User Manual
TMCM-3351 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26
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1 Features
The TMCM-3351 is a triple axis controller/driver module for 2-phase bipolar stepper motors with state
of the art feature set. It is highly integrated, offers a convenient handling and can be used in many
decentralized applications. The module has been designed for coil currents up to 3.3A RMS and 24V DC
supply voltage. 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.
– Incremental encoder interface for each axis.
– Dedicated home and stop switch inputs for each motor.
– True servo-like closed loop operation possible on each axis.
• Interfaces
– RS232 communication interface.
– RS485 2-wire communication interface.
– CAN 2.0B communication interface.
– USB full speed (12Mbit/s) device interface.
– 8 general purpose digital inputs (2 also usable as analog inputs).
– 8 general purpose digital outputs.
– 4 general purpose analog inputs.
Software
TMCL: standalone operation or remote controlled operation or both modes combined, program memory
(non volatile) for up to 6144 TMCL commands. PC-based application development software TMCL-IDE
available for free.
Electrical data
• Supply voltage: +24V nominal (9. . . 28V DC supply range).
• Motor current: up to 3.3A RMS / 4.6A 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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