TMCM-1021

**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`** 

+ 

+ 

## **UNIQUE FEATURES:** 

## stallGuard2 

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany 

## TRINAMIC 

## **www.trinamic.com** 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

2 

## **Table of Contents** 

|1|Features ........................................................................................................................................................................... 3|
|---|---|
|2|Order Codes ................................................................................................................................................................... 5|
|3|Mechanical and Electrical Interfacing ..................................................................................................................... 6|
||3.1<br>Size of Board ........................................................................................................................................................ 6|
||3.1.1<br>Board mounting considerations ............................................................................................................... 6|
||3.2<br>Connectors ............................................................................................................................................................. 7|
||3.2.1<br>Power, Communication and I/O Connector .......................................................................................... 8|
||3.2.2<br>Digital Inputs IN_0 and IN_1 ................................................................................................................... 11|
||3.2.3<br>Inputs IN_2, IN_3, Digital Outputs OUT_0, OUT_1 ............................................................................. 12|
||3.2.4<br>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<br>Document Revision ........................................................................................................................................... 21|
||10.2<br>Hardware Revisions .......................................................................................................................................... 21|
|11 References .................................................................................................................................................................... 22||



www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

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). 

## **MAIN CHARACTERISTICS** 

## **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. 1.03 / 2014-SEP-30) 

4 

## **TRINAMICS UNIQUE FEATURES – EASY TO USE 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. 

**==> picture [387 x 167] intentionally omitted <==**

**----- Start of picture text -----**<br>
Load  stallGuard2<br>[Nm]<br>Initial stallGuard2<br>(SG) value: 100%<br>Max. load<br>stallGuard2 (SG) value: 0<br>Maximum load reached.<br>Motor close to stall.<br>Motor stalls<br>**----- End of picture text -----**<br>


**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. 

**==> picture [365 x 174] intentionally omitted <==**

**----- Start of picture text -----**<br>
0,9<br>Efficiency with coolStep<br>0,8 Efficiency with 50% torque reserve<br>0,7<br>0,6<br>0,5<br>Efficiency<br>0,4<br>0,3<br>0,2<br>0,1<br>0<br>0 50 100 150 200 250 300 350<br>Velocity [RPM]<br>**----- End of picture text -----**<br>


**Figure 1.2 Energy efficiency example with coolStep** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

5 

## **2 Order Codes** 

|**Order code**|**Description**|**Size of unit**|
|---|---|---|
|TMCM-1021|Single axis bipolar stepper motor controller/driver<br>electronics with integrated encoder electronics|<br>28mm x 28mm|
||||



## **Table 2.1 Order codes** 

A cable loom set is available for this module: 

|**Order code**|**Description**|
|---|---|
|TMCM-1021-CABLE|Cable loom for TMCM-1021<br>-<br>1x<br>cable<br>loom<br>for<br>power,<br>communication<br>and<br>I/O<br>connector<br>(cable length approx. 200mm)<br>-<br>1x cable loom for motor connector(cable length ca. 200mm)|
|||



**Table 2.2 Cable loom order code** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

6 

## **3 Mechanical and Electrical Interfacing** 

## **3.1 Size of Board** 

The board with the controller/driver electronics has an overall size of 28mm x 28mm in order to fit on the back side of  a NEMA11 (28mm flange size) stepper motor. The printed circuit board outline is marked green in the following figure: 

**==> picture [229 x 177] intentionally omitted <==**

**----- Start of picture text -----**<br>
28mm<br>27mm<br>25.5mm R 2mm<br>PCB outline<br>28mm x 28mm<br>Motor backbell<br>R 1.3mm<br>R 2.5mm<br>28mm 27mm 25.5mm<br>**----- End of picture text -----**<br>


**Figure 3.1 Board dimensions and position of mounting holes** 

Maximum board height (without mating connectors and cable looms) is about 10mm (approx. 6mm above printed circuit board level). 

## **3.1.1 Board mounting considerations** 

The board offers two mounting holes for M2.5 screws (both holes with 2.6mm diameter). Both mounting holes are isolated. Nevertheless, it is highly recommended to electrically connect any metal screws used for mounting to supply ground (either directly or via resistor) in order to prevent any electrostatic discharge (ESD) across the isolation barrier. This is especially recommended in case the board is mounted to the backside of a motor. 

