User Manual

TMCM-3312, TMCM-3313 Hardware Manual (V0.94 / 2017-MAR-01) 28
Copyright © 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
11 TMCM-3313 Functional Description
The TMCM-3313 is a highly integrated controller/driver module for 3 stepper motor axes with (optional) closed-
loop operation. The unit 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-3313 are shown:
- Microcontroller, responsible for overall control - executes the firmware (CANopen over EtherCAT, CoE)
- 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
- EtherCAT™ and USB interfaces for communication
µC
(ARM)
USB
Inputs
Outputs
17..53V
DC
DC
EEPROM
I2C
SPI
EtherCAT
slave
controller
SPI
PHY
PHY
EtherCAT
TM
TMCM-3313
Advanced
Motion
Controller
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
E
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 11.1 Main parts of the TMCM-3313