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TMCM-3351-CANOPEN
STEPPER MOTOR CTRL, CANOPEN, 2PH, 3A/28V
⚠️ Reference pricing provided. In case of supply shortages, we will connect you with our trusted procurement partners to ensure your project's continuity.
- Manufacturer: TRINAMIC / ANALOG DEVICES
- Product type: Stepper Motor Drives
- SVHC: No SVHC (04-Feb-2026)
- No. of Phases: Two Phase
- Product Range: TMCM StepRocker
- Output Current Max: 3A
- Supply Voltage Max: 28VDC
- Supply Voltage Min: 11VDC
- Control / Drive Type: 3-Axis Controller / Driver Module
| Delivery and price | |
|---|---|
| Units per pack | 1 |
| Price | 752.5 € |
| Current stock | 10+ |
| Lead time | 30 days |
Datasheet
**MODULE** **Module for Stepper Motors** ## TMCM-3351 Hardware Manual ## Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 The TMCM-3351 is a three axes motor controller/driver board for 2-phase bipolar stepper motors. It is the direct successor of the TMCM-351 - mechanically and electrically compatible - with our latest generation of stepper driver and motion controller ICs supporting linear and S-shaped ramps and closed-loop operation with external ABN-encoders. ## Features - 3-axes controller/driver for 2-phase bipolar stepper motor - Linear and S-shaped ramps and closedloop operation with external encoder - +11. . . 28V DC supply voltage - Up to 3A RMS motor current - RS485, CAN, RS232 & USB interfaces - multi-purpose inputs and outputs ## Applications - Life Sciences - Test & Measurement - Robotics / Automation ## Simplified Block Diagram **==> picture [377 x 169] intentionally omitted <==** **----- Start of picture text -----**<br> TMCM-3351<br>DC 11..28V<br>EEPROM DC<br>I2C (TTT T TT 7<br>RS232<br>iS poo attr rrr nnn 3x POT<br>RS485<br>Motion Pre- MOSFET Driver E |<br>CAN Controller Driver Stage<br>µC SPI |<br>USB = (ARM) +5V ah<br>A — - _ +5V REFL, REFR<br>Inputs io ! = Sa ne<br>|<br>a | P e | !<br>Outputs<br><I | I<br>! A/B/N Encoder gq<br>**----- End of picture text -----**<br> > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 2 / 31 ## **Contents** |**1**|**Features**|||**4**| |---|---|---|---|---| |**2**|**Order Codes**|||**5**| |**3**|**Mechanical and Electrical Interfacing**|||**6**| ||3.1<br>Size of board . . . . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|6| |**4**|**Connectors**|||**7**| ||4.1<br>Power Connector . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9| ||4.2<br>Motor Connector . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9| ||4.3<br>Reference Connector . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|10| ||4.4<br>Analog Input Connector .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11| ||4.5<br>USB Connector<br>. . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11| ||4.6<br>RS232 Connector . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11| ||4.7<br>CAN Connector<br>. . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12| ||4.8<br>RS485 Connector . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12| ||4.9<br>SPI connector . . . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13| ||4.10 I/O Connector . . . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13| ||4.11 Encoder Connector . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|14| |**5**|**Jumper Settings**|||**15**| ||5.1<br>Encoder input termination|. . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| ||5.2<br>Enable all driver stages permanently||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| |**6**|**LEDs**|||**17**| |**7**|**Communication**|||**18**| ||7.1<br>RS485 . . . . . . . . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18| ||7.2<br>USB . . . . . . . . . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19| ||7.3<br>CAN . . . . . . . . . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19| |**8**|**Motor driver current**|||**21**| |**9**|**Functional Description**|||**23**| |**10 **|**Operational Ratings and Characteristics**|||**24**| |**11 **|**Abbreviations used in this Manual**|||**26**| |**12 **|**Figures Index**|||**27**| |**13 **|**Tables Index**|||**28**| |**14 **|**Supplemental Directives**|||**29**| ||14.1 Producer Information<br>. .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|29| ||14.2 Copyright . . . . . . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|29| ||14.3 Trademark Designations and Symbols||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|29| ||14.4 Target User . . . . . . . . .|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|29| ||14.5 Disclaimer: Life Support Systems . . .||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|29| ||14.6 Disclaimer: Intended Use|. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|29| ||14.7 Collateral Documents & Tools . . . . .||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|30| > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 3 / 31 |**15 **|**Revision History**<br>**31**| |---|---| ||15.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31| ||15.