Driver IC

TMCM-3214

TRINAMIC Motion Control...

3-Axes Stepper Controller / Driver Up-to 3A RMS / 48V DC Encoder

Manufacturer: TRINAMIC Motion Control...

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MODULES FOR STEPPER MOTORS MODULES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com Hardware Version V 1.10 HARDWARE MANUAL + + TMCM-3214 TMCM-3215 3-Axes Stepper Controller / Driver Up-to 6.5A RMS / 48V DC Encoder / HOME / STOP inputs 4x analog / digital inputs 4x digital outputs Brake chopper support CAN, RS485, USB (TMCM-3214) EtherCAT™, USB (TMCM-3215) + +

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 failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. © TRINAMIC Motion Control GmbH & Co. KG 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. Specifications are subject to change without notice.

2 Features

The TMCM-3214 / TMCM-3215 is a three axes controller/driver module for 2 -phase bipolar stepper motors with separate encoder (differential) a nd HOME / STOP switch inputs for each axis . CAN, RS485 and USB (Micro -USB) interfaces are available on the TMCM -3214 and EtherCAT™ together with USB (Micro-USB) on the TMCM-3215 for communication. Furthermore, the modules offer four analog / digital inputs and four digital outputs together with a brake chopper unit (supporting an external brake resistor) for supply voltage limitation when energy is fed back into the supply rail. MAIN CHARACTERISTICS 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 switch 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-3214: CAN + RS485  TMCM-3215: EtherCAT™  USB full speed (12Mbit/s) device interface (Micro-USB)  Differential encoder input per motor axis (3x)  HOME, STOP_L, STOP_R switch inputs with internal pull-ups per motor axis (3x)  4 general purpose analog inputs (0..10V) or digital inputs (accept +24V signals)  4 general purpose digital outputs (open-drain, 500mA each) Software  TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands  TMCM-3214: CANopen firmware available  TMCM-3215: CoE (CANopen over EtherCAT™) firmware available Electrical data  Supply voltage: nom. +24V and +48V with +18V … +53V supply voltage operating range  Motor current: up to 6.5A RMS (programmable) Mechanical data  Board size: 280mm x 100mm, overall height 21mm max. (incl. pcb but, without mating connectors and cables)  12x M3 mounting holes (optional) Please see separate TMCM-3214 / TMCM-3215 Software / Firmware documentation for additional informati on regarding programming and communication protocol.

3 Order codes

The TMCM-3214 unit is available with two different firmware options: Order code Description Size of unit TMCM-3214-TMCL 3-axes closed-loop controller / driver up-to 6.5A RMS / +48V, CAN + RS485 + USB with TMCL firmware 280mm x 100mm x 21mm TMCM-3214-CANopen 3-axes closed-loop controller / driver up-to 6.5A RMS / +48V, CAN + RS485 + USB with CANopen firmware 280mm x 100mm x 21mm Table 3.1: TMCM-3214 order code The TMCM-3215 unit is available as: Order code Description Size of unit TMCM-3215-CoE 3-axes closed-loop controller / driver up-to 6.5A RMS / +48 V, EtherCAT™ + USB with CANopen over EtherCAT™ firmware 280mm x 100mm x 21mm Table 3.2: TMCM-3315 order code A cable loom is available, also: Order code Description TMCM-G4-CABLE Cable loom for TMC M-6210/6211, TMCM -6212/6213, TMCM -3212/3213, TMCM-3214/3215, TMCM-3312/3313 and TMCM-3314/3315. Contains: - 1x cable loom for RS485 connector (3214) - 1x standard CAT5 cable with 2x RJ45 for CAN / EtherCAT™ (3214/3215) - 1x RJ45-2-DSUB_G4_V10 adapter (for CAN RJ45 <-> D-SUB translation) (3214) - 1x Micro-USB cable (3214/3215) - 1x cable loom for INPUTs connector (3214/3215) - 1x cable loom for OUTPUTs connector (3214/3215) - 6x cable loom for MOTOR connector (small) - 3x cable loom for MOTOR connector (big) (3x required for 3214/3215) - 6x cable loom for ENCODER connector (3x required for 3214/3215) - 6x cable loom for REF / HOME connector (3x required for 3214/3215) - 1 cable loom for POWER connector (small) - 1x cable loom for POWER connector (big) (3214/3215) - 1x cable loom for CONTROL connector (3214/3215) - 1x cable loom for RESISTOR connector (3214/3215) 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 plan ned / available modules: TMCM-6210/6211, TMCM- 6212/6213, TMCM-3212/3213, TMCM-3214/3215, TMCM-3312/3313 and TMCM -3314/3315. Not all cables are required for all modules – some cable will fit or will be helpful for some modules, only. Module numbers in parenthesis behind each cable in the table above indicate whether the particular part of the cable loom can be used with the TMCM-3214 and / or TMCM-3215.

