User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 5
www.trinamic.com
3 Overview
The software running on the microprocessor of the TMCM-6110 consists of two parts, a boot loader and
the firmware itself. Whereas the boot loader is installed during production and testing at TRINAMIC and
remains untouched throughout the whole lifetime, the firmware can be updated by the user. New versions
can be downloaded free of charge from the TRINAMIC website (http://www.trinamic.com).
The firmware of this module is related to the standard TMCL firmware shipped with regard to protocol and
commands. Corresponding, this module is based on the TMC429 stepper motor controller and the TMC260
power driver and supports the standard TMCL with a special range of values.
The TMC260 is a new energy efficient high current high precision microstepping driver IC for bipolar
stepper motors and offers TRINAMICs patented coolStep™ feature with its special commands. Please mind
this technical innovation.