User Manual

TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11
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1 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. For communication a number of serial communication interfaces including RS485, CAN, USB and
RS232 are available.
Electrical data
• Supply voltage: +24V DC (+11. . . +28V DC)
• Motor current: up to 3A RMS (programmable in software)
Mechanical data
• Board size: 160mm x 100mm, overall height 35mm without mating connectors
• 4 mounting holes for M3 screws
Stepper motor data
• Two phase bipolar stepper motors with up-to 3A RMS coil current
• Incremental (a/b/n) encoder (optional), differential and single ended (TTL + open-collector) encoder
signals are supported
Interfaces
• 2 reference switch inputs per motor axis (6 altogether, internal pull-up resistors, +24V compatible)
• 8 general purpose inputs (+24V compatible)
• 8 general purpose outputs (open-collector, 6x 100mA, 2x 1A)
• 1 shutdown input for all three axes (enable / disable driver stage in hardware)
• 4 dedicated analog inputs (programmable 3.3V / 10V input range)
• SPI connector with three chip select signals for I/O extension (dependning on firmware version)
• RS485 (2-wire), CAN, USB and RS232 serial communication interfaces
Features
• High efficient operation, low power dissipation
• integrated protection
• On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
• Motion profile calculation in real time (linear and S-shaped ramps)
• Each axis indiviually and independently programmable
• Up-to 256 microsteps per fullstep are supported
• Closed-loop operation with external encoder
Software
• TMCL™ remote (direct mode) and standalone operation
• Fully supported by TMCL-IDE (PC based integrated development environment)
• Optional CANopen firmware
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