User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 4
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2 Features
The TMCM-6110 is a compact 6-axes stepper motor controller/driver standalone board. It supports up to 6
bipolar stepper motors with up to 1.1A RMS coil current. There are separate motor and reference/end
switch connectors for each motor. In addition, the module offers 8 general purpose inputs and 8 general
purpose outputs.
Applications
 Highly compact multi-axes stepper motor solutions
Electrical data
 Supply voltage: +9V… +28V DC
 Motor current: up to 1.1A RMS (programmable) per axis
Mechanical data
 Board size: 130mm x 100mm, height 30mm max.
 4 mounting holes for M3 screws
Interfaces
 Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)
 Up to 8 multi-purpose outputs (open-drain, incl. 2 outputs for currents up to 1A)
 RS485 2-wire communication interface
 USB 2.0 full speed (12Mbit/s) communication interface (mini-USB connector)
 CAN 2.0B communication interface (9pin D-SUB)
Features
 Uses TMC429 stepper motor controller for on-the-fly alteration of many motion specific parameters
 Uses TMC260 advanced stepper motor driver IC
 Up to 256 microsteps per fullstep
 Integrated protection: overtemperature/undervoltage
Software
 TMCL remote (direct mode) and standalone operation (memory for up to 2048 TMCL commands)
 Fully supported by TMCL-IDE (PC based integrated development environment)
Please see separate Hardware Manual for additional information