4 Mechanical and Electrical Interfacing

4.1 Dimensions and Mounting Holes

The dimensions of the TMCM-3214 and TMCM-3215 controller/driver board are approx. 280mm x 100mm x 21mm. Maximum component height (height above PCB level) witho ut mating connectors is around 17mm above PCB level and 2 mm below PCB level. There are 12 mounting holes for M3 screws (3.2mm diameter) altogether for mounting the PCB. Figure 4.1 Dimension of TMCM-3214 / TMCM-3215 and position of mounting holes Please not e: TMCM -3214 and TMCM -3215 share the same PCB with different assembly options regarding the interface section. Dimensions, mounting holes and board mounting considerations ( see chapter below) are the same for both boards.

4.2 Board mounting considerations

The TMCM-3214 / TMCM-3215 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 ground (see figure 4.2). 1M 1nF 1M 1M 1nF1nF n.c. Figure 4.2 TMCM-3214 / TMCM-3215 mounting hole connections All other mounting holes are electrically isolated. Please note that not all holes have to be used for mounting the pcb. At least 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 – supporting the pcb if necessary!

5 Connectors of TMCM-3214 and TMCM-3215

The TMCM-3214 and TMCM-3215 are two members of a new family of modules with a modular architecture composed of so called “bricks”. The TMCM-3214 and TMCM-3215 consist of one interface brick, three single-axes stepper motor controller / driver bricks and one supply brick. With the TMCM-3214 the interface brick offers CAN and RS485 interfaces while with the TMCM-3215 the EtherCAT™ option is assembled instead. All other bricks are the same for both modules. Interface Brick Driver Brick Driver Brick Driver Brick Supply Brick Motor 0 Motor 1 Motor 2 Figure 5.1 different bricks used for the TMCM-3214 / TMCM-3215

5.1 TMCM-3214 Interface Brick

The interface brick of the TMCM -3214 offers RS485, CAN and USB interfaces for communication, four ge neral purpose analog inputs (which can be used as digital inputs as well) and four open-drain outputs. 610 RS485 (2x) RS485-3 RS485+ GND1 CAN (2x) GND3 CAN_L CAN_H1 n.c.6 n.c. n.c.4 n.c.8 n.c.7 Outputs OUT3 OUT23 OUT1 OUT01 +5V_OUT +5V_OUT7 +5V_OUT +5V_OUT5 Inputs AIN2 AIN13 AIN0 +5V_OUT1 GND GND8 GND GND6 AIN35 GND10 USB (MicroUSB) 1818 Figure 5.2 TMCM-3214 interface brick

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27) 9 Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG Connector and mating connector overview: Label Connector type Mating connector type RS485 Molex MicroFit™, 436500315 1x4 pin header, 3mm pitch Molex MicroFit™, Housing: 43645-0300 Contacts: 43030-0007 CAN RJ45 plug connector e.g. Standard CAT 5 / CAT 5e cables may be used USB Micro-USB connector, type B (USB device interface) Standard Micro-USB Inputs Molex MicroFit™, 430451012 2x5 pin header, 3mm pitch Molex MicroFit™, Housing: 43025-1000 Contacts: 43030-0007 Outputs Molex MicroFit™, 430450812 2x4 pin header, 3mm pitch Molex MicroFit™, Housing: 43025-0800 Contacts: 43030-0007 Table 5.1 TMCM-3214 interface brick: connectors and mating connectors

