User Manual

TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11
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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, open-
loop 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. In addition, the module offers a larger
number of digital inputs and outputs and analog inputs. All digital inputs accept +24V compatible signals
and all outputs offer open-collector driver (low-side switches).
The TMCM-3351comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCL ™ ). Using predefined TMCL ™ high level commands like move to position
a rapid and fast development of motion control applications is guaranteed. Whereas the boot loader is
installed during production and testing at TRINAMIC and remains usually untouched throughout the whole
lifetime, the firmware ca be updated by the user.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed
on-board. Full remote control of the device with feedback is possible. The firmware of the module can be
updated via any of the serial interfaces.
The TMCM-3351module contains the following main components:
• Microcontroller, responsible for overall control and communication
• Motion controller in hardware for ramp calculation in real-time, featuring linear and S-shaped ramps,
open-loop operation and closed loop operation with external encoder.
• external encoder interface - one for each axis - supporting incremental a/b/n encoder with either
single ended +5V push-pull (TTL), open-collector or differential signals
• 8 general purpose inputs, 8 general purpose outputs and 4 dedicated analog inputs
• 1 shutdown input for all three axes (enable / disable driver stage in hardware)
• RS485, CAN, RS232 and USB serial communication interfaces
µC
(ARM)
CAN
USB
RS485
Inputs
Outputs
11..28V
DC
DC
EEPROM
I2C
SPI
TMCM-3351
Motion
Controller
+5V
+5V
REFL, REFR
A/B/N Encoder
E
MOSFET
Driver
Stage
Pre-
Driver
RS232
Motion
Controller
+5V
+5V
REFL, REFR
A/B/N Encoder
E
MOSFET
Driver
Stage
Pre-
Driver
Motion
Controller
+5V
+5V
REFL, REFR
A/B/N Encoder
E
MOSFET
Driver
Stage
Pre-
Driver
Figure 10: TMCM-3351 block diagram
©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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