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.
Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
