MODULES FOR STEPPER MOTORS MODULES Hardware Version V 2.00 HARDWARE MANUAL + + TMCM-3314 TMCM-3315 3-Axes Closed-Loop Stepper Controller / Driver Up-to 7A RMS / 48V DC Encoder / HOME / STOP inputs 4x analog / digital inputs 4x digital outputs Brake chopper support CAN, RS485, USB (TMCM-3314) EtherCAT™, USB (TMCM-3315) + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) Table of contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features ........................................................................................................................................................................... 4 Order codes ........................................................
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 1 Life support policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 4 2 Features The TMCM-3314 / TMCM-3315 is a three axes controller/driver module for 2-phase bipolar stepper motors with separate encoder (differential) and HOME / STOP switch inputs for each axis. CAN, RS485 and USB (Micro-USB) interfaces are available on the TMCM-3314 and EtherCAT™ together with USB (Micro-USB) on the TMCM-3315 for communication.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 5 3 Order codes The TMCM-3314 unit is available with two different firmware options: Order code TMCM-3314-TMCL TMCM-3314-CANopen Size of unit Description 3-axes closed-loop controller / driver up-to 6.5A RMS 280mm x 100mm x 21mm / +48V, CAN + RS485 + USB with TMCL firmware 3-axes closed-loop controller / driver up-to 6.5A RMS 280mm x 100mm x 21mm / +48V, CAN + RS485 + USB with CANopen firmware Table 3.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 6 4 Mechanical and Electrical Interfacing 4.1 Dimensions and Mounting Holes The dimensions of the TMCM-3314 and TMCM-3315 controller/driver board are approx. 280mm x 100mm x 21mm. Maximum component height (height above PCB level) without mating connectors is around 17mm above PCB level and 2mm below PCB level. There are 12 mounting holes for M3 screws (3.2mm diameter) altogether for mounting the PCB. Figure 4.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 7 4.2 Board mounting considerations The TMCM-3314 / TMCM-3315 offer 12 metal plated mounting holes. One hole (close to power supply connector) is connected to on-board system ground (connected to power supply input ground) via 1M (500VDC) || 1nF (1kV). The same combination of resistor and capacitor is used for connecting the RJ45 shield ground (connector enclosure) to power supply input ground (see figure 4.2). Figure 4.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 8 5 Connectors of TMCM-3314 and TMCM-3315 The TMCM-3314 and TMCM-3315 are two members of a family of modules with a modular architecture composed of so called “bricks”. The TMCM-3314 and TMCM-3315 consist of one interface brick, three single-axes stepper motor controller / driver bricks and one supply brick. With the TMCM-3314 the interface brick offers CAN and RS485 interfaces while with the TMCM-3315 the EtherCAT™ option is assembled instead.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 9 Connector and mating connector overview: Label Connector type RS485 Mating connector type Molex MicroFit™, 436500315 1x4 pin header, 3mm pitch CAN RJ45 plug connector USB Micro-USB connector, type B (USB device interface) Inputs Molex MicroFit™, 430451012 2x5 pin header, 3mm pitch Outputs Molex MicroFit™, 430450812 2x4 pin header, 3mm pitch Molex MicroFit™, Housing: 43645-0300 Contacts: 43030-0007 e.g.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 10 5.1.3 USB connector The TMCM-3314 / TMCM-3315 offers a Micro USB connector (Type B, device interface) for communication. The USB interface supports USB high speed communication (12Mbit/s). With USB attached the digital logic part of the TMCM-3314 / TMCM-3315 will be supplied via USB (USB powered mode) if there is no main supply available. This mode may be used for firmware-updates, TMCL-program download or parameter settings etc.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 11 5.1.5 Outputs The TMCM-3314 / TMCM-3315 offer four digital outputs (open-drain). The four outputs are available via one 8 pin Molex MicroFit™ connector (Molex part no. 43045-0812). Mating connector housing e.g. Molex 43025-0800, contacts Molex 43030-0007. Please note that there are alternative options available from Molex for both, mating housing and contacts.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 12 Connector and mating connector overview: Label Connector type Mating connector type RJ45 plug connector e.g.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) Pin 10 6 5 1 Label Direction 1 +5V_OUT Power output 2 3 4 5 6 7 8 9 10 AIN0 AIN1 AIN2 AIN3 GND GND GND GND GND Input Input Input Input Power Power Power Power Power 13 Description Connected to the on-board +5V auxiliary DC/DC converter. All +5V_OUT power supply outputs together on the 3 REF / HOME, 3 Encoder connectors, Output connector and this Input connector may draw up-to 1A (e.g.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 14 5.3 TMCM-3314 + TMCM-3315 Driver Brick The driver brick of the TMCM-3314 and TMCM-3315 includes a single axis motion controller (supporting linear + Sramps and closed-loop support with external encoder) and a bipolar stepper motor driver with up-to 7A RMS / 9.6A peak motor current (programmable). It offers dedicated HOME + REFL and REFR inputs and encoder inputs for incremental ABN encoders with differential signals.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 15 CAUTION Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off and / or disconnect power supply before connecting / disconnecting the motor. 5.3.