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31| > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 4 / 31 ## **1 Features** The TMCM-3351 is a three axes stepper motor controller /driver board for 2-phase bipolar stepper motors. Linear and S-shaped ramps and closed-loop operation with optional encoders are supported for each of the three axes. The TMCM-3351 offers a large number of general purpose digital and analog inputs and outputs. For communication a number of serial communication interfaces including RS485, CAN, USB and RS232 are available. ## **Electrical data** - Supply voltage: +24V DC (+11. . . +28V DC) - Motor current: up to 3A RMS (programmable in software) ## **Mechanical data** - Board size: 160mm x 100mm, overall height 35mm without mating connectors - 4 mounting holes for M3 screws ## **Stepper motor data** - Two phase bipolar stepper motors with up-to 3A RMS coil current - Incremental (a/b/n) encoder (optional), differential and single ended (TTL + open-collector) encoder signals are supported ## **Interfaces** - 2 reference switch inputs per motor axis (6 altogether, internal pull-up resistors, +24V compatible) - 8 general purpose inputs (+24V compatible) - 8 general purpose outputs (open-collector, 6x 100mA, 2x 1A) - 1 shutdown input for all three axes (enable / disable driver stage in hardware) - 4 dedicated analog inputs (programmable 3.3V / 10V input range) - SPI connector with three chip select signals for I/O extension (dependning on firmware version) - RS485 (2-wire), CAN, USB and RS232 serial communication interfaces ## **Features** - High efficient operation, low power dissipation - integrated protection - On the fly alteration of motor parameters (e.g. position, velocity, acceleration) - Motion profile calculation in real time (linear and S-shaped ramps) - Each axis indiviually and independently programmable - Up-to 256 microsteps per fullstep are supported - Closed-loop operation with external encoder ## **Software** - TMCL™remote (direct mode) and standalone operation - Fully supported by TMCL-IDE (PC based integrated development environment) - Optional CANopen firmware > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 5 / 31 ## **2 Order Codes** The TMCM-3351 is available with standard TMCL firmware or CANopen firmware. |Order Code|Description|Size (LxWxH)| |---|---|---| |TMCM-3351|3-axes stepper controller / driver, +24V, 3x<br>3A RMS, closed-loop with encoder, many<br>GPIOs, RS485, CAN, USB and RS232 with<br>TMCL frmware|160mm x 100mm x 35mm| |TMCM-3351-CANopen|3-axes stepper controller / driver, +24V, 3x<br>3A RMS, closed-loop with encoder, many<br>GPIOs, RS485, CAN, USB and RS232 with<br>CANopen frmware|160mm x 100mm x 35mm| _Table 1: TMCM-3351 Order codes_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 6 / 31 ## **3 Mechanical and Electrical Interfacing** ## **3.1 Size of board** The TMCM-3351 three axes controller / driver board has a board size of 160mm x 100mm (standard euro board format). Four mounting holes are available for standard M3 screws - one in each corner. All four mounting holes are non-plated and isolated. **==> picture [339 x 228] intentionally omitted <==** **----- Start of picture text -----**<br> 160<br>4 Ø 3.2 4<br>4 4<br>100<br>TMCM-3351<br>4 4<br>4 Ø 3.2 4<br>**----- End of picture text -----**<br> _Figure 1: Board dimensions and position of mounting holes (all values in mm)_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 7 / 31 ## **4 Connectors** The TMCM-3351 offers connectors for three stepper motors, related reference switches, related encoders (optional for closed-loop operation), a number of analog and digital inputs and outputs and several serial interfaces (RS485, CAN, USB and RS232). _**NOTICE**_ **Start with power supply OFF and do not connect or disconnect motor during operation!** Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. **==> picture [330 x 230] intentionally omitted <==** **----- Start of picture text -----**<br> Power<br>3x Motor 3x Reference 2x Analog<br>Input<br>1@ 1 ; 1 1 1 1<br>OME emE se<br>(aa ‘eccaccoaacce 1 1 1 » enoccoeoconc 1 1 1<br>USB<br>1<br>sy-O“ te 2 “ ont oe fll fa as Lasleat 32° F 6 }<br>RS485 RS232<br>5 STEENeer oReTaTe) [as ps f 1 y 5 9<br>regpast e"7ol 18 ow 1B H Efs Jisisassesiinsssiesiagaas. fie a |iL7<br>1<br>6<br>to om Mee ao ei De epee 7 lee CAN<br>9<br>5<br>ge:5eSRE) 109 ©@le 12 RE me© 109 '@CC 12 a@eeC 109 EREERRR‘eneye. 12 2019 ee© 12 -Hlea(0. 109 ee:0 12 ees@ axe<br>3x Encoder GPIO SPI<br>**----- End of picture text -----**<br> _Figure 2: TMCM-3351 connectors_ |Connector|Connector type on-board|Mating connector type| |---|---|---| |Power|RIA 320-02, 2 pins, 5mm pitch|RIA 349-02, screw type terminal block, plug-<br>gable,2pins,5mmpitch| |Motor|RIA 183-12, 12 pins, 3.5mm pitch|1x RIA 169-12 (12 pins) or e.g. 3x RIA 169-<br>04 (4 pins, one connector for each mo-<br>tor), screw type terminal block, pluggable,<br>3.5mmpitch| ||MOLEX type 6410, 2.54mm HH header, ver-<br>tical friction lock|MOLEX type 2045, 2.54mm crimp housing,<br>receptable,4pins| |Reference|RIA 183-12, 12 pins, 3.5mm pitch|1x RIA 169-12 (12 pins) or e.g. 3x RIA 169-<br>04 (4 pins, one connector for each mo-<br>tor), screw type terminal block, pluggable,<br>3.5mmpitch| > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com ° Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 8 / 31 |Connector|Connector type on-board|Mating connector type| |---|---|---| ||MOLEX type 6410, 2.54mm HH