TMCM-1141 Hardware Manual (Rev. 1.06 / 2015-JAN-09)
3
1 Features
The TMCM-1141 is a single 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 can be mounted on the back of NEMA 17 (42mm flange size)
stepper motors and has been designed for coil currents up to 1.1 A RMS RMS (low current range,
programmable) or 2A RMS (high current range, programmable, new additional range since hardware
version 1.3) 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 supports remote control (direct
mode) and standalone operation (with TMCL program being executed on the TMCM-1141 itself).
MAIN CHARACTERISTICS
Motion controller
Motion profile calculation in real-time
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
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
Interfaces
RS485 2-wire communication interface
USB full speed (12Mbit/s) device interface
Step/Direction/Enable interface (optically isolated) for external control of driver circuit
4 multipurpose inputs:
-
3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs)
1x dedicated analog input
-
2 general purpose outputs
-
2x open-drain 100 mA max.
Software
TMCL:
standalone operation or remote controlled operation,
program memory (non volatile) for up to 1024 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
Supply voltage: +24 V DC nominal (9… 28 V DC)
Motor current: up to 1.1 A RMS / 1.6 A peak (low current range, programmable) or 2A RMS / 2.8A
peak (high current range, programmable, new additional range since hardware version 1.3)
Refer to separate TMCL Firmware Manual, too.
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
