User Manual

TMCM-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-27) 20
www.trinamic.com
7 Functional Description
The TMCM-1140 is a highly integrated controller/driver module which can be controlled via several serial
interfaces. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are
performed on board. The nominal supply voltage of the unit is 24V DC. The module is designed for both,
standalone operation and direct mode. Full remote control of device with feedback is possible. The
firmware of the module can be updated via any of the serial interfaces.
In Figure 7.1 the main parts of the TMCM-1140 are shown:
- the microprocessor, which runs the TMCL operating system (connected to TMCL memory),
- the motion controller, which calculates ramps and speed profiles internally by hardware,
- the power driver with stallGuard2 and its energy efficient coolStep feature,
- the MOSFET driver stage, and
- the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.
9… 28V DC
µC
TMCL™
Memory
5
I/Os
Step
Motor
RS485
MOSFET
Driver
Stage
SPI
TMCM-1140
SPI
USB
SPI
S/D
CAN
DC/DC
OUT_0
+5V
sensOstep™
Encoder
SPI
TMC429
Motion
Controller
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
+5V
Stop
switches
S/D
Figure 7.1 Main parts of the TMCM-1140
The TMCM-1140 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCM). Using predefined TMCL high level commands like move to position a
rapid and fast development of motion control applications is guaranteed.
Please refer to the TMCM-1140 Firmware Manual for more information about TMCL commands.