User Manual

TMCM-3212, TMCM-3213 Hardware Manual (V0.95 / 2017-MAR-01) 28
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
11 TMCM-3213 Functional Description
The TMCM-3213 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-3213 are shown:
- Microcontroller, responsible for overall control - executes the firmware (CANopen over EtherCAT, CoE)
- 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-3313 unit.
- interface for HOME / REFL / REFR reference switches for each axis (either encoder interface or reference
switches can be selected in software)
- 4 general purpose analog / digital inputs
- 4 general purpose digital (open-drain) outputs
- EtherCAT™ and USB interfaces for communication. The EtherCAT™ interface is intended for in-system
control and operation (using CoE firmware), while USB may be used for parameter setting and firmware
updates
µC
(ARM)
USB
Inputs
Outputs
17..53V
DC
DC
EEPROM
I2C
SPI
EtherCAT
slave
controller
SPI
PHY
PHY
EtherCAT
TM
TMCM-3213
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
Motion
Controller
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
E
MOSFET
Driver
Stage
Figure 11.1 Main parts of the TMCM-3213