MODULE FOR
STEPPER MOTORS
MODULE
Hardware Version V1.4
HARDWARE MANUAL
+
+
TMCM-1021
1-Axis Stepper
Controller / Driver
24V DC
up-to 0.7A RMS / 1.4A RMS
RS485 Interface
sensOstep™ Encoder
+
+
U
NIQUE
F
EATURES
:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1021 V1.4 Hardware Manual (Rev. 1.04 / 2018-JAN-22)
2
Table of Contents
Features........................................................................................................................................................................... 3
Order Codes ................................................................................................................................................................... 5
Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1
Size of Board ........................................................................................................................................................ 6
3.1.1 Board mounting considerations ............................................................................................................... 6
3.2
Connectors ............................................................................................................................................................. 7
3.2.1 Power, Communication and I/O Connector .......................................................................................... 8
3.2.2 Motor Connector .......................................................................................................................................... 13
4
Motor driver current .................................................................................................................................................. 14
5
Reset to Factory Defaults ......................................................................................................................................... 16
6
On-board LED............................................................................................................................................................... 16
7
Operational Ratings ................................................................................................................................................... 17
8
Functional Description .............................................................................................................................................. 19
9
Life Support Policy ..................................................................................................................................................... 20
10 Revision History .......................................................................................................................................................... 21
10.1 Document Revision ........................................................................................................................................... 21
10.2 Hardware Revisions .......................................................................................................................................... 21
11 References .................................................................................................................................................................... 22
1
2
3
www.trinamic.com
TMCM-1021 V1.4 Hardware Manual (Rev. 1.04 / 2018-JAN-22)
3
1 Features
The TMCM-1021 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of the
art feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized
applications. The module can be mounted on the back of NEMA11 (28mm flange size) and has been designed
for coil currents up to 0.7A RMS (low current range, programmable) or 1.4A RMS (high current range,
programmable, new additional range since hardware version 1.4) and 24V DC supply voltage.
With its high
energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down.
The TMCL™
firmware supports remote control (direct mode) and standalone operation (with TMCL program being executed
on the TMCM-1021 itself).
M
AIN
C
HARACTERISTICS
Highlights
-
Motion profile calculation in real-time
-
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
-
High performance microcontroller for overall system control and serial communication protocol handling
-
For position movement applications, where larger motors do not fit and higher torques are not required
Bipolar stepper motor driver
-
Up to 256 microsteps per full step
-
High-efficient operation, low power dissipation
-
Dynamic current control
-
Integrated protection
-
stallGuard2 feature for stall detection
-
coolStep feature for reduced power consumption and heat dissipation
Encoder
-
sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
-
Up to 4 multi-purpose inputs (2 shared with general purpose outputs)
-
2 general purpose outputs
-
RS485 2-wire communication interface
Software
-
TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 876 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
-
Supply voltage: +24V DC nominal (9… 28V DC max.)
-
Motor current: up to 0.7A RMS (low current range, programmable) or 1.4A RMS (high current range,
programmable, new additional range since hardware version 1.4)
Please refer to separate TMCL Firmware Manual, also.
www.trinamic.com
TMCM-1021 V1.4 Hardware Manual (Rev. 1.04 / 2018-JAN-22)
4
TRINAMIC
S
U
NIQUE
F
EATURES
–
E
ASY TO
U
SE WITH
TMCL
stallGuard2™
stallGuard2 is a high-precision sensorless load measurement using the back EMF on the coils.
It can be used for stall detection as well as other uses at loads below those which stall the
motor. The stallGuard2 measurement value changes linearly over a wide range of load,
velocity, and current settings. At maximum motor load, the value goes to zero or near to zero.
This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™
coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be reduced by
as much as 75%. coolStep allows substantial energy savings, especially for motors which see
varying loads or operate at a high duty cycle. Because a stepper motor application needs to
work with a torque reserve of 30% to 50%, even a constant-load application allows significant
energy savings because coolStep automatically enables torque reserve when required.
Reducing power consumption keeps the system cooler, increases motor life, and allows
reducing cost.
0,9
0,8
0,7
0,6
0,5
Efficiency with coolStep
Efficiency with 50% torque reserve
Efficiency
0,4
0,3
0,2
0,1
0
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 1.2 Energy efficiency example with coolStep
www.trinamic.com
TMCM-1021 V1.4 Hardware Manual (Rev. 1.04 / 2018-JAN-22)
5
2 Order Codes
Order code
TMCM-1021
Table 2.1 Order codes
A cable loom set is available for this module:
Order code
TMCM-1021-CABLE
Description
Cable loom for TMCM-1021
-
1x cable loom for power, communication and
(cable length approx. 200mm)
-
1x cable loom for motor connector (cable length ca. 200mm)
Size of unit
Description
Single axis bipolar stepper motor controller/driver 28mm x 28mm
electronics with integrated encoder electronics
I/O
connector
Table 2.2 Cable loom order code
www.trinamic.com
京公网安备 11010802033920号
Copyright © 2005-2026 EEWORLD.com.cn, Inc. All rights reserved
电子工程世界
