TMCM-6110 TMCL Firmware V1.31 Manual (Rev. 1.09 / 2015-FEB-24)
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Features
The TMCM-6110 is a compact 6-axes stepper motor controller/driver standalone board. It supports up to 6
bipolar stepper motors with up to 1.1A RMS coil current. There are separate motor and reference/end
switch connectors for each motor. In addition, the module offers 8 general purpose inputs and 8 general
purpose outputs.
M
AIN
C
HARACTERISTICS
Motion controller
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Motion profile calculation in real-time
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On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
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High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
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Up to 256 microsteps per full step
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High-efficient operation, low power dissipation
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Dynamic current control
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Integrated protection
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stallGuard2™ feature for stall detection
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coolStep™ feature for reduced power consumption and heat dissipation
Interfaces
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Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)
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Up to 8 multi-purpose outputs (open-drain, incl. 2 outputs for currents up to 1A)
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RS485 2-wire communication interface
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USB 2.0 full speed (12Mbit/s) communication interface (mini-USB connector)
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CAN 2.0B communication interface (9pin D-SUB)
Features
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Uses TMC429 stepper motor controller for on-the-fly alteration of many motion specific parameters
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Uses TMC260 advanced stepper motor driver IC
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Up to 256 microsteps per fullstep
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Integrated protection: overtemperature/undervoltage
Software
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TMCL remote (direct mode) and standalone operation (memory for up to 2048 TMCL commands)
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Fully supported by TMCL-IDE (PC based integrated development environment)
Electrical data
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Supply voltage: +9V… +28V DC
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Motor current: up to 1.1A RMS (programmable) per axis
Mechanical data
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Board size: 130mm x 100mm, height 30mm max.
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4 mounting holes for M3 screws
Please see separate Hardware Manual for additional information