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modules for stepper motors modules trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com hardware version v 1.1 0 hardware manual + + tmcm - 3212 tmcm - 3213 3 - axe s s tepper controller / d river up - to 3a rms / 48 v dc encoder / home / stop 4 x analog / digital inputs 4 x digital outputs brake chopper support can, rs485, usb (tmcm - 3212 ) ethercat?, usb (tmcm - 3213 ) + +
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 2 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg table of c ontents 1 life support policy ................................ ................................ ................................ ................................ .............................. 3 2 features ................................ ................................ ................................ ................................ ................................ ............. 4 3 order codes ................................ ................................ ................................ ................................ ................................ ....... 5 4 mechanical and electrical interfacing ................................ ................................ ................................ ................................ 6 4.1 dimensions and mounting holes ................................ ................................ ................................ .............................. 6 4.2 board mounting considerations ................................ ................................ ................................ ................................ . 7 5 connectors of tmcm - 3212 and tmcm - 3213 ................................ ................................ ................................ .................... 8 5.1 tmcm - 3212 interface brick ................................ ................................ ................................ ................................ ...... 8 5.1.1 rs485 connector ................................ ................................ ................................ ................................ ................ 9 5.1.2 can connector ................................ ................................ ................................ ................................ .................... 9 5.1.3 usb connector ................................ ................................ ................................ ................................ .................... 9 5.1.4 input connector ................................ ................................ ................................ ................................ ................. 10 5.1.5 output connector ................................ ................................ ................................ ................................ .............. 11 5.2 tmcm - 3213 interface brick ................................ ................................ ................................ ................................ .... 11 5.2.1 ethercat? connector ................................ ................................ ................................ ................................ ...... 12 5.2.2 usb connector ................................ ................................ ................................ ................................ .................. 12 5.2.3 input connector ................................ ................................ ................................ ................................ ................. 12 5.2.4 output connector ................................ ................................ ................................ ................................ .............. 13 5.3 tmcm - 3212 + tmcm - 3213 driver brick ................................ ................................ ................................ ................ 13 5.3.1 motor connector ................................ ................................ ................................ ................................ ................ 14 5.3.2 ref / home connector ................................ ................................ ................................ ................................ .... 15 5.3.3 encoder connector ................................ ................................ ................................ ................................ ............ 15 5.4 tmcm - 3212 + tmcm - 3213 power supply brick ................................ ................................ ................................ ..... 16 5.4.1 power connector ................................ ................................ ................................ ................................ ............... 16 5.4.2 control connector ................................ ................................ ................................ ................................ .............. 17 5.4.3 resistor connector ................................ ................................ ................................ ................................ ............ 17 5.5 power supply ................................ ................................ ................................ ................................ ........................... 18 5.6 rs485 ................................ ................................ ................................ ................................ ................................ ..... 18 5.7 can ................................ ................................ ................................ ................................ ................................ ......... 19 5.7.1 can adapter ................................ ................................ ................................ ................................ ..................... 21 6 motor driver current ................................ ................................ ................................ ................................ .......................... 22 7 on board leds ................................ ................................ ................................ ................................ ................................ 23 7.1 power supply brick ................................ ................................ ................................ ................................ .................. 23 7.2 tmcm - 3212 interface brick ................................ ................................ ................................ ................................ .... 23 7.3 tmcm - 3213 interface brick ................................ ................................ ................................ ................................ .... 24 8 reset to factory default ................................ ................................ ................................ ................................ .................. 24 9 operational ratings ................................ ................................ ................................ ................................ ........................... 25 10 tmcm - 3212 functional description ................................ ................................ ................................ ................................ 26 11 tmcm - 3213 functional description ................................ ................................ ................................ ................................ 27 12 revision history ................................ ................................ ................................ ................................ ............................... 28 12.1 document revision ................................ ................................ ................................ ................................ .................. 28 12.2 hardware revision ................................ ................................ ................................ ................................ ................... 28 13 references ................................ ................................ ................................ ................................ ................................ ....... 28
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 3 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 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 fa ilure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. ? trinamic m otion control gmbh & co. kg 2015, 2016 information given in this data sheet is believed to be accurate and reliable. however neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use. s pecifications are subject to change without notice.
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 4 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 2 features the tmcm - 3212 / tmcm - 3213 is a three axe s controller/driver module for 2 - p hase bipolar stepper motors with separate encoder (differential) and home / stop switch inputs for each axis . can, rs485 and usb (micro - usb) interf aces are available on the tmcm - 3212 and ethercat? together with usb (micro - usb) on the tmcm - 3213 for communication . furthermore the modules offer four analog / digital inputs and four digital outputs together with a brake ch opper unit (supporting an external brake resistor) for supply voltage limitation when energy is fe d back in to the supply rail . m ain c haracteristics motion controller ? motion profile calculation in real - time (linear and sixpoint? ramps) ? on the fly alteration of motor parameters (e.g. position, velocity, acceleration) ? dedicated home + stop sw itch inputs ( internal pull - ups ) ? high performance microcontroller for overall system control and communication protocol handling bipolar stepper motor driver ? up to 256 microsteps per full step ? high - efficient operation, low power dissipation ? dynamic current control ? integrated protection ? stealthchop? for quiet operation and smooth motion ? dcstep? feature for load dependent speed control ? stallguard2 ? feature for stall detection ? coolstep ? feature for reduced power consumption and heat dissipation interfaces ? tmcm - 3212 : can + rs485 ? tmcm - 3213 : ethercat? ? usb full speed (12mbit/s) device interface (micro - usb) ? differential encoder input per motor axis (3 x) ? home, stop_l, stop _r switch inputs with internal p ull - ups per motor axis (3 x) ? 4 general purpose analog inputs (0..10v ) or digital inputs ( will accept +24v signals) ? 4 general purpose digital outputs (open - drain, 500ma each) software ? tmcl? remote (direct mode) and standalone operation with mem ory for up to 1024 tmcl commands ? tmcm - 3212 : tmcl and canopen firmware available ? tmcm - 3213 : coe (canopen over ethercat?) firmware available electrical data ? supply voltage: nom. +24 v and +48v with +12v +53 v supply voltage operating range ? motor current: up to 3 a rms (programmable) mechanical data ? board size: 215 mm x 10 0 mm, overall height 21 mm max. ( incl. pcb but, without mating connectors and cables) ? 12 x m3 mounting holes (optional) please see separate tmcm - 3212 / tmcm - 3213 software / firmware documentation for additional informati on regarding programming and communication protocol .
