TMCM-0930-TMCL

**MODULE** 

**Module for Controller** 

## TMCM-0930-TMCL Hardware Manual 

Hardware Version V1.2 | Document Revision V1.00 • 2020-NOV-19 

**The TMCM-0930-TMCL is a slot type microcontroller module that can control up to four Trinamic slot type motor driver modules using TMCL commands. The stepper and/or BLDC motor modules are controlled by TMCM-0930-TMCL on a special slot type baseboard while using RS485 bus and some control signals throughout the whole system. TMCM-0930-TMCL is equipped with additional RS485 interface, a CAN bus interface, and a USB interface for external communiciation. The TMCM0930-TMCL can also store and execute TMCL programs.** 

Features 

- Controller module for up to four Trinamic slot type motor driver modules 

- Supply voltage +5V DC 

- 

- Host interfaces: RS485, CAN, USB 

- Additional GPIOs and control features depending on connected driver module 

Applications 

- Laboratory Automation 

- Manufacturing 

- Semiconductor Handling 

- Robotics 

- Factory Automation 

- Test & Measurement 

- Life Science 

- Biotechnology 

- Liquid Handling 

## Simplified Block Diagram 

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Read entire documentation. 

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## **Contents** 

|**1**|**Features**|**3**|
|---|---|---|
|**2**|**Order Codes**|**4**|
|**3**|**Mechanical and Electrical Interfacing**|**5**|
||3.1<br>Size of the board<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|5|
|**4**|**Connectors**|**6**|
|**5**|**Reset to Factory Defaults**|**8**|
|**6**|**I/Os**|**9**|
||6.1<br>Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9|
||6.2<br>Digital inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9|
||6.3<br>Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9|
||6.4<br>Enable and Sync outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9|
||6.5<br>Interrupt inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9|
|**7**|**Communication**|**10**|
||7.1<br>RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|10|
||7.2<br>CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11|
|**8**|**Operational Ratings and Characteristics**|**13**|
|**9**|**Abbreviations used in this Manual**|**14**|
|**10 **|**Figures Index**|**15**|
|**11 **|**Tables Index**|**16**|
|**12 **|**Supplemental Directives**|**17**|
||12.1 Producer Information<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||12.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||12.3 Trademark Designations and Symbols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||12.4 Target User<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||12.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||12.6 Disclaimer: Intended Use<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||12.7 Collateral Documents & Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18|
|**13 **|**Revision History**|**19**|
||13.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19|
||13.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19|



> ©2020 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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## **1 Features** 

The TMCM-0930-TMCL is a slot type microcontroller module that can controls up to four Trinamic slot type motor driver modules using TMCL commands. The stepper and/or BLDC motor modules are controlled by TMCM-0930-TMCL on a special slot type baseboard while using RS485 bus and some control signals throughout the whole system. TMCM-0930-TMCL is equipped with additional RS485 interface, a CAN bus interface, and a USB interface for external communiciation. The TMCM-0930-TMCL can also store and execute TMCL programs. 

Motor control capabilities, through special Slot Type Baseboard, depend on the motor driver module that is connected to this MCU module. 

## **Main characteristics of TMCM-0930:** 

- ARM/Cortex-M4 main MCU 

- Interfaces 

   - RS485 bus to other slot modules. 

   - Synchronization signals to other slot modules. 

   - RS485 interface to host. 

   - CAN bus interface to host. 

   - Four general-purpose digital inputs (GPIs). 

   - Four general purpose digital outputs (GPOs). 

   - Two dedicated analog inputs (AINs). 

## **Software** 

TMCL remote controlled operation via RS485, USB or CAN interface and/or stand-alone operation via TMCL programming. PC-based application development software TMCL-IDE available for free. 

## **Electrical data** 

- Supply voltage: +5V DC. 

For module start-up and use please see also the separate Firmware Manual. 

