MODULES FOR STEPPER MOTORS MODULES Hardware Version V1.1 HARDWARE MANUAL + + TMCM-3110 3-Axis Stepper Controller / Driver 2.8 A / 48 V USB, RS485, and CAN Step/Dir Interface Encoder Interface + + 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 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 www.trinamic.com