Trinamic TMCM-3351 User manual

Module for Stepper MODULE
TMCM-3351 Hardware Manual
Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01
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 closed-
loop 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
•Laboratory Automation
•Manufacturing
•Semiconductor Handling
•Robotics
•Factory Automation
•Test & Measurement
•Life Science
•Biotechnology
•Liquid Handling
Simplified Block Diagram
©2021 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 V1.00 •2017-SEP-01 2 / 31
Contents
1 Features 4
2 Order Codes 5
3 Mechanical and Electrical Interfacing 6
3.1 Size of the Board ............................................. 6
4 Connectors 7
4.1 Power Connector ............................................. 9
4.2 Motor Connector ............................................. 9
4.3 End Switch Connector .......................................... 10
4.4 Analog Input Connector ......................................... 11
4.5 USB Connector .............................................. 11
4.6 RS232 Connector ............................................. 12
4.7 CAN Connector .............................................. 12
4.8 RS485 Connector ............................................. 12
4.9 SPI Connector ............................................... 13
4.10 I/O Connector ............................................... 13
4.11 Encoder Connector ............................................ 14
5 Jumper Settings 15
5.1 Encoder input termination ....................................... 16
5.2 Enable all driver stages permanently ................................. 16
6 LEDs 17
7 Communication 18
7.1 RS485 .................................................... 18
7.2 USB ..................................................... 19
7.3 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 .......................................... 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
15 Revision History 31
15.1 Hardware Revision ............................................ 31
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 3 / 31
15.2 Document Revision ............................................ 31
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 4 / 31
1 Features
The TMCM-3351 is a three axes stepper motor controller / driver board for 2-phase bipolar stepper motors.
Linear ramps and S-shaped ramps as well as 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 digital 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
•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
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 5 / 31
2 Order Codes
The TMCM-3351 is available with standard TMCL firmware or CANopen firmware.
TMCM-3351 Order Codes
Order Code Description Size (LxWxH)
TMCM-3351 3-axes stepper controller / driver, +24V, 3x
3A RMS, closed-loop with encoder, many
GPIOs, RS485, CAN, USB and RS232 with
TMCL firmware
160mm x 100mm x 35mm
TMCM-3351-CANopen 3-axes stepper controller / driver, +24V, 3x
3A RMS, closed-loop with encoder, many
GPIOs, RS485, CAN, USB and RS232 with
CANopen firmware
160mm x 100mm x 35mm
Table 1: TMCM-3351 Order Codes
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 6 / 31
3 Mechanical and Electrical Interfacing
3.1 Size of the 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.
160
100
4
4
4
4
4
4
4
4
Ø 3.2
Ø 3.2
TMCM-3351
Figure 1: Board Dimensions and Positions of Mounting Holes (all Values in mm)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 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 dur-
ing operation! Motor cable and motor inductivity might lead to voltage spikes
when the motor is (dis)connected while energized. These voltage spikes might ex-
ceed 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.
Power
3x Motor
GPIO SPI3x Encoder
RS232
CAN
USB
RS485
3x Reference 2x Analog
Input
1
1
1 1 1
1
1 1 1
11
1
1
59
6
1
59
6
1
2
9
10
1
2
9
10
1
2
9
10
1
2
9
10
1
2
19
20
Figure 2: TMCM-3351 Connectors
Connector Types and Mating Connectors of the TMCM-3351
Connector Connector type on-board Mating connector type
Power RIA 320-02, 2 pins, 5mm pitch RIA 349-02, screw type terminal block,
pluggable , 2 pins, 5mm pitch
Motor RIA 183-12, 12 pins, 3.5mm pitch 1x RIA 169-12 (12 pins) or e.g. 3x RIA
169-04 (4 pins, one connector for each
motor), screw type terminal block, plug-
gable, 3.5mm pitch
MOLEX type 6410, 2.54mm HH header,
vertical friction lock
MOLEX type 2045, 2.54mm crimp hous-
ing, receptable, 4 pins
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 8 / 31
Connector Connector type on-board Mating connector type
Reference RIA 183-12, 12 pins, 3.5mm pitch 1x RIA 169-12 (12 pins) or e.g. 3x RIA
169-04 (4 pins, one connector for each
motor), screw type terminal block, plug-
gable, 3.5mm pitch
MOLEX type 6410, 2.54mm HH header,
vertical friction lock
MOLEX type 2045, 2.54mm crimp hous-
ing, receptable, 4 pins
Analog input MOLEX type 6410, 2.54mm KK header,
vertical friction lock
MOLEX type 2045, 2.54mm crimp hous-
ing, receptable, 4 pins
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
block, pluggable, 3.5mm pitch
SPI low profile box header without locking
bar, 2x5 pins, 2.54mm pitch
low profile socket connector, 2x5 pins,
2.54mm pitch
I/O low profile box header without locking
bar, 2x10 pins, 2.54mm pitch
low profile socket connector, 2x10 pins,
2.54mm pitch
Encoder low profile box header without locking
bar, 2x5 pins, 2.54mm pitch
low profile socket connector, 2x5 pins,
2.54mm pitch
Table 2: Connector Types and Mating Connectors of the TMCM-3351
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 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.
Power Supply Connector Pin Assignment
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 mo-
tor 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.
Motor Connector (Detachable Screw Connector)
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)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 10 / 31
Motor Connector (Crimp Style Connector)
Pin Label Description
1 Motor_0/1/2_B- Motor 0/1/2 coil B
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 End Switch Connector
For the stop switch inputs (two stop switches per motor axis are supported) there are two connector op-
tions: 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.
