TMCM-3314, TMCM-3315 Hardware Manual (V0.92 / 2016-SEP-20)
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10TMCM-3314 Functional Description
The TMCM-3314 is a highly integrated controller/driver module for 3 stepper motor axes with (optional) closed-
loop operation. The unit may 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-3314 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 TMC4361 motion controller and the TMC2130 stepper driver
ICs) with additional higher-power MOSFET stepper motor driver stage. With the integrated motion
controller (TMC4361) calculation of ramps (linear / S-ramp), speed profiles and optional closed-loop
operation with external encoder 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
-
-
-
-
Three serial communication interfaces: CAN, RS485 and USB (Micro-USB-connector)
TMCM-3314
optional
18..53V
MOSFET
Driver
Stage
DC
TMC2130
TMC2130
TMC2130
TMC4361
E
DC
+5V
+5V
+5V
HOME, REFL, REFR
HOME, REFL, REFR
HOME, REFL, REFR
A/B/N Encoder
TMC4361
optional
EEPROM
I2C
MOSFET
Driver
Stage
E
SPI
+5V
+5V
+5V
RS485
CAN
USB
µC
(ARM)
A/B/N Encoder
TMC4361
optional
MOSFET
Driver
Stage
Inputs
E
Outputs
+5V
+5V
+5V
A/B/N Encoder
Figure 10.1 Main parts of the TMCM-3314
Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