header, ver-<br>tical friction lock|MOLEX type 2045, 2.54mm crimp housing,<br>receptable,4pins| |Analog input|MOLEX type 6410, 2.54mm KK header, ver-<br>tical friction lock|MOLEX type 2045, 2.54mm crimp housing,<br>receptable,4pins| |USB|USB, type B, 4 pins, vertical, female|USB, type B, 4 pins, male| |RS232|DSUB, vertical, 9 pins, female|DSUB, vertical, 9 pins male| |CAN|DSUB, vertical, 9 pins, male|DSUB, vertical, 9 pins female| |RS485|RIA 183-4, 4 pins, 3.5mm pitch|RIA 169-4, 4 pins, screw type terminal<br>block, pluggable,3.5mmpitch| |SPI|low profle box header without locking bar,<br>2x5pins,2.54mmpitch|low profle socket connector, 2x5 pins,<br>2.54mmpitch| |I/O|low profle box header without locking bar,<br>2x10pins,2.54mmpitch|low profle socket connector, 2x10 pins,<br>2.54mmpitch| |Encoder|low profle box header without locking bar,<br>2x5pins,2.54mmpitch|low profle socket connector, 2x5 pins,<br>2.54mmpitch| _Table 2: Connector types and mating connectors of the TMCM-3351_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 9 / 31 ## **4.1 Power Connector** A 2 pin, detachable screw connector is used for power supply input. All additional voltages required by the TMCM-3351 are generated on-board from this supply input. |Pin|Label|Description| |---|---|---| |1|GND|Common system supply and signal ground| |2|VDD|Power supply input, nom. +24V DC (+10V. . . +28.5VDC)| ## _Table 3: Power Supply Connector pin assignment_ ## **4.2 Motor Connector** For the three motors 0. . . 2 there are two connector options: either one detachable screw connector (can be used with either 12pin or 3x4pin mating connectors) intended for prototyping and smaller series or three crimp style connectors (Molex KK series) for higher volume / series. _**NOTICE**_ **Do not connect or disconnect motor during operation!** Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. |Pin|Label|Description| |---|---|---| |1|Motor_0_B-|Motor 0, coil B| |2|Motor_0_B+|Motor 0, coil B| |3|Motor_0_A-|Motor 0, coil A| |4|Motor_0_A+|Motor 0, coil A| |5|Motor_1_B-|Motor 1, coil B| |6|Motor_1_B+|Motor 1, coil B| |7|Motor_1_A-|Motor 1, coil A| |8|Motor_1_A+|Motor 1, coil A| |9|Motor_2_B-|Motor 2, coil B| |10|Motor_2_B+|Motor 2, coil B| |11|Motor_2_A-|Motor 2, coil A| |12|Motor_2_A+|Motor 2, coil A| _Table 4: Motor connector (detachable screw connector)_ |Pin|Label|Description| |---|---|---| |1|Motor_0/1/2_B-|Motor 0/1/2 coil B| > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 10 / 31 |Pin|Label|Description| |---|---|---| |2|Motor_0/1/2_B+|Motor 0/1/2 coil B| |3|Motor_0/1/2_A-|Motor 0/1/2 coil A| |4|Motor_0/1/2_A+|Motor 0/1/2 coil A| _Table 5: Motor connector (crimp style connector)_ ## **4.3 Reference Connector** For the stop switch inputs (two stop switches per motor axis are supported) there are two connector options: either one detachable screw connector (can be used with either 12pin or 3x4pin mating connectors) intended for prototyping and smaller series or three crimp style connectors (Molex KK series) for higher volume / series. |Pin|Label|Description| |---|---|---| |1|STOP_0_R|Motor 0, right stop switch input| |2|STOP_0_L|Motor 0, left stop switch input| |3|GND|System / module ground| |4|+5V|+5V supply output for active switches| |5|STOP_1_R|Motor 1, right stop switch input| |6|STOP_1_L|Motor 1, left stop switch input| |7|GND|System / module ground| |8|+5V|+5V supply output for active switches| |9|STOP_2_R|Motor 2, right stop switch input| |10|STOP_2_L|Motor 2, left stop switch input| |11|GND|System / module ground| |12|+5V|+5V supply output for active switches| _Table 6: Reference connector (detachable screw connector)_ |Pin|Label|Description| |---|---|---| |1|STOP_0/1/2_R|Motor 0/1/2, right stop switch input| |2|STOP_0/1/2_L|Motor 0/1/2, left stop switch input| |3|GND|System / module ground| |4|+5V|+5V supply output for active switches| _Table 7: Reference connector (crimp style connector)_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 11 / 31 ## **4.4 Analog Input Connector** The TMCM-3351 offers four dedicated analog inputs with programmable range (0. . . +3.3V or 0. . . +10V). There are two 4pin connectors (Molex KK series) with two analog inputs available via each connector. |Pin|Label|Description| |---|---|---| |1|Analog_0/2|Analog input 0/2| |2|GND|System / module ground| |3|Analog_1/3|Analog input 1/3| |4|GND|System / module ground| ## _Table 8: Analog input connector_ ## **4.5 USB Connector** The TMCM-3351 includes one USB device interface for serial communication. A standard USB type B connector is integrated on-board. USB is one out of four different interfaces available for communication with the TMCM-3351. The TMCM-3351 supports USB bus powered and self powered operation. During bus powered operation the on-board digital core logic including processor and non-voltaile memory (EEPROM) will be supplied via USB. That is, just the USB connection is required for communication and power supply. This mode is intended for firmware updates, TMCL program download or parameter setting / read-out of the nonvolatile (EEPROM) memory. Of course, motor operation is not possible in this mode due to limited voltage and power available via USB. For USB self-powered operation an external power supply is