Trinamic TMCM-610, Hardware Manual, Page: 5 / 24

TMCM-610 Hardware Manual (V1.14/2010-APR-30) 5
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
2 Features
The TMCM-610 is a stepper motor controller and driver module that can drive up to six bipolar two-phase stepper
motors with a peak coil current of up to 1.5A for each coil. The module provides a complete motion control
system.
It can be remote operated via an RS232 interface or via a USB interface. The motors and switches can be easily
connected with screw terminals. The connection of the multipurpose I/Os can be done via a dual-in-line pin
connector. Traffic on the interfaces can be kept very low since all time-critical and CPU-intensive operations are
done by the TMC428 stepper motor controller on the module.
The
Trinamic Motion Control Language (TMCL™) is used to control the module. This language provides powerful
commands that make it easy to control the module from a PC. The TMCM-610 can also run stand-alone, as
programs written in TMCL™ can be stored permanently in an EEPROM on the module that can store programs
which may contain up to 2048 commands.
Most features of this module are directly comparable to the well-known TMCM-303 and TMCM-310 modules. The
TMCM-610 extends this to six motors. It uses a powerful ATmega64 microcontroller and two TMC428 motor
controllers. As stepper motor drivers six TMC246 ICs are used. Their very low heat dissipation guarantees that the
module can operate with no need for additional cooling. Also, the stallGuard™ feature can be used.
Applications

Controller/driver board for control of up to six axes

Versatile possibilities of applications in stand alone or pc controlled mode
Motor type

Coil current from 300mA to 1.1A RMS (1.5A peak)

7V… 34V nominal supply voltage
Highlights

Automatic ramp generation in hardware

stallGuard
™
option for sensorless motor stall detection

Full step frequencies up to 20kHz

On the fly alteration of motion parameters (e.g. position, velocity, acceleration)

Local reference move using sensorless stallGuard
™
feature or reference switch

Coil current adjustable by software

Up to 16 times microstepping

TRINAMIC driver technology: No heat sink required

Many adjustment possibilities make this module the solution for a great field of demands
Software

Stand-alone operation using TMCL™ or remote controlled operation

TMCL™ program storage: 16 Kbyte EEPROM (2048 TMCL™ commands)

PC-based application development software TMCL-IDE included
Other

Motor and switches can be connected with screw terminals

RoHS compliant latest from 1 July 2006

Size: 160x120mm²