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:
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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.
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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
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-
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EtherCAT™ and USB interfaces for communication
TMCM-3215
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
USB
µC
(ARM)
A/B/N Encoder
TMC2130
Inputs
MOSFET
Driver
Stage
Outputs
+5V
+5V
+5V
SPI
PHY
PHY
TMC8460
(EtherCAT
slave
EtherCATTM
A/B/N Encoder
controller)
Figure 11.1 Main parts of the TMCM-3215
Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