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 5 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 3 order codes the tmcm - 3212 unit is available with two different firmware options : order code description size of unit tmcm - 3212 - tmcl 3 - ax es controller / driver up - to 3a rms / +48 v , can + rs485 + usb with standard tmcl firmware 215 mm x 10 0 mm x 2 1 mm tmcm - 3212 - canopen 3 - ax es controller / driver up - to 3a rms / +48 v, can + rs485 + usb with canopen firmware 215mm x 100mm x 21mm table 3 . 1 : tmcm - 3212 o rder code the tmcm - 3213 unit is available as: order code description size of unit tmcm - 3213 - coe 3 - ax es controller / driver up - to 3a rms / +48 v, ethercat? usb with canopen over ethercat? table 3 .2: tmcm - 3213 o rder code a cable loom is available, also: order code description tmcm - g4 - cable cable loom for tmcm - 6210/6211, tmcm - 6212/6213, tmcm - 3212/3213, tmcm - 3214/3215, tmcm - 3312/3313 and tmcm - 3314/3315. contains: - 1 x cable loom for rs48 5 connector (3212 ) - 1x stand ard cat5 cable with 2x rj4 5 for can / ethercat ? (3212/3 21 3 ) - 1x rj45 - 2 - dsub_g4_v10 adapter (for ca n rj45 < - > d - sub translation) (3212 ) - 1 x micro - usb cable (3212/3213 ) - 1x cable loom for inputs connector (3212/3213 ) - 1x cable loom for outputs connector (3212/3213 ) - 6x cable loom for motor connector (small) (3x required for 3212/3213 ) - 3x cable loom for motor connector (big) - 6x cable loom for encoder connector (3x required for 3212/3213 ) - 6x cable loom for ref / home conne ctor (3x required for 3212/3213 ) - 1 cable loom for power connector (small) (3212/3213 ) - 1x cable loom for power connector (big) - 1x cable loom for control connector (3212/3213 ) - 1x cable loom for resistor connector (3212/3213 ) please note: there is one cable loom available for a complete family of modules in order to speed - up initial setup of these modules. the family consists of these currently planned / available modules: tmcm - 6210/6211, tmcm - 6212/6213, tmcm - 3212/3213, tmcm - 3214/3215, tmcm - 3312/3313 and tmc m - 3314/3315. not all cables are required for all modules C some cable will fit or will be helpful for some modules, only. module numbers in parenthesis be hind each cable in the table above indicate whether the particular part of the cable loom can be used with the tmcm - 3212 and / or tmcm - 3213 .
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 6 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 4 mechanical and electrical interfacing 4.1 dimensions and mounting holes the dimensions of the tmcm - 3212 and t mcm - 3213 contro ller/driver board are approx. 215mm x 100mm x 21 mm. maximum component height (height above pcb level) witho u t mating connectors is around 17mm above pcb level and 2 mm below pcb level. there are 12 mounting holes for m3 screws (3.2 mm diameter) altogether for mounting the pcb . f igure 4 . 1 d imension of tmcm - 3212 / tmcm - 3213 and position of mounting holes please note: tmcm - 3212 and tmcm - 3213 share the same pcb with different assembly options regarding the interface section. dimensions, mounting holes and board mounting considerations ( see chap ter below ) are the same for both boards.
