Module for Stepper
MODULE
TMCM-1241 Hardware Manual
Hardware Version V1.00 | Document Revision V1.00 • 2018-MAY-07
The TMCM-1241 is a single axis motor controller/driver board for 2-phase bipolar stepper motors
with up to 3A RMS motor current. It supports 6-point ramps in addition to linear ramps.
Features
• Single axis controller/driver for 2-
phase bipolar stepper motor
• Linear and sixPoint™ ramps
• +10. . . 30V DC supply voltage
• Up to 3A RMS motor current
• RS485, CAN & USB interface
• integrated sensOstep encoder and
support for external encoder
• S/D interface
• multi-purpose inputs and outputs
Applications
• Laboratory Automation
• Manufacturing
• Semiconductor Handling
• Robotics
• Factory Automation
• Test & Measurement
• Life Science
• Biotechnology
• Liquid Handling
Simpli ed Block Diagram
EEPROM
TMCM-1241
Step
USB
RS485
CAN
I/Os
Microcontroller
Motion
Energy Efficient
Controller
Driver
+
TMC262
Pre-Driver
MOSFET
Driver
Stage
Motor
10… 30V DC
DC/DC
Encoder
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at:
www.trinamic.com
Read entire documentation.
TMCM-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2018-MAY-07
2 / 28
Contents
1 Features
2 Order Codes
3 Mechanical and Electrical Interfacing
3.1 Size of board
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3.2 Board mounting considerations
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4 Connectors
4.1 Power Supply Input Connector
4.2 Motor Connector
. . . . . . . .
4.3 RS485 + CAN Connector
. . . .
4.4 USB Connector
. . . . . . . . .
4.5 I/O Connector
. . . . . . . . . .
5 On-Board LEDs
6 Reset to Factory Defaults
7 I/Os
7.1 Analog input IN0
. . . . . . . . . . . .
7.2 Digital inputs IN1 and IN2
. . . . . . .
7.3 HOME/STOP_L/STOP_R switch inputs
7.4 External incremental encoder input
.
7.5 Step/Direction inputs
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3
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8 Communication
16
8.1 RS485
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
8.2 CAN
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
9 Motor driver current
10 Functional Description
11 Operational Ratings and Characteristics
12 Abbreviations used in this Manual
13 Figures Index
14 Tables Index
15 Supplemental Directives
15.1 Producer Information
. . . . . . . . .
15.2 Copyright
. . . . . . . . . . . . . . . . .
15.3 Trademark Designations and Symbols
15.4 Target User
. . . . . . . . . . . . . . . .
15.5 Disclaimer: Life Support Systems
. . .
15.6 Disclaimer: Intended Use
. . . . . . .
15.7 Collateral Documents & Tools
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16 Revision History
28
16.1 Hardware Revision
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
16.2 Document Revision
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
TMCM-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2018-MAY-07
3 / 28
1 Features
The TMCM-1241 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with
up-to 3A RMS (4.3A peak) motor coil current. It supports linear ramps and unique sixPoint™ramps. It
offers on-board sensOstep encoder and in addition, support for connection of external (incremental A/B)
encoder. For driver-only applications, the TMCM-1241 offers optically isolated Step/Direction inputs. When
using the on-board motion controller the optically isolated inputs are used for connection of end-switches.
The standard version of the TMCM-1241 offers one analog input (0..10V range), two digital inputs and
one open-drain output (100mA load max.) For communication in addition to USB (Micro-USB connector),
RS485 and CAN serial interfaces are available. USB is intended mainly for rmware updates and param-
eter settings - supporting USB-powered operation (just the digital part) for easy data tranfer between
PC and TMCM-1241 module. With CANopen rmware CANopen protocol is supported via the CAN interface.
Motion Controller
• Motion pro le calculation in real-time
• On the y alteration of motor parameters (e.g. position, velocity, acceleration)
• Linear and unique sixPoint™ramp in hardware
• Encoder interface and Reference / Stop switch inputs
Driver
• Motor current: up to 3A RMS / 4.3A peak (programmable in software)
• Supply voltage: +24V DC (+10. . . +30V DC)
• 256 microsteps per fullstep
• spreadCycle™highly dynamic current control chopper
• stealthChop™for quiet operation and smooth motion
• programmable Step/Dir interface for driver-only applications with microstep interpolation
Encoder
• integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation)
for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5
encoder steps)
• support for external A/B incremental encoder in addition / as an alternative for the integrated
encoder
• programmable encoder scaling and support for motor stop on encoder deviation
Interfaces
• RS485 interface (up-to 1Mbit/s)
• CAN interface (up-to 1Mbit/s)
• USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)
• Step/Dir input (optically isolated)
• Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)
• 2 general purpose digital inputs
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
TMCM-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2018-MAY-07
4 / 28
• Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)
• 1 analog input (0..10V nom. input range)
• HOME switch input (shared with analog input)
Mechanical data
• Board size: 39mm x 39mm, height 11mm max. without mating connectors
• 2 mounting holes for M3 screws
Software
• TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see TMCM-1241
TMCL rmware manual for more details
• CANopen rmware with CANopen standard protocol stack for the CAN interface. Please see TMCM-
1241 CANopen rmware manual for more details.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
TMCM-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2018-MAY-07
5 / 28
2 Order Codes
The standard version of the TMCM-1241 is pre-programmed with either TRINAMIC TMCL™ rmware or
CANopen rmware.
On request a version with 3 analog inputs (0..10V) is available instead of one analog and two digital
inputs on the I/O connector of the TMCM-1241. As this is an assembly version with different components
concerning these inputs, only all mechanical data and all other electrical data are the same.
Order Code
TMCM-1241-TMCL
Description
1-axis bipolar stepper motor controller/driver, up-
to 3A RMS motor current, 24V nom. supply, inte-
grated sensOstep encoder, S/D input, ext. Encoder
input, 1 analog input, 4 digital inputs, 1 OD output,
CAN, RS485 and USB interfaces
1-axis bipolar stepper motor controller/driver, up-
to 3A RMS motor current, 24V nom. supply, inte-
grated sensOstep encoder, S/D input, ext. Encoder
input, 1 analog input, 4 digital inputs, 1 OD output,
CAN, RS485 and USB interfaces
1-axis bipolar stepper motor controller/driver, up-
to 3A RMS motor current, 24V nom. supply, in-
tegrated sensOstep encoder, S/D input, 3 analog
inputs, 2 digital inputs, 1 OD output, CAN, RS485
and USB interfaces
Table 1: TMCM-1241 Order Code
A cable loom set is available for this module:
Order Code
TMCM-1241-CABLE
Description
Cable loom for TMCM-1241:
• 1x cable loom for power supply connector (cable length 200mm, 4pin
JST EH connector at one end, open wires at the other end)
• 1x cable loom for RS485 + CAN connector (cable length 200mm, 5pin
JST PH connector at one end, open wires at the other end)
• 1x cable loom for motor connector (cable length 200mm, 4pin JST EH
connector at one end, open wires at the other end)
• 1x cable loom for I/O connector (cable length 200mm, 8pin JST PH
connector at one end, open wires at the other end)
• 1x Micro-USB cable
Size (LxWxH)
39mm x 39mm x 11mm
TMCM-1241-CANopen
39mm x 39mm x 11mm
TMCM-1241-3A-TMCL
39mm x 39mm x 11mm
Table 2: TMCM-1241 Cable Loom
The TMCM-1241 is also available as motor mounted version together with NEMA17 / 42mm ange size
stepper motor. Please refer to PD42-3-1241 PANdrive hardware manual for further details.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
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