Since hardware version 1.4 a second high current range for motor currents up-to 1.4A RMS is available. This makes it possible to support NEMA11 motors with typical standard coil currents up-to 0.7A RMS using the low current range and with the same hardware also NEMA17 bipolar stepper motors with coil currents up-to 1.4A RMS using the high current range. 

Example for setup with TMCM-1021_V14 mounted to back side of NEMA17 motor (with sensOstep™ encoder): 

**Figure 3.2: TMCM-1021 V14 mounted to back side of NEMA17 bipolar stepper motor** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

7 

## **3.2 Connectors** 

The TMCM-1021 has two connectors, an 8-pin power, communication and I/O (input/output) connector and a 4-pin motor connector (used to connect the attached motor). 

## Power / communication / I/Os 

**==> picture [98 x 129] intentionally omitted <==**

**----- Start of picture text -----**<br>
(Ok 1 e 8<br>om 4 f<br>ee eis brit<br>4 1<br>Motor<br>**----- End of picture text -----**<br>


## **Figure 3.3 TMCM-1021 connectors** 

Overview of connector and mating connector types: 

|**Label**|**Connector type **|**Mating connector types**|
|---|---|---|
|Power,<br>communication<br>and I/O|CI0108P1VK0-LF<br>CVIlux CI01 series, 8pins, 2mm pitch|Connector housing CVIlux: CI01085000-A<br>Contacts CVIlux: CI01T011PE0-A<br>_or_<br>Connector housing JST: PHR-8<br>Contacts JST: SPH-002T-P0.5S<br>Wire: 0.22mm2|
|Motor|CI0104P1VK0-LF<br>CVIlux CI01 series, 4 pins, 2mm<br>pitch|Connector housing CVIlux: CI01045000-A<br>Contacts CVIlux: CI01T011PE0-A<br>_or_<br>Connector housing JST: PHR-4<br>Contacts JST: SPH-002T-P0.5S<br>Wire: 0.22mm2|



**Table 3.1 Connectors and mating connectors, contacts and applicable wire** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

8 

## **3.2.1 Power, Communication and I/O Connector** 

An 8-pin, 2mm pitch single row connector is used for power supply, RS485 serial communication and additional multi-purpose inputs and outputs. 

|**Pin**|**Label**|**Direction**|**Description**|
|---|---|---|---|
|1|GND|Power (GND)|GND|
|2|VDD|Power(Supply)|VDD,typ. +24V(+9V…+28V max.)|
|3|RS485+|Bidirectional|RS485 interface,diff. signal(non-inverting)|
|4|RS485-|Bidirectional|RS485 interface,diff. signal (inverting)|
||IN_0|Input|General purpose digital input,<br>_+24V compatible, internal 20kpull-down resistor_|
||||Alternate function 1: Step input,<br>_+24V compatible, internal 20k pull-down resistor._<br>_Please note: the bandwidth of the low-pass (noise rejection) filter at_<br>_the input is 16kHz(-3dB) which will limit the upper step frequency_|
|5||||
|||||
||||Alternate function 2: Left stop switch,<br>_+24V compatible, internal 20kpull-down resistor_|
||IN_1|Input|General purpose digital input,<br>_+24V compatible, internal 20kpull-down resistor_|
||||Alternate function 1: Direction input,<br>_+24V compatible, internal 20k pull-down resistor_<br>_Please note: the bandwidth of the low-pass (noise rejection) filter at_<br>_the input is 16kHz (-3dB)_|
|6||||
|||||
||||Alternate function 2: Right stop switch,<br>_+24V compatible, internal 20kpull-down resistor_|
||OUT_0 / IN_2|Output / Input|Open drain output with freewheeling diode (max. 100mA)<br>_Please note: there is a 20k pull-down resistor of the input connected_<br>_inparallel_|
|7|||Alternate function 1: general purpose digital input,<br>_+24V compatible, internal 20kpull-down resistor_|
|||||
||||Alternate function 2:<br>home switch,+24V compatible,internal 20kpull-down resistor|
||OUT_1 / IN_3|Output / Input|Open drain output with freewheeling diode (max. 100mA)<br>_Please note: there is a 20k pull-down resistor of the input connected_<br>_inparallel_|
||||Alternate function 1:<br>digital input,+24V compatible,internal 20kpull-down resistor|
|8||||
|||||
||||Alternate function 2:<br>analog input, 0..6.6V range, +24V survival, internal 20k pull-down<br>resistor|



**Table 3.2 8pin power, communication and I/O connector** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

9 

## **3.2.1.1 Power supply** 

For proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the TMCM-1021 includes just about 20µF/35V (V1.2) resp. 30µF/35V (V1.4) of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. The module includes a 24V suppressor diode for over-voltage protection. 

