User Manual

TMCM-1076 TMCL

™

Firmware Manual • Firmware Version V1.02 | Document Revision V1.02 • 2019-APR-23

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1 Features

The TMCM-1076 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 3A 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.

Main characteristics

• Motion controller & stepper motor driver:

–

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.

• Interfaces

– TTL-UART (for conﬁguration).

– 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: +24V nominal (10. . . 30V DC supply range).

• Motor current: up to 3A RMS / 4.2A peak (programmable).

Please see also the separate Hardware Manual.

1.1 StallGuard2

StallGuard2 is a high-precision sensorless load measurement using the back EMF of the coils. It can be

used for stall detection as well as other uses at loads below those which stall the motor. The StallGuard2

measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum

motor load, the value reaches zero or is near zero. This is the most energy-eﬃcient point of operation for

the motor.

Terms of delivery and rights to technical change reserved.

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