MODULES FOR STEPPER MOTORS MODULES Hardware Version V 1.10 HARDWARE MANUAL + + TMCM-3212 TMCM-3213 3-Axes Stepper Controller / Driver Up-to 3A RMS / 48V DC Encoder / HOME / STOP 4x analog / digital inputs 4x digital outputs Brake chopper support CAN, RS485, USB (TMCM-3212) EtherCAT, USB (TMCM-3213) + + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com TMCM-3212, TMCM-3213 Hardware Manual (V0.95 / 2017-MAR-01) 2 Table of contents 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 .............................................................................................................................................. 10 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 .......................................................................................................... 14 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 .......................................................................................................................................... 17 5.4.2 Control connector ........................................................................................................................................ 17 5.4.3 Resistor connector ....................................................................................................................................... 18 5.5 Power supply ...................................................................................................................................................... 18 5.6 RS485 ..................................................................................................................................................................... 18 5.7 CAN ........................................................................................................................................................................ 20 5.7.1 CAN adapter .................................................................................................................................................. 21 5.8 General purpose outputs OUT0..3 ................................................................................................................. 22 6 Motor driver current .................................................................................................................................................. 23 7 On Board LEDs............................................................................................................................................................. 24 7.1 Power supply brick ............................................................................................................................................ 24 7.2 TMCM-3212 Interface Brick .............................................................................................................................. 24 7.3 TMCM-3213 Interface Brick .............................................................................................................................. 25 8 Reset to Factory Default ........................................................................................................................................... 25 9 Operational ratings .................................................................................................................................................... 26 10 TMCM-3212 Functional Description ........................................................................................................................ 27 11 TMCM-3213 Functional Description ........................................................................................................................ 28 12 Revision History .......................................................................................................................................................... 29 12.1 Document revision ............................................................................................................................................ 29 12.2 Hardware revision ............................................................................................................................................. 29 13 References..................................................................................................................................................................... 29 Copyright 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG