..................................................................................................................................................21

5.8

General purpose outputs OUT0..3.................................................................................................................22

Motor driver current..................................................................................................................................................23

On Board LEDs.............................................................................................................................................................24

6

7

7.1

7.2

7.3

Power supply brick............................................................................................................................................24

TMCM-3214 Interface Brick..............................................................................................................................24

TMCM-3215 Interface Brick..............................................................................................................................25

8

9

Reset to Factory Default...........................................................................................................................................25

Operational ratings....................................................................................................................................................26

10 TMCM-3214 Functional Description........................................................................................................................27

11 TMCM-3215 Functional Description........................................................................................................................28

12 Revision History..........................................................................................................................................................29

12.1 Document revision............................................................................................................................................29

12.2 Hardware revision .............................................................................................................................................29

13 References.....................................................................................................................................................................29

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

3

1 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.

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-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

4

2 Features

The TMCM-3214 / TMCM-3215 is a three axes controller/driver module for 2-phase bipolar stepper motors with

separate encoder (differential) and HOME / STOP switch inputs for each axis. CAN, RS485 and USB (Micro-USB)

interfaces are available on the TMCM-3214 and EtherCAT™ together with USB (Micro-USB) on the TMCM-3215 for

communication. Furthermore, the modules offer four analog / digital inputs and four digital outputs together

with a brake chopper unit (supporting an external brake resistor) for supply voltage limitation when energy is

fed back into the supply rail.

MAIN CHARACTERISTICS

Motion controller



Motion profile calculation in real-time (linear and sixPoint™ ramps)

On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

Dedicated HOME + STOP switch inputs (internal pull-ups)

High performance microcontroller for overall system control and communication protocol handling

Bipolar stepper motor driver



Up to 256 microsteps per full step

High-efficient operation, low power dissipation

Dynamic current control

Integrated protection

stealthChop™ for quiet operation and smooth motion

dcStep™ feature for load dependent speed control

stallGuard2™ feature for stall detection

coolStep™ feature for reduced power consumption and heat dissipation

Interfaces



TMCM-3214: CAN + RS485

TMCM-3215: EtherCAT™

USB full speed (12Mbit/s) device interface (Micro-USB)

Differential encoder input per motor axis (3x)

HOME, STOP_L, STOP_R switch inputs with internal pull-ups per motor axis (3x)

4 general purpose analog inputs (0..10V) or digital inputs (accept +24V signals)

4 general purpose digital outputs (open-drain, 500mA each)

Software



TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands

TMCM-3214: CANopen firmware available

TMCM-3215: CoE (CANopen over EtherCAT™) firmware available

Electrical data



Supply voltage: nom. +24V and +48V with +18V … +53V supply voltage operating range

Motor current: up to 6.5A RMS (programmable)

Mechanical data



Board size: 280mm x 100mm, overall height 21mm max. (incl. pcb but, without mating connectors and cables)

12x M3 mounting holes (optional)

Please see separate TMCM-3214 / TMCM-3215 Software / Firmware documentation for additional information

regarding programming and communication protocol.

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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3 Order codes

The TMCM-3214 unit is available with two different firmware options:

Size of unit

Order code

Description

TMCM-3214-TMCL

3-axes closed-loop controller / driver up-to 6.5A RMS 280mm x 100mm x 21mm

/ +48V, CAN + RS485 + USB with TMCL firmware

TMCM-3214-CANopen

3-axes closed-loop controller / driver up-to 6.5A RMS 280mm x 100mm x 21mm

/ +48V, CAN + RS485 + USB with CANopen firmware

Table 3.1: TMCM-3214 order code

The TMCM-3215 unit is available as:

Size of unit

Order code

Description

TMCM-3215-CoE

3-axes closed-loop controller / driver up-to 6.5A RMS 280mm x 100mm x 21mm

/ +48V, EtherCAT™ + USB with CANopen over

EtherCAT™ firmware

Table 3.2: TMCM-3315 order code

A cable loom is available, also:

Order code

Description

TMCM-G4-CABLE

Cable loom for TMCM-6210/6211, TMCM-6212/6213, TMCM-3212/3213, TMCM-3214/3215,

TMCM-3312/3313 and TMCM-3314/3315. Contains:

-

1x cable loom for RS485 connector (3214)

1x standard CAT5 cable with 2x RJ45 for CAN / EtherCAT™ (3214/3215)

1x RJ45-2-DSUB_G4_V10 adapter (for CAN RJ45 <-> D-SUB translation) (3214)

1x Micro-USB cable (3214/3215)

1x cable loom for INPUTs connector (3214/3215)

1x cable loom for OUTPUTs connector (3214/3215)

6x cable loom for MOTOR connector (small)

3x cable loom for MOTOR connector (big) (3x required for 3214/3215)

6x cable loom for ENCODER connector (3x required for 3214/3215)

6x cable loom for REF / HOME connector (3x required for 3214/3215)

1 cable loom for POWER connector (small)

1x cable loom for POWER connector (big) (3214/3215)

1x cable loom for CONTROL connector (3214/3215)

1x cable loom for RESISTOR connector (3214/3215)

Please note: there is one cable loom available for a complete family of modules in order to speed-up initial setup

of these modules. The family consists of these currently planned / available modules: TMCM-6210/6211, TMCM-

6212/6213, TMCM-3212/3213, TMCM-3214/3215, TMCM-3312/3313 and TMCM-3314/3315. Not all cables are required

for all modules – some cable will fit or will be helpful for some modules, only. Module numbers in parenthesis

behind each cable in the table above indicate whether the particular part of the cable loom can be used with

the TMCM-3214 and / or TMCM-3215.

