TMCM-3110-TMCL

**`MODULES FOR STEPPER MOTORS                                       MODULES`** 

## **Hardware Version V1.1** 

## **HARDWARE MANUAL** 

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## **TMCM-3110** 

**`3-Axis Stepper Controller / Driver 2.8 A / 48 V USB, RS485, and CAN Step/Dir Interface Encoder Interface`** 

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TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany 

**www.trinamic.com** 

TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

2 

## **Table of Contents** 

|1|Features ........................................................................................................................................................................... 3|Features ........................................................................................................................................................................... 3|
|---|---|---|
|2|Order Codes ................................................................................................................................................................... 5||
|3|Mechanical and Electrical Interfacing ..................................................................................................................... 6||
||3.1|Dimensions ........................................................................................................................................................... 6|
||3.2|Considerations for Mounting ........................................................................................................................... 6|
||3.3|Connectors ............................................................................................................................................................. 7|
||3.3.1|Power Connector ........................................................................................................................................... 8|
||3.3.2|Motor Connector 0, 1, 2 ............................................................................................................................... 8|
||3.3.3|S/D IN Connector ........................................................................................................................................... 9|
||3.3.4|Reference Switch Connector 0, 1, 2 ......................................................................................................... 9|
||3.3.5|I/O Connectors 0, 1 ..................................................................................................................................... 10|
||3.3.6|Encoder Connector 0, 1, 2 ......................................................................................................................... 11|
||3.3.7|CAN Connector ............................................................................................................................................. 12|
||3.3.8|RS485 Connector .......................................................................................................................................... 12|
||3.3.9|USB Connector ............................................................................................................................................. 12|
||3.4|Power Supply ..................................................................................................................................................... 13|
||3.5|Communication .................................................................................................................................................. 14|
||3.5.1|RS485 .............................................................................................................................................................. 14|
||3.5.2|CAN .................................................................................................................................................................. 16|
||3.5.3|USB .................................................................................................................................................................. 17|
||3.6|Inputs and Outputs .......................................................................................................................................... 18|
||3.6.1|Reference Switch Inputs ........................................................................................................................... 18|
||3.6.2|General Purpose Inputs............................................................................................................................. 18|
||3.6.3|General Purpose Outputs .......................................................................................................................... 19|
||3.6.4|Encoder Inputs ............................................................................................................................................. 20|
||3.6.5|Step/Dir Inputs ............................................................................................................................................. 21|
|4|Motor driver current .................................................................................................................................................. 22||
|5|Onboard LEDs .............................................................................................................................................................. 24||
|6|Reset to Factory Defaults ......................................................................................................................................... 25||
|7|Operational Ratings ................................................................................................................................................... 26||
|8|Functional Description .............................................................................................................................................. 28||
|9|Operational Description............................................................................................................................................ 29||
||9.1|Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 29|
|10 Life Support Policy ..................................................................................................................................................... 31|||
|11 Revision History .......................................................................................................................................................... 32|||
||11.1|Document Revision ........................................................................................................................................... 32|
||11.2|Hardware Revision ............................................................................................................................................ 32|
|12 References .................................................................................................................................................................... 32|||



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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

## **1 Features** 

The TMCM-3110 is a compact 3-axes stepper motor controller/driver module for 2-phase bipolar stepper motors. It is highly integrated, offers a convenient handling and can be used in many decentralized applications. The TMCM-3110 supports up to 3 bipolar stepper motors with up to 2.8A RMS coil current and supply voltages up to +48V DC nominal. There are separate motor and reference/end switch connectors as well as incremental encoder (a/b/n) connectors for each motor. Communication can take place via RS485, CAN, or USB interfaces. The module offers 8 general purpose inputs and 8 general purpose outputs for various application possibilities. With its high energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The TMCL™ firmware allows for both, standalone operation and direct mode. 

## **MAIN CHARACTERISTICS** 

## **Motion controller** 

- Motion profile calculation in real-time 

- On the fly alteration of motor parameters (e.g. position, velocity, acceleration) 

- High performance microcontroller for overall system control and serial 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 

- stallGuard2 feature for stall detection 

- coolStep feature for reduced power consumption and heat dissipation 

## **Interfaces** 

- Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs) 

- Up to 8 multi-purpose outputs (Open-drain, incl. 2 outputs for currents up to 1A) 

- - Inputs for 3 incremental encoders (differential and TTL / open-drain) 

- S/D in for all three axes (as alternative to on-board motion controller) 

- RS485 communication interface (9pin D-SUB male) 

- CAN 2.0B communication interface (9pin D-SUB male) 

- USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector) 

## **Software** 

- TMCL remote (direct mode) and standalone operation 

- Memory for up to 1024 TMCL commands 

- Fully supported by TMCL-IDE (PC based integrated development environment) 

## **Electrical data** 

- Supply voltage: +10V… +48V DC 

- - Motor current: up to 2.8A RMS (programmable) per axis 

## **Safety features** 

- Integrated protection: overtemperature/undervoltage 

## **Mechanical data** 

- Board size: 130mm x 100mm, height 30mm max. 

- - 4 mounting holes for M3 screws 

Please see separate TMCM-3110 TMCL Firmware Manual for additional information 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL** 

**stallGuard2™** stallGuard2 is a high-precision sensorless load measurement using the back EMF on the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value goes to zero or near to zero. This is the most energy-efficient point of operation for the motor. 

**==> picture [385 x 166] intentionally omitted <==**

**----- Start of picture text -----**<br>
Load  stallGuard2<br>[Nm]<br>Initial stallGuard2<br>(SG) value: 100%<br>Max. load<br>stallGuard2 (SG) value: 0<br>Maximum load reached.<br>Motor close to stall.<br>Motor stalls<br>**----- End of picture text -----**<br>


**Figure 1.1 stallGuard2 load measurement SG as a function of load** 

**coolStep™** coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2 adapting the required current to the load. Energy consumption can be reduced by as much as 75%. coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant-load application allows significant energy savings because coolStep automatically enables torque reserve when required. Reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost. 

**==> picture [366 x 176] intentionally omitted <==**

**----- Start of picture text -----**<br>
0,9<br>Efficiency with coolStep<br>0,8 Efficiency with 50% torque reserve<br>0,7<br>0,6<br>0,5<br>Efficiency<br>0,4<br>0,3<br>0,2<br>0,1<br>0<br>0 50 100 150 200 250 300 350<br>Velocity [RPM]<br>**----- End of picture text -----**<br>


**Figure 1.2 Energy efficiency example with coolStep** 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **2 Order Codes** 

|**Order code**|**Description**|**Size [mm3] **|
|---|---|---|
|TMCM-3110-_option_|3-axes bipolar stepper motor controller/driver module with<br>encoder interface|<br>130 x 100 x 30|



## **Table 2.1 TMCM-3110 order codes** 

The following options are available: 

|**Firmware option**|**Description**|**Order code example:**|
|---|---|---|
|-TMCL|Modulepre-programmed with TMCL firmware|TMCM-3110-_TMCL_|
|-CANopen|Modulepre-programmed with CANopen firmware|TMCM-3110-_CANopen_|



## **Table 2.2 TMCM-3110 firmware options** 

A cable loom set is available for this module: 

|**Order code**|**Description**|
|---|---|
|TMCM-3110-CABLE|Cable loom for TMCM-3110. Contains (see chapter 3.2, also):<br>-<br>1x cable loom for power connector<br>-<br>3x cable loom for reference switch connectors 0-2<br>-<br>3x cable loom for motor connectors 0-2<br>-<br>2x cable loom for I/O connectors 0+1<br>-<br>3x cable loom for encoder connectors 0-2<br>-<br>1x cable loom for S/D connector<br>-<br>1x USB type A connector to mini-USB type B connector cable|



**Table 2.4 Cable loom order code** 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **3 Mechanical and Electrical Interfacing** 

## **3.1 Dimensions** 

The board with the controller/driver electronics has an overall size of 130mm x 100mm. It has four mounting holes for M3 screws (3.2mm diameter). Maximum board height (without mating connectors and cable looms) is about 30mm (approx. 26mm above printed circuit board level). 

