MOD U L E S F O R S T E P P E R MO T OR S
M O D ULES
TMCM-
1 11- 56
1-Axis
M o t o r M ou n t e d
C o n t r o l l e r / D ri v e r
5.0A / 36V
10 m m
M A IN CH A R AC T ER IS T IC S
INFO
The TMCM-111-56 is an intelligent stepper motor controller and
driver module to be mounted directly on a 56 mm flange mo-
tor. (Mechanical adaptation required – please contact TRINAMIC.)
This triple-PCB module converts the motor into a compact me-
chatronic device with bus-oriented or stand-alone control. The
switches, interface and the multi purpose I/Os can be connected
with small pluggable connectors. The TMCM-111 comes with
the PC based software development environment TMCL-IDE for
the Trinamic Motion Control Language (TMCL). Using predefined
TMCL high level commands like „move to position“ or „constant
rotation“ a rapid and fast development of motion control ap-
plications is guaranteed. The TMCM-111 can be controlled via
an RS-232, RS-485, I2C or CAN interface. Communication traffic
is kept very low since all time critical operations, e.g. ramp
calculation are performed onboard. The TMCL program can be
stored in the on board EEPROM for stand-alone operation. The
firmware of the module can be updated via the serial interface.
With the stallGuard™ feature it is possible to detect motor
overload or motor stall.
ELECTRICAL
DATA
• up to 5A coil current RMS (7A peak)
• 15V to 36V motor supply voltage
• two-phase bipolar motors with
2A to 5A coil current
• RS-232, RS-485, I²C or CAN 2.0b
host interface
• 2 inputs for reference and stop switches
• 1 general purpose input and 1 output
• high accuracy 64 times microstepping
• high current for highly dynamic drive
• memory for 2048 TMCL commands
• automatic ramp generation in hardware
• on the fly alteration of motion parameters
(e.g. position, velocity, acceleration)
• stallGuard™ for sensorless
motor stall detection
• full step frequencies up to 20kHz
• dynamic current control
• TRINAMIC driver technology:
low power dissipation
SUPPORTED
MOTORS
INTERFACE
FEATURES
SOFTWARE
• stand-alone operation using TMCL
or remote controlled operation
• PC-based application development
software TMCL-IDE included
Step/Dir
Sequencer
IIC
RS-232
TMCM-111-56
TMCL
Memory
high power
RS-485
Motion
Controller
with TMC428
programmable
Driver
TMC249
MOSFET
Driver
Stage
2
Step
Motor
OTHER
• pluggable connectors / screw-terminals
• RoHS compliant
• diameter: 55 mm (3 stacked PCBs)
I/Os
2
CAN
14..36V DC
5V Power Supply
REF-
Switches
ORDER CODE
D ESC RIP TIO N
TMCM-111-56 (-option)
TMCM-111-56-CABLE
OPTIONS
1-axis module
Cable loom for TMCM-111-56
485
CAN
RS-232, IIC and RS-485 interface
RS-232, IIC and CAN interface
www.trinamic.com
– for detailed information and datasheets
33
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
