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TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-SEP-01

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2 Order Codes

The TMCM-3351 is available with standard TMCL ﬁrmware or CANopen ﬁrmware.

TMCM-3351 Order Codes

Order Code

Description

Size (LxWxH)

TMCM-3351

3-axes stepper controller / driver, +24V, 3x

3A RMS, closed-loop with encoder, many

GPIOs, RS485, CAN, USB and RS232 with

TMCL ﬁrmware

160mm x 100mm x 35mm

TMCM-3351-CANopen 3-axes stepper controller / driver, +24V, 3x

3A RMS, closed-loop with encoder, many

GPIOs, RS485, CAN, USB and RS232 with

CANopen ﬁrmware

160mm x 100mm x 35mm

Table 1: TMCM-3351 Order Codes

©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany

Terms of delivery and rights to technical change reserved.

Download newest version at

www.trinamic.com

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Содержание TMCM-3351

Страница 1: ...ABN encoders Features 3 axes controller driver for 2 phase bipolar stepper motor Linear and S shaped ramps and closed loop operation with external encoder 11 28V DC supply voltage Up to 3A RMS motor c...

Страница 2: ...e all driver stages permanently 16 6 LEDs 17 7 Communication 18 7 1 RS485 18 7 2 USB 19 7 3 CAN 19 8 Motor Driver Current 21 9 Functional Description 23 10 Operational Ratings and Characteristics 24 1...

Страница 3: ...rsion V1 00 Document Revision V1 00 2017 SEP 01 3 31 15 2 Document Revision 31 2021 TRINAMIC Motion Control GmbH Co KG Hamburg Germany Terms of delivery and rights to technical change reserved Downloa...

Страница 4: ...ed 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...

Страница 5: ...ver 24V 3x 3A RMS closed loop with encoder many GPIOs RS485 CAN USB and RS232 with TMCL rmware 160mm x 100mm x 35mm TMCM 3351 CANopen 3 axes stepper controller driver 24V 3x 3A RMS closed loop with en...

Страница 6: ...mm 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 160 100 4 4 4 4 4 4 4 4 3 2 3 2 TMCM 3351...

Страница 7: ...least disable driver stage before connecting disconnecting motor Power 3x Motor GPIO SPI 3x Encoder RS232 CAN USB RS485 3x Reference 2x Analog Input 1 1 1 1 1 1 1 1 1 1 1 1 1 5 9 6 1 5 9 6 1 2 9 10 1...

Страница 8: ...s male RS232 DSUB vertical 9 pins female DSUB vertical 9 pins male CAN DSUB vertical 9 pins male DSUB vertical 9 pins female RS485 RIA 183 4 4 pins 3 5mm pitch RIA 169 4 4 pins screw type terminal blo...

Страница 9: ...ct or disconnect motor during operation Motor cable and mo tor inductivity might lead to voltage spikes when the motor is dis connected while energized These voltage spikes might exceed voltage limits...

Страница 10: ...Label Description 1 STOP_0_R Motor 0 right stop switch input 2 STOP_0_L Motor 0 left stop switch input 3 GND System module ground 4 5V 5V supply output for active switches 5 STOP_1_R Motor 1 right st...

Страница 11: ...3351 supports USB bus powered and self powered operation During bus powered operation the on board digital core logic including processor and non voltaile memory EEPROM will be supplied via USB That...

Страница 12: ...ther con guration 4 7 CAN Connector The board includes one CAN bus interface for serial connection A standard DSUB 9pin male connector is integrated on board for CAN bus connection CAN is one out of f...

Страница 13: ...upply input without any further con guration 4 9 SPI Connector For extension of the available inputs and outputs an SPI interface is available A standard 2 54mm pitch two row header is used as connect...

Страница 14: ...re supported For encoder with single ended output signals the non inverting inputs of the encoder connector should be used A B and N Please do not activate encoder line termination for single ended en...

Страница 15: ...N bus should be terminated at both ends Termination should be disabled jumper removed for any nodes in between Termination Encoder 0 Termination for encoder line receiver input 0 Encoder input 0 is re...

Страница 16: ...ermination 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...

Страница 17: ...Status green STATUS with TMCL rmware LED ashing normal operation LED permanently on bootloader mode incl rmware update LED ashing fast reset to factory default settings LED Error red ERR with TMCL rm...

Страница 18: ...ination 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 3 NUMBER OF NODES The RS485 electrical interface stadard EI...

Страница 19: ...order to enable con guration parameter setting read out rmware updates etc by just connecting a USB cable between the module and a host PC No other connection additional power supply is required 7 3...

Страница 20: ...CM 3351 does 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 5 202...

Страница 21: ...ive current scaling in hardware 32 different scaling steps are available in hardware Motor current Resulting motor current based on motor current setting Motor current is listed as peak sine peak valu...

Страница 22: ...1 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 2 957 224 231 28 4 331 3 063 232 239 29 4 481 3 168 240 247 30 4 630 3 274 248 255 31 4 779 3 380...

Страница 23: ...ical operations e g ramp calculation are perfomrmed on board Full remote control of the device with feedback is possible The rmware of the module can be updated via any of the serial interfaces The TM...

Страница 24: ...vironmental temperature at rated current no forced cool ing required 30 tbd C Table 19 General operational Ratings of the Module Operational Ratings of the general purpose I Os Symbol Parameter Min Ty...

Страница 25: ...supported on RS485 network 9600 1000000 bit s Table 22 Operational Ratings of the RS485 Interface Operational Ratings of the RS232 Interface Symbol Parameter Min Typ Max Unit fRS232 Maximum bit rate...

Страница 26: ...escription 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 2021 TRINAMIC Mo...

Страница 27: ...Encoder input termination 16 5 Enable all driver stages permanently 16 6 TMCM 3351 LEDs 17 7 RS485 bus structure with termination resistors 18 8 RS485 bus lines with resistor network 19 9 CAN bus str...

Страница 28: ...nnector 12 11 CAN Connector 12 12 RS485 Connector 13 13 SPI Connector 13 14 I O Connector 14 15 Encoder Connector 14 16 Jumper Settings 16 17 LED Description 17 18 Motor Current Settings 22 19 General...

Страница 29: ...e rst time in the document All trademarks and brand names used are property of their respective owners 14 4 Target User The documentation provided here is for programmers and engineers only who are eq...

Страница 30: ...MIC s speci c written consent TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ ments or in automotive applications unless speci cally designated...

Страница 31: ...rsion Date Author Description 0 90 2017 JUN 20 GE First version based on TMCM 351 hardware manual V1 07 2012 DEC 17 0 91 2017 JUL 11 GE Chapter with motor current settings added jumper settings ex pla...

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