5.1.1 RS485 connector

There are two RS485 connectors on the board with the same pin assignment – pins directly connected to each other. The second connector may be used for attaching a bus terminat ion resistor to the RS485 bus (there is no termination resistor on-board) or for further distribution 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. 436500315) is used for RS485 connection. Mating connector housing e.g. Molex 43645-0300, 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 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 – 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 fu rther distribution of the CAN bus signals to other CAN nodes while maintaining a proper bus structure. 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 Label 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-3214 / TMCM-3215 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 digital logic part of the TMCM-3214 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). Please note that in USB stand -alone mode (main board supply available) the board might still draw current from the USB supply – depending on the voltage level of the USB +5V and the on-board generated +5V. Please note that the USB powered mode is not available with the TMCM-3215 due to higher power consumption of the digital part.

5.1.4 Inputs

The TMCM-3214 / TMCM-3215 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 43025-1000, contacts Molex 43030-0007. Please note that there are alternative options available from Molex for both, mating housing and contacts. 610 Pin Label Direction Description 1 +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, 3 Encoder connectors, Output connector and this Input connector may draw up-to 1A (e.g. 100mA per encoder and up-to 20mA per REF / HOME switch). 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

5.1.5 Outputs

The TMCM-3214 / TMCM-3215 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 alter native options available from Molex for both, mating housing and contacts. Pin Label Direction Description

1 OUT0 Output Open-drain output

2 OUT1 Output Open-drain output

3 OUT2 Output Open-drain output

4 OUT3 Output Open-drain output

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, 3 Encoder connectors, Input connector and this Output connector may draw up-to 1A (e.g. 100mA per encoder and up-to 20mA per REF / HOME switch). 6 +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, 3 Encoder connectors, Input connector and this Output connector may draw up-to 1A (e.g. 100mA per encoder and up-to 20mA per REF / HOME switch). 7 +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, 3 Encoder connectors, Input connector and this Output connector may draw up-to 1A (e.g. 100mA per encoder and up-to 20mA per REF / HOME switch). 8 +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, 3 Encoder connectors, Input connector and this Output connector may draw up-to 1A (e.g. 100mA per encoder and up-to 20mA per REF / HOME switch). Table 5.4: Interface Brick: Output connector

5.2 TMCM-3215 Interface Brick

The interface brick of the TMC M-3215 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. 610 Outputs OUT3 OUT23 OUT1 OUT01 +5V_OUT +5V_OUT7 +5V_OUT +5V_OUT5 Inputs AIN2 AIN13 AIN0 +5V_OUT1 GND GND8 GND GND6 AIN35 GND10 USB (MicroUSB) EtherCAT (2x) RX+3 TX- TX+1 RX-6 1818 LINK IN LINK OUT Figure 5.3 TMCM-3215 interface brick

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27) 12 Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG Connector and mating connector overview: Label Connector type Mating connector type EtherCAT™ RJ45 plug connector e.g. Standard CAT 5 / CAT 5e cables suitable for 100Mbit/s Ethernet USB Micro-USB connector, type B (USB device interface) Standard Micro-USB Inputs Molex MicroFit™, 43045-1012 2x5 pin header, 3mm pitch Molex MicroFit™, Housing: 43025-1000 Contacts: 43030-0007 Outputs Molex MicroFit™, 43045-0812 2x4 pin header, 3mm pitch Molex MicroFit™, Housing: 43025-0800 Contacts: 43030-0007 Table 5.5: TMCM-3215 interface brick: connectors and mating connectors

5.2.1 EtherCAT™ connector

There are two EtherCAT™ connectors on the board – one for LINK IN (towards / coming from EtherCAT™ master) and one for LINK OUT (for connecting further slaves) connection. A standard RJ45 pl ug 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.) might be used for connection. The PHYs used on the TMCM-3215 support auto MDI-X – therefore, TX and RX signals on the connector might be exchanged – 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

6 RX- Input Receive data input, differential, inverting

Table 5.6: TMCM-3213 Interface Brick: EtherCAT™ connector

5.2.2 USB connector

The TMCM-3214 / TMCM-3215 offers a Micro USB connector (Type B, device interface) for communication. The USB interface supports USB high speed communication (12Mbit/s). USB powered mode is not available with the TMCM-3215.

