MODULE Module for Stepper Motors TMCM-3351 Hardware Manual Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 The TMCM-3351 is a three axes motor controller/driver board for 2-phase bipolar stepper motors. It is the direct successor of the TMCM-351 - mechanically and electrically compatible - with our latest generation of stepper driver and motion controller ICs supporting linear and S-shaped ramps and closed-loop operation with external ABN-encoders.
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 Contents 1 Features 4 2 Order Codes 5 3 Mechanical and Electrical Interfacing 3.1 Size of board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 6 4 Connectors 4.1 Power Connector . . . . 4.2 Motor Connector . . . . 4.3 Reference Connector . . 4.4 Analog Input Connector 4.5 USB Connector . . . . . 4.6 RS232 Connector . . . . 4.7 CAN Connector . . . . . 4.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 3 / 31 15 Revision History 31 15.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 15.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 1 4 / 31 Features The TMCM-3351 is a three axes stepper motor controller /driver board for 2-phase bipolar stepper motors. Linear and S-shaped ramps and closed-loop operation with optional encoders are supported for each of the three axes. The TMCM-3351 offers a large number of general purpose digital and analog inputs and outputs.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 2 5 / 31 Order Codes The TMCM-3351 is available with standard TMCL firmware or CANopen firmware.
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 3 3.1 Mechanical and Electrical Interfacing Size of board The TMCM-3351 three axes controller / driver board has a board size of 160mm x 100mm (standard euro board format). Four mounting holes are available for standard M3 screws - one in each corner. All four mounting holes are non-plated and isolated. 160 4 Ø 3.2 4 4 4 100 TMCM-3351 4 4 4 Ø 3.
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 4 Connectors The TMCM-3351 offers connectors for three stepper motors, related reference switches, related encoders (optional for closed-loop operation), a number of analog and digital inputs and outputs and several serial interfaces (RS485, CAN, USB and RS232).
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 Connector 8 / 31 Connector type on-board Mating connector type MOLEX type 6410, 2.54mm HH header, vertical friction lock MOLEX type 2045, 2.54mm crimp housing, receptable, 4 pins Analog input MOLEX type 6410, 2.54mm KK header, vertical friction lock MOLEX type 2045, 2.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 4.1 9 / 31 Power Connector A 2 pin, detachable screw connector is used for power supply input. All additional voltages required by the TMCM-3351 are generated on-board from this supply input. Pin Label Description 1 GND Common system supply and signal ground 2 VDD Power supply input, nom. +24V DC (+10V. . . +28.5VDC) Table 3: Power Supply Connector pin assignment 4.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 Pin Label 2 Motor_0/1/2_B+ Motor 0/1/2 coil B 3 Motor_0/1/2_A- Motor 0/1/2 coil A 4 Motor_0/1/2_A+ Motor 0/1/2 coil A 10 / 31 Description Table 5: Motor connector (crimp style connector) 4.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 4.4 11 / 31 Analog Input Connector The TMCM-3351 offers four dedicated analog inputs with programmable range (0. . . +3.3V or 0. . . +10V). There are two 4pin connectors (Molex KK series) with two analog inputs available via each connector.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 Pin Label 1, 4, 6, 7, 8, 9 n.c. 12 / 31 Description Pins not connected Table 10: RS232 connector For communication via RS232 transmit serial data of the TMCM-3351 has to be connected to RS232 receive serial data of the host / master and RS232 receive data of the TMCM-3351 to transmit data of the host / master - requiring a cross-connection / -cable.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 13 / 31 The TMCM-3351 offers on-board line-termination for the RS485 bus (120R). For proper operation the RS485 bus should be terminated at both ends of the bus. For any intermediate nodes / bus connections please remove line termination jumper (see 5, also). In contrast to the TMCM-351 the TMCM-3351 does not require any jumper setting / selection in order to enable RS485 connection.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 4.11 14 / 31 Encoder Connector Three encoder connectors (one dedicated encoder interface and connector per axis) are available. A standard 2.54mm pitch two row header is used for encoder connection. Incremental a/b/n encoder with differential or single ended (push-pull TTL or open-drain) output signals are supported.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 5 15 / 31 Jumper Settings Most settings for the TMCM-3351 are done through the software. Nevertheless, a few jumpers are available for configuration.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 5.1 16 / 31 Encoder input termination For enhanced reliability differential encoder signals should be terminated properly. The board offers termination resistors (120 Ohm) for all three encoder interface signals (a/b/n) for all three encoders. By setting jumpers, these resistors will be placed between the differential encoder signals. Do not set these jumpers in case encoders with single ended signals are used.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 6 17 / 31 LEDs Both on-board LEDs (one green and one red) are connected directly to the on-board microcontroller. Therefore, function of the LEDs is depending on firmware. Status Label Description LED Status (green) STATUS with TMCL firmware: LED flashing: normal operation LED permanently on: bootloader mode incl.
