User Manual

TMCM-3212, TMCM-3213 Hardware Manual (V0.95 / 2017-MAR-01) 27
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
10 TMCM-3212 Functional Description
The TMCM-3212 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-3212 are shown:
- Microcontroller, responsible for overall control - executes the firmware (either TMCL or CANopen incl. the
communication stack)
- 3 motion controller and pre-driver with additional higher-power MOSFETs. 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.
The encoder may be used for position verification and step-loss detection. For closed-loop operation
please consider using the TMCM-3312 unit.
- 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). While CAN and RS485
are intended for in-system control and operation (for CANopen firmware just CAN) the USB interface may
be primarily used for parameter settings and firmware updates.
Motion
Controller
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
E
µC
(ARM)
CAN
USB
RS485
Inputs
Outputs
17..53V
DC
DC
EEPROM
I2C
SPI
TMCM-3212
MOSFET
Driver
Stage
Motion
Controller
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
E
MOSFET
Driver
Stage
Motion
Controller
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
E
MOSFET
Driver
Stage
Figure 10.1 Main parts of the TMCM-3212