required with power supply inputs via the main power supply connector. Please not that the TMCM-3351 might draw power from the USB connection depending on voltage levels. |Pin|Label|Description| |---|---|---| |1|VBUS|+5V| |2|USB_D-|Data-| |3|USB_D+|Data+| |4|GND|System / module ground| ## _Table 9: USB connector_ ## **4.6 RS232 Connector** The board includes one RS232 interface for serial connection. A standard DSUB 9pin female connector is integrated on-board for RS232 connection. RS232 is one out of four different interfaces available for communication with the TMCM-3351. |Pin|Label|Description| |---|---|---| |2|RS232_TxD|RS232 transmit serial data| |3|RS232_RxD|RS232 receive serial data| |5|GND|System / module ground| > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 12 / 31 |Pin|Label|Description| |---|---|---| |1, 4, 6, 7, 8, 9|n.c.|Pins not connected| ## _Table 10: RS232 connector_ For communication via RS232 transmit serial data of the TMCM-3351 has to be connected to RS232 receive serial data of the host / master and RS232 receive data of the TMCM-3351 to transmit data of the host / master - requiring a cross-connection / -cable. In contrast to the TMCM-351 the TMCM-3351 does not require any jumper setting / selection in order to enable RS232 connection. RS232 communication is available after power-up (power supply input) without any further configuration. ## **4.7 CAN Connector** The board includes one CAN bus interface for serial connection. A standard DSUB 9pin male connector is integrated on-board for CAN bus connection. CAN is one out of four different interfaces available for communication with the TMCM-3351. With CANopen firmware communication using the CANopen protocol is available via this connector. |Pin|Label|Description| |---|---|---| |2|CAN_L|CAN diferential bus| |7|CAN_H|CAN difernetial bus| |3, 6|GND|System / module ground| |1, 4, 5, 8, 9|n.c.|Pins not connected| _Table 11: CAN connector_ The TMCM-3351 offers on-board line-termination for the CAN bus (120R). For proper operation the CAN bus should be terminated at both ends of the bus. For any intermediate nodes / bus connections please remove line termination jumper (see 5, also). ## **4.8 RS485 Connector** The board includes one RS485 bus interface for serial connection. A 4pin detachable screw connector is integrated on-board for RS485 bus connection. RS485 is one out of four different interfaces available for communication with the TMCM-3351. |Pin|Label|Description| |---|---|---| |1|RS485+|RS485 diferential bus (connected to pin 3)| |2|RS485-|RS485 diferential bus (connected to pin 4)| |3|RS485+|RS485 diferential bus (connected to pin 1)| |4|RS485-|RS485 diferential bus (connected to pin 2)| _Table 12: RS485 connector_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 13 / 31 The TMCM-3351 offers on-board line-termination for the RS485 bus (120R). For proper operation the RS485 bus should be terminated at both ends of the bus. For any intermediate nodes / bus connections please remove line termination jumper (see 5, also). In contrast to the TMCM-351 the TMCM-3351 does not require any jumper setting / selection in order to enable RS485 connection. RS485 communication is available after power-up (power supply input) without any further configuration. ## **4.9 SPI connector** For extension of the available inputs and outputs an SPI interface is available. A standard 2.54mm pitch two row header is used as connector for the SPI interface available externally. |Pin|Label|Pin|Label| |---|---|---|---| |1|SPI_MOSI|2|GND| |3|SPI_MISO|4|GND| |5|SPI_CLK|6|GND| |7|SPI_SEL0|8|SPI_SEL2| |9|SPI_SEL1|10|+5V_output| _Table 13: SPI connector_ ## **4.10 I/O Connector** The general purpose I/O connector offers 8 digital and analog inputs and 8 digital outputs. All inputs are +24V compatible. All outputs offer open collector driver stages. OUT_0. . . 5 can sink up-to 100mA while OUT_6. . . 7 are more powerful and can sink up to 2A. A standard 2.54mm pitch two row header is used for this connector. |Pin|Label|Pin|Label| |---|---|---|---| |1|OUT_0|2|OUT_1| |3|OUT_2|4|OUT_3| |5|OUT_4|6|OUT_5| |7|OUT_6|8|OUT_7| |9|+5V_output|10|GND| |11|IN_0|12|IN_1| |13|IN_2|14|IN_3| |15|IN_4|16|IN_5| |17|IN_6|18|IN_7| |19|/Shutdown|20|VDD| ## _Table 14: I/O connector_ The /Shutdown input pin has to be connected to the supply voltage in order to enable the driver stages for all three stepper motor axes. A jumper between pin 19 and pin 20 can be used to permanently enable drivers (please refer to section 5 for more detailed information). > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 14 / 31 ## **4.11 Encoder Connector** Three encoder connectors (one dedicated encoder interface and connector per axis) are available. A standard 2.54mm pitch two row header is used for encoder connection. Incremental a/b/n encoder with differential or single ended (push-pull TTL or open-drain) output signals are supported. For encoder with single ended output signals the non-inverting inputs of the encoder connector should be used (A+, B+ and N+). Please do not activate encoder line termination for single ended encoder signals (remove jumpers). Refer to section 5 for more details. For encoder with differential output signals the non-inverting