Please take the following measures into account in order to avoid serious damage of the device: 

_**Add external power supply capacitors!**_ It is recommended to connect an electrolytic capacitor of significant size (e.g. 470µF/35V) to the power supply lines next to the TMCM-1021! Rule of thumb for size of electrolytic capacitor: In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any voltage spikes which might otherwise occur from a combination of high inductance power supply wires and the ceramic capacitors. In addition it will limit slew-rate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors may cause stability problems with some switching power supplies. ~~eo~~ _**Keep the power supply voltage below the upper limit of 28V!**_ Otherwise the driver electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. ~~Ce~~ Please see also chapter 7, operating values. _**There is no reverse polarity protection!**_ The module will short any reversed supply voltage due to internal diodes of the driver transistors. ~~QO~~ 

## **3.2.1.2 RS485** 

For remote control and communication with a host system the TMCM-1021 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 [370 x 114] intentionally omitted <==**

**----- Start of picture text -----**<br>
Host<br>Slave Slave Slave<br>c:> 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 3.4: Bus structure** 

## 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-1021 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

10 

3. _NUMBER OF NODES_ : The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceivers used on the TMCM-1021 units (hardware V1.2: SN65HVD3082ED, since hardware V1.4: SN65HVD1781D) have a significantly reduced bus load and allow a maximum of 255 units to be connected to a single RS485 bus using 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-1021 is 115200 bit/s (FW version 1.29 with TMCM-1021 hardware version 1.2 and 1.4). Factory default is 9600 bit/s. _Please see separate TMCM-1021 TMCL firmware manual for information regarding other possible communication speeds below 115200 bit/s._ 

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): 

**==> picture [379 x 137] 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>(220R) RS485- / RS485B (120R)<br>pull-down (680R)<br>GND<br>**----- End of picture text -----**<br>


**Figure 3.5: Bus lines with resistor (Bias) network on one side, only** 

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

**==> picture [405 x 137] 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 3.6: Bus lines with resistor (Bias) network at both ends** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

11 

Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485 with bias network at one end of the bus). 

## **3.2.1.3 Digital Inputs IN_0 and IN_1** 

The eight pin connector of the TMCM-1021 provides four general purpose inputs IN_0, IN_1, IN_2 and IN_3. The first two inputs have dedicated connector pins while the other two share pins with two general purpose outputs. 

All four inputs are protected using voltage resistor dividers together with limiting diodes against voltages below 0V (GND) and above +3.3V DC. Input circuit of the first two inputs IN_0 and IN_1 is shown below: 

**==> picture [268 x 117] intentionally omitted <==**

**----- Start of picture text -----**<br>
IN_0, +3.3V<br>IN_1<br>10k<br>microcontroller<br>and stepper<br>motor driver<br>10k<br>1nF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.7 General purpose inputs IN_0 and IN_1** 

The two inputs have alternate functions depending on configuration in software. The following functions are available: 

|**Label**<br>**(connectorpin)**|**Default Function**|**Alternate function 1**|**Alternate function 2**|
|---|---|---|---|
|||||
|IN_0 (7)|Digital input<br>_+24V compatible,_<br>_internal 20k pull-_<br>_down resistor_|Step signal input<br>(connected to stepper motor driver step<br>input)<br>_+24V compatible, internal 20k pull-down_<br>_resistor._<br>_Please note: the bandwidth of the low-_<br>_pass RC (10k / 1nF) filter at the input is_<br>_16kHz (-3dB) which will limit the upper_<br>_step frequency_|Left stop switch<br>_+24V_<br>_compatible,_<br>_internal_<br>_20k_<br>_pull-_<br>_down resistor_|
|||||
|IN_1 (8)|Digital input<br>_+24V compatible,_<br>_internal 20k pull-_<br>_down resistor_|Direction signal input<br>(connected<br>to<br>stepper<br>motor<br>driver<br>direction input)<br>_+24V compatible, internal 20k pull-down_<br>_resistor._<br>_Please note: the bandwidth of the low-_<br>_pass RC (10k / 1nF) filter at the input is_<br>_16kHz (-3dB)_|Right stop switch<br>_+24V_<br>_compatible,_<br>_internal_<br>_20k_<br>_pull-_<br>_down resistor_|
|||||



**Table 3.3 Multipurpose inputs / alternate functions** 

All four inputs are connected to the on-board processor and can be used as general purpose digital inputs. 