End Switch Connector (Detachable Screw Connector)
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: End Switch Connector (Detachable Screw Connector)
End Switch Connector (Crimp Style 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
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 11 / 31
Pin Label Description
Table 7: End Switch Connector (Crimp Style Connector)
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 4-pin connectors (Molex KK series) with two analog inputs available via each connector.
Analog Input 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 non-
volatile (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 connec-
tion depending on voltage levels.
USB Connector
Pin Label Description
1 VBUS +5V
2 USB_D- Data-
3 USB_D+ Data+
4 GND System / module ground
Table 9: USB Connector
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 12 / 31
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.
RS232 Connector
Pin Label Description
2 RS232_TxD RS232 transmit serial data
3 RS232_RxD RS232 receive serial data
5 GND System / module ground
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.
CAN Connector
Pin Label Description
2 CAN_L CAN differential bus
7 CAN_H CAN differnetial 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.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 13 / 31
RS485 Connector
Pin Label Description
1 RS485+ RS485 differential bus (connected to pin 3)
2 RS485- RS485 differential bus (connected to pin 4)
3 RS485+ RS485 differential bus (connected to pin 1)
4 RS485- RS485 differential bus (connected to pin 2)
Table 12: RS485 Connector
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.
SPI Connector
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.
I/O Connector
Pin Label Pin Label
1 OUT_0 2 OUT_1
3 OUT_2 4 OUT_3
5 OUT_4 6 OUT_5
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 14 / 31
Pin Label Pin Label
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 5for more detailed information).
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 5for more details.
For encoder with differential output signals the non-inverting and inverting signal pairs should be con-
nected (A+ and A-, B+ and B-, N+ and N-) and on-board line termination might be activated (setting jumpers
- refer to secton 5for more details).
Incremental encoders with +24V push-pull output signals are not supported. Please use appropriate in-
terface circuits for these types of encoders.
Encoder Connector
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
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 15 / 31
5 Jumper Settings
Most settings for the TMCM-3351 are done through software. Nevertheless, a few jumpers are available
for configuration.
Shutdown
Termination
Encoder 0
Termination
RS485
Termination
CAN
Termination
Encoder 1
Termination
Encoder 2
Figure 3: Jumper Settings
Jumper Settings
Jumper Description
Termination RS485 Jumper added - termination (120R resistor between RS485+
and RS485-) is enabled. For proper operation the RS485 bus
should be terminated at both ends. Termination should be
disabled (jumper removed) for any nodes in-between.
Termination CAN Jumper added - termination (120R resistor between CAN_H
and CAN_L) is enabled. For proper operation the CAN bus
should be terminated at both ends. Termination should be
disabled (jumper removed) for any nodes in-between.
Termination Encoder 0 Termination for encoder line receiver input 0. Encoder input
0 is related to motor axis 0. For differential encoder signals –
especially with longer cables and / or noisy environment it is
recommended to add jumpers for acitvation of line termina-
tion (120R resistor between each differential pair – A+ and A-,
B+ and B-, N+ and N-).
Termination Encoder 1 Termination for encoder line receiver input 1. Encoder input
1 is related to motor axis 1. For differential encoder signals –
especially with longer cables and / or noisy environment it is
recommended to add jumpers for acitvation of line termina-
tion (120R resistor between each differential pair – A+ and A-,
B+ and B-, N+ and N-)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 16 / 31
Jumper Description
Termination Encoder 2 Termination for encoder line receiver input 2. Encoder input
2 is related to motor axis 0. For differential encoder signals –
especially with longer cables and / or noisy environment it is
recommended to add jumpers for acitvation of line termina-
tion (120R resistor between each differential pair – A+ and A-,
B+ and B-, N+ and N-)
Table 16: Jumper Settings
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.
Place jumpers for
proper termination
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.
1
2
20
19
Figure 5: Enable all driver stages permanently
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 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.
LED Description
Status Label Description
LED Status (green) STATUS with TMCL firmware:
LED flashing: normal operation
LED permanently on: bootloader mode incl. firmware update
LED flashing fast: reset to factory default settings
LED Error (red) ERR with TMCL firmware:
LED off: normal operation
LED permanently on: error
Table 17: LED Description
LED „Status“ (green)
LED „Error“ (red)
Figure 6: TMCM-3351 LEDs
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 18 / 31
7 Communication
7.1 RS485
For remote control and communication with a host system the TMCM-3351 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.
c:> node
1
node
n- 1
node
n
Host Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
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-3351 units (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 communi-
cation 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).
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 19 / 31
node
n- 1
node
n
Slave Slave
termination
resistor
(120 Ohm)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
RS485+ / RS485A
Figure 8: RS485 bus lines with resistor network
7.2 USB
For remote control and communication with a host system the TMCM-3351 provides 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-3351 supports 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-3351 provides a CAN bus interface.
For proper operation the following items should be taken into account when setting up a CAN network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection
between each node and the bus itself should be as short as possible. Basically, it should be short
compared to the length of the bus.
c:> node
1
node
n- 1
node
n
Host Slave Slave Slave
CAN
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 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
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-3351 Hardware Manual •Hardware Version V1.00 | Document Revision V1.00 •2017-SEP-01 20 / 31
speeds, the bus should be properly terminated at both ends. The TMCM-3351 does 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).
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com