**==> picture [355 x 271] intentionally omitted <==**

**----- Start of picture text -----**<br>
130<br>125<br>5<br>5<br>4x M3 screws<br>for mounting<br>100 95<br>5<br>**----- End of picture text -----**<br>


**Figure 3.1 Board dimensions and position of mounting holes (all values in mm).** 

## **3.2 Considerations for Mounting** 

The TMCM-3110 has four metal plated mounting holes. These mounting holes are connected to the system and signal ground (which is the same as the power supply ground). In order to minimize distortion of signals and radiation of HF signals (improve EMC compatibility) especially in sensitive and/or noisy environments it is important to ensure a solid ground connection within the system. Thus, it is recommended to connect all four mounting holes in addition to the supply ground connection to system power supply ground. 

Nevertheless, this might not always be an option: for instance, the metal system chassis or TMCM-3110 mounting plate is already connected to earth and a direct connection between supply ground (secondary side) and mains supply earth (primary side) is not desired. In such a case, TRINAMIC recommends to use plastic (e.g. made of nylon) spacers or distance bolts. 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **3.3 Connectors** 

The TMCM-3110 has 16 connectors altogether. There are three separate connectors for each motor, three for corresponding reference switches, and three for encoder inputs. Further, the board has two I/O connectors, one S/D IN connector, one power connector and three connectors for communication (mini-USB, RS485, and CAN). 

**==> picture [378 x 229] intentionally omitted <==**

**----- Start of picture text -----**<br>
Motor 0 Motor 1 Motor 2<br>ome 1 4 ome 1 4 ome 1 4<br>S/D IN connector<br>1<br>Power connector 1<br>3 4 2<br>1<br>Reference<br>4<br>10 1 switch<br>1<br>1 1 connectors<br>4<br>0<br>1<br>I/O connector 0 10 10<br>5 5<br>I/O connector 1 9 9 RS485 connector<br>1 6 1 6<br>Crm 1 8 1 wat 8 1 nas 8  ~ s E<br>0 1 2 CAN connector<br>Encoder connectors Mini-USB connector<br>**----- End of picture text -----**<br>


**Figure 3.2 TMCM-3110 connectors** 

## **CONNECTOR TYPES AND MATING CONNECTOR TYPES** 

|**Label**|**Connector type**|**Mating connector type**|
|---|---|---|
|Power<br>connector|JST B3P-VH<br>(JST VH series, 3pins, 3.96mm pitch)|Connector housing: JST VHR-3N<br>Contacts: JST SVH-21T-P1.1<br>Wire: 0.83mm2,AWG 18|
|Motor<br>connectors|JST B4B-EH-A<br>(JST EH series, 4pins, 2.5mm pitch)|Connector housing: JST EHR-4<br>Contacts: JST SEH-001T-P0.6<br>Wire: 0.33mm2,AWG 22|
|Reference<br>Switch<br>connectors|JST B4B-PH-K-S<br>(JST PH series, 4pins, 2mm pitch)|Connector housing: JST PHR-4<br>Contacts: JST SPH-002T-P0.5S<br>Wire: 0.22mm2,AWG 24|
|I/O connectors<br>0 + 1|JST B10B-PH-K-S<br>(JST PH series, 10pins, 2mm pitch)|Connector housing: JST PHR-10<br>Contacts: JST SPH-002T-P0.5S<br>Wire: 0.22mm2,AWG 24|
|S/D IN<br>connector|JST B10B-PH-K-S<br>(JST PH series, 10pins, 2mm pitch)|Connector housing: JST PHR-10<br>Contacts: JST SPH-002T-P0.5S<br>Wire: 0.22mm2,AWG 24|
|USB connector|Molex 500075-1517<br>Mini USB Type B vertical receptacle|Any standard mini-USB plug|
|RS485<br>connector|Tyco electronics 3-1634218-2<br>D-SUB socket with 4-40 female<br>screwlocks|Any standard D-SUB female 9-pin|
|CAN connector|Tyco electronics 3-1634218-2<br>D-SUB socket with 4-40 female<br>screwlocks|Any standard D-SUB female 9-pin|
|Encoder<br>connectors|JST B8B-PH-K-S<br>(JST PH series, 8 pins, 2mm pitch)|Connector housing: JST PHR-8<br>Contacts: JST SPH-002T-P0.5S<br>Wire: 0.22mm2,AWG 24|



**Table 3.1 Connectors and mating connectors, contacts and applicable wire** 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **3.3.1 Power Connector** 

|1<br>3<br>~~Ti~~|**Pin**<br>~~Ti~~|**Label**<br>~~Ti~~|**Direction**<br>~~Ti~~|**Description**<br>~~Ti~~|
|---|---|---|---|---|
||1<br>~~Ti~~|GND<br>~~Ti~~|Power (GND)<br>~~Ti~~|Common system supplyand signalground<br>~~Ti~~|
||2<br>~~Ti~~|VDRIVER<br>~~Ti~~|Power<br>(supply input)<br>~~Ti~~|Stepper driver supply voltage. Without this voltage, the<br>stepper driver part and therefore any motor connected<br>will not be energized.<br>~~Ti~~|
||3<br>~~Ti~~|VDIGITAL<br>~~Ti~~|Power<br>(supply input)<br>~~Ti~~|Supply voltage for everything else apart from the<br>stepper motor driver ICs. An on-board voltage regulator<br>will generate the necessary voltages for the digital<br>circuits from this supply.<br>This pin can be left unconnected. In this case a diode<br>between VDRIVERand VDIGITALwill ensure the supply of the<br>digital parts.<br>_Note:_<br>_It is expected that VDIGITAL and VDRIVER are connected to_<br>_the same power supply output when both pins are_<br>_used. Otherwise ensure that VDIGITAL is always equal or_<br>_higher than VDRIVER when connected (due to the diode)._<br>~~Ti~~|



## **3.3.2 Motor Connector 0, 1, 2** 

For each stepper motor axis a separate connector is used. 

||**Pin**|**Label**|**Description**|
|---|---|---|---|
|1|1|OA1|Motor coil A|
||2|OA2|Motor coil A-|
|4|3|OB1|Motor coil B|
||4|OB2|Motor coil B-|