TMCM-3314, TMCM-3315 Hardware Manual (V1.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 17 5.4.1 Power connector A two pin Molex MegaFit™ connector (Molex part no. 172065-0002) is available for power supply connection. Mating connector housing e.g. Molex 171692-0102, contacts Molex 172063-0312. Please note that there are alternative options available from Molex for both, housing and contacts. 2 1 Pin 1 Label GND 2 +48V Direction Power Power supply input Description Supply and signal ground Power supply input.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 18 5.4.3 Resistor connector The TMCM-3314 and TMCM-3315 offer a brake chopper in hardware for limiting supply voltage in case energy is fed back from motor / driver stage into the supply rail. A two pin Molex MicroFit™ connector (Molex part no. 43650-0215) is used for connecting an external brake resistor. The brake resistor output will be switched on at about 52V power supply voltage. Mating connector housing e.g.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) Host c:> 19 Slave Slave Slave node 1 node n-1 node n } termination resistor (120 Ohm) termination resistor (120 Ohm) keep distance as short as possible RS485 Figure 5.3: Bus structure 2. BUS TERMINATION: Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-3314 does not integrate any termination resistor.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) +5V pull-up (390R) 20 Slave Slave node n- 1 node n +5V pull-up (390R) RS485+ / RS485A termination resistor (220R) termination resistor (220R) RS485- / RS485B pull-down (390R) pull-down (390R) GND GND Figure 4.5: Bus lines with resistor (Bias) network at both ends Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2485 with bias network at one end of the bus). 5.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 21 5.7.1 CAN adapter As part of the cable loom for the TMCM-3314 (G4-CABLE) an adapter pcb is vailable (RJ45-2-DSUB_G4_V10) for making CAN bus connection via standard D-SUB connectors instead of the RJ45 available on the TMCM-3314. A standard e.g. CAT5 ethernet cable might be used to connect the RJ45 connector on the TMCM-3314 with the RJ45 connector on the adapter pcb.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 22 5.8 General purpose outputs OUT0..3 The TMCM-3314 and TMCM-3315 offer 4 open-drain (N-channel MOSFET) general purpose outputs available at the output connector of the interface brick part. The internal connection of the N-channel MOSFETs together with a flyback / freewheeling diode can be seen in figure 5.8. When activating the MOSFET the related output will be pulled low (sometimes called npn-style switch).
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 23 6 Motor driver current The stepper motor driver section of the TMCM-3314 + TMCM-3315 operates current controlled. The driver current may be programmed in software with 236 effective scaling steps in hardware up-to 7A RMS / 9.6A peak max. motor coil current. Motor current measured for one phase with max. current settings (100% e.g.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 24 7 On Board LEDs There are a number of LEDs on-board indicating status. 7.1 Power supply brick With the TMCM-3314 and TMCM-3315, two LEDs are available on the power supply brick part. Figure 7.1: LEDs on power supply brick LED Description +5V supply +5V available from on-board DC/DC converter for supply of on-board digital circuit +5V auxiliary supply +5V auxiliary supply available (can be switched on/off in software).
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 25 7.3 TMCM-3315 Interface Brick With the TMCM-3315, there are five LEDs available. Two LEDs are connected to the processor and three to the EtherCAT™ slave controller (ESC). In addition, one LED (ERROR) is connected to both, the microcontroller and the ESC. Figure 7.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 26 9 Operational ratings The operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded. Symbol Parameter Min Typ Max Unit +48V Power supply voltage input 18 24..
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 27 10 TMCM-3314 Functional Description The TMCM-3314 is a highly integrated controller/driver module for 3 stepper motor axes with (optional) closedloop 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.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 28 11 TMCM-3315 Functional Description The TMCM-3315 is a highly integrated controller/driver module for 3 stepper motor axes with (optional) closedloop 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.
TMCM-3314, TMCM-3315 Hardware Manual (V1.00 / 2018-APR-30) 29 12 Revision History 12.1 Document revision Version 0.90 Date 2016-JUN-22 Author GE 0.91 2016-JUN-28 GE 0.921 1.00 2016-SEP-20 2018-APR-30 GE GE Description Initial version based on TMCM-3312 / TMCM-3313 V0.92 hardware manual Addition / correction: No USB powered mode for the TMCM-3315 Date of hardware revision corrected Block diagram TMCM-3315 (chapter 11) corrected Update for hardware revision V2.0 Table 12.
