Information

INFO
M A IN CHA R A CTERI ST IC S
www.trinamic.com – for detailed information and datasheets
10 mm
The TMCM-6110 is an intelligent, compact and “ready to use”
motion control solution at low cost for up to six bipolar
2-phase stepper motors. It fully supports the common and easy
to use programming language TMCL™, where predefined high
level motion control commands like “Move to Position” or “Con-
stant Rotation” guarantee convenient and rapid development.
Besides user programmable I/O controlled stand alone opera-
tion (onboard memory), a variety of high level interfaces allow
remote controlled operation. Since all time critical operations,
e.g. ramp calculation are performed onboard, the communica-
tion traffic is kept very low. Inimitable smooth, precise and fast
movements are given by a resolution of up to 256 electrically
equidistant microsteps and by the ultimate spreadCycle™ chop-
per scheme for optimal motor currents. In addition the TMCM-
6110 features the following market revolutionizing technologies:
stallGuard2™ can detect and monitor dynamic load changes
in high resolution without the need of a sensor and it builds
the basis for the automatized load dependent current control
coolStep™ for energy and heat efficient motor control and
unlimited motor performance.
ELECTRICAL
DATA
• 24V DC (nom.) supply voltage
• up to 1.1A RMS coil current (programmable)
SUPPORTED
MOTORS
• two-phase bipolar stepper motors
INTERFACE • USB, RS485 and CAN interface
• 2 ref. & stop switches inputs per axis
• 8 general purpose inputs
• 8 general purpose outputs
FEATURES
• up to 256 times microstepping
• memory for up to 2048 TMCL™ commands
• stallGuard2™ sensorless load detection
• coolStep™ sensorless load dependent cur-
rent control
• automatic ramp generation in hardware
• on the fly alteration of motion parameters
• TRINAMIC driver technology: No heatsink
required
• Integrated protection: overtemperature /
undervoltage
SOFTWARE • stand-alone operation using TMCL™ or
remote controlled operation
• PC-based application development software
TMCL-IDE included
OTHER • pluggable JST connectors
• RoHS compliant
• size: 130 x 100 mm²
TMCM-6110
6-Axis
Controlle r / D river
1.1A / 24 V
with stal l G u a r d2™
and coolS t e p ™
OR D ER C ODE DE S CRIP TION
TMCM-6110 6-axis controller / driver module 1.1A / 24V
TMCM-6110-CABLE
cable loom including all neccessary cables (single ended)
MODULESMODULES F O R S T EPPER MOTORS
co o l S te p™
sensorless closed loop current control
load detection