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 7 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 4.2 board mounting considerations the tmcm - 3212 / tmcm - 3213 offer 12 metal plated mounting holes. one hole (lower right) is connected to on - board system ground ( connected to power supply input ground) via 1m (500vdc) || 1nf (1kv). the same combination or resistor and capacitor is used for connecting the rj45 shield ground (connector enclosure) to power supply input groun d (see figure 4.2 ). figure 4.2 tmcm - 3212 / tmcm - 3213 mounting hole con nections all other mounting holes are electrically isolated. please note that not all holes have to be used for mounting the pcb. at l east the mounting holes in all four corners and two in the middle (6 altogether) should be used to ensure adequate support of the pcb when inserting / removing connectors in order to avoid significant bending of the pcb. in any case: please remove / attach mating connectors carefully C supporting the pcb if necessary! n . c . n . c . n . c . n . c . n . c . n . c . n . c . n . c . n . c . n . c . n . c . 1 m 1 n f 1 m 1 m 1 n f 1 n f
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 8 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 5 connectors of tmcm - 3212 and tmcm - 3 21 3 the tmcm - 3212 and tmcm - 3213 are two members of a new family of modules with a modular architecture composed of so called bricks. the tmcm - 3212 and tmcm - 3213 consist of one interface brick, three single - axi s stepper motor controller / driver bricks and o ne supply bric k. with the tmcm - 3212 the interface brick offers can and rs485 interfaces while with the tmcm - 3213 the ethercat? option is assembled instead. all other bricks are the same for both modules. figure 5.1 diff erent bricks used for the tmcm - 3212 / tmcm - 3213 5.1 tmcm - 3212 interface brick t he interface brick of the tmcm - 3212 offers rs485, can and usb interfaces for communication, four general purpose analog inputs (which can be used as digital inputs as well) and four open - drain outputs. figure 5.2 tmcm - 3212 interface brick i n t e r f a c e b r i c k d r i v e r b r i c k d r i v e r b r i c k d r i v e r b r i c k s u p p l y b r i c k m o t o r 0 m o t o r 1 m o t o r 2 1 3 3 1 1 4 5 8 1 5 6 1 0 r s 4 8 5 c o n n e c t o r ( 2 x ) r s 4 8 5 - 3 r s 4 8 5 + g n d 1 2 c a n c o n n e c t o r ( 2 x ) g n d 3 c a n _ l c a n _ h 1 2 n . c . 6 n . c . n . c . 4 5 n . c . 8 n . c . 7 o u t p u t c o n n e c t o r o u t 3 o u t 2 3 4 o u t 1 o u t 0 1 2 + 4 8 v _ f u s e + 4 8 v _ f u s e 7 8 + 4 8 v _ f u s e + 4 8 v _ f u s e 5 6 i n p u t c o n n e c t o r a i n 2 a i n 1 3 4 a i n 0 + 4 8 v _ f u s e 1 2 g n d g n d 8 9 g n d g n d 6 7 a i n 3 5 g n d 1 0 u s b ( m i c r o u s b ) c o n n e c t o r 1 8 1 8
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 9 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg connector and mating connector overview: label connector type mating connector type rs485 molex microfit?, molex microfit?, molex microfit?, molex microfit?, molex microfit?, molex microfit?, table 5 . 1 tmcm - 3212 interface brick: c onnectors and mating connectors 5.1.1 rs485 connector there are two rs485 connectors on the board with the same pin assignment C pins directly connected to each other . the second connector may be used for attaching a bus termination resistor to the rs485 bus (there is no termination resistor on - board) or for further distri bution of the rs485 bus signals to other rs485 communication nodes while maintaining a proper bus structure. a three pin molex microfit? connector (molex part no. 4 3650 0315) is used for rs485 connection. mating connector housing e.g. molex 43645 - 0300 , con tacts molex 43030 - 0007 . please note that there are alternativ e options available from molex for both, housing and contacts. pin label direction description 1 gnd power supply and signal ground 2 rs485+ bi - directional rs485 interface, diff. signal (non - inverting) 3 rs485 - bi - directional rs485 interface, diff signal (inverting) table 5 .1 : interface brick: rs485 connector 5.1.2 can connector there are two can connectors on the board with the same pin assignment C pins directly connected to each other. the second one may be used for attaching a bus termination resistor to the rs485 bus (there is no termination resistor on - board) or for further distribution of the can bus signals to other can nodes while maintaining a proper bus s tructure. a standard rj45 plug connector is used for can communication. standard cat cables (e.g. cat 5, non - crossing) might be used for connection. pin assignment of the rj45 is based on the cia 303 - 1 recommendation. pin labe l direction description 1 can_h bi - directional can interface, diff signal (non - inverting) 2 can_l bi - directional can interface, diff signal (inverting) 3 gnd power supply and signal ground 4 n.c. 5 n.c. 6 n.c. 7 n.c. 8 n.c. table 5.2 interface brick: can connector 5.1.3 usb connector the tmcm - 3212 / tmcm - 3213 offers a m icro usb connector (type b, device interface) for communication. the usb interface supports usb high speed communication (12mbit/s). with usb attached the digital lo gic part of th e tmcm - 3212 / tmcm - 3213 will be supplied via 1 3 1 8
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 10 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 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. (requires usb connection, only). please not e that in usb stand - alone mode (main board supply available) the board might still draw current from the usb supply C depending on the voltage level of the usb +5v and the on - board generated +5v. 5.1.4 input connector the tmcm - 3212 / tmcm - 3213 offer four analog inputs (nom. 0..10v range) which may be used as digital inputs, also (+24v tolerant) . the four inputs are available via one 10 pin molex microfit? connector (molex part no. 4 30451012 ). mating connector housing e.g. molex 43025 - 10 00, con tacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direction description 1 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / polyfuse protected) 2 ain0 input analog input channel 0 (nom. 0..10v) 3 ain1 input analog input channel 1 (nom. 0..10v) 4 ain2 input analog input channel 2 (nom. 0..10v) 5 ain3 input analog input channel 3 (nom. 0..10v) 6 gnd power supply and signal ground 7 gnd power supply and signal ground 8 gnd power supply and signal ground 9 gnd power supply and signal ground 10 gnd power supply and signal ground table 5.3: interface brick: input connector 1 5 6 1 0