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

4 Mechanical and Electrical Interfacing

4.1 Dimensions and Mounting Holes

6

The dimensions of the TMCM-3214 and TMCM-3215 controller/driver board are approx. 280mm x 100mm x 21mm.

Maximum component height (height above PCB level) without mating connectors is around 17mm above PCB

level and 2mm below PCB level. There are 12 mounting holes for M3 screws (3.2mm diameter) altogether for

mounting the PCB.

Figure 4.1 Dimension of TMCM-3214 / TMCM-3215 and position of mounting holes

Please note: TMCM-3214 and TMCM-3215 share the same PCB with different assembly options regarding the

interface section. Dimensions, mounting holes and board mounting considerations (see chapter below) are the

same for both boards.

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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4.2 Board mounting considerations

The TMCM-3214 / TMCM-3215 offer 12 metal plated mounting holes. One hole (lower right) is connected to on-

board system ground (connected to power supply input ground) via 1M (500VDC) || 1nF (1kV). The same

combination or resistor and capacitor is used for connecting the RJ45 shield ground (connector enclosure) to

power supply input ground (see figure 4.2).

1nF

1M

1nF

1M

n.c.

1nF

1M

Figure 4.2 TMCM-3214 / TMCM-3215 mounting hole connections

All other mounting holes are electrically isolated. Please note that not all holes have to be used for mounting

the pcb. At least the mounting holes in all four corners and two in the middle (6 altogether) should be used to

ensure adequate support of the pcb when inserting / removing connectors in order to avoid significant bending

of the pcb.

In any case: please remove / attach mating connectors carefully – supporting the pcb if necessary!

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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5 Connectors of TMCM-3214 and TMCM-3215

The TMCM-3214 and TMCM-3215 are two members of a new family of modules with a modular architecture

composed of so called “bricks”.

The TMCM-3214 and TMCM-3215 consist of one interface brick, three single-axes stepper motor controller / driver

bricks and one supply brick. With the TMCM-3214 the interface brick offers CAN and RS485 interfaces while with

the TMCM-3215 the EtherCAT™ option is assembled instead. All other bricks are the same for both modules.

Motor 0

Motor 1

Motor 2

Interface Brick

Driver Brick

Supply Brick

Figure 5.1 different bricks used for the TMCM-3214 / TMCM-3215

5.1 TMCM-3214 Interface Brick

The interface brick of the TMCM-3214 offers RS485, CAN and USB interfaces for communication, four general

purpose analog inputs (which can be used as digital inputs as well) and four open-drain outputs.

RS485 (2x)

1 GND

2 RS485+

3 RS485-

CAN (2x)

1 CAN_H

2 CAN_L

3 GND

4 n.c.

1

3

1

8

5 n.c.

6 n.c.

7 n.c.

8 n.c.

USB (MicroUSB)

Inputs

1 +5V_OUT

2 AIN0

3 AIN1

4 AIN2

Outputs

1 OUT0

2 OUT1

3 OUT2

4 OUT3

6 GND

7 GND

8 GND

9 GND

10 GND

5 +5V_OUT

6 +5V_OUT

7 +5V_OUT

8 +5V_OUT

5

1

10

6

8

4

5 AIN3

1

5

Figure 5.2 TMCM-3214 interface brick

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

Connector and mating connector overview:

9

Label

Connector type

Mating connector type

RS485

Molex MicroFit™,

Molex MicroFit™, 436500315

1x4 pin header, 3mm pitch

Housing: 43645-0300

Contacts: 43030-0007

e.g. Standard CAT 5 / CAT 5e

cables may be used

CAN

RJ45 plug connector

USB

Micro-USB connector, type B

(USB device interface)

Standard Micro-USB

Inputs

Molex MicroFit™,

Molex MicroFit™, 430451012

2x5 pin header, 3mm pitch

Housing: 43025-1000

Contacts: 43030-0007

Molex MicroFit™,

Housing: 43025-0800

Contacts: 43030-0007

Outputs

Molex MicroFit™, 430450812

2x4 pin header, 3mm pitch

Table 5.1 TMCM-3214 interface brick: connectors and mating connectors

5.1.1 RS485 connector

There are two RS485 connectors on the board with the same pin assignment – pins directly connected to each

other. The second connector may be used for attaching a bus termination resistor to the RS485 bus (there is no

termination resistor on-board) or for further distribution of the RS485 bus signals to other RS485 communication

nodes while maintaining a proper bus structure.

A three pin Molex MicroFit™ connector (Molex part no. 436500315) is used for RS485 connection. Mating connector

housing e.g. Molex 43645-0300, contacts Molex 43030-0007. Please note that there are alternative options available

from Molex for both, housing and contacts.

1

Label

Direction

Power

Description

Supply and signal ground

GND

3

1

2

3

RS485+

RS485-

Bi-directional RS485 interface, diff. signal (non-inverting)

Bi-directional RS485 interface, diff signal (inverting)

Table 5.1: Interface Brick: RS485 connector

5.1.2 CAN connector

There are two CAN connectors on the board with the same pin assignment – pins directly connected to each

other. The second one may be used for attaching a bus termination resistor to the RS485 bus (there is no

termination resistor on-board) or for further distribution of the CAN bus signals to other CAN nodes while

maintaining a proper bus structure.

A standard RJ45 plug connector is used for CAN communication. Standard CAT cables (e.g. CAT 5, non-crossing)

might be used for connection. Pin assignment of the RJ45 is based on the CiA 303-1 recommendation.

1

2

3

4

Label

CAN_H

CAN_L

GND

n.c.

Direction

Description

Bi-Directional CAN interface, diff signal (non-inverting)

Bi-directional CAN interface, diff signal (inverting)

Power

Supply and signal ground

1

8

5

n.c.

6

n.c.

7

n.c.

8

n.c.

