User Manual

TMCM-1210 Hardware Manual (V0.91 / 2017-SEP-04) 16
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
10 Functional Description
The TMCM-1210 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 12V or 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 the RS485 serial interfaces.
In Figure 10.1 the main parts of the TMCM-1210 are shown:
 microprocessor, which runs the TMCL operating system (connected to TMCL memory),
 motion controller (part of TMC2130), which calculates ramps and speed profiles internally by hardware,
 driver (part of TMC2130) with stallGuard2™ and its energy efficient coolStep™ feature and stealthChop™
for extremely quiet operation
 hall sensor based encoder which delivers position feedback at low speed (few 100rpm max.) – can be
used for reference search e.g. after power-up
7…28.5V DC
ARM
Cortex-M0+
TM
microcontroller
TMCL™
Memory
Step
Motor
RS485
Energy Efficient
Driver
TMC262
TMC2130
Bipolar
stepper
motor
controller +
driver
TMCM-1210
I2C
VREG
+5V
SPI
Input
Hall
Encoder
I2C
A/B
+3V3
Figure 10.1 Main parts of the TMCM-1210
The TMCM-1210 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 a rapid and fast
development of motion control applications is guaranteed.
Please refer to the TMCM-1210 TMCL Firmware Manual for more information about TMCL commands.