User Manual

TMCM-3312, TMCM-3313 Hardware Manual (V0.94 / 2017-MAR-01) 27
Copyright © 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
10 TMCM-3312 Functional Description
The TMCM-3312 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-3312 are shown:
- Microcontroller, responsible for overall control - executes the firmware (either TMCL or CANopen incl. the
communication stack)
- 3 advanced motion controller and pre-driver with additional higher-power MOSFETs. With the integrated
motion controller 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)
Advanced
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-3312
Advanced
Motion
Controller
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
E
MOSFET
Driver
Stage
Advanced
Motion
Controller
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
E
Pre-Driver
MOSFET
Driver
Stage
Pre-Driver
MOSFET
Driver
Stage
Pre-Driver
Figure 10.1 Main parts of the TMCM-3312