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 7 Communication 7.1 RS485 For remote control and communication with a host system the TMCM-3351provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible.
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 Slave Slave node n- 1 node n +5V pull-up (680R) RS485+ / RS485A termination resistor (120 Ohm) RS485- / RS485B pull-down (680R) GND Figure 8: RS485 bus lines with resistor network 7.2 USB For remote control and communication with a host system the TMCM-3351provides a USB 2.0 full-speed (12Mbit/s) interface (USB Type B connector).
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 20 / 31 speeds, the bus should be properly terminated at both ends. The TMCM-3351does not integrate any termination resistor. Termination resistor (120 Ohm) maybe added externally at both ends of the bus or the on-board termination maybe activated by adding a jumper (see 5). ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 8 Motor driver current The on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 effective current scaling steps (CS) in hardware. Explanation of different columns in table below: Motor current setting in software (TMCL) These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current).
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 Motor current setting in software (TMCL) Current scaling step in hardware (CS) Motor IPEAK [A] current Motor IRMS [A] 144..151 18 2.838 2.007 152..159 19 2.987 2.112 160..167 20 3.136 2,218 168..175 21 3.286 2.323 176..183 22 3.435 2.429 184..191 23 3.585 2.535 192..199 24 3.734 2.640 200..207 25 3.883 2.746 208..215 26 4.033 2.851 216..223 27 4.182 2.957 224..
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 9 Functional Description The TMCM-3351is a highly integrated 3-axes controller/driver module for stepper motors. It offers separate motion controllers in hardware for all three axes supporting linear and S-shaped ramps, openloop operation and closed-loop operation with external encoder. The TMCM-3351can be controlled via one out of four available serial interfaces RS485, CAN, RS232 or USB.
/ 31 TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 10 Operational Ratings and Characteristics NOTICE Symbol VPower Never Exceed the absolute maximum ratings! Keep the power supply voltage below the upper limit of +30V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. Parameter Power supply voltage Min Typ Max Unit 11 12.
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TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 11 Abbreviations used in this Manual Abbreviation Description IDE Integrated Development Environment LED Light Emmitting Diode RMS Root Mean Square value TMCL TRINAMIC Motion Control Language Table 24: Abbreviations used in this Manual ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 12 1 2 3 4 5 6 27 / 31 Figures Index Board dimensions and position of mounting holes (all values in mm) . . TMCM-3351 connectors . . . . . . . . Jumper settings of TMCM-3351 . . . . Encoder input termination . . . . . . Enable all driver stages permanently TMCM-3351 LEDs . . . . . . . . . . . . 6 7 15 16 16 17 ©2017 TRINAMIC Motion Control GmbH & Co.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 13 1 2 3 4 5 6 7 8 9 10 11 12 13 28 / 31 Tables Index TMCM-3351 Order codes . . . . . . . Connector types and mating connectors of the TMCM-3351 . . . . . . . . . Power Supply Connector pin assignment Motor connector (detachable screw connector) . . . . . . . . . . . . . . . . Motor connector (crimp style connector) Reference connector (detachable screw connector) . . . . . . . . . . . .
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 14 29 / 31 Supplemental Directives 14.1 Producer Information 14.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2017 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 30 / 31 or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 15 15.1 31 / 31 Revision History Hardware Revision Version Date Author Description V1.0 2017-MAY-04 GE First prototypes Table 25: Hardware Revision 15.2 Document Revision Version Date Author Description 0.90 2017-JUN-20 GE First version, based on TMCM-351 hardware manual V1.07 / 2012DEC-17 0.