**Table 3.3 Motor connectors 0, 1, 2** 

|**TMCM-3110**|**QSH5718 motor**|**QSH5718 motor**|**QSH5718 motor**|
|---|---|---|---|
|**Motor connectorpin**|**Cable colour**|**Coil**|**Description**|
|1|Black|A|Motor coil Apin 1|
|2|Green|A-|Motor coil Apin 2|
|3|Red|B|Motor coil Bpin 1|
|4|Blue|B-|Motor coil Bpin 2|



**Figure 3.3 Example: how to connect a QSH5718 stepper motor** 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **3.3.3 S/D IN Connector** 

|**3.3.3 S/D IN Connector**||
|---|---|
|The module offers one common connector for external Step/Direction input for all three axes. This way, an|The module offers one common connector for external Step/Direction input for all three axes. This way, an|
|external motion controller instead of the on-board one might be used together with the three on-board|external motion controller instead of the on-board one might be used together with the three on-board|
|stepper motor driver stages.<br>1<br>10<br>**Pin**<br>**Label**<br>**Direction**<br>**Description**<br>1<br>GND<br>Power (GND)<br>GND<br>2<br>S_0<br>Input<br>Stepsignal input for motor 0(+24V compatible)<br>3<br>D_0<br>Input<br>Direction signal input for motor 0(+24V compatible)<br>4<br>E_0<br>Input<br>Enable signal input for motor 0 (+24V compatible)<br>5<br>S_1<br>Input<br>Stepsignal input for motor 1(+24V compatible)<br>6<br>D_1<br>Input<br>Direction signal input for motor 1(+24V compatible)<br>7<br>E_1<br>Input<br>Enable signal input for motor 1 (+24V compatible)<br>8<br>S_2<br>Input<br>Stepsignal input for motor 2(+24V compatible)<br>9<br>D_2<br>Input<br>Direction signal input for motor 2(+24V compatible)<br>10<br>E_2<br>Input<br>Enable signal input for motor 2 (+24V compatible)<br>~~a~~<br>~~a~~<br>~~G~~<br>~~RG~~<br>~~==~~<br>a<br>~~a a~~<br>0<br>~~aDG~~<br>~~RG~~<br>~~a~~<br>~~a~~||
|**Table 3.4 S/D IN connector**||
|**3.3.4 Reference Switch Connector 0, 1, 2**||
|For each stepper motor axis a separate reference/limit switch input connector is available.<br>**Pin**<br>**Label**<br>**Direction**<br>**Description**<br>~~a~~||
|1<br>4<br>1<br>GND<br>Power(GND)<br>Signal and systemground<br>2<br>+5V<br>Power (Supply<br>output)<br>+5V output for external circuit<br>3<br>REF_L<br>Input<br>Input for reference / limit switch left, integrated pull-up<br>to +5V<br>~~a~~<br>gp ~~tt |p~~<br>ol ~~ee~~||
|4<br>REF_R<br>Input<br>Input for reference / limit switch right, integrated pull-<br>upto +5V<br>~~ee~~||



## **Table 3.5 Reference switch connectors 0, 1, 2** 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **3.3.5 I/O Connectors 0, 1** 

The module offers two I/O connectors. The number and type of inputs, outputs and supply is the same for both connectors. Therefore, if only half of the inputs / outputs etc. is required it will be sufficient to use just one of the two connectors and reduce/simplify cabling. 

## **I/O CONNECTOR 0** 

|1<br>10<br>Lp~~pp~~<br>og~~EP~~<br>i~~a~~|**Pin**<br>~~|}~~|**Label**<br>~~|}~~|**Direction**<br>~~|}____}~~|**Description**<br>~~____}______________~~|
|---|---|---|---|---|
||1<br>~~|}~~|GND<br>~~|}~~|Power(GND)<br>~~|}____}~~|GND<br>~~____}______________~~|
||2<br>~~|}~~<br>~~|~~|VDIGITAL<br>~~|}~~<br>~~|p~~|Power<br>(supply output)<br>~~|} ____}~~<br>~~|p~~|Connected to VDIGITALof Power connector<br>~~____} ______________~~<br>~~|p~~|
||3<br>~~|~~<br>~~pp~~|AIN_0<br>~~|p~~<br>~~pp~~|Input<br>~~|p~~<br>~~pp~~|Dedicated analog input,<br>input voltage range: 0… +10V,<br>resolution: 12bit (0… 4095)<br>~~|p~~<br>~~pp~~|
||4<br>~~pp~~<br>~~EP~~|IN_1<br>~~pp~~<br>~~EP~~|Input<br>~~pp~~<br>~~EP~~|Digital input (+24V compatible)<br>Home switch input for motor 0<br>~~pp~~<br>~~EP~~|
||5<br>~~EP~~<br>~~a~~|IN_2<br>~~EP~~<br>~~a~~|Input<br>~~EP~~<br>~~a~~|Digital input (+24V compatible)<br>Home switch input for motor 1<br>~~EP~~<br>~~a~~|
||6<br>~~a~~|IN_3<br>~~a~~|Input<br>~~a~~|Digital input (+24V compatible)<br>Home switch input for motor 2<br>~~a~~|
||7<br>~~a~~|OUT_0<br>~~a~~|Output<br>~~a~~|Open-drain output (max. 100mA)<br>Integrated freewheelingdiode<br>~~a~~|
||8<br>~~a~~|OUT_1<br>~~a~~|Output<br>~~a~~|Open-drain output (max. 100mA)<br>Integrated freewheelingdiode to Vdigital<br>~~a~~|
||9<br>~~a~~|OUT_2<br>~~a~~|Output<br>~~a~~|Open-drain output (max. 100mA)<br>Integrated freewheelingdiode to Vdigital<br>~~a~~|
||10<br>~~a~~<br>~~a~~|OUT_3<br>~~a~~<br>~~a~~|Output<br>~~a~~<br>~~a~~|Open-drain output (max. 1A)<br>Integrated freewheelingdiode to Vdigital<br>~~a~~<br>~~a~~|



## **Table 3.6 I/O connector 0** 

**I/O CONNECTOR 1** 

|1<br>10<br>2 <br>~~—————~~|**Pin**<br>~~————~~|**Label**<br>~~————~~|**Direction**<br>~~————~~|**Description**<br>~~————~~|
|---|---|---|---|---|
||1<br>~~————~~|GND<br>~~————~~|Power(GND)<br>~~————~~|GND<br>~~————~~|
||2<br>~~i~~|VDIGITAL<br>~~i~~|Power<br>(supply output)<br>~~i~~|Connected to VDIGITALof Power connector<br>~~i~~|
||3<br>~~—~~|AIN_4<br>~~—~~|Input|Dedicated analog input,<br>input voltage range: 0… +10V,<br>resolution: 12bit(0… 4095)|
||4<br> ~~—~~|IN_5<br>~~—~~|Input|Digital input(+24V compatible)|
||5<br>~~—————~~|IN_6<br>~~—————~~|Input<br>~~—————~~|Digital input (+24V compatible)<br>~~—————~~|
||6<br>~~—————~~|IN_7<br>~~—————~~|Input<br>~~—————~~|Digital input(+24V compatible)<br>~~—————~~|
||7<br>~~—————~~<br>~~a~~|OUT_4<br>~~—————~~<br>~~a~~|Output<br>~~—————~~<br>~~a~~|Open-drain output (max. 100mA)<br>Integrated freewheelingdiode<br>~~—————~~<br>~~a~~|
||8<br>~~a~~<br>~~a~~|OUT_5<br>~~a~~<br>~~a~~|Output<br>~~a~~<br>~~a~~|Open-drain output (max. 100mA)<br>Integrated freewheelingdiode to Vdigital<br>~~a~~<br>~~a~~|
||9<br>~~a~~|OUT_6<br>~~a~~|Output<br>~~a~~|Open-drain output (max. 100mA)<br>Integrated freewheelingdiode to Vdigital<br>~~a~~|
||10<br>~~a~~|OUT_7<br>~~a~~|Output<br>~~a~~|Open-drain output (max. 1A)<br>Integrated freewheelingdiode to Vdigital<br>~~a~~|



