User Manual

Table Of Contents
Module for Stepper Motors
MODULE
TMCM-3212 TMCL
Firmware Manual
Firmware Version V1.07 | Document Revision V1.04 2017-JUN-08
The TMCM-3212 is a three axes controller/driver module for 2-phase bipolar stepper motors with
separate dierential encoder and separate home and stop switch inputs for each axis. Dynamic
current control, and quiet, smooth and ecient operation are combined with stealthChop, dc-
Step, stallGuard and coolStep features. The module oers four analog or digital inputs as well
as four digital outputs in combination with a break chopper unit.
Features
3-Axes Stepper Motor Control
TMCL
Encoder Support
coolStep
dcStep
stallGuard2
stealthChop
Applications
Lab-Automation
Semiconductor Handling
Manufacturing
Robotics
Factory Automation
CNC
Laboratory Automation
Simplied Block Diagram
µC
(ARM)
CAN
USB
RS485
Inputs
Outputs
17..53V
DC
DC
I2C
SPI
TMCM-3212
TMC2130
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
E
MOSFET
Driver
Stage
3x
EEPROM
©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com
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Summary of content (103 pages)