> ©2020 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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## **2 Order Codes** 

The standard version of the TMCM-0930 is pre-programmed with either TRINAMIC TMCL™firmware. 

|Order Code|Description|Size|
|---|---|---|
|TMCM-0930-TMCL|Slot-Type controller module, +5V nom.<br>supply,<br>control signals for up to 4 driver boards, 2 ana-<br>log inputs , 4 digital inputs, 4 digital outputs, CAN<br>and RS485 interfaces|45mm x 40mm (connec-<br>tor length: 20mm)|



_Table 1: TMCM-0930 Order Codes_ 

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## **3 Mechanical and Electrical Interfacing** 

## **3.1 Size of the board** 

The board has an overall size of 45mm x 40mm together with the connector section of the PCB. The thickness of the board with components is max. 7mm. There is one 4mm diameter mounting hole. 

_Figure 1: Front side of TMCM-0930 with marked copper pads B1-B18_ 

_Figure 2: Bottom side of TMCM-0930 with marked copper pads A1-A18_ 

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## **4 Connectors** 

The TMCM-0930-TMCL is equipped with a 36-pad Slot-Type connection solution. As a dedicated connector on the Slot Type Baseboards a **36-pin PCIe slot connector** should be used. All significant external signals of the MCU module and also the whole Slot Type system are routed via the slot type connector. These are the supply voltages, the CAN/RS485 interfaces, general purpose inputs/outputs and all other driver control signals. The pins located on the top side of the module PCB are labeled B1...B18 and the pins located on the bottom side of the PCB are labeled A1...A18. 

For trying out the TMCM-0930-TMCL for the first time we recommend using a Trinamic Slot Type Baseboard (BB1 or BB4). Alternatively custom-made baseboard can also be designed and used by the end user. 

_**NOTICE**_ **Start with power supply OFF and do not connect or disconnect motor during operation!** Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. _**NOTICE**_ **Connector type:** The connector type required is a PCIe type connector from mechanical point of view. Nevertheless, the signal/pin assignment is NOT related to PCIe! 

|Slot Type MCU Module Connector Pin Assignment (PCB Top Side)|Slot Type MCU Module Connector Pin Assignment (PCB Top Side)|Slot Type MCU Module Connector Pin Assignment (PCB Top Side)|Slot Type MCU Module Connector Pin Assignment (PCB Top Side)|
|---|---|---|---|
|Pin|Label|Direction|Description|
|B1|GND|—|Power and signal ground|
|B2|AIN0|input|General purpose analog/digital input #0|
|B3|AIN1|input|General purpose analog/digital input #1|
|B4|IN0|input|General purpose digital input #0|
|B5|IN1|input|General purpose digital input #1|
|B6|IN2|input|General purpose digital input #2|
|B7|IN3|input|General purpose digital input #3|
|B8|OUT0|output|General purpose digital output #0|
|B9|OUT1|output|General purpose digital output #1|
|B10|OUT2|output|General purpose digital output #2|
|B11|OUT3|output|General purpose digital output #3|
|B12|RS485_A|in/out|External RS485+ (non-inverted) signal|
|B13|RS485_B|in/out|External RS485- (inverted) signal|
|B14|USB_DM|in/out|Negative half of USB dif. signal|
|B15|USB_DP|in/out|Positive half of USB dif. signal|
|B16|USB_5V|input|+5V USB supply for +3.3V Regulator|
|B17|+5V|input|Logic supply voltage|



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|Pin|Label|Direction|Description|
|---|---|---|---|
|B18|+5V|input|Logic supply voltage|



_Table 2: Top Side Slot Connector Pin Assignment_ 

|Slot Type Connector Pin Assigment (PCB Bottom Side)|Slot Type Connector Pin Assigment (PCB Bottom Side)|Slot Type Connector Pin Assigment (PCB Bottom Side)|Slot Type Connector Pin Assigment (PCB Bottom Side)|
|---|---|---|---|
|Pin|Label|Direction|Description|
|A1|GND|—|Power and signal ground|
|A2|DRV1_EN|output|Enable signal for Driver 1 motor coil|
|A3|DRV1_IRQ|input|Interrupt input signal for Driver 1|
|A4|DRV2_EN|output|Enable signal for Driver 2 motor coil|
|A5|DRV2_IRQ|input|Interrupt input signal for Driver 2|
|A6|DRV3_EN|output|Enable signal for Driver 3 motor coil|
|A7|DRV3_IRQ|input|Interrupt input signal for Driver 3|
|A8|DRV4_EN|output|Enable signal for Driver 4 motor coil|
|A9|DRV4_IRQ|input|Interrupt input signal for Driver 4|
|A10|SYNC|output|Sychronization output for whole driver system|
|A11|GND|—|Power and signal ground|
|A12|RS485_A|in/out|Internal RS485+ (non-inverted) signal|
|A13|RS485_B|in/out|Internal RS485- (inverted) signal|
|A14|CAN_L|in/out|CAN bus low|
|A15|CAN_H|in/out|CAN bus high|
|A16|GND|—|Power and signal ground|
|A17|GND|—|Power and signal ground|
|A18|GND|—|Power and signal ground|