Using the alternate function 1 of IN_0 and IN_1 it is possible to control the on-board stepper motor driver with the help of an external stepper motor controller using step and direction signals (Please see separate TMCL firmware manual / axis parameter 254 for more details how to enable this mode). For the step and 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

12 

direction signals the signal levels are the same as for the general purpose digital inputs. Please note that the low-pass filter (for noise rejection) at the inputs offers a bandwidth of 16kHz (-3dB). 

IN_3 can be used as analog input, also. A 12bit analog to digital converter integrated in the microcontroller will convert any analog input voltage between 0 and +6.6V to a digital value between 0 and 4095 then. 

## **3.2.1.4 Inputs IN_2, IN_3, Digital Outputs OUT_0, OUT_1** 

The eight pin connector of the TMCM-1021 provides two general purpose outputs. These two outputs are open-drain outputs and can sink up to 100mA each. Both outputs OUT_0 and OUT_1 share pins with two of the four inputs (IN_2 resp. IN_3). 

The inputs are protected using voltage resistor dividers together with limiting diodes against voltages below 0V (GND) and above +3.3V DC. The circuit of the two outputs and the two inputs connected in parallel to the inputs is shown below: 

**==> picture [316 x 230] intentionally omitted <==**

**----- Start of picture text -----**<br>
VDD<br>OUT_0 / IN_2 +3.3V<br>OUT_1 / IN_3<br>10k<br>microcontroller<br>10k<br>1nF<br>GND GND GND<br>microcontroller<br>1k since V1.4<br>GND GND<br>**----- End of picture text -----**<br>


**Figure 3.8 General purpose outputs OUT_0, OUT_1 and inputs IN_2, IN_3 connected in parallel** 

The outputs of the N-channel MOSFET transistors (Open-Drain) are connected to freewheeling diodes each for protection against voltage spikes especially from inductive loads (relais etc.). Please take into account the 20k (2x 10k in series) resistance to ground (transistor not active) of the input voltage divider (figure 4.8) when designing the external “load” circuit. 

Since hardware version 1.4 the gate inputs of the MOSFETs are pulled-low during power-up and while the processor might be still in reset / output pins not initialized. This way, the outputs will not briefly switch on at power-up. 

The two outputs OUT_0 / OUT_1 and inputs IN_2 / IN_3 have alternate functions depending on configuration in software: 

|**Label**<br>**(connectorpin)**|**Default Function**|**Alternate function 1**|**Alternate function 2**|
|---|---|---|---|
|||||
|OUT_0 / IN_2 (5)|Open drain output with<br>freewheeling diode (max.<br>100mA)<br>_Please note: there is a 20k_<br>_pull-down resistor of the_<br>_input connected inparallel_|Alternate<br>function<br>1:<br>general<br>purpose<br>digital<br>input,<br>_+24V compatible, internal_<br>_20k pull-down resistor_|Alternate function 2:<br>home<br>switch,<br>+24V<br>compatible, internal 20k<br>pull-down resistor|
|||||



www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

13 

|**Label**<br>**(connectorpin)**|**Default Function**|**Alternate function 1**|**Alternate function 2**|
|---|---|---|---|
|OUT_1 / IN_3 (6)|Open drain output with<br>freewheeling diode (max.<br>100mA)<br>_Please note: there is a 20k_<br>_pull-down resistor of the_<br>_input connected inparallel_|Alternate function 1:<br>digital<br>input,<br>+24V<br>compatible,<br>internal<br>20k<br>pull-down resistor|Alternate function 2:<br>analog<br>input,<br>0..6.6V<br>range,<br>+24V<br>survival,<br>internal<br>20k<br>pull-down<br>resistor|



**Table 3.4 Multipurpose outputs / inputs / alternate functions** 

_**Do not apply any voltage above supply voltage to inputs IN_2 and IN_3** . Due to the freewheeling diodes of the outputs connected in parallel they will be shorted to power supply input voltage._ 

