User manual

TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 4
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1 Features
The TMCM-1021 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of
the art feature set. It is highly integrated, offers a convenient handling and can be used in many
decentralized applications. The module can be mounted on the back of NEMA11 (28mm flange size) and
has been designed for coil currents up to 0.7A RMS and 24V DC supply voltage. With its high energy
efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The TMCL
firmware allows for both, standalone operation and direct mode.
MAIN CHARACTERISTICS
Highlights
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
- For position movement applications, where larger motors do not fit and higher torques are not
required
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2 feature for stall detection
- coolStep feature for reduced power consumption and heat dissipation
Encoder
- sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under
all operating conditions and positioning supervision
Interfaces
- Up to 4 multi-purpose inputs (2 shared with outputs)
- 2 general purpose outputs
- RS485 2-wire communication interface
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 876 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24V DC nominal (9… 28V DC)
- Motor current: up to 0.7A RMS (programmable)
Refer to separate Hardware Manual, too.