_Table 3: Bottom Side Slot Connector Pin Assignment_ 

_**NOTICE**_ **Do not connect or disconnect a motor during operation!** Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. _**NOTICE**_ **Do not remove or plug in the module while the base board is powered!** 

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## **5 Reset to Factory Defaults** 

It is possible to reset all settings in firmware for the TMCM-0930-TMCL to factory defaults without establishing a working communication connection. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got lost. 

For this procedure two pads on the top side of the module have to be shorted (electrically connected with each other) during power-on. 

Please perform the following steps: 

1. Switch power supply OFF. 

2. Short SWCLK and SWDIO pads of programming pads on bottom of pcb (see figure 2). 

3. Switch power supply ON again. 

4. Wait a few seconds. 

5. Switch power supply OFF again. 

6. Remove the short between the two pads. 

7. After switching power supply ON again all permanent settings have been restored to factory defaults. 

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## **6 I/Os** 

The slot connector offers two analog inputs, four digital inputs and four digital ouputs. Plus dedicated control signals for each connected driver module. All inputs can be used for different purposes explained in more detail in the following subsections. 

## **6.1 Analog inputs** 

The TMCM-0930-TMCL is equipped with two analog inputs (AIN0 and AIN1). The analog input voltage range is approx. 0...+5V. For voltages above +5V saturation takes place, but voltages of up-to 30V are tolerated without destroying the input. For analog to digital conversion the integrated ADC of the onboard microcontroller is used. Resolution of this converter is 12bit (0..4095). The analog inputs can also be used as digital inputs. 

## **6.2 Digital inputs** 

The TMCM-0930-TMCL offers four digital inputs (IN0, IN1, IN2 and IN3). Their input voltage range is 0...+5V. Higher voltages (up to 30V) are also tolerated without destroying the input. Voltages above 1V are recognized as logical ’1’ and below 1V as logical ’0’. 

## **6.3 Digital outputs** 

The TMCM-0930-TMCL is equipped with four digital outputs (OUT0, OUT1, OUT2, OUT3). It is a +5V level TTL output. 

## **6.4 Enable and Sync outputs** 

The TMCM-0930-TMCL offers four dedicated pins for four separate driver Enable outputs (DRV1_EN, DRV2_EN, DRV3_EN, DRV4_EN) which are used for enabling the function of each motor coil. The SYNC signal is used for the whole Slot-Type module system sychronization purposes between the TMCM-0930-TMCL and the driver boards (TMCM-1230, TMCM-1231, TMCM-1637, TMCM-1638). 

## **6.5 Interrupt inputs** 

The TMCM-0930-TMCL includes four dedicated pins for four separate driver interrupt signals (DRV1_IRQ, DRV2_IRQ, DRV3_IRQ, DRV4_IRQ), meant for feedback from each motor driver module. 

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## **7 Communication** 

## **7.1 RS485** 

For remote control and communication with a host system the TMCM-0930-TMCL provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: 

1. _BUS STRUCTURE:_ 

   - The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus. 

**==> picture [416 x 129] intentionally omitted <==**

**----- Start of picture text -----**<br>
Host<br>Slave Slave Slave<br>c:><br>node node node<br>1 n - 1 n<br>}<br>termination termination<br>resistor resistor<br>(120 Ohm) (120 Ohm)<br>RS485 keep distance as<br>short as possible<br>**----- End of picture text -----**<br>


_Figure 3: RS485 bus structure with termination resistors_ 

2. _BUS TERMINATION:_ 

   - Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-0930-TMCL does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 

3. _NUMBER OF NODES:_ 

   - The RS485 electrical interface stadard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-0930-TMCL units (SN65HVD1781D) offers a significantly reduced bus load compared to the standard and allows a maximum of 255 units to be connected to a single RS485 bus using standard TMCL firmware. _Please note: usually it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum supported communication speed at the same time. Instead, a compromise has to be found between bus cable length, communication speed and number of nodes._ 

4. _COMMUNICATION SPEED:_ 

   - The maximum RS485 communication speed supported by the TMCM-0930-TMCL hardware is 1Mbit/s. Factory default is 9600 bit/s. Please see separate TMCM-0930-TMCL TMCL firmware manual for information regarding other possible communication speeds below the upper hardware limit. 

