User Manual

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.00 • 2018-JUN-25

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Figure 8: CAN bus strcuture

Bus Termination

Especially for longer busses and/or multiple nodes connected to the bus and/or high

communication speeds, the bus should be properly terminated at both ends. The TMCM-1276 does not

integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have

to be added externally.

Number of Nodes

The bus transceiver used on the TMCM-1276 (TJA1051) supports at least 100 nodes

under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus

length (longer bus → less nodes) and communication speed (higher speed → less nodes).

CAN Bus Adapters

To quickly connect to the TMCM-1276 a PC based intergated development environ-

ment TMCL-IDE is available. Latest release can be downloaded for free from our web site: www.trinamic.com

A number of common CAN interface adapters from diﬀerent manufactures is supported from within this

software. Please make sure to check our web site from time to time for the latest version of the software!

4.3 Motor Connector

Pin no. Pin name Description

1 B1 Motor phase B pin 1

2 B2 Motor phase B pin 2

3 A1 Motor phase A pin 1

4 A2 Motor phase A pin 2

Table 6: Motor connector pinning

NOTICE

Do not connect or disconnect motor during operation!

Motor cable and mo-

tor inductivity might lead to voltage spikes when the motor is connected / discon-

nected while energized. These voltage spikes might exceed voltage limits of the

driver MOSFETs and might permanently damage them. Therefore, always switch

oﬀ or disconnect power supply before connecting or disconnecting the motor.

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