Table 5.2 Interface Brick: CAN connector

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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5.1.3 USB connector

The TMCM-3214 / TMCM-3215 offers a Micro USB connector (Type B, device interface) for communication. The USB

interface supports USB high speed communication (12Mbit/s).

With USB attached the digital logic part of the TMCM-3214 will be supplied via USB (USB powered mode) if there

is no main supply available. This mode may be used for firmware-updates, TMCL-program download or parameter

settings etc. (requires USB connection, only). Please note that in USB stand-alone mode (main board supply

available) the board might still draw current from the USB supply – depending on the voltage level of the USB

+5V and the on-board generated +5V.

Please note that the USB powered mode is not available with the TMCM-3215 due to higher power consumption

of the digital part.

5.1.4 Inputs

The TMCM-3214 / TMCM-3215 offer four analog inputs (nom. 0..10V range) which may be used as digital inputs,

also (+24V tolerant).

The four inputs are available via one 10 pin Molex MicroFit™ connector (Molex part no. 430451012). Mating

connector housing e.g. Molex 43025-1000, contacts Molex 43030-0007. Please note that there are alternative options

available from Molex for both, mating housing and contacts.

Label

Direction

Description

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Output connector and this

1

+5V_OUT

Input connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

10

6

1

2

3

4

5

6

7

8

9

AIN0

AIN1

AIN2

AIN3

GND

Input

Power

Analog input channel 0 (nom. 0..10V)

Analog input channel 1 (nom. 0..10V)

Analog input channel 2 (nom. 0..10V)

Analog input channel 3 (nom. 0..10V)

Supply and signal ground

5

10 GND

Table 5.3: Interface Brick: Input connector

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

11

5.1.5 Outputs

The TMCM-3214 / TMCM-3215 offer four digital outputs (open-drain). The four outputs are available via one 8 pin

Molex MicroFit™ connector (Molex part no. 43045-0812). Mating connector housing e.g. Molex 43025-0800, contacts

Molex 43030-0007. Please note that there are alternative options available from Molex for both, mating housing

and contacts.

1

2

3

4

Label

OUT0

OUT1

OUT2

OUT3

Direction

Output

Description

Open-drain output

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Input connector and this

Output connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Input connector and this

Output connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Input connector and this

Output connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

5

6

7

8

+5V_OUT

5

1

8

4

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Input connector and this

Output connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

Table 5.4: Interface Brick: Output connector

5.2 TMCM-3215 Interface Brick

The interface brick of the TMCM-3215 offers EtherCAT™ and USB interfaces for communication, four general

purpose analog inputs (which can be used as digital inputs as well) and four open-drain outputs.

LINK

IN

LINK

OUT

EtherCAT (2x)

1 TX+

2 TX-

1

8

3 RX+

4

5

6 RX-

7

8

USB (MicroUSB)

Inputs

1 +5V_OUT

2 AIN0

3 AIN1

4 AIN2

Outputs

1 OUT0

2 OUT1

3 OUT2

4 OUT3

6 GND

7 GND

8 GND

9 GND

10 GND

5 +5V_OUT

6 +5V_OUT

7 +5V_OUT

8 +5V_OUT

5

1

10

5

6

8

4

5 AIN3

1

Figure 5.3 TMCM-3215 interface brick

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

Connector and mating connector overview:

12

Label

Connector type

Mating connector type

EtherCAT™

e.g. Standard CAT 5 / CAT 5e

cables suitable for 100Mbit/s

Ethernet

RJ45 plug connector

USB

Micro-USB connector, type B

(USB device interface)

Standard Micro-USB

Inputs

Molex MicroFit™,

Molex MicroFit™, 43045-1012

2x5 pin header, 3mm pitch

Housing: 43025-1000

Contacts: 43030-0007

Molex MicroFit™,

Housing: 43025-0800

Contacts: 43030-0007

Outputs

Molex MicroFit™, 43045-0812

2x4 pin header, 3mm pitch

Table 5.5: TMCM-3215 interface brick: connectors and mating connectors

5.2.1 EtherCAT™ connector

There are two EtherCAT™ connectors on the board – one for LINK IN (towards / coming from EtherCAT™ master)

and one for LINK OUT (for connecting further slaves) connection.

A standard RJ45 plug connector (as used for 10/100Mbit/s Ethernet) is used for EtherCAT™ communication.

Standard CAT cables suitable for 100Mbit/s Ethernet (e.g. CAT 5 / 5e etc.) might be used for connection. The PHYs

used on the TMCM-3215 support auto MDI-X – therefore, TX and RX signals on the connector might be exchanged

– e.g. cables with straight-through pin-assignment can be used.

1

2

Label

Direction

Output

Input

Description

TX+

TX-

RX+

Transmit data output, differential, non-inverting

Transmit data output, differential, inverting

Receive data input, differential, non-inverting

3

4

5

1

8

6

RX-

Input

Receive data input, differential, inverting

7

8

Table 5.6: TMCM-3213 Interface Brick: EtherCAT™ connector

5.2.2 USB connector

The TMCM-3214 / TMCM-3215 offers a Micro USB connector (Type B, device interface) for communication. The USB

interface supports USB high speed communication (12Mbit/s).

USB powered mode is not available with the TMCM-3215.

5.2.3 Inputs

The TMCM-3214 / TMCM-3215 offer four analog inputs (nom. 0..10V range) which may be used as digital inputs,

also (+24V tolerant).

The four inputs are available via one 10 pin Molex MicroFit™ connector (Molex part no. 430451012). Mating

connector housing e.g. Molex 43025-1000, contacts Molex 43030-0007. Please note that there are alternative options

available from Molex for both, mating housing and contacts.