**==> picture [23 x 67] intentionally omitted <==**

**----- Start of picture text -----**<br>
0<br>**----- End of picture text -----**<br>


_**For hardware version 1.2:** Do not connect either IN_2 or IN_3 directly to a low resistance supply voltage (e.g. directly to any power supply voltage). As the output transistors connected in parallel might briefly switch-on during power-up they might be damaged / destroyed if the current through the transistors to ground exceeds 100mA._ 

## **3.2.2 Motor Connector** 

A 4-pin, 2mm pitch single row connector is used for connecting the four motor wires to the electronics. 

|**Pin**|**Label**|**Direction**|**Description**|
|---|---|---|---|
|1|OB2|Output|Pin 2 of motor coil B|
|2|OB1|Output|Pin 1 of motor coil B|
|3|OA2|Output|Pin 2 of motor coil A|
|4|OA1|Output|Pin 1 of motor coil A|



**Table 3.4 Motor connector** 

_**Do not connect or disconnect motor during operation!**_ Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always disconnect ~~eo.~~ power supply before connecting / disconnecting the motor. 

Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always disconnect power supply before connecting / disconnecting the motor. _**For hardware version 1.4: please note the additional high current range for motor currents up-to 1.4A RMS!**_ Setting motor current too high might lead to excessive power dissipation inside the motor, overheating and even permanent damage of the motor. Therefore, make sure the motor current is properly set. Also with hardware version 1.2 the low current range is set as default. ~~oe~~ 

- _**For hardware version 1.4: please note the additional high current range for motor currents up-to 1.4A RMS!**_ Setting motor current too high might lead to excessive power dissipation inside the motor, overheating and even permanent damage of the motor. Therefore, make sure the motor current is properly set. Also with hardware version 1.2 the low current range is set as default. 

- ~~oe~~ 

## _**Example for connecting a motor.**_ 

|||||||||black|||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|**TMCM-1021**||**QSH2818 Motor**||**QSH2818 Motor**|||||||||||
|**Motor connectorpin**|**Cable colour**||**Coil**||**Description**||||A||||M||
|1<br>2<br>3<br>4|Blue<br>Red<br>Green<br>Black||B-<br>B<br>A-<br>A||Motor coil Bpin 2<br>Motor coil Bpin 1<br>Motor coil Apin 2<br>Motor coil Apin 1|||green||red<br>blue<br>B<br>~~rl~~|||||



www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

14 

## **4 Motor driver current** 

The on-board stepper motor driver operates current controlled. The driver current may be programmed in software in two ranges (low current range up-to 0.7A RMS and high current range up-to 1.4A RMS) with 32 effective scaling steps in hardware for each range. _Please note: the high current range is available with hardware revision V1.4, only – not with hardware revision V1.2!_ 

_Explanation of different columns in table below:_ 

_**Motor current**_ These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor _**setting in**_ standby current). They are used to set the run / standby current using the following _**software**_ TMCL commands: _**(TMCL)**_ `SAP 6, 0, <value> // set run current` 

```
SAP 7, 0, <value> // set standby current
```

(read-out value with `GAP` instead of `SAP` . Please see separate TMCM-1021 firmware manual for further information) 

_**Range setting**_ This is the value for TMCL axis parameter 179 (Vsense). This value defines the current _**in software**_ range. This value can be set using the following TMCL command: _**(TMCL)**_ `SAP 179, 0, <value> // = 0 high current range // = 1 low current range` 

For `<value>` either 0 (high current range) or 1 (low current range) is supported (see table) since hardware revision V1.4. For earlier hardware revisions (incl. V1.2) this parameter is set to the fixed value “1” (low current range). (read-out value with `GAP` instead of `SAP` . Please see separate TMCM-1021 firmware manual for further information) 

_**Motor current**_ Resulting motor current based on range and motor current setting _**IRMS [A]**_ 

|**Motor current**<br>**setting in**<br>**software (TMCL)**|**Range setting**<br>**in software**<br>**(TMCL)**|**Current**<br>**scaling step**<br>**(CS)**|**Motor**<br>**current**<br>**ICOIL_PEAK[A]**|**Motor**<br>**current**<br>**ICOIL_RMS[A]**|
|---|---|---|---|---|
|0..7|1|0|<br>0.034|<br>0.024|
|8..15|1|1|0.069|0.049|
|16..23|1|2|0.103|0.073|
|24..31|1|3|0.138|0.097|
|32..39|1|4|0.172|0.122|
|40..47|1|5|0.206|0.146|
|48..55|1|6|0.241|0.170|
|56..63|1|7|0.275|0.194|
|64..71|1|8|0.309|0.219|
|72..79|1|9|0.344|0.243|
|80..87|1|10|0.378|0.267|
|88..95|1|11|0.413|0.292|
|96..103|1|12|0.447|0.316|
|104..111|1|13|0.481|0.340|
|112..119|1|14|0.516|0.365|
|120..127|1|15|0.550|0.389|
|128..135|1|16|0.584|0.413|
|136..143|1|17|0.619|0.438|