and inverting signal pairs should be connected (A+ and A-, B+ and B-, N+ and N-) and on-board line termination might be activated (setting jumpers - refer to secton 5 for more details). Incremental encoders with +24V push-pull output signals are not supported. Please use appropriate interface circuits for these types of encoders. |Pin|Label|Pin|Label| |---|---|---|---| |1|GND|2|GND| |3|Encoder_0/1/2_N+|4|Encoder_0/1/2_N-| |5|Encoder_0/1/2_A+|6|Encoder_0/1/2_A-| |7|+5V_output|8|+5V_output| |9|Encoder_0/1/2_B+|10|Encoder_0/1/2_B-| _Table 15: Encoder connector_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 15 / 31 ## **5 Jumper Settings** Most settings for the TMCM-3351 are done through the software. Nevertheless, a few jumpers are available for configuration. **==> picture [283 x 124] intentionally omitted <==** **----- Start of picture text -----**<br> Termination<br>RS485<br>> - e - i fteahale es ©<br>oe) “ ye s<br>a Le erie ree — iB<br>=) vem <1 sy o. es, veer 0) feet “lm 6<br>Termination Termination Termination<br>Encoder 0 Encoder 1 Encoder 2<br>, ome 2 ieee eo oun oe ot sa Termination al) oe<br>CAN<br>-B*: a": sa a e baa!<br>Shutdown<br>**----- End of picture text -----**<br> _Figure 3: Jumper settings of TMCM-3351_ |Jumper|Description| |---|---| |Termination RS485|Jumper added - termination (120R resistor between RS485+ and RS485-) is<br>enabled. For proper operation the RS485 bus should be terminated at both<br>ends. Termination should be disabled (jumper removed) for any nodes in-<br>between.| |Termination CAN|Jumper added - termination (120R resistor between CAN_H and CAN_L) is<br>enabled. For proper operation the CAN bus should be terminated at both<br>ends. Termination should be disabled (jumper removed) for any nodes in-<br>between.| |Termination Encoder 0|Termination for encoder line receiver input 0. Encoder input 0 is related to<br>motor axis 0. For differential encoder signals - especially with longer cables<br>and / or noisy environment it is recommended to add jumpers for acitvation<br>of line termination (120R resistor between each differential pair - A+ and A-,<br>B+and B-, N+and N-)| |Termination Encoder 1|Termination for encoder line receiver input 1. Encoder input 1 is related to<br>motor axis 1. For differential encoder signals - especially with longer cables<br>and / or noisy environment it is recommended to add jumpers for acitvation<br>of line termination (120R resistor between each differential pair - A+ and A-,<br>B+and B-, N+and N-)| |Termination Encoder 2|Termination for encoder line receiver input 2. Encoder input 2 is related to<br>motor axis 0. For differential encoder signals - especially with longer cables<br>and / or noisy environment it is recommended to add jumpers for acitvation<br>of line termination (120R resistor between each differential pair - A+ and A-,<br>B+and B-, N+and N-)| _Table 16: Jumper of TMCM-3351_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com 2 Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 16 / 31 ## **5.1 Encoder input termination** For enhanced reliability differential encoder signals should be terminated properly. The board offers termination resistors (120 Ohm) for all three encoder interface signals (a/b/n) for all three encoders. By setting jumpers, these resistors will be placed between the differential encoder signals. Do not set these jumpers in case encoders with single ended signals are used. **==> picture [188 x 56] intentionally omitted <==** **----- Start of picture text -----**<br> Place jumpers for<br>proper termination<br>Oo A<br>**----- End of picture text -----**<br> _Figure 4: Encoder input termination_ ## **5.2 Enable all driver stages permanently** The /Shutdown input pin has to be connected to the supply voltage in order to enable the driver stages for all three stepper motor axes. A jumper between pin 19 and pin 20 can be used to permanently enable drivers. **==> picture [193 x 102] intentionally omitted <==** _Figure 5: Enable all driver stages permanently_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com ° Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 17 / 31 ## **6 LEDs** Both on-board LEDs (one green and one red) are connected directly to the on-board microcontroller. Therefore, function of the LEDs is depending on firmware. |Status|Label|Description| |---|---|---| |LED Status (green)|STATUS|_with TMCL firmware:_<br>LED flashing: normal operation<br>LED permanently on: bootloader mode incl. firmware update<br>LED flashing fast: reset to factory default settings| |LED Error (red)|ERR|_with TMCL firmware:_<br>LED off: normal operation<br>LED permanently on: error| _Table 17: LED description_ **==> picture [239 x 47] intentionally omitted <==** **----- Start of picture text -----**<br> Sem =] ooi cP fapaenEf &o itebile =) =<br>rey reverie: LED „Status“ (green) |<br>1 A) cs 1 TYa on 2<br>LED „Error“ (red)<br>**----- End of picture text -----**<br> _Figure 6: TMCM-3351 LEDs_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com : Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 18 / 31 ## **7 Communication** ## **7.1 RS485** For remote control and communication with a host system the TMCM-3351provides 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 [416 x 129] intentionally omitted <==** **----- Start of picture text -----**<br> Host<br>Slave Slave Slave<br>c:><br>node node node<br>1 n - 1 n<br>}<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 7: RS485 bus structure with termination resistors_ 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. Termination resistor (120 Ohm) maybe added externally at both ends of the bus or the on-board termination maybe activated by adding a jumper (see 5). 