TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27)
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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:
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Microcontroller, responsible for overall control - executes the firmware (either TMCL or CANopen incl. the
communication stack)
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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.
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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
E
E
DC
+5V
+5V
+5V
HOME, REFL, REFR
HOME, REFL, REFR
HOME, REFL, REFR
A/B/N Encoder
TMC2130
EEPROM
I2C
MOSFET
Driver
Stage
SPI
+5V
+5V
+5V
RS485
CAN
USB
µC
(ARM)
A/B/N Encoder
TMC2130
MOSFET
Driver
Stage
Inputs
Outputs
+5V
+5V
+5V
A/B/N Encoder
Figure 10.1 Main parts of the TMCM-3214
Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
