User Manual

TMCM-1240 TMCL
Firmware Manual Firmware Version V1.45 | Document Revision V1.02 2018-DEC-03
5 / 132
1 Features
The TMCM-1240 is a single axis controller/driver module for 2-phase bipolar stepper motors with state
of the art feature set. It is highly integrated, oers a convenient handling and can be used in many
decentralized applications. The module can be mounted on the back of NEMA 17 (42mm ange size)
stepper motors and has been designed for coil currents of up to 2A RMS and 24V DC supply voltage. With
its high energy eciency from Trinamics coolStep
technology cost for power consumption is kept down.
The TMCL rmware allows for standalone operation and direct mode control.
Main characteristics
Motion controller & stepper motor driver:
Hardware motion prole calculation in real-time.
On the y 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-ecient 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.
Encoder
sensOstep magnetic encoder with 1024 increments per round.
Usable for example for step-loss detection under all operating conditions and positioning
supervision.
Interface for additional external encoder.
Interfaces
USB interface.
RS485 bus.
CAN bus.
Step/Direction inputs.
Three general-purpose digital inputs (Alternate functions: home switch, quadrature encoder
input).
One dedicated analog input.
Two stop switch inputs.
One general purpose digital output (open drain max. 1A).
Software
TMCL remote controlled operation via USB, RS485 or CAN interface and/or stand-alone operation via TMCL
programming. PC-based application development software TMCL-IDE available for free.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com