**Table 3.7 I/O connector 1** 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **3.3.6 Encoder Connector 0, 1, 2** 

For each stepper motor axis a separate encoder input connector is available. Encoders with incremental output signals – either differential (RS422 signals) or single ended (TTL or open collector signals) – with or without zero/index channel are supported. For encoders with +5V supply the required +5V output is also available via this connector (max. 100mA per connector). 

|8<br>1<br>|<br>A|**Pin**<br>~~a~~|**Label**<br>~~a~~|**Direction**<br>~~a~~|**Description**<br>~~a~~|
|---|---|---|---|---|
||1<br>~~a~~|GND<br>~~a~~|Power(GND)<br>~~a~~|Signal and systemground<br>~~a~~|
||2<br>~~a~~|+5V<br>~~a~~|Power<br>(supplyoutput)<br>~~a~~|+5V output for external circuit (max. 100mA)<br>~~a~~|
||3<br>~~a~~|A+<br>~~a~~|Input<br>~~a~~|Encoder channel A+ input<br>(differential,non-inverting)<br>~~a~~|
||4<br>~~a~~|A-<br>~~a~~|Input<br>~~a~~|Encoder channel A- input<br>(differential,inverting)<br>~~a~~|
||5<br>~~a~~|B+<br>~~a~~|Input<br>~~a~~|Encoder channel B+ input<br>(differential,non-inverting)<br>~~a~~|
||6<br>~~ef~~|B-<br>~~effp~~|Input<br>~~fp~~|Encoder channel B- input<br>(differential,inverting)|
||7<br>~~ef~~|N+<br>~~effp~~|Input<br>~~fp~~|Encoder zero / index channel input<br>(differential,non-inverting)|
||8<br>~~ef~~<br>~~ia~~|N-<br>~~ef fp~~<br>~~ia~~|Input<br>~~fp~~<br>~~ia~~|Encoder zero / index channel input<br>(differential,inverting)<br>~~ia~~|



**Table 3.8 Encoder connector 0, 1, 2** 

## **DIFFERENTIAL ENCODER SIGNALS** 

For differential encoder signals connect all differential signals (A+ and A-, B+ and B- and opt. N+ and N-) to the respective connector input pins. Usually, onboard line termination should be also installed for differential signals (close all three jumpers for 120R line termination of the respective differential encoder input): 

**==> picture [142 x 51] intentionally omitted <==**

**----- Start of picture text -----**<br>
Place jumpers for<br>proper temrination<br>a<br>**----- End of picture text -----**<br>


_Please refer to encoder manufacturer data sheet for correct interface settings, also._ 

## **Figure 3.4 Encoder input termination** 

## **SINGLE ENDED ENCODERS** 

For single ended encoders (TTL or open collector signals) connect the encoder signals A, B and optional N to the positive/non-inverting differential inputs of the encoder connector A+ / B+ / N+. 

The following connections should be made: 

|**Encoder signals**|**Encoder connectors 0, 1, 2**|**Encoder connectors 0, 1, 2**|**Encoder connectors 0, 1, 2**|
|---|---|---|---|
||**Pin**|**Label**|**Description**|
|A|3|A+|Encoder channel A+ input(differential,non-inverting)|
|B|5|B+|Encoder channel B+ input (differential,non-inverting)|
|N/I (optional)|7|N+|Encoder zero / index channel input (differential,non-inverting)|



## **Table 3.9 Encoder signals for single ended encoders** 

Pins A-, B-, N- of the encoder connector may be left unconnected. 

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## **3.3.7 CAN Connector** 

A CAN 2.0B interface is available via a standard 9-pin male D-SUB connector. Only three pins of this connector are used. The pin assignment of these three pins is according to CiA Draft Recommendation Part 1: cabling and connector pin assignment. 

|5<br>1<br>6<br>9<br>Of<br>ae <br>ommOo<br>~~|~~<br>a<br>es|**Pin**<br>~~a~~|**Label**|**Direction**|**Description**|
|---|---|---|---|---|
||1<br>~~a~~<br>~~a~~||||
||2|CAN_L|Bi-directional|Differential CAN bus signal(inverting)|
||3<br>~~a~~<br>~~a~~|GND<br>~~a~~|Power(GND)<br>~~a~~|Signal and systemground<br>~~Ge~~|
||4<br>~~a ~~<br>~~a~~<br>~~|~~<br>~~|~~|~~a~~<br>~~ff~~|~~a ~~<br>~~ff~~|~~Ge~~|
||5<br>~~a~~<br>~~|~~<br>~~|~~|~~ff~~|~~ff~~||
||6<br> ~~a~~<br>~~|~~<br>~~|~~|~~ff~~|~~ff~~||
||7<br>~~eG~~|CAN_H<br>~~eG~~|Bi-directional<br>~~eG~~|Differential CAN bus signal (non-inverting)|
||8<br>~~a~~||||
||9<br>~~a~~||||



**Table 3.10 CAN connector** 

## **3.3.8 RS485 Connector** 

An RS485 interface is available via a 9-pin male D-SUB connector. 

|5<br>1<br>6<br>9<br>Og<br>ae<br>OBO<br>~~|~~|**Pin**<br>~~a~~|**Label**|**Direction**|**Description**|
|---|---|---|---|---|
||1<br>~~a~~<br>~~a~~||||
||2<br>~~a~~|RS485-|Bi-directional|Differential RS485 bus signal(inverting)|
||3<br>~~a~~<br>~~DO~~|GND<br>~~DO~~|Power (GND)<br>~~DO~~|Signal and systemground<br>~~DO~~|
||4<br>~~a~~<br>~~DO~~<br>~~|[|~~|~~DO~~<br>~~[||~~|~~DO~~<br>~~|~~|~~DO~~|
||5<br>~~DO~~<br>~~|[|~~|~~DO~~<br>~~[||~~|~~DO~~<br>~~|~~|~~DO~~|
||6<br>~~DO~~<br>~~| [|~~|~~DO~~<br>~~[| |~~|~~DO~~<br>~~|~~|~~DO~~|
||7<br>~~DO~~|RS485+<br>~~DO~~|Bi-directional<br>~~DO~~|Differential RS485 bus signal(non-inverting)<br>~~DO~~|
||8<br>~~DO~~<br>~~a~~|~~DO~~<br>~~Ge~~|~~DO~~<br>~~Ge~~|~~DO~~<br>~~Ge~~|
||9<br>~~a~~|~~sD~~|~~sD~~|~~sD~~|



**Table 3.11 RS485 connector** 

## **3.3.9 USB Connector** 

A USB interface is available via a Mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s) connections. 

