User Manual

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) 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-3315 are shown:

- Microcontroller, responsible for overall control - executes the firmware (CANopen over EtherCAT, CoE)

- 3 motion controller and driver (based on the TMC4361 motion controller and the TMC5160 stepper driver

ICs) with additional higher-power MOSFET stepper motor driver stage. With the integrated motion

controller (TMC4361) 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

Figure 11.1 Main parts of the TMCM-3315