Label

Direction

Description

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

13

10

6

1

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Output connector and this

Input connector may draw up-to 1A (e.g. 100mA per

5

1

+5V_OUT

encoder and up-to 20mA per REF / HOME switch).

2

3

4

5

6

7

8

9

AIN0

AIN1

AIN2

AIN3

GND

Input

Power

Analog input channel 0 (nom. 0..10V)

Analog input channel 1 (nom. 0..10V)

Analog input channel 2 (nom. 0..10V)

Analog input channel 3 (nom. 0..10V)

Supply and signal ground

10 GND

Table 5.7: Interface Brick: Input connector

5.2.4 Outputs

The TMCM-3214 / TMCM-3215 offer four digital outputs (open-drain). The four outputs are available via one 8 pin

Molex MicroFit™ connector (Molex part no. 43045-0812). Mating connector housing e.g. Molex 43025-0800, contacts

Molex 43030-0007. Please note that there are alternative options available from Molex for both, mating housing

and contacts.

1

Label

OUT0

Direction

Output

Description

Open-drain output channel 0

2

3

4

OUT1

OUT2

OUT3

Output

Open-drain output channel 1

Open-drain output channel 2

Open-drain output channel 3

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

5

6

7

8

+5V_OUT

Power output / HOME, 3 Encoder connectors, Input connector and this

Output connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Input connector and this

Output connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Input connector and this

Output connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

Power output / HOME, 3 Encoder connectors, Input connector and this

Output connector may draw up-to 1A (e.g. 100mA per

encoder and up-to 20mA per REF / HOME switch).

5

1

8

4

Table 5.8: Interface Brick: Output connector

5.3 TMCM-3214 + TMCM-3215 Driver Brick

The driver brick of the TMCM-3214 and TMCM-3215 includes a single axis motion controller (supporting linear + S-

ramps and closed-loop support with external encoder) and a bipolar stepper motor driver with up-to 6.5A RMS /

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

14

9A peak motor current (programmable). It offers dedicated HOME + REFL and REFR inputs and encoder inputs for

incremental ABN encoders with differential signals. The TMCM-3214 and TMCM-3215 offer three such driver bricks,

supporting 3 stepper motors altogether.

Encoder

REF / HOME

1 GND

5 +5V_OUT

6 ENC_A-

7 ENC_B-

8 ENC_N-

4 3

1 GND

2 REFL

3 HOME

4 +5V_OUT

5 REFR

6 GND

5

1

8

4

1

6

3

2 ENC_A+

3 ENC_B+

4 ENC_N+

1

2

Motor

1 OA1

2 OB1

3 OA2

4 OB2

Figure 5.4 TMCM-3214 + TMCM-3215 Driver Brick

Label

Connector type

Mating connector type

Motor

Molex MicroFit Jr.™,

Housing: 39-01-2040

Contacts: 39-00-0039

Molex MicroFit™,

Housing: 43025-0600

Contacts: 43030-0007

Molex MicroFit™,

Molex MiniFit Jr.™, 39-28-8040

2x2 pin header, 3mm pitch

REF / HOME

Encoder

Molex MicroFit™, 43045-0612

2x3 pin header, 3mm pitch

Molex MicroFit™, 43045-0812

2x4 pin header, 3mm pitch

Housing: 43025-0800

Contacts: 43030-0007

Table 5.9 TMCM-3214 and TMCM-3215 Driver brick: connectors and mating connectors

5.3.1 Motor connector

Each motor (with two coils A + B and four connecting wires) can be connected via one 4 pin Molex MiniFit™

connector (Molex part no. 39-28-8040). Mating connector housing e.g. Molex 39-01-2040, contacts Molex 39-00-0039.

Please note that there are alternative options available from Molex for both, mating housing and contacts.

1

2

3

4

Label

Direction

Output

Description

4

2

3

1

OA1

OB1

OA2

OB2

Motor coil A

Motor coil B

Motor coil A

Motor coil B

Table 5.10: Driver Brick: Motor connector

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

15

CAUTION

Do not connect or disconnect motor during operation!

Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected

while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might

permanently damage them. Therefore, always switch off and / or disconnect power supply before connecting

/ disconnecting the motor.

5.3.2 REF / HOME connector

There is one REF / HOME connector per driver brick – one for each motor axis. HOME, REFL and / or REFR switches

may be connected via one 6 pin Molex MicroFit™ connector (Molex part no. 43045-0612). Mating connector housing

e.g. Molex 43025-0600, contacts Molex 43030-0007. Please note that there are alternative options available from

Molex for both, mating housing and contacts.

Label

Direction

Power

Description

Supply and signal ground

REF left / Left stop switch input. Internal pull-up (5k6) to

+5V. External switch to ground may be connected or up-

to +5V push-pull signal.

Home switch input. Internal pull-up (5k6) to +5V. External

switch to ground may be connected or up-to +5V push-

pull signal.

1

GND

REFL

2

3

Input

HOME

4

1

6

3

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF

4

+5V_OUT

Power output / HOME, 3 Encoder connectors and the Output connector

may draw up-to 1A (e.g. 100mA per encoder and up-to

20mA per REF / HOME switch).

REF right / Right stop switch input. Internal pull-up (5k6)

to +5V. External switch to ground may be connected or

up-to +5V push-pull signal.

Supply and signal ground

5

6

REFR

GND

Input

Power

Table 5.11: Driver Brick: REF / HOME connector

5.3.3 Encoder connector

There is one Encoder connector per driver brick – one for each motor axis. Incremental A/B/N encoders with

differential encoder signals are supported. The TMCM-3214 / TMCM-3215 offer on-board differential line receivers

(AM26LV32 or equivalent) with 120R termination resistor per differential signal pair. Differential encoder signals

may be connected via one 8 pin Molex MicroFit™ connector (Molex part no. 43045-0812). Mating connector housing

e.g. Molex 43025-0800, contacts Molex 43030-0007. Please note that there are alternative options available from

Molex for both, mating housing and contacts.

