TMCM-111-56 Manual
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Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
5 Functional Description
In Figure 5.1 the main parts of the TMCM-111-56 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, RS485 or CAN and IIC).
TMCM-111-56
14..36V DC
REF-
Switches
2
2
high power
Driver
TMC249
5V Power Supply
I/Os
Step
Motor
TMCL
Memory
MOSFET
Driver
Stage
Step/Dir
programmable
Motion
Controller
with TMC428
RS-232
RS-485
CAN
IIC
Sequencer
Figure 5.1: Application Environment
5.1 System Architecture
The TMCM-111 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
On this module, the Atmel ATmega32 is used to run the TMCL operating system and to control the TMC428.
The CPU has 32Kbyte flash memory and a 1Kbyte EEPROM. The microcontroller runs the TMCL (Trinamic
Motion Control Language) operating system which makes it possible to execute TMCL commands that are
sent to the module from the host via the interface. The microcontroller interprets the TMCL commands and
controls the TMC428 which executes the motion commands.
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.
The TMCL operating system can be updated via the host interface. Please use the latest version of the
TMCL IDE to do this. To connect the module with CAN or IIC interface to the PC to update the OS the
Trinamic CANnes card or the Trinamic USB2X interface is needed
5.1.2 EEPROM
To store TMCL programs for stand alone operation the TMCM-111 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048
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.
