User Manual

TMCM-102 Manual (V1.01 / 7 November 2007) 4

1 Features

The TMCM-102 is a single axis 2-phase stepper motor controller and driver module with an

aluminium pro. le for quick and robust mounting. The built in encoder feedback makes it an optimum

solution for high-reliability drives. This drive is optimally suited for industrial high-reliability

applications. The power stage has very low dissipation when compared to competitors’ products. Its

interface add-on board concept allows for customer specific interface / connector selection. The TMCM-

102 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“ or

„constant rotation“ rapid and fast development of motion control applications is guaranteed.

Communication traffic is kept very low since all time critical operations, e.g. ramp calculation, are

performed on board. The TMCL program can be stored in the on-board EEPROM for stand-alone

operation. The firmware of the module can be updated via the serial interface. With the StallGuard

feature it is possible to detect motor overload or motor stall.

Applications

• driver with integrated intelligence

• high-precision drives with high dynamics and torque

Electrical data

• 18V to 55V motor supply voltage

• up to 3.5A RMS coil current RMS (5A peak)

Supported motors

• two-phase bipolar motors with 1A to 3.5A coil current

• incremental encoder (2 or 3 channel, single ended)

Interface

• RS422 or RS232 and CAN without add on-board)

• Additional interfaces with standard add on-board: RS485 and USB

• optically isolated inputs for reference and stop switches

• General purpose analog and digital I/Os

Features

• 64 times microstepping

• memory for 2048 TMCL commands

• automatic ramp generation in hardware

• on the fly alteration of motion parameters (e.g. position, velocity, acceleration)

• closed loop for highly dependable drives

• StallGuard™ for sensorless motor stall detection

Software

• stand-alone operation using TMCL or remote controlled operation

• PC-based application development software TMCL-IDE included

• Optional simple to use ASCII protocol

• Optional command set similar to IMS483IE

Other

• connectors for all external signals

• RoHS compliant

• The standard adapter provides RS422 /RS232, CAN, RS485 and USB interfaces. Customized solutions

are possible also. Please refer to adapter board information.