User Manual

TMCM-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.20 • 2019-MAY-24

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1 Features

The TMCM-1240 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with

up-to 2A RMS (2.8A peak) motor coil current. It supports linear ramps and unique sixPoint

™

ramps. It

oﬀers on-board sensOstep encoder and in addition, support for connection of external (incremental A/B)

encoder. For driver-only applications, the TMCM-1240 oﬀers optically isolated Step/Direction inputs. When

using the on-board motion controller the optically isolated inputs are used for connection of end-switches.

The standard version of the TMCM-1240 oﬀers one analog input (0..10V range), two digital inputs and

one open-drain output (100mA load max.) For communication in addition to USB (Micro-USB connector),

RS485 and CAN serial interfaces are available. USB is intended mainly for ﬁrmware updates and param-

eter settings - supporting USB-powered operation (just the digital part) for easy data tranfer between

PC and TMCM-1240 module. With CANopen ﬁrmware CANopen protocol is supported via the CAN interface.

Motion Controller

• Motion proﬁle calculation in real-time

• On the ﬂy alteration of motor parameters (e.g. position, velocity, acceleration)

• Linear and unique sixPoint™ramp in hardware

• Encoder interface and Reference / Stop switch inputs

Driver

• Motor current: up to 2A RMS (2.2A RMS max. / 3.1A peak, programmable in software)

• Supply voltage: +24V DC (+10. . . +30V DC)

• 256 microsteps per fullstep

• spreadCycle™highly dynamic current control chopper

• stealthChop™for quiet operation and smooth motion

• programmable Step/Dir interface for driver-only applications with microstep interpolation

Encoder

•

integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation)

for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5

encoder steps)

•

support for external A/B incremental encoder in addition / as an alternative for the integrated

encoder

• programmable encoder scaling and support for motor stop on encoder deviation

Interfaces

• RS485 interface (up-to 1Mbit/s)

• CAN interface (up-to 1Mbit/s)

• USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)

• Step/Dir input (optically isolated)

• Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)

• 2 general purpose digital inputs

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