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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1

Label

Direction

Power

Description

Supply and signal ground

GND

2

3

ENC_A+

ENC_B+

Input

Differential input of encoder channel A, non-inverting input

Differential input of encoder channel B, non-inverting input

Differential input of encoder null / zero channel, non-

inverting input

4

ENC_N+

Input

5

1

8

4

Connected to the on-board +5V auxiliary DC/DC converter.

All +5V_OUT power supply outputs together on the 3 REF /

HOME, 3 Encoder connectors and the Output connector

may draw up-to 1A (e.g. 100mA per encoder and up-to

20mA per REF / HOME switch).

Power

output

5

+5V_OUT

6

7

ENC_A-

ENC_B-

Input

Differential input of encoder channel A, inverting input

Differential input of encoder channel B, inverting input

Differential input of encoder null / zero channel, inverting

input

8

ENC_N-

Input

Table 5.12: Driver Brick: Encoder connector

5.4 TMCM-3214 + TMCM-3215 Power supply Brick

The power supply brick of the TMCM-3214 and TMCM-3215 offers one main supply input via the Power connector,

separate logic supply input as an option and a hardware driver stage enable input on the Control connector and

connection for an external brake connector with the on-board brake chopper circuit.

Power

1

2

GND

+48V

Control

GND

+48V_LOGIC

Enable

Resistor

+48V

Resistor

1

2

1

2

1

2

3

4

1

Figure 5.5: TMCM-3214 + TMCM-3215 Power supply Brick

Connector and mating connector overview:

Label

Connector type

Mating connector type

Power

Molex MegaFit™,

Molex MegaFit™, 172065-0002

1x2 pin header, 5.7mm pitch

Housing: 171692-0102

Contacts: 172063-0312

Molex MicroFit™,

Housing: 43645-0400

Contacts: 43030-0007

Molex MicroFit™,

Control

Resistor

Molex MicroFit™, 43650-0415

1x4 pin header, 3mm pitch

Molex MicroFit™, 43650-0215

2x4 pin header, 3mm pitch

Housing: 43645-0200

Contacts: 43030-0007

Table 5.13 TMCM-3214 and TMCM-3215 Power supply brick: connectors and mating connectors

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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5.4.1 Power connector

A two pin Molex MegaFit™ connector (Molex part no. 172065-0002) is available for power supply connection.

Mating connector housing e.g. Molex 171692-0102, contacts Molex 172063-0312. Please note that there are

alternative options available from Molex for both, housing and contacts.

Label

Direction

Power

Description

Supply and signal ground

Power supply input. +24V … +48V +/- 10% regulated power

supply input. Supply input for all three motor driver

stages and logic supply.

1

GND

+48V

2

1

Power supply

input

2

Table 5.14: Power supply Brick: Power connector

CAUTION

Always keep the power supply voltage (+48V) below the upper limit of 53V!

Otherwise the driver electronics will be seriously damaged. Especially, when the selected operating voltage

is near the upper limit a regulated power supply is highly recommended.

Always keep the logic power supply voltage (+48V_LOGIC) above or equal to the main power supply!

Otherwise the on-board electronics (diode connection between +48V main power supply input and +48V

logic supply input) might be seriously damaged.

5.4.2 Control connector

A four pin Molex MicroFit™ connector (Molex part no. 436500415) is used for the driver stage enable signal and

optional separate logic supply input. Mating connector housing e.g. Molex 43645-0400, contacts Molex 43030-0007.

Please note that there are alternative options available from Molex for both, housing and contacts.

Label

Direction

Description

Supply and signal ground

Separate logic supply input. May be used in order to

Power supply keep digital / logic part alive while driver stage is not

1

GND

Power

2

+48V_LOGIC

input

supplied (Power supply input via Power connector either

4

1

switched off or disconnected).

Power supply

input

3

4

+48V_LOGIC

ENABLE

Same as Pin 2.

Driver stage enable input (logic high). Maybe connected

to pin 3 / +48V_LOGIC in order to enable driver.

Input

Table 5.15: Power supply brick: Control connector

CAUTION

Always keep the digital logic power supply voltage (+48V_LOGIC) below the upper limit of 53V!

Otherwise the on-board electronics might be seriously damaged. Especially, when the selected operating

voltage is near the upper limit a regulated power supply is highly recommended.

Always keep the logic power supply voltage (+48V_LOGIC) above or equal to the main power supply

(on the Power supply connector)!

Otherwise the on-board electronics (diode connection between +48V main power supply input and +48V

logic supply input) might be seriously damaged.

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18

5.4.3 Resistor connector

The TMCM-3214 and TMCM-3215 offer a brake chopper in hardware for limiting supply voltage in case energy is

fed back from motor / driver stage into the supply rail. A two pin Molex MicroFit™ connector (Molex part no.

43650-0215) is used for connecting an external brake resistor. Mating connector housing e.g. Molex 43645-0200,

contacts Molex 43030-0007. Please note that there are alternative options available from Molex for both, housing

and contacts.

Label

Direction

Power supply

input

Description

1

+48V

Resistor

Connected to power supply input of Power connector.

2

1

Brake chopper output. An external power resistor should

be connected between Pin 1 and Pin 2 of this connector.

