User manual

TMCM-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 4
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1 Features
The TMCM-1161 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of
the art feature set. It is highly integrated, offers a convenient handling and can be used in many
decentralized applications. The board can be mounted on the back of NEMA23 (57mm flange size) and
NEMA24 (60mm flange size) stepper motors and has been designed for coil currents up to 2.8A RMS and
24V DC supply voltage. It offers TRINAMICs sensOstep™ encoder. With its high energy efficiency from the
coolStep™ technology cost for power consumption is kept down. The TMCL™ firmware allows for both,
standalone operation and direct mode.
MAIN CHARACTERISTICS
Motion controller
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2 feature for stall detection
- coolStep feature for reduced power consumption and heat dissipation
Encoder
- sensOstep magnetic encoder (max. 1024 positions per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
- inputs for stop switches (left and right) and home switch
- 1 analog input
- 2 general purpose outputs (open collector with freewheeling diodes)
- USB, RS232, and RS485 communication interfaces
Software
- TMCL™: standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24V DC nominal (10… 30V DC)
- Motor current: up to 2.8A RMS (programmable)
Refer to separate Hardware Manual, too.