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 11 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 5.1.5 output connector the tmcm - 3212 / tmc m - 3213 offer four digital outputs (open - drain). the four outputs are available via one 8 pin molex microfit? c onnector (molex part no. 43045 - 08 12). mating conn ector housing e.g. molex 43025 - 08 00, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direction description 1 aout0 output open - drain output 2 aout1 output open - drain output 3 aout2 output open - drain output 4 aout3 output open - drain output 5 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / polyfuse protected) 6 +48 v _fuse power output connected via fuse (poly fuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / polyfuse protected) 7 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / polyfuse protected) 8 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / polyfuse protected) table 5.4: interface brick: output connector 5.2 tmcm - 3213 interface brick t he interface brick of the tmcm - 3213 offers ethercat? and usb interfaces for communication, four general purpose analog inputs (which can be used as digital inputs as well) and four open - drain outputs. figure 5.3 tmcm - 3213 interfa ce brick 1 4 5 8 1 4 5 8 1 5 6 1 0 o u t p u t c o n n e c t o r o u t 3 o u t 2 3 4 o u t 1 o u t 0 1 2 + 4 8 v _ f u s e + 4 8 v _ f u s e 7 8 + 4 8 v _ f u s e + 4 8 v _ f u s e 5 6 i n p u t c o n n e c t o r a i n 2 a i n 1 3 4 a i n 0 + 4 8 v _ f u s e 1 2 g n d g n d 8 9 g n d g n d 6 7 a i n 3 5 g n d 1 0 u s b ( m i c r o u s b ) c o n n e c t o r e t h e r c a t c o n n e c t o r ( 2 x ) r x + 3 t x - t x + 1 2 r x - 6 4 5 8 7 1 8 1 8 l i n k i n l i n k o u t
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 12 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg connector and mating connector overview: label connector type mating connector type ethercat? molex microfit?, molex microfit?, molex microfit?, molex microfit?, table 5 . 5: tmcm - 3213 interface brick: c onnectors and mating connectors 5.2.1 ethercat? connector there are two ethercat? connectors on the board C one for link in (towards / coming from ethercat? master) and one for link out (for connecting further slaves) connection. a standard rj45 plug connector (as used for 10/100mbit/s ethernet) is used for ethercat? communication. standard cat cables suitable for 100mbit/s ethernet (e.g. cat 5 / 5e etc.) m ight be used for connect ion. the phys used on the tmcm - 3213 su pport auto mdi - x C therefore, tx and rx signals on the connector might be exchanged C e.g. cables with straight - through pin - assignment can be used. pin label direction description 1 tx+ output transmit data output, differential, non - inverting 2 tx - output transmit data output, differential, inverting 3 rx+ input receive data input, differential, non - inverting 4 5 6 rx - input receive data input, differential, inverting 7 8 table 5.6: tmcm - 3213 interface brick: ethercat? connector 5.2.2 usb connector the tmcm - 3212 / tmcm - 3213 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 digi tal logic part of the tmcm - 3212 / tmcm - 3213 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. (requires usb connection, only). plea se note that in usb stand - alone mode (main board supply available) the board might still draw current from the usb supply C depending on the voltage level of the usb +5v and the on - board generated +5v. 5.2.3 input connector the tmcm - 3212 / tmcm - 3213 offer four analog inputs (nom. 0..10v range) which may be used as digital inputs, also (+24v tolerant). the four inputs are available via one 10 pin molex microfit? connector (molex part no. 430451012). mating connector housing e .g. molex 43025 - 1000, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direction description 1 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / polyfuse protected) 2 ain0 input analog input channel 0 (nom. 0..10v) 1 8 1 5 6 1 0
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 13 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 3 ain1 input analog input channel 1 (nom. 0..10v) 4 ain2 input analog input channel 2 (nom. 0..10v) 5 ain3 input analog input channel 3 (nom. 0..10v) 6 gnd power supply and signal ground 7 gnd power supply and signal ground 8 gnd power supply and signal ground 9 gnd power supply and signal ground 10 gnd power supply and signal ground table 5.7 : interface brick: input connector 5.2.4 output connector the tmcm - 3212 / tmcm - 3213 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. pin label direction description 1 out0 output open - drain output channel 0 2 out1 output open - drain output channel 1 3 out2 output open - drain output channel 2 4 out3 output open - drain output channel 3 5 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / polyfuse protected) 6 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output con nector: 500ma / polyfuse protected) 7 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / polyfuse protected) 8 +48 v _fuse power output connected via fuse (polyfuse) to power supply input (+48v_logic supply input on power control connector). max. output current (together with all +48v_fuse supply outputs on output connector: 500ma / po lyfuse protected) table 5.8 : interface brick: output connector 5.3 tmcm - 3212 + tmcm - 3213 driver brick the driver brick of the tmcm - 3212 and tmcm - 3213 offers one output for bipol ar stepper motors with up - to 3 a rms / 4.2 a peak motor current (programmable), separate home + refl and ref r inputs and encoder inputs (for incremental abn encoders with different ial signals) for the related motor axis . the tmcm - 3212 and tmcm - 3213 offer three such driver bricks, supporting 3 stepper motors altogether. 1 4 5 8
