User manual

TMCM-1021 V1.2 Hardware Manual (Ref. 1.00 / 2012-MAR-09) 14
www.trinamic.com
7 Functional Description
The TMCM-1021 is a highly integrated controller/driver module which can be controlled via RS485 interface.
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 the serial interface.
In Figure 7.1 the main parts of the module are shown:
- the microprocessor, which runs the TMCL operating system (connected to TMCL memory),
- 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.
9… 28V DC
TMCL™
Memory
4
add.
I/Os
Step
Motor
RS485
MOSFET
Driver
Stage
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
sensOstep™
Encoder
SPI
TMCM-1021
S/D
SPI
I
2
C
µC
Figure 7.1: Main parts of TMCM-1021
The TMCM-1021 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCL). 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-1021 Firmware
Manual for more information about TMCL commands.