User Manual

TMCM-1070 TMCL
™
Firmware Manual • Firmware Version V1.01 | Document Revision V1.1 • 2017-Mar-02
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1 Features
The TMCM-1070 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 has been designed for coil currents up to 1A RMS and 24V DC
supply voltage. Two digital inputs are present for enabling the module and choosing the desired chopper
mode. With its high energy efficiency from TRINAMIC’s coolStep ™ technology cost for power consumption
is kept down. The TMCL firmware allows for both standalone and direct mode operation.
Main characteristics
• Motion controller & stepper motor driver:
– Hardware motion profile calculation in real-time.
– On the fly alteration of motion parameters (e.g. position, velocity, acceleration).
– High performance microcontroller for overall system control and communication protocol
handling.
– 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.
– stealthChop™ feature for quiet operation and smooth motion.
– dcStep™ feature for load dependent speed control.
• Interfaces
– TTL-UART.
– Step/Direction.
– Enable Input.
– Chopper Mode Input.
Software
TMCL: remote controlled operation alone or during step/direction mode. PC-based application develop-
ment software TMCL-IDE available for free.
Electrical data
• Supply voltage: +12V and +24V nominal (10. . . 27V DC supply range).
• Motor current: up to 1A RMS / 1.41A peak (programmable).
Please see also the separate Hardware Manual.
©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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