## _Attention_ 

On-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other supply is connected. Use this to set parameters and download TMCL programs or perform firmware updates with the module connected via USB only or inside the machine while the machine is powered off. 

|1<br>5|**Pin**|**Label**|**Direction**|**Description**|
|---|---|---|---|---|
||1<br>~~ee~~|VBUS<br>~~ee~~|Power<br>(+5V<br>input)<br>~~ee~~|+5V supply from Host<br>~~ee~~|
||2<br>~~ee~~<br>~~a~~|D-<br>~~ee~~|Bi-directional<br>~~ee~~|USB Data -<br>~~ee~~|
||3<br>~~a~~|D+|Bi-directional|USB Data +|
||4<br>~~a~~|ID||Connected to signal and systemground|
||5<br>~~a~~|GND|Power(GND)|Signal and Systemground|



**Table 3.12 USB connector** 

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## **3.4 Power Supply** 

For proper operation care has to be taken with regard to power supply concept and design. The board offers around 1400uF / 63V electrolytic buffer capacitors and additionally around 28uF / 63V ceramic capacitors for supply voltage filtering. 

It is important that the power supply voltage (VDRIVER and VDIGITAL) is kept below the upper limit of 52.8V DC (48V + 10%). Otherwise the on-board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit, a regulated power supply is highly recommended. 

**==> picture [462 x 164] intentionally omitted <==**

**----- Start of picture text -----**<br>
V<br>DRIVER<br>3 x TMC262 + MOSFETs<br>(stepper driver)<br>Power<br>connector SK 36A SMBJ48A 3x470µF 6x4.7µF<br>GND GND GND<br>VDIGITAL<br>Supply of other circuits via on-board<br>regulators<br>+5V on encoder connector 0-2<br>+5V on reference switch connector 0-2<br>SMBJ48A 47µF VDIGITAL  on I/O connector 0+1<br>GND GND<br>**----- End of picture text -----**<br>


**Figure 3.5 TMCM-3110 power supply concept** 

**CAUTION!** 

_**Add external power supply capacitors!**_ The module contains a number of capacitors for power supply filtering. Nevertheless, depending on operation and selected motors the resulting capacity might be not large enough for proper supply buffering. Rule of thumb: buffer capacity should be around 1000µF per 1A power supply current located not far away from the module between power supply wires. Please note: upper supply voltage limit must not be exceeded – not even for a short period of time! In this context it should be taken into account that the module will transfer energy from the motor back into the supply rail when the motor is working as generator e.g. during de-acceleration or brake conditions. In case the power supply capacitors are not sufficient for limiting power supply rising, ~~_~~ additional measures have to be considered (e.g. suppressor diodes, brake resistor). _**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 disconnect power supply before connecting / disconnecting the motor. ~~oO~~ 

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## **3.5 Communication** 

## **3.5.1 RS485** 

For remote control and communication with a host system the TMCM-3110 provides a two wire RS485 bus interface. To select a modules’ address, the TMCM-3110 is equipped with dip switches with digits from 1 to 8. Anyhow, the switches use the binary digit system. Thus, node addresses from 1 to 255 can be set. 

## **THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING** 

- _All DIP switches off_ : RS485 address is taken from the on-board non-volatile memory (EEPROM). Factory default value for the module address is 1. 

- _At least one DIP switch on_ : the 8 DIP switches define the RS485 address. The address is specified as binary 8bit value – DIP switches 1… 8 specify bit 1… 8 of the address 

**Figure 3.6 Dip switch for address selection** 

_Note_ 

- Per default, all dip switches are off and the module address taken from the EEPROM is 1. Per default, the host address is 2. - Do not use equal addresses for the host and the TMCM-3110! 

For remote control and communication with a host system the TMCM-3110 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. 

**==> picture [370 x 116] intentionally omitted <==**

**----- Start of picture text -----**<br>
Host<br>Slave Slave Slave<br>c:><br>node node node<br>1 n  - 1 n<br>aaaiN }<br>termination termination<br>resistor resistor<br>(120 Ohm) (120 Ohm)<br>RS485 keep distance as<br>short as possible<br>**----- End of picture text -----**<br>


**Figure 3.3: 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 terminated at both ends. The TMCM-3110 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 used on the TMCM-3110 (SN65HVD1781D) has a significantly reduced bus load and allows 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 connected to one bus and maximum supported communication speed_ 

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_at the same time. Instead, a compromise has to be found between bus cable length, communication speed and number of nodes._ 

_4. COMMUNICATION SPEED:_ The maximum RS485 communication speed supported by the TMCM-3110 is 1Mbit/s. Factory default is 9600 bit/s. _Please see separate TMCM-6110 TMCL firmware manual for information regarding other possible communication speeds._ 

5. _NO FLOATING BUS LINES:_ Avoid floating bus lines while neither 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 it is recommended to use a resistor 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): 

**==> picture [379 x 137] intentionally omitted <==**

**----- Start of picture text -----**<br>
Slave Slave<br>node node +5V<br>n  - 1 n<br>pull-up (680R)<br>termination RS485+ / RS485A termination<br>resistor resistor<br>(220R) RS485- / RS485B (120R)<br>pull-down (680R)<br>GND<br>**----- End of picture text -----**<br>


**Figure 3.4: Bus lines with resistor (Bias) network on one side, only** 

Or add resistor (Bias) network at **both** ends of the bus (like Profibus™ termination): 

**==> picture [406 x 137] intentionally omitted <==**

**----- Start of picture text -----**<br>
Slave Slave<br>+5V node node +5V<br>n  - 1 n<br>pull-up (390R) pull-up (390R)<br>termination RS485+ / RS485A termination<br>resistor resistor<br>(220R) RS485- / RS485B (220R)<br>pull-down (390R) pull-down (390R)<br>GND GND<br>**----- End of picture text -----**<br>


**Figure 3.5: Bus lines with resistor (Bias) network at both ends** 

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## **3.5.2 CAN** 

For remote control and communication with a host system the TMCM-3110 provides a CAN bus interface. To select a modules’ address, the TMCM-3110 is equipped with dip switches with digits from 1 to 8. Anyhow, the switches use the binary digit system. Thus, node addresses from 1 to 255 can be set. 

## **THERE ARE TWO POSSIBILITIES FOR THE ADDRESS SETTING** 

- _All DIP switches off_ : CAN address is taken from the on-board non-volatile memory (EEPROM). Factory default value for the module address is 1. 

- _At least one DIP switch on_ : the 8 DIP switches define the CAN address. The address is specified as binary 8bit value – DIP switches 1… 8 specify bit 1… 8 of the address. 

**Figure 3.7 Dip switch for address selection** 

## _Note_ 

- Per default, all dip switches are off and the module address taken from the EEPROM is 1. Per default, the host address is 2. 

- Do not use equal addresses for the host and the TMCM-3110! 