5.2.3 Inputs

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27) 13 Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG 610 1 +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, 3 Encoder connectors, Output connector and this Input connector may draw up-to 1A (e.g. 100mA per encoder and up-to 20mA per REF / HOME switch). 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) Table 5.7: Interface Brick: Input connector

5.2.4 Outputs

The TMCM-3214 / TMCM-3215 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

5.3 TMCM-3214 + TMCM-3215 Driver Brick

The driver brick of the TMCM-3214 and TMCM-3215 includes a single axis motion controller (supporting linear + S- ramps and closed-loop support with external encoder) and a bipolar stepper motor driver with up-to 6.5A RMS /

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27) 14 Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG 9A peak motor current (programmable). It offers dedicated HOME + REFL and REFR inputs and encoder inputs for incremental ABN encoders with differential signals. The TMCM-3214 and TMCM-3215 offer three such driver bricks, supporting 3 stepper motors altogether. Motor OB1 OA11

2 OB2

ENC_N+ ENC_B+3 ENC_A+ GND1 ENC_N- ENC_B-7 ENC_A- +5V_OUT5 REF / HOME HOME3 REFL GND1 GND6 REFR +5V_OUT4 5 12 Figure 5.4 TMCM-3214 + TMCM-3215 Driver Brick Label Connector type Mating connector type Motor Molex MiniFit Jr.™, 39-28-8040 2x2 pin header, 3mm pitch Molex MicroFit Jr.™, Housing: 39-01-2040 Contacts: 39-00-0039 REF / HOME Molex MicroFit™, 43045-0612 2x3 pin header, 3mm pitch Molex MicroFit™, Housing: 43025-0600 Contacts: 43030-0007 Encoder Molex MicroFit™, 43045-0812 2x4 pin header, 3mm pitch Molex MicroFit™, Housing: 43025-0800 Contacts: 43030-0007 Table 5.9 TMCM-3214 and TMCM-3215 Driver brick: connectors 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 Mini Fit™ Please note that there are alternative options available from Molex for both, mating housing and co ntacts. 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

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27) 15 Copyright © 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 – 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

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 outputs together on the 3 REF / HOME, 3 Encoder connectors and the Output connector may draw up-to 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. Table 5.11: Driver Brick: REF / HOME connector

5.3.3 Encoder connector

There is one Encoder connector per driver brick – one for each motor axis. Incremental A/B/N encoders with differential encoder signals are supported. The TM CM-3214 / TMCM-3215 offer on-board differential line receivers (AM26LV32 or equivalent) with 120R termination resistor per differential signal pair. Differential encoder signals may be connected 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.

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-

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, 3 Encoder connectors and the Output connector 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

Table 5.12: Driver Brick: Encoder connector

5.4 TMCM-3214 + TMCM-3215 Power supply Brick

The power supply brick of the TMCM-3214 and TMCM-3215 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 connector with the on-board brake chopper circuit. 212 Control +48V_LOGIC GND1 Enable +48V_LOGIC3 Power +48V GND1 Resistor Resistor +48V1 Figure 5.5: TMCM-3214 + TMCM-3215 Power supply Brick Connector and mating connector overview: Label Connector type Mating connector type Power Molex MegaFit™, 172065-0002 1x2 pin header, 5.7mm pitch Molex MegaFit™, Housing: 171692-0102 Contacts: 172063-0312 Control Molex MicroFit™, 43650-0415 1x4 pin header, 3mm pitch Molex MicroFit™, Housing: 43645-0400 Contacts: 43030-0007 Resistor Molex MicroFit™, 43650-0215 2x4 pin header, 3mm pitch Molex MicroFit™, Housing: 43645-0200 Contacts: 43030-0007 Table 5.13 TMCM-3214 and TMCM-3215 Power supply brick: connectors and mating connectors