www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

15 

|**Motor current**<br>**setting in**<br>**software(TMCL)**|**Range setting**<br>**in software**<br>**(TMCL)**|**Current**<br>**scaling step**<br>**(CS)**|**Motor**<br>**current**<br>**ICOIL_PEAK[A]**|**Motor**<br>**current**<br>**ICOIL_RMS[A]**|
|---|---|---|---|---|
|144..151|1|18|<br>0.653|<br>0.462|
|152..159|1|19|0.688|0.486|
|160..167|1|20|0.722|0.510|
|168..175|1|21|0.756|0.535|
|176..183|1|22|0.791|0.559|
|184..191|1|23|0.825|0.583|
|192..199|1|24|0.859|0.608|
|200..207|1|25|0.894|0.632|
|208..215|1|26|0.928|0.656|
|216..223|1|27|0.963|0.681|
|224..231|1|28|0.997|0.705|
|232..239|1|29|1.031|0.729|
|240..247|1|30|1.066|0.754|
|248..255|1|31|1.100|0.778|
|0..7|0|0|0.064|0.045|
|8..15|0|1|0.127|0,090|
|16..23|0|2|0.191|0.135|
|24..31|0|3|0.254|0.180|
|32..39|0|4|0.318|0.225|
|40..47|0|5|0.381|0.270|
|48..55|0|6|0.445|0.315|
|56..63|0|7|0.508|0.359|
|64..71|0|8|0.572|0.404|
|72..79|0|9|0.635|0.449|
|80..87|0|10|0.699|0.494|
|88..95|0|11|0.763|0.539|
|96..103|0|12|0.826|0.584|
|104..111|0|13|0.890|0.629|
|112..119|0|14|0.953|0.674|
|120..127|0|15|1.017|0.719|
|128..135|0|16|1.080|0.764|
|136..143|0|17|1.144|0.809|
|144..151|0|18|1.207|0.854|
|152..159|0|19|1.271|0.899|
|160..167|0|20|1.334|0.944|
|168..175|0|21|1.398|0.988|
|176..183|0|22|1.461|1.033|
|184..191|0|23|1.525|1.078|
|192..199|0|24|1.589|1.123|
|200..207|0|25|1.652|1.168|
|208..215|0|26|1.716|1.213|
|216..223|0|27|1.779|1.258|
|224..231|0|28|1.843|1.303|
|232..239|0|29|1.906|1.348|
|240..247|0|30|1.970|1.393|
|248..255|0|31|2.033|1.438|



In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-1021 firmware manual). 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

16 

## **5 Reset to Factory Defaults** 

It is possible to reset the TMCM-1021 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost. 

For this procedure two pads on the bottom side of the board have to be shortened (see Figure 5.1). 

Please perform the following steps: 

1. Power supply off and USB cable disconnected 

2. Short two pads as marked in Figure 5.1 

3. Power up board (power via USB is sufficient for this purpose) 

4. Wait until the on-board red and green LEDs start flashing fast (this might take a while) 

5. Power-off board (disconnect USB cable) 

6. Remove short between pads 

7. After switching on power-supply / connecting USB cable all permanent settings have been restored to factory defaults 

Short these two PADs on the bottom of the PCB 

**Figure 5.1 Reset to factory default settings** 

## **6 On-board LED** 

The board offers one LED in order to indicate board status. The function of the LED is dependent on the firmware version. With standard TMCL firmware the green LED flashes slowly during operation. 

When there is no valid firmware programmed into the board or during firmware update the green LED is permanently on. 

**==> picture [45 x 8] intentionally omitted <==**

**----- Start of picture text -----**<br>
Green LED<br>**----- End of picture text -----**<br>


**Figure 6.1 On-board LED** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

17 

## **7 Operational Ratings** 

The operational ratings show the intended or the characteristic ranges and should be used as design values. 