For proper operation the following items should be taken into account when setting up a CAN network: 

6. _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. 

**==> picture [370 x 114] intentionally omitted <==**

**----- Start of picture text -----**<br>
Host<br>Slave Slave Slave<br>c:> node node node<br>1 n  - 1 n<br>pt pis. }<br>termination termination<br>resistor resistor<br>(120 Ohm) (120 Ohm)<br>CAN keep distance as<br>short as possible<br>**----- End of picture text -----**<br>


## **Figure 3.8 CAN bus structure** 

## 7. _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-3110 does not integrate any termination resistor. Therefore, 120Ω termination resistors at both ends of the bus have to be added externally. 

8. _NUMBER OF NODES_ : 

The bus transceiver used on the TMCM-3110 units (TJA1050T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depends on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes). 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

## **3.5.3 USB** 

For remote control and communication with a host system the TMCM-3110 provides a USB 2.0 full-speed (12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept commands via USB. The CAN interface will be de-activated then. 

The TMCM-3110 supports both, _USB self powered operation_ (when an external power is supplied via the power supply connector) and _USB bus powered operation_ , (no external power supply via power supply connector). 

## **USB BUS POWERED OPERATION MODE** 

On-board digital core logic will be powered via USB in case no other supply is connected (USB bus powered operation). The digital core logic comprehends the microcontroller itself and also the EEPROM. The _USB bus powered operation mode_ has been implemented to enable configuration, parameter settings, read-outs, firmware updates, etc. by just connecting an USB cable between module and host PC. No additional cabling or external devices (e.g. power supply) are required. 

Please note that the module might draw current from the USB +5V bus supply even in USB self powered operation depending on the voltage level of this supply. 

Motor movements are not possible in this operation mode. Therefore, connect the power connector and change to USB self powered operation mode. 

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## **3.6 Inputs and Outputs** 

## **3.6.1 Reference Switch Inputs** 

The three reference switch connectors – one for each stepper motor axis – offer two reference switch inputs each, REF_L and REF_R. Both inputs have the same input circuit with voltage resistor dividers, limiting diodes against over- and under-voltage and programmable 2k2 pull-ups to +5V. The programmable pull-ups can be switched on or off together for all three axes. 

**==> picture [237 x 174] intentionally omitted <==**

**----- Start of picture text -----**<br>
+5V<br>2k2<br>REF_L +3.3V<br>REF_R<br>10k<br>TMC429<br>22k<br>1nF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.9 Reference switch input circuit (simplified diagram)** 

With TMCL firmware commands `GAP 10, 0` and `GAP 11, 0` can be used to read out the status of the reference switch inputs. See _TMCL Firmware Manual_ chapter 5 about _Axis parameters_ and _Reference search_ for more details. 

## **3.6.2 General Purpose Inputs** 

The TMCM-3110 offers two I/O connectors with 8 inputs altogether including two dedicated analog inputs. All inputs offer the same basic input protection circuit. The dedicated analog inputs have different input voltage dividers in order to support a full scale input voltage range of 0…+10V. The other digital inputs have been designed in order to be able to accept +5V and +24V signal levels. 

**==> picture [277 x 145] intentionally omitted <==**

**----- Start of picture text -----**<br>
IN_1<br>IN_2<br>IN_3 +3.3V<br>IN_5<br>IN_6<br>IN_7 10k<br>microcontroller<br>22k<br>1nF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.10 General purpose digital input circuit** 

With TMCL firmware command `GIO <` _`n>, 0`_ can be used to read out the status of the digital input _<n>_ . See _TMCL Firmware Manual_ command GIO for more details. 

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**==> picture [296 x 128] intentionally omitted <==**

**----- Start of picture text -----**<br>
AIN_0 +3.3V<br>AIN_4<br>22k<br>microcontroller<br>10k<br>1nF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.11 General purpose analog input circuit** 

With TMCL firmware command `GIO <` _`n>, 1`_ can be used to read out the analog / digital converted value of the analog input _<n>_ . See _TMCL Firmware Manual_ command GIO for more details. 

The function of the inputs might differ depending on firmware version. 

## **3.6.3 General Purpose Outputs** 

The TMCM-3110 offers two I/O connectors with 8 outputs altogether. All 16 outputs are open-drain outputs and a freewheeling diode (to VDIGTAL) is already integrated. 

_Note_ 

- Two outputs offer more powerful MOSFET driver transistors supporting currents up to 1A. All other outputs have been designed for currents up to 100mA. 

- If VDIGITAL connection of the I/O connectors is used for supply of substantial current to any external circuit, please make sure to connect VDIGTIAL in addition to VDRIVER of the power supply connector. 

**==> picture [228 x 108] intentionally omitted <==**

**----- Start of picture text -----**<br>
VDIGITAL<br>OUT_0,<br>OUT_1,<br>OUT_2,<br>OUT_3,<br>OUT_4,<br>OUT_5, microcontroller<br>OUT_6,<br>OUT_7 GND<br>**----- End of picture text -----**<br>


**Figure 3.12 General purpose output (open-drain with freewheeling diode)** 

With TMCL firmware command `SIO` _`<n>`_ `, 2, 1` can be used to set / pull-down the output _<n>_ . See _TMCL Firmware Manual_ command SIO for more details. 

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## **3.6.4 Encoder Inputs** 

The TMCM-3110 offers three connectors for incremental a/b/n encoders. Encoders with or without index/ null/zero channel are supported. Differential signals, push-pull (TTL) or open-collector are accepted. For differential signals on-board termination resistors can be activated via jumpers. 

Encoder input circuit for each encoder channel: 

**==> picture [422 x 573] intentionally omitted <==**

**----- Start of picture text -----**<br>
Termination<br>jumper<br>+5V<br>A+<br>microcontroller<br>A- ne fitee06 ||<br>B+ — J} ty [yf]<br>microcontroller<br>B-<br>N+ — | | |<br>microcontroller<br>N-<br>+5V<br>3k3 2k2<br>L d Joc Ld<br>GND<br>Figure 3.13 Encoder input circuit<br>The termination jumpers – three jumpers per encoder input channel – are located close to the encoder<br>connector:<br>6... ra ren ra: @<br>Termination jumpers<br>for encoder input 2<br>Termination jumpers<br>for encoder input 1<br>Termination jumpers<br>for encoder input 0<br>1 8 1 8 1 8<br>0 1 2<br>Encoder connectors<br>47k 47k 47k<br>470R 470R 470R 120R 120R 120R<br>**----- End of picture text -----**<br>


**Figure 3.13 Encoder input circuit** 

The termination jumpers – three jumpers per encoder input channel – are located close to the encoder connector: 

**Figure 3.14 Termination jumper for differential encoder signals (jumper shown open / no termination)** 

For activation of line termination for differential encoder signals, jumpers have to be closed (see chapter 3.3.6). 

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## **3.6.5 Step/Dir Inputs** 

The TMCM-3110 offers an external Step/Dir IN connector. This way, an external motion controller can be used to directly control the three on-board stepper drivers via Step/Direction instead of the on-board motion controller. 

The external Step/Dir inputs offer input protection and accept +5V up to +24V compatible input signals. An on-board multiplexer allows selection of the external Step/Dir input via software. 

