User Manual
TMCM-1210 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.00 • 2017-JUN-19
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1 Features
The TMCM-1210 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 0.7A RMS and 24V DC
supply voltage. One additional general purpose digital input is there e.g. for a home switch. 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
– RS485 bus.
– One additional digital input.
Software
TMCL: remote controlled operation via RS485 and/or stand-alone operation via TMCL programming.
PC-based application development software TMCL-IDE available for free.
Electrical data
• Supply voltage: +12V and +24V nominal (10. . . 27V DC supply range).
• Motor current: up to 0.7A RMS / 1A 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.
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