2

Output

Table 5.16: Power supply brick: Resistor connector

5.5 Power supply

For proper operation care has to be taken with regard to power supply concept and design. The TMCM-3214 /

TMCM-3215 includes about 6000µF/63V of supply filter capacitors. In addition, the module includes a 48V

suppressor diode for over-voltage protection. Nevertheless, it is important to make sure that supply voltage will

not rise beyond the upper limit of +53V! Please note: during motor deceleration the driver stage might feedback

energy from the motor into the supply rail and supply voltage might increase. In order to limit the supply voltage

a brake chopper circuit has been included on the board. When activated in software and together with an external

power resistor this circuit will limit the supply voltage.

CAUTION

Always keep the power supply voltage (+48V) below the upper limit of 53V!

Otherwise the on-board electronics might be seriously damaged. Especially, when the selected operating

voltage is near the upper limit a regulated power supply is highly recommended. In addition, the on-board

brake chopper may be used together with an external power resistor connected to the Resistor connector in

order to limit supply voltage.

Always keep the digital logic power supply voltage (+48V_LOGIC) below the upper limit of 53V!

Otherwise the on-board electronics might be seriously damaged. Especially, when the selected operating

voltage is near the upper limit a regulated power supply is highly recommended.

Always keep the logic power supply voltage (+48V_LOGIC) above or equal to the main power supply (on

the Power supply connector)!

Otherwise the on-board electronics (diode connection between +48V main power supply input and +48V logic

supply input) might be seriously damaged.

There is limited reverse polarity protection, only!

The module will short any reversed supply voltage.

5.6 RS485

For remote control and communication with a host system the TMCM-3214 provides a two wire RS485 bus

interface. For proper operation the following items should be taken into account when setting up an RS485

network:

1. BUS STRUCTURE:

The network topology should follow a bus structure as closely as possible. That is, the connection

between each node and the bus itself should be as short as possible. Basically, it should be short

compared to the length of the bus. The TMCM-3214 offers two connectors which are connected directly

to each other and the on-board RS485 transceiver. Using both connectors for passing through the bus

will help with keeping a proper bus topology.

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

Host

19

Slave

node

1

Slave

c:>

node node

- 1

n

}

termination

resistor

termination

resistor

(120 Ohm)

keep distance as

short as possible

RS485

Figure 5.3: Bus structure

2. BUS TERMINATION:

Especially for longer busses and/or multiple nodes connected to the bus and/or high communication

speeds, the bus should be properly terminated at both ends. The TMCM-3214 does not integrate any

termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added

externally.

3. NUMBER OF NODES:

The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus.

The bus transceivers used on the TMCM-3214 units (SN65HVD1781D) have a significantly reduced bus load

and allow a maximum of 255 units to be connected to a single RS485 bus using TMCL firmware. Please

note: usually it cannot be expected to get reliable communication with the maximum number of nodes

connected to one bus and maximum supported communication speed at the same time. Instead, a

compromise has to be found between bus cable length, communication speed and number of nodes.

4. COMMUNICATION SPEED:

The maximum RS485 communication speed supported by the TMCM-3214 hardware is 1Mbit/s. Factory

default is 9600 bit/s. Please see separate firmware manuals for information regarding other possible

communication speeds below the upper limit in hardware.

5. NO FLOATING BUS LINES:

Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is

transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication

errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting

both bus lines to well defined logic levels.

There are actually two options which can be recommended:

Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both ends):

Slave

+5V

pull-up (680R)

termination

node node

n- 1

n

RS485+ / RS485A

RS485- / RS485B

termination

resistor

(120R)

(220R)

pull-down (680R)

GND

Figure 4.4: Bus lines with resistor (Bias) network on one side, only

Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination):

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

20

Slave

+5V

pull-up (390R)

termination

+5V

node node

n- 1

n

pull-up (390R)

termination

RS485+ / RS485A

RS485- / RS485B

resistor

(220R)

resistor

(220R)

pull-down (390R)

GND

pull-down (390R)

GND

Figure 4.5: Bus lines with resistor (Bias) network at both ends

Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-

485 with bias network at one end of the bus).

5.7 CAN

For remote control and communication with a host system the TMCM-3214 provides a CAN bus interface. For

proper operation the following items should be taken into account when setting up a CAN network:

1. BUS STRUCTURE:

The network topology should follow a bus structure as closely as possible. That is, the connection

between each node and the bus itself should be as short as possible. Basically, it should be short

compared to the length of the bus. The TMCM-3214 offers two connectors (RJ45) which are connected

directly to each other and the on-board CAN transceiver. Using both connectors for passing through the

bus will help with keeping a proper bus topology.

Host

Slave

node

1

Slave

c:>

node node

- 1

n

}

termination

resistor

termination

resistor

(120 Ohm)

keep distance as

short as possible

CAN

Figure 5.6: CAN bus structure

2. BUS TERMINATION:

Especially for longer busses and/or multiple nodes connected to the bus and/or high communication

speeds, the bus should be properly terminated at both ends. The TMCM-3214 does not integrate any

termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added

externally.

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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5.7.1 CAN adapter

As part of the cable loom for the TMCM-3214 (G4-CABLE) an adapter pcb is vailable (RJ45-2-DSUB_G4_V10) for

making CAN bus connection via standard D-SUB connectors instead of the RJ45 available on the TMCM-3214. A

standard e.g. CAT5 ethernet cable might be used to connect the RJ45 connector on the TMCM-3214 with the RJ45

connector on the adapter pcb. The D-SUB connector on the adapter pcb might then be used to connect further

slaves or the master with CAN D-SUB connectors. Please make sure to maintain a proper bus structure while

using the adapter pcb.

Figure 5.6: RJ45-2-DSUB PCB top view

Figure 5.7: RJ45-2-DSUB schematic / connector pin assignment

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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5.8 General purpose outputs OUT0..3

The TMCM-3214 and TMCM-3215 offer 4 open-drain (N-channel MOSFET) general purpose outputs available at the

output connector of the interface brick part. The internal connection of the N-channel MOSFETs together with a

flyback / freewheeling diode can be seen in figure 5.8. When activating the MOSFET the related output will be

pulled low (sometimes called npn-style switch).