**==> picture [382 x 177] intentionally omitted <==**

**----- Start of picture text -----**<br>
S/D/E_0<br>+3.3V<br>S/D/E_1<br>S/D/E_2<br>10k<br>Mux<br>TMC262 + MOSFETs<br>(stepper driver)<br>22k<br>33pF<br>GND GND GND<br>S/D/E from internal<br>motion controller<br>microcontroller<br>**----- End of picture text -----**<br>


**Figure 3.15 Step/Dir In connector input circuit** 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **4 Motor driver current** 

The on-board stepper motor driver operates current controlled. The driver current may be programmed in software for motor coil currents up-to 2.8A RMS with 32 effective scaling steps in hardware (CS in table below). 

_Explanation of different columns in table below:_ 

_**Motor current**_ These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor _**setting in**_ standby current). They are used to set the run / standby current using the following _**software**_ TMCL commands: _**(TMCL)**_ `SAP 6, 0, <value> // set run current SAP 7, 0, <value> // set standby current` (read-out value with `GAP` instead of `SAP` . Please see separate TMCM-3110 firmware manual for further information) 

_**Motor current IRMS [A]**_ 

Resulting motor current based on motor current setting 

|**Motor current**<br>**setting in**<br>**software(TMCL)**|**Current**<br>**scaling step**<br>**(CS)**|**Motor**<br>**current**<br>**ICOIL_PEAK[A]**|**Motor**<br>**current**<br>**ICOIL_RMS[A]**|
|---|---|---|---|
|0..7|0|0.132|0.093|
|8..15|1|0.264|0.187|
|16..23|2|0.397|0.280|
|24..31|3|0.529|0.374|
|32..39|4|0.661|0.467|
|40..47|5|0.793|0.561|
|48..55|6|0.925|0.654|
|56..63|7|1.058|0.748|
|64..71|8|1.190|0.841|
|72..79|9|1.322|0.935|
|80..87|10|1.454|1.028|
|88..95|11|1.587|1.122|
|96..103|12|1.719|1.215|
|104..111|13|1.851|1.309|
|112..119|14|1.983|1.402|
|120..127|15|2.115|1.496|
|128..135|16|2.248|1.589|
|136..143|17|2.380|1.683|
|144..151|18|2.512|1.776|
|152..159|19|2.644|1.870|
|160..167|20|2.776|1.963|
|168..175|21|2.909|2.057|
|176..183|22|3.041|2.150|
|184..191|23|3.173|2.244|
|192..199|24|3.305|2.337|
|200..207|25|3.438|2.431|
|208..215|26|3.570|2.524|
|216..223|27|3.702|2.618|
|224..231|28|3.834|2.711|
|232..239|29|3.966|2.805|
|240..247|30|4.099|2.898|
|248..255|31|4.231|2.992|



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In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-3110 firmware manual). 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **5 Onboard LEDs** 

The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation and the red LED should be off. Please see separate TMCM-3110 TMCL firmware manual for additional information. 

If there is no valid firmware programmed into the board or during firmware update, the red and green LEDs are permanently on. 

**==> picture [46 x 39] intentionally omitted <==**

**----- Start of picture text -----**<br>
Green LED<br>Red LED<br>**----- End of picture text -----**<br>


## **Figure 5.1 On-board LEDs** 

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## **6 Reset to Factory Defaults** 

It is possible to reset the TMCM-3110 module to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost. 

For this procedure two pads on the bottom side of the board have to be shortened. 

## **PERFORM THE FOLLOWING STEPS:** 

1. Power supply off and USB cable disconnected. 

2. Short two pads as marked in Figure 6.1. 

3. Power up board (power via USB is sufficient for this purpose). 

4. Wait until the on-board red and green LEDs start flashing fast (this might take a while). 

5. Power-off board (disconnect USB cable). 

6. Remove short between pads. 

7. After switching on power-supply and connecting USB cable all permanent settings have been restored to factory defaults. 

**Short these two pins (DIO and CLK)** 

**Figure 6.1 Reset pins (bottom view of module)** 

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TMCM-3110 V1.1 Hardware Manual (Rev. 1.04 / 2018-11-21) 

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## **7 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.**_ 

## **GENERAL OPERATIONAL RATINGS OF THE MODULE** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VDRIVER|Power supplyvoltage for driver|9|24 ... 48|52.8|V|
|VDIGITAL|Power supply voltage for controller<br>(option, can be left unconnected)|VDRIVER|||V|
|VUSB|Power supplyvia USB connector||5||V|
|IUSB|Current withdrawn from USB supply<br>when USB bus powered (no other supply<br>connected)||130||mA|
|I+5V|Current at +5V output for supply of<br>external circuits (e.g. encoder, reference /<br>limit switches) – all +5V outputs together|||400|mA|
|ICOIL|Motor coil current for sine wave**peak**<br>(chopper regulated, adjustable via<br>software)|0||4|A|
|IMC|Continuous motor current (**RMS**)|0||2.8|A|
|IS|Power supply current||<< 3x ICOIL|1.4x 3x<br>ICOIL|A|
|TENV|Environmental temperature at maximum<br>current (all three axes, no forced cooling)|-30||+40|°C|



**Table 7.1 General operational ratings of the module** 

## **OPERATIONAL RATINGS OF THE REFERENCE SWITCH INPUTS** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VREF_L/R|Input voltage for reference switch inputs<br>REF_L / REF_R|0|0 .. 24|27|V|
|VREF_L/R_L|Low level voltage for reference switch<br>inputs REF_L / REF_R|0||1.4|V|
|VREF_L/R_H|High level voltage for reference switch<br>inputs REF_L / REF_R|3.4||27|V|



**Table 7.2 Operational ratings of the reference switch inputs** 

## **OPERATIONAL RATINGS OF THE GENERAL PURPOSE I/OS** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VOUT_0..7|Voltage at open collector output|0||VDIGITAL|V|
|IOUT_0/1/2/4/5/6|Output sink current for OUT_0/1/2 and<br>OUT_4/5/6|||100|mA|
|IOUT_3/7|Output sink current for OUT_3 and OUT_7|||1|A|
|VIN_ 1/2/3/5/6/7|Input voltage for general purpose digital<br>inputs IN_1/2/3 and IN_5/6/7|0|0 .. 24|27|V|
|VIN_1/1/2/3/5/6/7_L|Low level voltage for general purpose<br>digital inputs IN_1/2/3 and IN_5/6/7|0||1.1|V|
|VIN_1/2/3/5/6/7_H|High level voltage for general purpose<br>digital inputs IN_1/2/3 and IN_5/6/7|2.9||27|V|
|VAIN_0/4|Full scale input voltage range for analog<br>voltage inputs|0||10|V|



**Table 7.3 Operational ratings of the general purpose I/Os** 

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## **OPERATIONAL RATINGS OF THE S/D INPUTS** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VS/D/E_0/1/2|Input voltage for step inputs S_0/1/2,<br>direction inputs D_0/1/2 and enable<br>inputs E_0/1/2|0|0 .. 24|27|V|
|VS/D/E_0/1/2_L|Low level voltage for  step inputs<br>S_0/1/2, direction inputs D_0/1/2 and<br>enable inputs E_0/1/2|0||1.4|V|
|VS/D/E_0/1/2_H|High level voltage for  step inputs<br>S_0/1/2, direction inputs D_0/1/2 and<br>enable inputs E_0/1/2|3.4||27|V|