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 14 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg figure 5 . 4 tmcm - 3212 + tmcm - 3213 driver brick label connector type mating connector type motor molex micro fit jr.?, fit jr.?, molex microfit?, molex microfit?, molex microfit?, molex microfit?, table 5 . 9 tmcm - 3212 and tmcm - 3213 driver brick: c onnectors and mating connectors 5.3.1 motor connector each motor (with two coils a + b and four connecting wires) can be connected via one 4 pin molex microfit? connector (molex p art no. 43045 - 0412). mating connector housing e.g. molex 43025 - 0400, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direction description 1 oa1 output motor coil a 2 ob1 output motor coil b 3 oa2 output motor coil a 4 ob2 output motor coil b table 5.10 : driver brick: motor connector 1 2 3 4 1 4 5 8 1 3 4 6 m o t o r c o n n e c t o r o b 1 o a 1 1 2 o b 2 o a 2 3 4 e n c o d e r c o n n e c t o r e n c _ n + e n c _ b + 3 4 e n c _ a + g n d 1 2 e n c _ n - e n c _ b - 7 8 e n c _ a - + 5 v _ o u t 5 6 r e f / h o m e c o n n e c t o r h o m e 3 r e f l g n d 1 2 g n d 6 r e f r + 5 v _ o u t 4 5 1 3 2 4
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 1 5 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 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. 5.3.2 ref / home connector there is one ref / home connector per driver brick C one for each motor axis. home, refl and / or refr switches may be connected via one 6 pin molex microfit? connector (molex part no. 43045 - 0612 ). mating connector housing e.g. molex 43025 - 0600, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direction description 1 gnd power supply and signal ground 2 refl input ref left / left stop switch input. internal pull - up (5k6) to +5v. external switch to ground may be connected or up - to +5v push - pull signal. 3 home input home switch input. internal pull - up (5k6) to +5v. external switch to ground may be connected or up - to +5v push - pull signal. 4 +5v_out power output connected to the on - board +5v auxiliary dc/dc converter. all +5v_out power supply outpu ts together on the 3 ref / home and 3 encoder c onnectors may draw up - t o 1a (e.g. 100ma per encoder and up - to 20ma per ref / home switch). 5 refr input ref right / right stop switch input. internal pull - up (5k6) to +5v. external switch to ground may be connected or up - to +5v push - pull signal. 6 gnd power supply and signal ground table 5.11 : driver brick: ref / home connector 5.3.3 encoder connector there is one encoder connector available per driver brick C one for each motor axis. incremental a/b/n encoders with differential encoder s ignals are supported. the tmcm - 3212 / tmcm - 3213 offer on - board differential line receivers (am26lv32 or equivalent) with 120r termination resistor per differential signal pair. differential encoder signals may be connected v ia one 8 pin molex microfit? c onnector (molex part no. 43045 - 08 12). mating conn ector housing e.g. molex 43025 - 08 00, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. 1 3 4 6
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 16 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg pin label direction description 1 gnd power supply and signal ground 2 enc_a+ input differential input of encoder channel a, non - inverting input 3 enc_b+ input differential input of encoder channel b, non - inverting input 4 enc_n+ input differential input of encoder null / zero channel, non - inverting input 5 +5v_out power output connected to the on - board +5v auxiliary dc/dc converter. all +5v_out power supply outputs together on the 3 ref / home and 3 encoder connectors may draw up - to 1a (e.g. 100ma per encoder and up - to 20ma per ref / home switch). 6 enc_a - input differential input of encoder channel a, inverting input 7 enc_b - input differential input of encoder channel b, inverting input 8 enc_n - input differential input of encoder null / zero channel, inverting input table 5.12 : driver brick: encoder connector 5.4 tmcm - 3212 + tmcm - 3213 power supply brick the power supply brick of the tmcm - 3212 and tmcm - 3213 offers one main supply input via the power connector, separate logic supply input as an option and a hardware driver stage enable input on the control connector and connection for an external brake con nector with the on - board brake chopper circuit. figure 5.5 : tmcm - 3212 + tmcm - 3213 power supply brick connector and mating connector overview: label connector type mating connector type power molex minifit jr.?, molex minifit jr.?, molex microfit?, molex microfit?, molex microfit?, molex microfit?, table 5 . 13 tmcm - 3212 and tmcm - 3213 power supply brick: c onnectors and mating connectors 5.4.1 power connector a two pin molex minifit jr. ? connector (molex part no. 39 - 28 - 1023 ) is available for power supply connection. mating connector housing e.g. molex 39 - 01 - 2020 , contacts molex 39 - 00 - 0039 . please note that there are alternative options available from molex for both, housing and contacts. 1 4 5 8 1 4 2 1 2 c o n t r o l c o n n e c t o r + 4 8 v _ l o g i c g n d 1 2 e n a b l e + 4 8 v _ l o g i c 3 4 p o w e r c o n n e c t o r + 4 8 v g n d 1 2 r e s i s t o r c o n n e c t o r r e s i s t o r + 4 8 v 1 2 1
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 17 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg pin label direction description 1 gnd power supply and signal ground 2 +48 v power supply input power supply input. +24v +48 table 5.14 : power supply brick: power connector caution always keep the power supply voltage (+ 48v) below the upper limit of 53 v! otherwise the driver electronics will be seriously damaged. especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. always keep the logic power supply voltage (+48 v_logic) above or equal to the main power supply ! otherwise the on - board electroni cs (diode connection between +48 v main power supply input and +48 v logic supply input) might be seriously damaged. 5.4.2 control connector a four pin molex microfit? connector (molex part no. 436500415) is used for the driver stage enable signal and option al separate logic supply input. mating connector housing e.g. molex 43645 - 0400, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, housing and contacts. pin label direction description 1 gnd power supply and signal ground 2 +48 v_logic power supply input separate logic supply input. may be used in order to keep digital / logic part alive while driver stage is not supplied (power supply input via power connector either switched off or disconnected). 3 +48 v_logic power supply input same as pin 2. 4 enable input driver stage enable input (logic high) . maybe connected to pin 3 / +48 v_logic in order to enable driver. table 5.1 5 : power supply brick: control connector caution always keep the digital logic power supply voltage (+48 v_logic ) below the u pper limit of 53 v! otherwise the on - board electronics might be seriously damaged. especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. always keep the logic power supply voltage (+48 v_logic) above or equal to the main power supply (on the power supply connector) ! otherwise the on - board electroni cs (diode connection between +48 v main power supply input and +48 v logic supply input) might be seriously damaged. 5.4.3 resistor connector the tmcm - 3212 and tmcm - 3213 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 exter nal brake resistor . mating connector housing e.g. molex 43645 - 0200, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, housing and contacts. pin label direction description 1 + 48 v power supply input connected to power supply input of power connector. 2 resistor output brake chopper output. an external power resistor should be connected between pin 1 and pin 2 of this connector. 1 2 1 4 1 2