5.4.1 Power connector

A two pin Molex MegaFit™ connector (Molex part no. 172065-0002) is available for power supply connection. Mating connector housing e.g. Molex 171692-0102, contacts Molex 172063-0312. Please note that there are alternative options available from Molex for both, housing and contacts. Pin Label Direction Description Power supply input. +24V … +48V +/- 10% regulated power supply input. Supply input for all three motor driver stages and logic supply. Table 5.14: Power supply Brick: Power connector CAUTION Always keep the power supply voltage (+48V) below the upper limit of 53V! 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 (+48V_LOGIC) above or equal to the main power supply! Otherwise the on-board electronics (diode connection between +48V main power supply input and +48V 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 optional 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 2 +48V_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 +48V_LOGIC Power supply input Same as Pin 2. 4 ENABLE Input Driver stage enable input (logic high). Maybe connected to pin 3 / +48V_LOGIC in order to enable driver. Table 5.15: Power supply brick: Control connector CAUTION Always keep the digital logic power supply voltage (+48V_LOGIC) below the upper limit of 53V! 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 (+48V_LOGIC) above or equal to the main power supply (on the Power supply connector)! Otherwise the on-board electronics (diode connection between +48V main power supply input and +48V logic supply input) might be seriously damaged.

5.4.3 Resistor connector

The TMCM-3214 and TMCM-3215 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 external 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 +48V 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. Table 5.16: 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. The TMCM-3214 / TMCM-3215 includes about 6 000µF/63V 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 +53V! Please note: during motor deceleration the driver stage might feedback energy from the motor into the 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 together with an external power resistor this circuit will limit the supply voltage. CAUTION Always keep the power supply voltage (+48V) below the upper limit of 53V! Otherwise the on -board electronics might be seriously damaged. Especia lly, 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 Resistor connector in order to limit supply voltage. Always keep the digital logic power supply voltage (+48V_LOGIC) below the upper limit of 53V! 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 (+48V_LOGIC) above or equal to the main power supply (on the Power supply connector)! Otherwise the on-board electronics (diode connection between +48V main power supply input and +48V logic supply input) might be seriously damaged. There is limited reverse polarity protection, only! The module will short any reversed supply voltage.

5.6 RS485

For remote control and communication with a host system the TMCM-3214 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. The TMCM-3214 offers two 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.

TMCM-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27) 20 Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG node n - 1 node n Slave Slave termination resistor (220R) +5V GND pull-up (390R) pull-down (390R) RS485- / RS485B RS485+ / RS485Atermination resistor (220R) +5V GND pull-up (390R) pull-down (390R) 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-3214 provides a CAN bus interface. 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-3214 offers two connectors (RJ45) which are connected directly to each other and the on-board CAN transceiver. Using both connectors for passing through the bus will help with keeping a proper bus topology. c:> node node n - 1 node n Host Slave Slave Slave CAN termination resistor (120 Ohm) termination resistor (120 Ohm) keep distance as short as possible Figure 5.6: CAN bus 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-3214 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.

5.7.1 CAN adapter

As part of the cable loom for the TMCM-3214 (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-3214. A standard e.g. CAT5 ethernet cable might be used to connect the RJ45 connector on the TMCM-3214 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-3214, TMCM-3215 Hardware Manual (V0.90 / 2016-JUN-27) 22 Copyright © 2016, TRINAMIC Motion Control GmbH & Co. KG 5.8 General purpose outputs OUT0..3 The TMCM-3214 and TMCM-3215 offer 4 open-drain (N-channel MOSFET) general purpose outputs available at the output connector of the interface br ick part. The internal connection of the N -channel MOSFETs together with a flyback / freewheeling diode can be seen in figure 5.8. When activating the MOSFET the related output will be pulled low (sometimes called npn-style switch). +5V_OUT microcontroller GND