3. _NUMBER OF NODES:_ - The RS485 electrical interface stadard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-3351units (SN65HVD3082ED) has just 1/8th of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus. 4. _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 GND resp. +5V. In contrast to the termination resistors this network is normally required just once per bus. Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485). > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 19 / 31 **==> picture [283 x 138] intentionally omitted <==** **----- Start of picture text -----**<br> Slave Slave<br>node node +5V<br>n - 1 n<br>pull-up (680R)<br>RS485+ / RS485A termination<br>resistor<br>RS485- / RS485B (120 Ohm)<br>pull-down (680R)<br>GND<br>**----- End of picture text -----**<br> _Figure 8: RS485 bus lines with resistor network_ ## **7.2 USB** For remote control and communication with a host system the TMCM-3351provides a USB 2.0 full-speed (12Mbit/s) interface (USB Type B connector). As soon as a USB-Host is connected the module will accept commands via USB. The TMCM-3351supports USB self powered operation (External power supplied via the power supply connector) and USB bus powered operation, also (no external power is supplied via the power supply connector). During USB bus powered operation, only the core digital circuit parts will be operational. That is, the microcontroller itself and also the EEPROM. Of course, any motor movement will not be possible in this mode. This mode has been implemented in order to enable configuration / parameter setting / read-out, firmware updates etc. by just connecting a USB cable between the module and a host PC. No other connection / additional power supply is required. ## **7.3 CAN** For remote control and communciation with a host system the TMCM-3351provides 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. **==> picture [416 x 129] intentionally omitted <==** **----- Start of picture text -----**<br> Host<br>Slave Slave Slave<br>c:><br>node node node<br>1 n - 1 n<br>}<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 9: CAN bus structure with termination resistors_ ## 2. _BUS TERMINATION:_ Especially for longer busses and/or multiple nodes connected to the bus and/or high communication > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 20 / 31 speeds, the bus should be properly terminated at both ends. The TMCM-3351does not integrate any termination resistor. Termination resistor (120 Ohm) maybe added externally at both ends of the bus or the on-board termination maybe activated by adding a jumper (see 5). > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 21 / 31 ## **8 Motor driver current** The on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 effective current scaling steps (CS) in hardware. _Explanation of different columns in table below:_ > **Motor current** These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current). They are used to set the run / standby current **setting in** using the following TMCL commands: **software (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-3351 firmware manual for further information) > **Current scaling** This is the effective current scaling in hardware. 32 different scaling steps are available in hardware. > **Motor current** Resulting motor current based on motor current setting. Motor current is listed as peak (sine peak) value (IPEAK) and RMS-value (IRMS). For stepper motors rated current is usually listed as IRMS value. |**Motor**<br>**current**<br>**setting**<br>**in**<br>**soft-**<br>**ware (TMCL)**|**Current**<br>**scaling**<br>**step in hardware**<br>**(CS)**|**Motor**<br>**current**<br>**IPEAK[A]**|**Motor**<br>**current**<br>**IRMS[A]**| |---|---|---|---| |0..7|0|0.149|0.106| |8..15|1|0.299|0,211| |16..23|2|0.448|0.317| |24..31|3|0.597|0.422| |32..39|4|0.747|0.528| |40..47|5|0.896|0.634| |48..55|6|1.045|0.739| |56..63|7|1.195|0.845| |64..71|8|1.344|0.950| |72..79|9|1.494|1.056| |80..87|10|1.643|1.162| |88..95|11|1.792|1.267| |96..103|12|1.942|1.373| |104..111|13|2.091|1.479| |112..119|14|2.240|1.584| |120..127|15|2.390|1.690| |128..135|16|2.539|1.795| |136..143|17|2.688|1.901| ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 22 / 31 |**Motor**<br>**current**<br>**setting**<br>**in**<br>**soft-**<br>**ware (TMCL)**|**Current**<br>**scaling**<br>**step in hardware**<br>**(CS)**|**Motor**<br>**current**<br>**IPEAK[A]**|**Motor**<br>**current**<br>**IRMS[A]**| |---|---|---|---| |144..151|18|2.838|2.007| |152..159|19|2.987|2.112| |160..167|20|3.136|2,218| |168..175|21|3.286|2.323| |176..183|22|3.435|2.429| |184..191|23|3.585|2.535| |192..199|24|3.734|2.640| |200..207|25|3.883|2.746| |208..215|26|4.033|2.851| |216..223|27|4.182|2.957| |224..231|28|4.331|3.063| |232..239|29|4.481|3.168| |240..247|30|4.630|3.274| |248..255|31|4.779|3.380| In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-3351 