TMCM-3214 / TMCM-3215

+5V_OUT

5

8

1

4

OUT0

OUT1

OUT2

OUT3

microcontroller

GND

Output OUT0..3 with internal circuit

of OUT0 as example

Figure 5.8: General purpose output – internal circuit (simplified)

Examples for connecting external circuits to the outputs:

470R

4k7

Relais

LED

5

1

5

1

5

8

1

4

OUT0

1

2

3

4

8

Figure 5.9. Connecting external circuits to the general purpose outputs

From left to right:

1. Simple digital output: high (+5V) / low

2. LED connected to output

3. Relay connected to output

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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6 Motor driver current

The stepper motor driver section of the TMCM-3214 + TMCM-3215 operates current controlled. The driver current

may be programmed in software with 236 effective scaling steps in hardware up-to 6.5A RMS / 9A peak max.

motor coil current.

Motor current measured for one phase with max. current settings (100% e.g. “SAP 179, 0, 0” and “SAP 6, 0, 235”)

and 256 microsteps:

CH1 (yellow): motor current [100mV / A]

Motor current

setting in

In TMCL axis parameter 6 (motor run current) and 7 (motor standby current) can be used

for motor current setting:

software (TMC)

SAP 6, 0, <value> // set run current

SAP 7, 0, <value> // set standby current

For <value>numbers between 0 (minimum) and 235 (maximum) are supported. Motor

current is scaled linearly up-to 6.5A RMS / 9A peak.

(read-out value with GAP instead of SAP. Please see separate TMCM-3214 / TMCM-3215

firmware / software manual for further information)

Range setting

in software

(TMCL)

TMCL axis parameter 179 (Vsense) will set the current range:

SAP 179, 0, <value> // = 0 high current range

//

up-to 6.5A RMS/9A peak

// = 1 low current range

//

up-to 3.7A RMS / 5.2A peak

For <value>either 0 (high current range) or 1 (low current range) is supported.

(read-out value with GAP instead of SAP.

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7 On Board LEDs

There are a number of LEDs on-board indicating status.

7.1 Power supply brick

With the TMCM-3214 and TMCM-3215, four LEDs are available on the power supply brick part.

-12V supply

+12V supply

+5V supply

+5V auxilliary supply

Figure 7.1: LEDs on power supply brick

LED

Description

-12V supply

+12V supply

+5V supply

+5V auxiliary supply

-12V available from on-board DC/DC converter for supply of current sense circuit

+12V available from on-board DC/DC converter for supply of pre-driver circuit

+5V available from on-board DC/DC converter for supply of on-board digital circuit

+5V auxiliary supply available (can be switched on/off in software). +5V_OUT on

REF/HOME and ENCODER connector.

7.2 TMCM-3214 Interface Brick

With the TMCM-3214, there are two LEDs (one green and one red) available. Both are connected to the on-board

microcontroller and function is firmware dependent. With TMCL firmware the green LED is flashing slowly during

operation. During firmware updates both LEDs are switched on.

LED (red)

LED (green)

Figure 7.2: LEDs on TMCM-3214 interface brick

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7.3 TMCM-3215 Interface Brick

With the TMCM-3215, there are five LEDs available. Two LEDs are connected to the processor and three to the

EtherCAT™ slave controller (ESC). In addition, one LED (ERROR) is connected to both, the microcontroller and the

ESC.

EtherCAT LINK IN

EtherCAT LINK OUT

EtherCAT RUN

ERROR

LED (green)

Figure 7.3: LEDs on TMCM-3215 interface brick

LED

Description

EtherCAT™ LINK IN

EtherCAT™ LINK OUT

EtherCAT RUN

ERROR

Signal LINK IN, connected to ESC

Signal LINK OUT, connected to ESC

Indicating status of EtherCAT state machine, connected to ESC

Connected to microcontroller and ESC – indicating Error

Connected to microcontroller – flashing slowly during normal operation

LED (green)

8 Reset to Factory Default

For reset to factory default values please follow instructions below:

1. Switch OFF power supply.

2. Short two pads of programming connector pad-array (see figure 8.1).

3. Switch ON power supply (on-board LED should be flashing fast / faster than during normal operation).

4. Switch OFF power supply.

5. Remove short circuit.

Figure 8.1 Reset to factory defaults (bottom view of pcb - interface brick end)

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

26

9 Operational ratings

The operational ratings show the intended or the characteristic ranges and should be used as design values.

In no case shall the maximum values be exceeded.

Symbol

+48V

Parameter

Min

Typ

Max

Unit

V

Power supply voltage input

18

24..48

53

+48V_LOGIC

Power supply voltage for on-board digital /

logic (if supplied separately)

Same as

+48V

V

supply

input

I_PEAK

Motor coil current for sine wave peak

9

A

(chopper regulated, adjustable via software)

I_RMS

I_+24V

T_ENV

Continuous motor current (RMS)

6.5

A

Power supply current for driver

<< 3 x I_RMS

A

Environmental temperature at 3x 6.5A RMS

motor current (no forced cooling)

-30^**)

+50^***)

°C

Table 9.1: General operational ratings of the module

**) limited by test equipment. Operation down to -40°C can be expected. Test included “cold” start at this temperature.

***) Test set-up / procedure: module placed inside climate chamber (Binder MK53) with approx. 53l volume. Motor placed

outside chamber moving slowly with motor current set to maximum supported by module (3x 6.5A RMS). Test duration: 24h.

Communication tested at beginning and end of test.

