TMCM-351 TMCL Firmware V4.45 Manual (Rev. 1.06 / 2014-MAY-16)
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www.trinamic.com
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Features
The TMCM-351 is a powerful three axes bipolar stepper motor controller/driver board with optional encoder
interface for all three axes and a large number of general purpose digital and analogue input/outputs.
Several different serial communication interfaces are available.
M
AIN
C
HARACTERISTICS
Electrical data
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Supply voltage: +24V DC nominal (28.5V DC max.)
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Motor current: up to 2.8A RMS per axis (programmable)
Stepper motor data
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two phase bipolar stepper motors with up to 2.8A RMS coil current
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optional incremental encoder interface (a/b/n), accepts differential or single ended input signals
Interfaces
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2 reference switch inputs per motor axis (6 altogether, internal pull-up resistors, +24V compatible)
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8 general purpose inputs (+24V compatible)
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8 general purpose outputs incl. two power outputs (all open-collector)
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1 shutdown input (enable/disable driver stage in hardware)
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4 dedicated analogue inputs (programmable 3.3V/10V input range)
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SPI™
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connector with three chip select signals for I/O extension
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RS232, RS485, CAN and USB serial communication interfaces
Features
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High-efficient operation, low power-dissipation (TMC249 stepper driver with external MOSFETs)
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Dynamic current control
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Integrated Protection
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On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
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Motion profile calculation in real-time (TMC429 motion controller)
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Each axis individually and independently programmable
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Supports up to 64 microsteps per fullstep
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Integrated stallGuard™ for motor stall detection (e.g. elimination of end switches)
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Closed-loop operation with TMCL possible (when using the optional incremental encoder interface)
Software
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TMCL™ remote (direct mode) or stand-alone operation (memory for 2048 TMCL commands)
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Fully supported by TMCL-IDE (PC based integrated development environment)
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Optional CANopen firmware
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