firmware manual). > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 23 / 31 ## **9 Functional Description** The TMCM-3351is a highly integrated 3-axes controller/driver module for stepper motors. It offers separate motion controllers in hardware for all three axes supporting linear and S-shaped ramps, openloop operation and closed-loop operation with external encoder. The TMCM-3351can be controlled via one out of four available serial interfaces RS485, CAN, RS232 or USB. In addition, the module offers a larger number of digital inputs and outputs and analog inputs. All digital inputs accept +24V compatible signals and all outputs offer open-collector driver (low-side switches). The TMCM-3351comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level commands like _move to position_ a rapid and fast development of motion control applications is guaranteed. Whereas the boot loader is installed during production and testing at TRINAMIC and remains usually untouched throughout the whole lifetime, the firmware ca be updated by the user. Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed on-board. Full remote control of the device with feedback is possible. The firmware of the module can be updated via any of the serial interfaces. ## **The TMCM-3351module contains the following main components:** - Microcontroller, responsible for overall control and communication - Motion controller in hardware for ramp calculation in real-time, featuring linear and S-shaped ramps, open-loop operation and closed loop operation with external encoder. - external encoder interface - one for each axis - supporting incremental a/b/n encoder with either single ended +5V push-pull (TTL), open-collector or differential signals - 8 general purpose inputs, 8 general purpose outputs and 4 dedicated analog inputs - 1 shutdown input for all three axes (enable / disable driver stage in hardware) - RS485, CAN, RS232 and USB serial communication interfaces **==> picture [291 x 227] intentionally omitted <==** **----- Start of picture text -----**<br> TMCM-3351<br>11..28V DC ControllerMotion DriverPre- MOSFET DriverStage E<br>DC +5V<br>+5V REFL, REFR<br>A/B/N Encoder<br>EEPROM ControllerMotion DriverPre- MOSFET DriverStage E<br>I2C +5V<br>+5V REFL, REFR<br>RS232<br>RS485 A/B/N Encoder<br>CANUSB (ARM) µC SPI ControllerMotion DriverPre- MOSFET DriverStage E<br>+5V<br>+5V REFL, REFR<br>Inputs<br>Outputs<br>A/B/N Encoder<br>**----- End of picture text -----**<br> _Figure 10: TMCM-3351 block diagram_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 24 / 31 ## **10 Operational Ratings and Characteristics** _**NOTICE**_ **Never Exceed the absolute maximum ratings!** Keep the power supply voltage below the upper limit of +30V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. |Symbol|Parameter|Min|Typ|Max|Unit| |---|---|---|---|---|---| |VPower|Power supply voltage|11|12. . . 24|28|V| |VUSB|Power supply via USB connector||5||V| |IUSB|Current withdrawn from USB supply when USB bus powered<br>(no other supplyconnected)||135||mA| |ICOIL|Motor coil current for sine wave **peak** (chopper regulated,<br>adjustable via software)|0||4500|mA| |IMC|Continuous motor current (**RMS**)|0||3300|mA| |TENV|Environmental temperature at rated current (no forced cool-<br>ingreaquired)|-30||tbd|°C| _Table 19: General operational ratings of the module_ |Symbol|Parameter|Min|Typ|Max|Unit| |---|---|---|---|---|---| |VOUT_0. . . 7|Voltage at open drain outputs OUT_0. . . 7|0||VPower|V| |IOUT_0. . . 5|Output sink current of open-collector outputs OUT_0. . . 5|||100|mA| |IOUT_6. . . 7|Output sink current of open-drain outputs OUT_6. . . 7|||2000|mA| |VIN_0. . . 7|Input voltage for IN_0. . . 7|||28|V| |VIN_L_0. . . 7|Low level input voltage for IN_0. . . 7|0||0.4|V| |VIN_H_0. . . 7|High level input voltage for IN_0. . . 7|4||28|V| _Table 20: Operational ratings of general purpose I/Os_ |Symbol|Parameter|Min|Typ|Max|Unit| |---|---|---|---|---|---| |NRS485|Number of nodes connected to single RS485 network|||256|| |fRS485|Maximum bit rate supported on RS485 network||9600|1000000|bit/s| _Table 21: Operational ratings of the RS485 interface_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 25 / 31 |Symbol|Parameter|Min|Typ|Max|Unit| |---|---|---|---|---|---| |NCAN|Number of nodes connected to single CAN network|||>110|| |fCAN|Maximum bit rate supported on CAN network||1000000|1000000|bit/s| _Table 22: Operational ratings of the CAN interface_ |Symbol|Parameter|Min|Typ|Max|Unit| |---|---|---|---|---|---| |fRS232|Maximum bit rate supported on RS232 network|||1000000|bit/s| _Table 23: Operational ratings of the RS232 interface_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 26 / 31 ## **11 Abbreviations used in this Manual** |Abbreviation|Description| |---|---| |IDE|Integrated Development Environment| |LED|Light Emmitting Diode| |RMS|Root Mean Square value| |TMCL|TRINAMIC Motion Control Language| _Table 24: Abbreviations used in this Manual_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 27 / 31 ## **12 Figures Index** - 1 Board dimensions and position of mounting holes (all values in mm) . . 