5. _NO FLOATING BUS LINES:_ 

   - Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well defined logic levels. 

There are actually two options which can be recommended: Add resistor (bias) network on one side of the bus, only (120R termination resistor still at both ends): 

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**==> picture [380 x 138] intentionally omitted <==**

**----- Start of picture text -----**<br>
Slave Slave<br>node node +5V<br>n  - 1 n<br>pull-up (680R)<br>termination RS485+ / RS485A termination<br>resistor resistor<br>(120R) RS485- / RS485B (120R)<br>pull-down (680R)<br>GND<br>**----- End of picture text -----**<br>


_Figure 4: RS485 bus lines with resistor (bias) network on one side, only_ 

Or add resistor network at both ends of the bus (like Profibus™termination): 

**==> picture [406 x 138] intentionally omitted <==**

**----- Start of picture text -----**<br>
Slave Slave<br>+5V node node +5V<br>n  - 1 n<br>pull-up (390R) pull-up (390R)<br>termination RS485+ / RS485A termination<br>resistor resistor<br>(220R) RS485- / RS485B (220R)<br>pull-down (390R) pull-down (390R)<br>GND GND<br>**----- End of picture text -----**<br>


_Figure 5: RS485 bus lines with Profibus™recommended line termination_ 

## **7.2 CAN** 

For remote control and communication with a host system the TMCM-0930-TMCL provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken into account when setting up a CAN network: 

## 1. _BUS STRUCTURE:_ 

The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus. 

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**==> picture [416 x 129] intentionally omitted <==**

**----- Start of picture text -----**<br>
Host<br>Slave Slave Slave<br>c:><br>node node node<br>1 n - 1 n<br>}<br>termination termination<br>resistor resistor<br>(120 Ohm) (120 Ohm)<br>CAN keep distance as<br>short as possible<br>**----- End of picture text -----**<br>


_Figure 6: CAN bus structure with termination resistors_ 

## 2. _BUS TERMINATION:_ 

   - Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-0930-TMCL does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 

3. _BUS TERMINATION:_ 

The bus transceiver used on the TMCM-0930-TMCL units (TJA1051T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes). 

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## **8 Operational Ratings and Characteristics** 

|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|
|---|---|---|---|---|---|
|Symbol|Parameter|Min|Typ|Max|Unit|
|VLogic|Logic power supply voltage||5||V|
|ILogic|Logic power supply current||tbd||mA|
|TENV|Environmental temperature at rated current (no<br>forced cooling reaquired)|-30||60|°C|



_Table 4: General operational ratings of the module_ 

|Operational Ratings of the I/Os|||||
|---|---|---|---|---|
|Parameter|Min|Typ|Max|Unit|
|Voltage at digital outputs|0||5|V|
|Current through digital outputs|||20|mA|
|Input voltage for inputs IN0...IN3|0|0...5|5|V|
|Output voltage for outputs OUT0...OUT3|0|5||V|
|Measurement range for analog inputs IN0, IN1|0||5|V|
|Low level voltage for IN0...IN3 (digital inputs)|||1|V|
|High level voltage for IN0...IN3 (digital inputs)|2.9|||V|



_Table 5: Operational ratings of I/Os_ 

|Operational Ratings of the RS485 Interface|Operational Ratings of the RS485 Interface|Operational Ratings of the RS485 Interface|Operational Ratings of the RS485 Interface|Operational Ratings of the RS485 Interface|Operational Ratings of the RS485 Interface|
|---|---|---|---|---|---|
|Symbol|Parameter|Min|Typ|Max|Unit|
|NRS485|Number of nodes connected to single RS485 network|||256||
|fRS485|Max. speed for RS485 network|||1Mbit/s||



