User manual

TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
15
www.trinamic.com
7 Functional Description
The TMCM-1161 is a highly integrated controller/driver module which can be controlled via several serial
interfaces. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are
performed on board. The nominal supply voltage of the unit is 24V DC. The module is designed for both,
standalone operation and direct mode. Full remote control of device with feedback is possible. The
firmware of the module can be updated via any of the serial interfaces.
In Figure 7.1 the main parts of the TMCM-1161 are shown.
- the microprocessor, which runs the TMCL operating system (connected to TMCL memory),
- the motion controller, which calculates ramps and speed profiles internally by hardware,
- the power driver with its energy efficient coolStep feature,
- the MOSFET driver stage, and
- the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.
10 … 30V DC
µC
TMCL™
Memory
Motion
Controller
TMC429
RS232
3
I/Os
Step
Motor
USB
Step/
Dir*
)
MOSFET
Driver
Stage
Energy
Efficient
Driver
TMC262
Power
Driver
TMC 262
with
coolStep™
sensOstep™
Encoder
SPI
Stop
Switches*
)
+3.3V
TMCM-1161
*) The module offers three additional inputs. Functionality can be chosen by software::
a) STOP_ L / STOP_ R / HOME
b) STEP/ DIR interface
c
)
3 general purpose inputs
RS485
Figure 7.1 Main parts of the TMCM-1161
The PC based software development environment TMCL-IDE for the Trinamic Motion Control Language
(TMCM) can be downloaded free of charge from the TRINAMIC website (www.trinamic.com). Using
predefined TMCL high level commands like move to position a rapid and fast development of motion
control applications is guaranteed. Please refer to the TMCM-1161 Firmware Manual for more information
about TMCL commands.