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 18 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg t a ble 5.1 6 : power supply brick: resistor connector 5.5 power supply for proper operation care has to be taken with regard to power supply concept and design. t he tmcm - 3212 / tmcm - 3213 includes about 40 00 f/63 v of supply filter capacitors. in addition, t he module includes a 48 v suppressor diode for over - voltage protection. nevertheless, it is important to make sure that supply voltage will not rise beyond the upper limit of +53 v! please note: d uring motor deceleration the driver stage might feedback energy from the motor into t he supply rail and supply voltage might increase. in order to limit the supply voltage a brake chopper circuit has been included on the board. when activated in software and t ogether with an external power resistor this circuit will limit the supply voltag e . caution always keep the power supply voltage (+48 v ) below the upper limit of 53 v! otherwise the on - board electronics might be seriously damaged. especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. in addition, the on - board brake chopper may be used together with an external power resistor connected to the res istor connector in order to limit supply voltage. always keep the digital logic power supply voltage (+48 v_lo gic) below the upper limit of 53 v! otherwise the on - board electronics might be seriously damaged. especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. always keep the logic power supply voltage (+48 v_logic) above or equal to the main power supply (on the power su pply connector) ! otherwise the on - board electroni cs (diode connection between +48 v main power supply input and +48 v logic supply input) might be seriously damaged. there is limited reverse polarity protection , only ! the module will short a ny reversed supply voltage . 5.6 rs485 for remote control and communication with a host system the tmcm - 3 2 12 provides 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. that is, the connection between each node and the bus itself should be as short as possible. basically, it should be short compared to the length of the bus. t he tmcm - 3 2 12 offers tw o connectors which are connected directly to each other and the on - board rs485 transceiver. using both connectors for passing through the bus will help with keeping a proper bus topology. figure 5 .3 : bus stru cture 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 - 3 2 12 does not integrate any termination resistor. therefore, 120 ohm termination resistors at both ends of the bus have to be added externally. 3. number of nodes : the rs485 electrical interface standard (eia - 485) allows up to 32 nodes to be connected to a single bus. the bus transceiver s used on the tmcm - 3212 units ( sn65hvd1781d) have a significantly reduced bus load and allow a maximum of 255 units to be connected to a single rs485 bus using tmcl firmware . please note: usually it cannot be expected to get reliable communication with the maximum number of nodes connec ted to one bus and maximum supported communication speed at the same time. instead, a compromise has to be found between bus cable length, communication speed and number of nodes. c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e r s 4 8 5 t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 19 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 4. communication speed: the maximum rs485 communication s peed supported by the tmcm - 3 2 12 hardware is 1mbit/s. factory default is 9600 bit/s. please see separate firmware manual s for information regarding other possible commu nication speeds below the upper limit in hardware . 5. no floating bus lines: avoid floating bus lines while nei ther the host/master nor one of the slaves along the bus line is transmitting data (all bus nodes switched to receive mode). floating bus lines may lead to communication errors. in order to ensure valid signals on the bus i t is recommended to use a resisto r network connecting both bus lines to well defined logic levels. there are actually two options which can be recommended: add resistor (bias) network on one side of the bus, only (120r termination resistor still at both ends): figure 4.4 : bus lines with resistor (bias) network on one side, only or add resistor (bias) network at both ends of the bus (like profibus? termination): 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 - 2 - 485 with bias network at one end of the bus ). 5.7 can for remote control and communication with a host system the tmcm - 3212 provides a can bus interfac e. for proper operation the following items should be taken into account when setting up a can network: 1. bus structure : the network topology should follow a bus structure as closely as possible. that is, the connection between each node and the bus itself should be as short as possible. basically, it should be short compared to the length of the bus. the tmcm - 3212 offers n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 1 2 0 r ) + 5 v g n d p u l l - u p ( 6 8 0 r ) p u l l - d o w n ( 6 8 0 r ) r s 4 8 5 - / r s 4 8 5 b t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) r s 4 8 5 + / r s 4 8 5 a n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) + 5 v g n d p u l l - u p ( 3 9 0 r ) p u l l - d o w n ( 3 9 0 r ) r s 4 8 5 - / r s 4 8 5 b r s 4 8 5 + / r s 4 8 5 a t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) + 5 v g n d p u l l - u p ( 3 9 0 r ) p u l l - d o w n ( 3 9 0 r )