## _**In no case shall the maximum values be exceeded!**_ 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VDD|Power supply voltage for operation|9|12…  24|28|V|
|ICOIL_PEAK_L|Motor coil current for sine wave**peak**<br>(**low range**setting, chopper regulated, adjustable<br>via software)|0||1|A|
|||||||
|ICOIL_RMS_L|Continuous motor current (**RMS**)<br>(**low current range**setting, chopper regulated,<br>adjustable via software)|0||0.7|A|
|||||||
|ICOIL_PEAK_H*)|Motor coil current for sine wave**peak**<br>(**high current range**setting, chopper regulated,<br>adjustable via software)|0||2*)|A|
|||||||
|ICOIL_RMS_H*)|Continuous motor current (**RMS**)<br>(**high current range**setting, chopper regulated,<br>adjustable via software)|0||1.4*)|A|
|||||||
|IDD|Power supply current||<< ICOIL|1.4 * ICOIL|A|
|TENV|Environment temperature at rated current (no<br>forced cooling required)|-35||+60|°C|
|||||||



**Table 7.1 General operational ratings of module** 

*) High current range available as new additional range with hardware revision V1.4 – **not** with hardware revision V1.2 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VOUT_0/1|Voltage at open collector output|0||+VDD|V|
|IOUT_0/1|Output sink current|||100|mA|
|VIN_digital 0/1/2/3|Input voltage for IN_0, IN_1, IN_2, IN_3 when used<br>as digital input|0||+VDD|V|
|||||||
|VIN_digital_L 0/1/2/3|Low level voltage for IN_0, IN_1, IN_2 and IN_3<br>when used as digital input|0||1.2|V|
|||||||
|VIN_digital_L 0/1/2/3|High level voltage for IN_0, IN_1, IN_2 and IN_3<br>when used as digital input|4||+VDD|V|
|||||||
|VIN_analog 3|Measurement range for IN_3 when used as analog<br>input|0||+6.6|V|
|||||||



**Table 7.2 Operational ratings of multi-purpose I/Os** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

18 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|NRS485|Number of nodes connected to single RS485<br>network|||255||
|||||||
|fRS485|Maximum bit rate supported on RS485 connection||9600|115200|bit/s|



## **Table 7.3 Operational ratings of RS485 interface** 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

19 

## **8 Functional Description** 

The TMCM-1021 is a highly integrated controller/driver module which can be controlled via RS485 interface. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on board. The nominal supply voltage of the unit is 24V DC. The module is designed for both, standalone operation and direct mode. Full remote control of device with feedback is possible. The firmware of the module can be updated via the serial interface. 

In Figure 8.1 the main parts of the module are shown: 

- the microprocessor, which runs the TMCL operating system (connected to TMCL memory), 

- - the power driver with its energy efficient coolStep feature, 

- the MOSFET driver stage, and 

- the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution. 

**==> picture [471 x 234] intentionally omitted <==**

**----- Start of picture text -----**<br>
TMCL™<br>TMCM-1021<br>Memory<br>I [2] C<br>Step<br>MOSFET<br>RS485 Power<br>µC SPI Energy Efficient Driver Driver<br>add. 4 DriverTMC262 Stage<br>I/Os TMC262with Motor<br>coolStep™<br>S/D<br>SPI sensOstep™<br>9… 28V DC Encoder<br>**----- End of picture text -----**<br>


**Figure 8.1 Main parts of TMCM-1021** 

The TMCM-1021 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_ a rapid and fast development of motion control applications is guaranteed. Please refer to the TMCM-1021 Firmware Manual for more information about TMCL commands. 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

20 

## **9 Life Support Policy** 

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. 

## © TRINAMIC Motion Control GmbH & Co. KG 2013 - 2014 

Information given in this data sheet is believed to be accurate and reliable. However neither 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. 

All trademarks used are property of their respective owners. 

www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

21 

## **10 Revision History** 

## **10.1 Document Revision** 

|**Version**|**Date**|**Author**|**Description**|
|---|---|---|---|
|0.90|2011-AUG-02|GE|-<br>Initial version|
||2011-AUG-25|SD|-<br>Information about left, right, and home switch added.<br>-<br>Minor changes|
|0.91||||
|||||
||2011-NOV-10|GE|-<br>Motor connector corrected and motor connection added<br>-<br>General purpose output circuit extended<br>-<br>Hardware revision list updated|
|0.92||||
|||||
||2012-MAR-09|SD|-<br>Rule of thumb for capacitor added.<br>-<br>Design updated<br>-<br>Chapter 6 (on-board LED) new<br>-<br>Chapter 4 (reset to factorydefaults) new|
|1.00||||
|||||
|1.01|2012-MAY-20|SD|-<br>Minor changes|
||2013-JUL-23|SD|-<br>Connector types updated.<br>-<br>Chapter**Error! Reference source not found.**updated.|
|1.02||||
|||||
||2014-SEP-30|GE|-<br>Information regarding new hardware version 1.4 added<br>-<br>Several corrections and clarifications included|
|1.03||||
|||||