**Table 7.4 Operational ratings of the S/D inputs** 

## **OPERATIONAL RATINGS OF THE ENCODER INPUTS 0/1/2** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VA+/A-/B+/B-/N+/N-|Voltage at encoder signal inputs|-0.3||+5.5|V|
|**Table 7.5 Operational ratings of the encoder inputs 0/1/2**<br>**OPERATIONAL RATINGS OF THERS485 INTERFACE**||||||
|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|NRS485*)|Number of nodes connected to single<br>RS485 network|||320||
|1/tRS485*)|Maximum signalingrate|||1|Mbps|
|**Table 7.6 Operational ratings of the RS485 interface**<br>**OPERATIONAL RATINGS OF THECAN INTERFACE**||||||
|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|NCAN*)|Number of nodes connected to single<br>CAN network|||>110||
|1/tCAN*)|Maximum signalingrate|||1|Mbps|



## **Table 7.7 Operational ratings of the CAN interface** 

*) Please note: maximum signaling rate and maximum number of nodes will not be achieved at the same time (for both serial bus interfaces - RS485 and CAN). With increasing number of nodes per bus and increasing bus length the maximum data rate usually has to be reduced. Maximum number of nodes per bus and maximum signaling rate might be limited by firmware (with TMCL max. 255 nodes), also. 

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## **8 Functional Description** 

The TMCM-3110 is a highly integrated 3-axes controller and driver module with encoder inputs. It can be controlled via CAN, RS485 or USB serial interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculation are performed onboard. 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 any of the serial interfaces. 

In Figure 8.1 the main parts of the module are shown: 

- the microprocessor, which runs the TMCL or CANopen operating system 

- the TMCL program memory (stores up to 2048 TMCL commands) 

- 1x motion controller for three axes, which calculates ramps and speed profiles by hardware 

- 3x  power driver with stallGuard2 and the energy efficient coolStep feature 

- 3x external MOSFET driver transistors 

- RS485, CAN and USB transceivers 

- on-board switching and linear voltage regulators for supply of on-board digital circuits 

- 3x encoder interface 

**==> picture [440 x 221] intentionally omitted <==**

**----- Start of picture text -----**<br>
3x encoder<br>S/D In TMCM-3110<br>ABN inputs<br>RS485<br>SPI Motor 0<br>CAN S/D TMC262Power Driver MOSFET DriverStage E<br>USB µC SPI Controller Motion  S/D TMC262Power Driver MOSFET DriverStage Motor 1E<br>8 with TMC429<br>Inputs S/D Power  MOSFET Motor 2<br>8 Driver Driver<br>Outputs TMC262 Stage E<br>+5V<br>SPI<br>+5V<br>TMCL<br>Memory<br>Power supply<br>3x 2 reference<br>switches<br>**----- End of picture text -----**<br>


## **Figure 8.1 TMCM-3110 block diagram** 

The TMCM-3110 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL). Using predefined TMCL high level commands as _move to position_ a rapid and fast development of motion control applications is guaranteed. 

_Please refer to the TMCM-3110 Firmware Manual for more information about TMCL commands._ 

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## **9 Operational Description** 

## **9.1 Calculation: Velocity and Acceleration vs. Microstep and** 

## **Fullstep Frequency** 

The values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC429 parameters as shown in this section. 

## **PARAMETERS OF TMC429** 

|**Signal**|**Description**|**Range **|
|---|---|---|
|fCLK|clock-frequency|16 MHz|
|velocity|-|0… 2047|
|a_max|maximum acceleration|0… 2047|
|pulse_div|divider for the velocity. The higher the value is, the less is the maximum<br>velocity<br>default value = 0|0… 13|
|ramp_div|divider for the acceleration. The higher the value is, the less is the<br>maximum acceleration<br>default value = 0|0… 13|
|Usrs|microstep-resolution (microstepsper fullstep= 2usrs)|0… 8|



## **Table 9.1 TMC429 velocity parameters** 

## **MICROSTEP FREQUENCY** 

The microstep frequency of the stepper motor is calculated with 

**==> picture [275 x 23] intentionally omitted <==**

## **FULLSTEP FREQUENCY** 

To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided by the number of microsteps per fullstep. 

**==> picture [258 x 24] intentionally omitted <==**

The change in the pulse rate per time unit (pulse frequency change per second – the _**acceleration a** )_ is given by 

**==> picture [100 x 25] intentionally omitted <==**

This results in acceleration in fullsteps of: 

_a_  _af_ 2 _usrs_ with af: acceleration in fullsteps 

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**EXAMPLE:** 

|**Signal**|**value**|
|---|---|
|f_CLK|16 MHz|
|velocity|1000|
|a_max|1000|
|pulse_div|1|
|ramp_div|1|
|usrs|6|



16 _MHz_  1000 _msf_  21  2048  32  122070 .31 _Hz_ 

122070 .31 _fsf_ [ _Hz_ ]  26  1907 .34 _Hz_ 

**==> picture [140 x 85] intentionally omitted <==**

## **CALCULATION OF THE NUMBER OF ROTATIONS** 

A stepper motor has e.g. 72 fullsteps per rotation. 

**==> picture [218 x 63] intentionally omitted <==**

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## **10 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 2013 – 2018 

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. 

All trademarks used are property of their respective owners. 

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## **11 Revision History** 

## **11.1 Document Revision** 

|**Version**|**Date**|**Author**|**Description**|
|---|---|---|---|
|0.90|2012-SEP-26|GE|Preliminaryversion|
|1.00|2013-JUN-12|SD|First complete version|
|1.01|2013-JUL-23|SD|Minor changes|
|1.02|2014-DEC-11|GE|-<br>Home switch inputs added<br>-<br>Table with motor current settings added (chapter 4)<br>-<br>Minor corrections / additions|
|1.03|2018-SEP-24|GE|-<br>Operational ratings switching levels for end switches and S/D<br>inputs corrected|
|1.04|2018-NOV-21|GE|-<br>Typos corrected|



## **Table 11.1  Document revision** 

## **11.2 Hardware Revision** 

|**Version**|**Date**|**Description**|
|---|---|---|
|TMCM-3110_V10|2012-MAY-25|Initial version|
|TMCM-3110_V11|2012-AUG-17|Few corrections and enhancement:<br>-<br>Processor reset corrected<br>-<br>Encoder N-channel connected to different port-pin for better<br>interrupt handlingin software|



## **Table 11.2  Hardware revision** 

## **12 References** 

|[JST]|JST connector|
|---|---|
||http://www.jst.com|
|[USB-2-485]|USB-2-485 interface converter|
||Manual available onhttp://www.trinamic.com|
|[TMC262]|TMC262 datasheet|
||Manual available onhttp://www.trinamic.com.|
|[TMC429]|TMC429 datasheet|
||Manual available onhttp://www.trinamic.com.|
|[TMCL-IDE]|TMCL-IDE User Manual|
||Manual available onhttp://www.trinamic.com.|



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