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 20 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg two connectors (rj45) which are connected directly to each other and the on - board can transceiver. using both connectors for passing thro ugh the bus will help with keeping a proper bus topology. figure 5 . 6 : can b us 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 te rminated at both ends . the tmcm - 3212 does not integrate any termination resistor. therefore, 120 ohm termination resistor s at both ends of the bus have to be added externally. c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e c a n t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 21 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 5.7.1 can adapter as part of the cable loom for the tmcm - 3212 (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 - 3212 . a standard e.g. cat5 ethernet cable might be used to connect the rj45 conn ector on the tmcm - 3212 with the rj45 connector on the adapter pcb. the d - sub connector on the adapter pcb might then be used to connect further slaves or the master with can d - sub connectors. please make sure to maintain a proper bus structure while using the adapter pcb. figure 5.6: rj45 - 2 - dsub pcb top view figure 5.7: rj45 - 2 - dsub schematic / connector pin assignment
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 22 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 6 motor driver current the stepper motor dr iver section of the tmcm - 3212 + tmcm - 3213 operate s current controlled. the driver current may be programmed in software with 256 effective scaling steps in hardware up - to 3 a rms / 4.2 a peak max. motor coil current . motor current measured for one phase with max. current settings (100% e.g. sap 179, 0, 0 and sap 6, 0, 255 ) and 256 microsteps: ch1 (yellow): motor current [10 0 mv / a] motor c urrent setting in software (tmc ) in tmcl axis parameter 6 (motor run current) and 7 (motor standby current) can be used for motor current setting : sap 6, 0 , // set run current sap 7, 0 , // set standby current for numbers between 0 (minimum) a nd 255 (maximum) are supported . motor curr ent is scaled linearly up - to 3a rms / 4.2 a peak. ( read - out value with gap instead of sap . p lease see separate tmcm - 3212 / tmcm - 3213 firmware / sof tware manual for further information) range setting in software (tmcl) tmcl axis parameter 179 (vsense) will set the current range: sap 179, 0 , // = 0 high current range // up - to 3a rms/4.2a peak // = 1 low current range // up - to 1.7a rms / 2.4a peak for either 0 (high current range) or 1 (low current range) is supported. ( read - out value with gap instead of sap .
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 23 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 7 on board leds there are a number of leds on - board indicating status. 7.1 power supply brick with the tmcm - 3212 and tmcm - 3213 three leds are available on the power supply brick part. figure 7.1 : leds on power supply brick led description +12 v supply +12 v available from on - board dc/dc converter for supply of the pre - driver circuit +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). +5v_out on ref/home and encoder connector. 7.2 tmcm - 3212 interface brick with the tmcm - 3212 there are two leds (one green and one red) available. both are connected to the on - board microcontroller and function is firmware dependent. with tmcl fir mware the green led is flashing slowly during operation. during firmware updates both leds are switched on. figure 7.2: leds on tmcm - 3212 interface brick + 5 v a u x i l l i a r y s u p p l y + 5 v s u p p l y + 1 2 v s u p p l y l e d ( g r e e n ) l e d ( r e d )
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 24 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 7.3 tmcm - 3213 interface brick with the tmcm - 3213 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 7.3: leds on tmcm - 3213 interface brick led description ethercat? link in ethercat? link out C C 8 reset to factory default for reset to fac t ory default values please follow instructions below: 1. switch off power supply. 2. short two pads of programming connector pad - array (see figure 8.1) . 3. switch on power supply (on - board led should be flashing fast / faster than during normal operation). 4. switch off power supply. 5. remove short circuit. figure 8 . 1 reset to factory defaults (bottom view of pcb - interface brick end ) l e d ( g r e e n ) e t h e r c a t l i n k i n e t h e r c a t l i n k o u t e t h e r c a t r u n e r r o r
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 25 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 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 +48 v po wer supply voltage input 10 17 *) 24 ..48 53 v +48 v_logic power supply voltage for on - board digital / logic (if supplied separately) same as +48 v supply input v i peak motor coil current for sine wave peak (chopper regulated, adjustable via software) 4.2 a i rms continuous motor current ( rms ) 3 a i +24 v power supply current for driver << 3 x i rms a t env environmental temperature at 3x 3 a rms motor current ( no forced cooling) - 30 **) +5 0 ***) c table 9 . 1 : general operational ratings of the module *) on - board supply and processor running at 10v supply voltage input C motor driver stages are switched on and operational at around 17v supply voltage input (and switched o ff again at around 15v) * * ) limited by test equipment. operation dow n to - 40c can be expected. test included cold start at this temperature. * * *) test set - up / procedure: module placed inside climate chamber (binder mk53) with approx. 53l volume. m otor placed outside chamber moving slowly with motor current set to maximum supported by module (3x 3 a rms). test dur ation: 24h. communication tested at beginning and end of test. symbol parameter min typ max unit v ref l/r_home input voltage for stop / home switch inputs refl / refr and home 0 5.5 v v ref l/r_home_l low level voltage for stop / home switch inputs refl / refr and home 0 1.1 v v ref l/r_home_h high level voltage for stop / home switch inputs refl / ref r and home 3.3 v v out 03 t open collector output out0out out 0 3 output sink current for out0out3 ain 0 3 ain3 table 9 . 2 operati onal ratings of i/os *) nominal upper input voltage which can be measured without saturation of the adc . max. voltage at max. adc value will be around 10.56v.