**Table 10.1 Document revision** 

## **10.2 Hardware Revisions** 

|**Version**|**Date**|**Description / Modifications compared toprevious versions**|
|---|---|---|
|TMCM-1021_V10*)|2011-JUL-11|Initial version|
|TMCM-1021_V11*)|2011-AUG-18|-<br>TMC262 clock generation switched to internal clock<br>-<br>Encoder circuit corrected<br>-<br>LED added|
||||
|TMCM-1021_V12**)|2011-SEP-28|-<br>LED moved to location near 8pin connector<br>(version 1.2 is 100% firmware compatible with V1.1)|
||||
|TMCM-1021_V13*)|2013-MAY-14|-<br>MOSFETs: The new driver stage is more powerful (less heat<br>dissipation) than the one used on V1.2. The module now<br>supports two motor current ranges (up-to 0.7A RMS (same as<br>V1.2 – fully compatible also with respect to current scaling)<br>and up-to 1.4A RMS motor current (new with version 1.4)).<br>Switching between these two ranges can be done in software<br>(lower current range: SAP 179, 0, 1 (default), higher current<br>range: SAP 179, 0, 0). The lower current range (up-to 0.7A RMS<br>/ SAP 179, 0, 1) is the default one in order to maintain 100%<br>compatibility in terms of motor current settings. For the lower<br>current range the motor current can be scaled down using<br>TMCL command SAP 6, 0, 0 … 255 as known from the current<br>version. Same settings will result in same motor current values<br>as with current version. After switching to the higher current<br>range (SAP 179, 0, 0) similar scaling is possible with the high<br>current range, also. Due to the extended current settings the<br>module supports NEMA11 (28mm) bipolar stepper motors<br>using the lower current range and also NEMA17 (42mm)<br>bipolar stepper motors using the higher current range –<br>making it possible to use just one module type in a mixed<br>NEMA11 / NEMA17 system environment (if desired / applicable).<br>-<br>RS485 transceiver: the RS485 transceiver has been replaced|
||||



www.trinamic.com 

TMCM-1021 V1.4 Hardware Manual (Rev. 1.03 / 2014-SEP-30) 

22 

|**Version**|**Date**|**Description / Modifications compared toprevious versions**|
|---|---|---|
|||with the SN65HVD1781 transceiver offering better fault<br>protection (up-to 70V fault protection) and supporting more<br>nodes in one network (up-to 255 nodes per network with<br>TMCL firmware). The supply voltage of the transceiver IC has<br>been reduced to +3.3V (supported by the transceiver IC) in<br>order to reduce power consumption.<br>-<br>General purpose outputs OUT0 / OUT1: the driver circuit of the<br>open-drain output MOSFETs has been modified in order to<br>ensure glitch-free power-up. That is, output MOSFETs will not<br>turn briefly on while processor still in reset / not initialized.<br>-<br>Processor speed: the processor crystal has been changed to<br>16MHz|
|TMCM-1021_V14|2013-JUL-30|-<br>On-board voltage regulator design has been improved in order<br>to allow processor core frequencies of 32MHz (previously<br>16MHz and 8MHz dependingon firmware version)|
||||



_*): V10, V11 and V13: prototypes only._ 

_**) V12: series product version. Is replaced with V14 series product version due to EOL (end-of-life) of the driver MOSFETs. Please see “PCN_1012_10_22_TMCM-1021.pdf” on our Web-site, also_ 

## **Table 10.2 Hardware revision** 

## **11 References** 

[TMCM-1021] TMCM-1021 TMCL Firmware Manual [QSH2818-32-07-006] NEMA11 / 28mm bipolar stepper motor [QSH2818-51-07-012] NEMA11 / 28mm bipolar stepper motor [USB-2-485] USB-2-485 interface converter 

TRINAMIC manuals are available on http://www.trinamic.com. 

www.trinamic.com