PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007)
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Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
5 Functional Description
In Figure 5.1 the main parts oft the TMCM-109 module are shown. The module mainly consists of the
µC, a TMC428 motion controller, a TMC249 stepper motor driver, the TMCL program memory (EEPROM)
and the host interfaces (RS232 and RS485).
TMCM-109
Step/Dir/Disable
REF-
Switches
2
TMC428
high power
Driver
TMC249
MOSFET
Driver
Stage
TMCL
EEPROM
RS-232
RS-485
5V Power Supply
18..55V DC
I/Os
Step
Motor
Opto
isolation
µC
+5V
Host
Figure 5.1: Main parts of the TMCM-109
5.1 System
Architecture
The TMCM-109 integrates a microcontroller with the TMCL (Trinamic Motion Control Language)
operating system. The motion control real-time tasks are realized by the TMC428.
5.1.1 Microcontroller (µC)
The flash ROM of the microcontroller holds the TMCL operating system and the EEPROM memory of
the microcontroller is used to permanently store configuration data, while an additional EEPROM
memory holds the user TMCL programs.
The TMCL operating system can be updated only via the host interfaces. Please use the latest version
of the TMCL IDE to do this.
5.1.2 TMCL EEPROM
To store TMCL programs for stand alone operation the TMCM-109 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to
2047 TMCL commands.
5.1.3 TMC428 Motion Controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-
stepper-motors (on this module, only one motor can be used). Motion parameters like speed or
acceleration are sent to the TMC428 via SPI by the microcontroller. Calculation of ramps and speed
profiles are done internally by hardware based on the target motion parameters.
5.1.4 TMC249 Motor Driver
The stepper motor driver used on the TMCM-109 module is the TMC249 chip. This driver is very
dependable, because it provides a variety of protection and diagnostic features, which even can be
read out by the user software. Its 16x up to 32x microstepping gives a quiet and precise motor
operation. A maximum coil current of 5.0A is supported by this driver IC together with the high
performance MOSFETs the module is equipped with.
