User Manual

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

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1 Features

The TMCM-1276 is a complete stepper driver and controller solution with state of the art feature set. It

is highly integrated and oﬀers convenient handling via CAN interface. The TMCM-1276 includes driver

electronics and a fully featured hardware motion controller. It can be used in many decentralized appli-

cations and has been designed for up to 3A RMS (4.2A peak) phase current and 24V DC nominal supply

voltage. With stealthChop

™

, the TMCM-1276 oﬀers absolutely silent and smooth motor operation for

lower and medium velocities. spreadCycle

™

is a high performance current controlled chopper mode for

highest velocities with perfect zero crossing performance. With stallGuard2

™

, a sensorless load detection

feature is available for automatic end step detection and load monitoring. stallGuard2 is also used for the

automatic current scaling feature coolStep

™

. The TMCM-1276 comes with a CAN bus interface and four (4)

digital inputs.

1.1 General Features

Main Characteristics

• Supply Voltage +24V nom. (+10V to +30V DC)

• 3A RMS phase current (ca. 4.2A peak phase current)

• Highest micro step resolution, up to 256 micro steps per full step

• Available with enclosure

• Permanent onboard parameter storage

• Advanced sixPoint™ ramp hardware motion controller

• Noiseless stealthChop™ chopper mode for slow to medium velocities

• High performance spreadCycle™ chopper mode

• High-precision sensorless load measurement with stallGuard2™

• Automatic current scaling algorithm coolStep™ to save energy and keep your drive cool

I/Os

• Home and reference switch inputs

• Enable input to power-on/-oﬀ driver H-bridges

• Optionally conﬁgurable analog input

•

Optionally conﬁgurable incremental encoder inputs (quadrature channels A and B only, no N channel)

CAN Bus Interface

• Standard CAN Bus Interface for control and conﬁguration

• CAN bit rate of 20. . . 1000kBit/s

• TMCL-based protocol with TMCL ﬁrmware option

• CANopen protocol with DS402 device proﬁle with CANopen ﬁrmware option

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