Symbol

Parameter

Min

Typ

Max

Unit

V_{REFL/R_HOME}

Input voltage for stop / home switch inputs

REFL / REFR and HOME

0

5.5

V

V_{REFL/R_HOME_L}

V_{REFL/R_HOME_H}

Low level voltage for stop / home switch inputs

REFL / REFR and HOME

0

1.1

V

High level voltage for stop / home switch inputs

REFL / REFR and HOME

3.3

0

V_OUT0…3

I_OUT0…3

V_AIN0…3

Voltage at open collector output OUT0…OUT3

5

V

A

V

Output sink current for OUT0…OUT3

1

Full scale input voltage range for analog inputs

0

10**)

AIN0…AIN3

Table 9.2 Operational ratings of I/Os

**) nominal upper input voltage which can be measured without saturation of the ADC. Max. voltage at max. ADC value will

be around 10.56V.

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

27

10TMCM-3214 Functional Description

The TMCM-3214 is a highly integrated controller/driver module for 3 stepper motor axes which can be controlled

via several serial interfaces (CAN, RS485 and USB – depending on firmware). Communication traffic is kept low

since all time critical operations (e.g. ramp calculations) are performed on board. The nominal supply voltage of

the unit is 24V or 48V DC. The module is designed for both, standalone operation and direct mode. Full remote

control of device with feedback is possible. The firmware of the module can be updated via one of the serial

interfaces (depending on module and firmware type).

In Figure 10.1 the main parts of the TMCM-3214 are shown:

-

Microcontroller, responsible for overall control - executes the firmware (either TMCL or CANopen incl. the

communication stack)

-

3 motion controller and driver (based on the TMC2130) with additional higher-power MOSFET stepper

motor driver stage. With the integrated motion controller calculation of ramps (linear and sixPoint™)

and speed profiles is done internally in hardware.

-

interface for an external (e.g. optical) incremental A/B/N encoder (differential RS422 signals) for each axis

interface for HOME / REFL / REFR reference switches for each axis

4 general purpose analog / digital inputs

4 general purpose digital (open-drain) outputs

Three serial communication interfaces: CAN, RS485 and USB (Micro-USB-connector)

TMCM-3214

18..53V

MOSFET

Driver

Stage

DC

TMC2130

E

DC

+5V

HOME, REFL, REFR

A/B/N Encoder

TMC2130

EEPROM

I2C

MOSFET

Driver

Stage

SPI

+5V

RS485

CAN

USB

µC

(ARM)

A/B/N Encoder

TMC2130

MOSFET

Driver

Stage

Inputs

Outputs

+5V

A/B/N Encoder

Figure 10.1 Main parts of the TMCM-3214

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

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11TMCM-3215 Functional Description

The TMCM-3215 is a highly integrated controller/driver module for 6 stepper motor axes which offers an EtherCAT™

interface in addition to USB for communication. The nominal supply voltage of the unit is 24V or 48V DC. Full

remote control of the device with feedback is possible using the CANopen over EtherCAT™ (CoE) firmware. The

firmware of the module can be updated via one of the serial interfaces.

In Figure 10.1 the main parts of the TMCM-3315 are shown:

-

Microcontroller, responsible for overall control - executes the firmware (CANopen over EtherCAT, CoE)

3 motion controller and driver (based on the TMC2130) with additional higher-power MOSFET stepper

motor driver stage. With the integrated motion controller calculation of ramps (linear and sixPoint™)

and speed profiles is done internally in hardware.

-

interface for an external (e.g. optical) incremental A/B/N encoder (differential RS422 signals) for each axis

(High-resolution encoder required for optional closed-loop operation)

interface for HOME / REFL / REFR reference switches for each axis

4 general purpose analog / digital inputs

4 general purpose digital (open-drain) outputs

-

EtherCAT™ and USB interfaces for communication

TMCM-3215

18..53V

MOSFET

Driver

Stage

DC

TMC2130

E

DC

+5V

HOME, REFL, REFR

A/B/N Encoder

TMC2130

EEPROM

I2C

MOSFET

Driver

Stage

SPI

+5V

USB

µC

(ARM)

A/B/N Encoder

TMC2130

Inputs

MOSFET

Driver

Stage

Outputs

+5V

SPI

PHY

TMC8460

(EtherCAT

slave

EtherCAT^TM

A/B/N Encoder

controller)

Figure 11.1 Main parts of the TMCM-3215

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)

12Revision History

29

12.1 Document revision

Version Date

0.90 2016-JUN-27

Author

GE

Description

Initial version based on TMCM-3314 / TMCM-3315 V0.90 hardware manual

Table 12.1: Document revision

12.2 Hardware revision

Version

Date

Description

TMCM-3214_V10

TMCM-3215_V10

TMCM-3214_V11

2016-JUN-15

2016-JUN-24

First version based on TMCM-3314_V13 (prototypes, only)

First version based on TMCM-3315_V13 (prototypes, only)

Correction:



Connect pin 9 of motion controller / driver to GND in order to

enable motion controller

TMCM-3215_V11

2016-JUN-24

Correction:

Connect pin 9 of motion controller / driver to GND in order to

enable motion controller



Table 12.2: Hardware revision

13References

[MOLEX]

MOLEX connector

http://www.molex.com

TMC2130 datasheet

Manual available on http://www.trinamic.com.

TMCL-IDE User Manual

[TMC2130]

[TMCL-IDE]

Manual available on http://www.trinamic.com.


型号：	TMCM-G4-CABLE
厂家：	TRINAMIC MOTION CONTROL GMBH & CO. KG.
描述：	3-Axes Stepper Controller / Driver Up-to 3A RMS / 48V DC Encoder
文件：	总29页 (文件大小：1279K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

TMCM-G4-CABLE [TRINAMIC]

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