_Table 6: Operational ratings of the RS485 interface_ 

|Operational Ratings of the CAN Interface|Operational Ratings of the CAN Interface|Operational Ratings of the CAN Interface|Operational Ratings of the CAN Interface|Operational Ratings of the CAN Interface|Operational Ratings of the CAN Interface|
|---|---|---|---|---|---|
|Symbol|Parameter|Min|Typ|Max|Unit|
|NCAN|Number of nodes connected to single CAN network|||>110||
|fCAN|Max. speed for CAN network|||1Mbit/s||



_Table 7: Operational ratings of the CAN interface_ 

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## **9 Abbreviations used in this Manual** 

|Abbreviation|Description|
|---|---|
|IDE|Integrated Development Environment|
|LED|Light Emmitting Diode|
|RMS|Root Mean Square value|
|TMCL|TRINAMIC Motion Control Language|



_Table 8: Abbreviations used in this Manual_ 

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## **10 Figures Index** 

- 1 Front side of TMCM-0930 with 4 RS485 bus lines with resistor (bias) marked copper pads B1-B18 . . . . . 5 network on one side, only . . . . . . . 11 

- 2 Bottom side of TMCM-0930 with 5 RS485 bus lines with Profibus™recommended marked copper pads A1-A18 . . . . . 5 line termination . . . . . . . . . . . . . 11 

- 3 RS485 bus structure with termination 6 CAN bus structure with termination resistors . . . . . . . . . . . . . . . . . 10 resistors . . . . . . . . . . . . . . . . . 12 

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## **11 Tables Index** 

- 1 TMCM-0930 Order Codes . . . . . . . 4 6 Operational ratings of the RS485 inter2 Top Side Slot Connector Pin Assignment 7 face . . . . . . . . . . . . . . . . . . . . 13 3 Bottom Side Slot Connector Pin As7 Operational ratings of the CAN interface 13 signment . . . . . . . . . . . . . . . . . 7 

- 4 General operational ratings of the 8 Abbreviations used in this Manual . . 14 module . . . . . . . . . . . . . . . . . . 13 9 Hardware Revision . . . . . . . . . . . 19 

- 5 Operational ratings of I/Os . . . . . . 13 10 Document Revision . . . . . . . . . . . 19 

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## **12 Supplemental Directives** 

## **12.1 Producer Information** 

## **12.2 Copyright** 

TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2020 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany. 

Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available productrelated documentation. 

## **12.3 Trademark Designations and Symbols** 

Trademark designations and symbols used in this documentation indicate that a product or feature is owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation. 

This Hardware Manual is a non-commercial publication that seeks to provide concise scientific and technical user information to the target user. Thus, trademark designations and symbols are only entered in the Short Spec of this document that introduces the product at a quick glance. The trademark designation /symbol is also entered when the product or feature name occurs for the first time in the document. All trademarks and brand names used are property of their respective owners. 

## **12.4 Target User** 

The documentation provided here, is for programmers and engineers only, who are equipped with the necessary skills and have been trained to work with this type of product. 

The Target User knows how to responsibly make use of this product without causing harm to himself or others, and without causing damage to systems or devices, in which the user incorporates the product. 

## **12.5 Disclaimer: Life Support Systems** 

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. 

Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. 

Information given in this document is believed to be accurate and reliable. However, no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use. Specifications are subject to change without notice. 

## **12.6 Disclaimer: Intended Use** 

The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose 

> ©2020 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-0930-TMCL Hardware Manual • Hardware Version V1.2 | Document Revision V1.00 • 2020-NOV-19 

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or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. 

In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in significant personal injury or death (safety-Critical Applications) without TRINAMIC’s specific written consent. 

TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product. 

## **12.7 Collateral Documents & Tools** 

This product documentation is related and/or associated with additional tool kits, firmware and other items, as provided on the product page at: www.trinamic.com. 

©2020 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-0930-TMCL Hardware Manual • Hardware Version V1.2 | Document Revision V1.00 • 2020-NOV-19 

19 / 19 

## **13 Revision History** 

## **13.1 Hardware Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|V1.2|2020-JUN-15|HH|Initial release version.|



## _Table 9: Hardware Revision_ 

## **13.2 Document Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|2020-NOV-19|HH|Initial version.|



_Table 10: Document Revision_ 

©2020 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com