User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 5
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2 Overview
The software running on the microprocessor of the TMCM-1640 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
– normally – 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 is related to the standard TMCL firmware with regard to protocol and commands. The module
is based on the ARM Cortex-M3 microcontroller and the high performance pre-driver TMC603 and supports
the standard TMCL with a special range of values.
The new FOC firmware V2.0 is field oriented control software for brushless DC applications. It is developed
for high-performance motor applications which can operate smoothly over the full velocity range, can
generate full torque at zero speed and is capable of fast acceleration and deceleration. This saves energy
and quiets rotating machinery.