1 OUT05

Output OUT0..3 with internal circuit of OUT0 as example Figure 5.8: General purpose output – internal circuit (simplified) Examples for connecting external circuits to the outputs: 470R LED OUT0 4k7 OUT0 OUT0 Relais 1 2 3 Figure 5.9. Connecting external circuits to the general purpose outputs From left to right: 1. Simple digital output: high (+5V) / low 2. LED connected to output 3. Relay connected to output

6 Motor driver current

The stepper motor driver section of the TMCM-3214 + TMCM-3215 operates current controlled. The driver current may be programmed in software with 236 effective scaling steps in hardware u p-to 6.5A RMS / 9A 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, 235”) and 256 microsteps: CH1 (yellow): motor current [100mV / A] Motor current 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, <value> // set run current SAP 7, 0, <value> // set standby current For <value> numbers between 0 (minimum) and 235 (maximum) are supported. Motor current is scaled linearly up-to 6.5A RMS / 9A peak. (read-out value with GAP instead of SAP. Please see separate TMCM-3214 / TMCM-3215 firmware / software manual for further information) Range setting in software (TMCL) TMCL axis parameter 179 (Vsense) will set the current range: SAP 179, 0, <value> // = 0 high current range // up-to 6.5A RMS/9A peak // = 1 low current range // up-to 3.7A RMS / 5.2A peak For <value> either 0 (high current range) or 1 (low current range) is supported. (read-out value with GAP instead of SAP.

7 On Board LEDs

There are a number of LEDs on-board indicating status.

7.1 Power supply brick

With the TMCM-3214 and TMCM-3215, four LEDs are available on the power supply brick part. +5V auxilliary supply +5V supply +12V supply -12V supply Figure 7.1: LEDs on power supply brick LED Description -12V supply -12V available from on-board DC/DC converter for supply of current sense circuit +12V supply +12V available from on-board DC/DC converter for supply of 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-3214 Interface Brick

With the TMCM-3214, 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 firmware the green LED is flashing slowly during operation. During firmware updates both LEDs are switched on. LED (green) LED (red) Figure 7.2: LEDs on TMCM-3214 interface brick

7.3 TMCM-3215 Interface Brick

With the TMCM-3215, there are five LEDs available. Two LEDs are connec ted 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. LED (green) EtherCAT LINK IN EtherCAT LINK OUT EtherCAT RUN ERROR Figure 7.3: LEDs on TMCM-3215 interface brick LED Description EtherCAT™ LINK IN Signal LINK IN, connected to ESC EtherCAT™ LINK OUT Signal LINK OUT, connected to ESC EtherCAT RUN Indicating status of EtherCAT state machine, connected to ESC ERROR Connected to microcontroller and ESC – indicating Error LED (green) Connected to microcontroller – flashing slowly during normal operation

8 Reset to Factory Default

For reset to factory 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)

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 +48V Power supply voltage input 18 24..48 53 V +48V_LOGIC Power supply voltage for on-board digital / logic (if supplied separately) Same as +48V supply input V IPEAK Motor coil current for sine wave peak (chopper regulated, adjustable via software) 9 A IRMS Continuous motor current (RMS) 6.5 A I+24V Power supply current for driver << 3 x IRMS A TENV Environmental temperature at 3x 6.5A RMS motor current (no forced cooling) Table 9.1: General operational ratings of the module ) limited by test equipment. Operation down to -40°C 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. Motor placed outside chamber moving slowly with motor current set to maximum supported by module (3x 6.5A RMS). Test duration: 24h. Communication tested at beginning and end of test. Symbol Parameter Min Typ Max Unit VREFL/R_HOME Input voltage for stop / home switch inputs REFL / REFR and HOME 0 5.5 V VREFL/R_HOME_L Low level voltage for stop / home switch inputs REFL / REFR and HOME 0 1.1 V VREFL/R_HOME_H High level voltage for stop / home switch inputs REFL / REFR and HOME 3.3 V VOUT0…3 Voltage at open collector output OUT0…OUT3 0 5 V IOUT0…3 Output sink current for OUT0…OUT3 1 A VAIN0…3 Full scale input voltage range for analog inputs AIN0…AIN3 0 10) V Table 9.2 Operational 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.