6 - 2 TMCM-3351 connectors . . . . . . . . 7 3 Jumper settings of TMCM-3351 . . . . 15 4 Encoder input termination . . . . . . 16 5 Enable all driver stages permanently 16 6 TMCM-3351 LEDs . . . . . . . . . . . . 17 - 7 RS485 bus structure with termination resistors . . . . . . . . . . . . . . . . . 18 - 8 RS485 bus lines with resistor network 19 9 CAN bus structure with termination resistors . . . . . . . . . . . . . . . . . 19 - 10 TMCM-3351 block diagram . . . . . . 23 > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 28 / 31 ## **13 Tables Index** |1|TMCM-3351 Order codes<br>. . . . . . .|5|14|I/O connector . . . . . . . . . . . . . .|13| |---|---|---|---|---|---| |2|Connector types and mating connec-||15|Encoder connector . . . . . . . . . . .|14| |3<br>4<br>5<br>6<br>7<br>8<br>9|tors of the TMCM-3351 . . . . . . . . .<br>Power Supply Connector pin assignment<br>Motor connector (detachable screw<br>connector) . . . . . . . . . . . . . . . .<br>Motor connector (crimp style connector) <br>Reference<br>connector<br>(detachable<br>screw connector) . . . . . . . . . . . .<br>Reference connector (crimp style con-<br>nector) . . . . . . . . . . . . . . . . . .<br>Analog input connector<br>. . . . . . . .<br>USB connector. . . . . . . . . . . . . .|8<br>9<br>9<br> 10<br>10<br>10<br>11<br>11|16<br>17<br>19<br>20<br>21<br>22<br>23|Jumper of TMCM-3351 . . . . . . . . .<br>LED description . . . . . . . . . . . . .<br>General operational ratings of the<br>module . . . . . . . . . . . . . . . . . .<br>Operational ratings of general pur-<br>pose I/Os . . . . . . . . . . . . . . . . .<br>Operational ratings of the RS485 inter-<br>face . . . . . . . . . . . . . . . . . . . .<br>Operational ratings of the CAN interface <br>Operational ratings of the RS232 inter-|15<br>17<br>24<br>24<br>24<br> 25| |10|RS232 connector<br>. . . . . . . . . . . .|12||face . . . . . . . . . . . . . . . . . . . .|25| |11|CAN connector<br>. . . . . . . . . . . . .|12|24|Abbreviations used in this Manual . .|26| |12|RS485 connector<br>. . . . . . . . . . . .|12|25|Hardware Revision . . . . . . . . . . .|31| |13|SPI connector . . . . . . . . . . . . . .|13|26|Document Revision . . . . . . . . . . .|31| > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 29 / 31 ## **14 Supplemental Directives** ## **14.1 Producer Information** ## **14.2 Copyright** TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2017 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany. Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available product-related documentation. ## **14.3 Trademark Designations and Symbols** Trademark designations and symbols used in this documentation indicate that a product or feature is owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation. This Hardware Manual is a non-commercial publication that seeks to provide concise scientific and technical user information to the target user. Thus, trademark designations and symbols are only entered in the Short Spec of this document that introduces the product at a quick glance. The trademark designation /symbol is also entered when the product or feature name occurs for the first time in the document. All trademarks and brand names used are property of their respective owners. ## **14.4 Target User** The documentation provided here, is for programmers and engineers only, who are equipped with the necessary skills and have been trained to work with this type of product. The Target User knows how to responsibly make use of this product without causing harm to himself or others, and without causing damage to systems or devices, in which the user incorporates the product. ## **14.5 Disclaimer: Life Support Systems** 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. Information given in this document is believed to be accurate and reliable. However, no 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. ## **14.6 Disclaimer: Intended Use** The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 30 / 31 or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in significant personal injury or death (safety-Critical Applications) without TRINAMIC’s specific written consent. TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product. ## **14.7 Collateral Documents & Tools** This product documentation is related and/or associated with additional tool kits, firmware and other items, as provided on the product page at: www.trinamic.com. > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation. TMCM-3351 Hardware Manual • Hardware Version V1.00 | Document Revision V0.91 • 2017-JUL-11 31 / 31 ## **15 Revision History** ## **15.1 Hardware Revision** |Version|Date|Author|Description| |---|---|---|---| |V1.0|2017-MAY-04|GE|First prototypes| ## _Table 25: Hardware Revision_ ## **15.2 Document Revision** |Version|Date|Author|Description| |---|---|---|---| |0.90|2017-JUN-20|GE|First version, based on TMCM-351 hardware manual V1.07 / 2012-<br>DEC-17| |0.91|2017-JUL-11|GE|Chapter with motor current settings added, jumper settings ex-<br>plained in more details| _Table 26: Document Revision_ > ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation.
Updated at April 29, 2026
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