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 26 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 10 tmcm - 3212 functional description the tmcm - 3212 is a highly integrated controller/ driver module for 3 stepper motor axes which can be controlled via several serial interfaces (can, rs485 and usb C depending on firmware). communication traffic is kept low sin ce all time critical operations ( e.g. ramp calculati ons) are performed on board. the n ominal supply voltage of the unit is 24 v or 48 v dc . the module is designed for both, standalone operation and direct mode. full remote control of device with feedback is possible. the firmware of t he module can be updated via one of the serial interfaces (depending on module and firmware type) . in figure 10 . 1 the main parts of the tmcm - 3212 are shown: - microcontroller , responsible for overall control - executes the firmware ( either tmcl or canopen incl. the communication stack ) - 3 motion controller and driver (based on the tmc2130 ) with additional higher - power mosfet stepper motor driver stage. with the integrated motion controller calculation of ramps (linear and sixpoint?) and spee d profiles is done internally in hardware . - interface for an external (e.g. optical) incremental a/b/n encoder (differential rs422 signals) for each axis - interface for home / refl / refr reference switches for each axis - 4 general purpose analog / digital i nputs - 4 general purpose digital (open - drain) outputs - three serial communication interfaces: can, rs485 and usb (micro - usb - connector) figure 10 . 1 main parts of the tmcm - 3212 t m c 2 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e c ( a r m ) c a n u s b r s 4 8 5 i n p u t s o u t p u t s 1 1 . . 5 3 v d c d c e e p r o m i 2 c s p i t m c m - 3 2 1 2 m o s f e t d r i v e r s t a g e t m c 2 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e m o s f e t d r i v e r s t a g e t m c 2 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e m o s f e t d r i v e r s t a g e
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 27 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 11 tmcm - 3213 functional description the tmcm - 3213 is a highly integrated controller/ driver module for 6 stepper motor axes which offers an ethercat? interface in addition to usb for communication. the n ominal supply voltage of the unit is 24 v or 48 v dc . full remote control of the device with feedback is possible using the canopen over ethercat? (coe) firmware . the firmware of t he module can be updated via one of the serial interfaces. in figure 10 . 1 the main parts of the tmcm - 3213 are shown: - microcontroller, responsible for overall control - executes the firmware ( canopen over ethercat, coe ) - 3 motion controller and driver (based on the tmc2130) with additional higher - power mosfet stepper motor driver stage. with the integrated motion controller calculation of ramps (linear and sixpoint?) and speed profiles is done internally in hardware. - interface for an extern al (e.g. optical) incremental a/b/n encoder (differential rs422 signals) for each axis - interface for home / refl / refr reference switches for each axis (either encoder interface or reference switches can be selected in software) - 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 - 3213 c ( a r m ) u s b i n p u t s o u t p u t s 1 1 . . 5 3 v d c d c e e p r o m i 2 c s p i t m c 8 4 6 0 ( e t h e r c a t s l a v e c o n t r o l l e r ) s p i p h y p h y e t h e r c a t t m t m c m - 3 2 1 3 t m c 2 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e m o s f e t d r i v e r s t a g e t m c 2 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e m o s f e t d r i v e r s t a g e t m c 2 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e m o s f e t d r i v e r s t a g e
tmcm - 3212, tmcm - 3213 hardware manual (v 1.10 / 2016 - aug - 2 4 ) 28 copyright ? 2015, 2016, trinamic motion control gmbh & co. kg 12 revision history 12.1 document revision version date author description 0.90 2016 - mar - 16 ge initial version based on tmcm - 6210 / tmcm - 6211 v0.93 hardware manual 0.91 2016 - mar - 29 ge several c orrections 0.92 2016 - apr - 19 ge supply output on output and input connectors corrected (+48v_fuse) 0.93 2016 - apr - 21 ge operational ratings adapted to release firmware version v1.03 0.94 2016 - may - 18 ge power supply brick, control connector pin assignment in figure 5.5 corrected 1.00 2016 - may - 18 gs/sv ? mayor layout adaptation. ? corrections in chapter operational ratings (page ? integration of ansi ? ? table 12 . 1 : document revision 12.2 hardware revision version date description tmcm - 3 213 _v 09 2015 - feb - 23 initial version tmcm - 3 213_v10 2015 - jul - 29 ? home and refl connection exchanged (corrected) tmcm - 3213 _v11 2015 - nov - 04 ? complete re - layout of driver brick in order to minimize crosstalk / noise tmcm - 3212_v10 2015 - jul - 29 based on tmcm - 3213_v10 tmcm - 3212_v11 2015 - nov - 04 based on tmcm - 3213_v11 table 12 . 2 : hardware revision 13 references [molex] molex connector http://www.molex.com [tmc262 ] tmc26 2 datasheet m anual available on http://www.trinamic.com . [tmc4361] tmc4361 datasheet m anual available on http://www.trinamic.com . [tmcl - ide] tmcl - ide user manual manual available on http://www.trinamic.com .

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