10 TMCM-3214 Functional Description

The TMCM-3214 is a highly integrated controller/driver module for 3 stepper motor axes which can be controlled via several serial interfaces (CAN, RS485 and USB – depending on firmware). Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on board. The nomi nal supply voltage of the unit is 24V or 48V DC. The module is designed for both, standalone operation and direct mode. Full remote control of device with feedback is possible. The firmware of the 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-3214 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 speed 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 inputs - 4 general purpose digital (open-drain) outputs - Three serial communication interfaces: CAN, RS485 and USB (Micro-USB-connector) TMC2130 +5V +5V +5V HOME, REFL, REFR A/B/N Encoder E µC (ARM) CAN USB RS485 Inputs Outputs 18..53V DC DC EEPROM I2C SPI TMCM-3214 MOSFET Driver Stage TMC2130 +5V +5V +5V HOME, REFL, REFR A/B/N Encoder E MOSFET Driver Stage TMC2130 +5V +5V +5V HOME, REFL, REFR A/B/N Encoder E MOSFET Driver Stage Figure 10.1 Main parts of the TMCM-3214

11 TMCM-3215 Functional Description

The TMCM-3215 is a highly integrated controller/driver module for 6 stepper motor axes which offers an EtherCAT™ interface in addition to USB for communication. The nominal supply voltage of the unit is 24V or 48V DC. Full remote control of the device with feedback is possible using the CANopen over EtherCAT ™ (CoE) firmware. The firmware of the module can be updated via one of the serial interfaces. In Figure 10.1 the main parts of the TMCM-3315 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 external (e.g. optical) incremental A/B/N encoder (differential RS422 signals) for each axis (High-resolution encoder required for optional closed-loop operation) - interface for HOME / REFL / REFR reference switches for each axis - 4 general purpose analog / digital inputs - 4 general purpose digital (open-drain) outputs - EtherCAT™ and USB interfaces for communication µC (ARM) USB Inputs Outputs 18..53V DC DC EEPROM I2C SPI TMC8460 (EtherCAT slave controller) SPI PHY PHY EtherCATTM TMCM-3215 TMC2130 +5V +5V +5V HOME, REFL, REFR A/B/N Encoder E MOSFET Driver Stage TMC2130 +5V +5V +5V HOME, REFL, REFR A/B/N Encoder E MOSFET Driver Stage TMC2130 +5V +5V +5V HOME, REFL, REFR A/B/N Encoder E MOSFET Driver Stage Figure 11.1 Main parts of the TMCM-3215

12.1 Document revision

Version Date Author Description 0.90 2016-JUN-27 GE Initial version based on TMCM-3314 / TMCM-3315 V0.90 hardware manual Table 12.1: Document revision

12.2 Hardware revision

TMCM-3214_V10 2016-JUN-15 First version based on TMCM-3314_V13 (prototypes, only) TMCM-3215_V10 2016-JUN-15 First version based on TMCM-3315_V13 (prototypes, only) TMCM-3214_V11 2016-JUN-24 Correction:  Connect pin 9 of motion controller / driver to GND in order to enable motion controller TMCM-3215_V11 2016-JUN-24 Correction:  Connect pin 9 of motion controller / driver to GND in order to enable motion controller Table 12.2: Hardware revision

13 References

[MOLEX] MOLEX connector http://www.molex.com [TMC2130] TMC2130 datasheet Manual available on http://www.trinamic.com. [TMCL-IDE] TMCL-IDE User Manual Manual available on http://www.trinamic.com.

Product Information

TMCM-3214 specifications and overview.

Summary

3-Axes Stepper Controller / Driver Up-to 3A RMS / 48V DC Encoder

Description

3-Axes Stepper Controller / Driver Up-to 3A RMS / 48V DC Encoder

Source title TMCM-3214 Datasheet(PDF) - TRINAMIC Motion Control GmbH & Co. KG.

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