TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)
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All three digital inputs are connected to the on-board processor and can be used as general
purpose digital inputs (default).
In order to use IN_1 and IN_2 as STOP_L and STOP_R inputs, this function has to be enabled
explicitly in software (factory default: switched off). With TMCL firmware the stop switch
functionality can be enabled using SAP 12, 0, 0 (STOP_R / right limit switch) and SAP 13,
0, 0 (STOP_L / left limit switch). As the names already indicate: the status of the left limit
switch (STOP_L) will be significant during motor left turns and the status of the right limit switch
during motor right turns (positive direction), only. Reading out input values using the GAP
commands as listed in the table above is possible at any time. Please see separate TMCL
firmware manual for additional information.
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External encoder: an external incremental A/B/N encoder can be connected to the TMCM-1140 and
used in addition or as an alternative to the internal sensOstep™ encoder. Using TMCL the
encoder counter value for this second encoder can be read out via TMCL command GAP 216, 0
(see separate TMCL firmware manual for more details). Factory default scaling of the encoder
counter is 1:1 - that is, after one encoder rotation the encoder counter will be incremented /
decremented by the number of encoder ticks (encoder lines x 4). When using an external encoder
connect encoder channel A to IN_1, channel B to IN_2, the N or zero channel to IN_3 (optional),
encoder ground to module supply ground (e.g. Pin 1 of the Multipurpose I/O connector) and the
+5V supply input of the encoder to OUT_1 (all on the Multipurpose I/O connector). Please note
that in order to supply the encoder with +5V the output OUT_1 has to be activated first using
SIO 1, 2, 1(see also chapter 3.3.2.3).
3.3.2.2 Analog Input IN_0
The eight pin connector of the TMCM-1140 provides one dedicated analog input IN_0. This dedicated
analog input offers a full scale input range of approx. 0… +10 V (0..+10.56V nom.) with a resolution of the
internal analog-to-digital converter of the microcontroller of 12bit (0… 4095).
The input is protected against higher voltages up to +24 V using voltage resistor dividers together with
limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below).
+3.3V
IN_0
22k
ADC input
(microcontroller)
10k
100nF
GND
GND
GND
Figure 3.8 General purpose inputs (simplified input circuit)
With TMCL firmware the analog value of this input may be read using command GIO 0, 1. The
command will return the raw value of the 12bit analog-to-digital converter between 0 .. 4095. It is also
possible to read the digital value of this input using TMCL command GIO 0, 0. The trip point (between
0 and 1) will be at approx. +5V input voltage (half the analog input range).
3.3.2.3 Outputs OUT_0, OUT_1
The eight pin connector of the TMCM-1140 offers two general purpose outputs OUT_0 and OUT_1. OUT_0
is an open-drain output capable of switching (sinking) up to 1A. The output of the N-channel MOSFET
transistors is connected to a freewheeling diode for protection against voltage spikes especially from
inductive loads (relais etc.) above supply voltage (see figure below).
OUT_0 should not be connected to any voltage above supply voltage of the module due to the internal
freewheeling diode.
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