User Manual

TMCM-1276 TMCL
™
Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20
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1 Features
The TMCM-1276 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of
the art feature set. It has been designed for coil currents up to 3A RMS and 24V DC supply voltage. Three
digital inputs can be configured as home and endstop switches or incremental encoder inputs. 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
– CAN
– Low-active enable pin
– Three I/O modes:
*
Incremental Encoder and Home Switch
*
Home and Endstop Switches
*
One analog and two digital inputs
Software
TMCL: remote controlled operation alone or during step/direction mode. PC-based application develop-
ment software TMCL-IDE available for free.
Electrical data
• Supply voltage: 10. . . 30V DC (+24V nominal).
• Motor current: up to 3A RMS / 4.2A peak (programmable).
Please see also the separate Hardware Manual.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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