TMCM-1070

**MODULE** 

**Module for Stepper Motors** 

## TMCM-1070 Hardware Manual 

Hardware Version V1.00 | Document Revision V1.10 • 2017-Oct-27 

**TMCM-1070 is an easy to use stepper motor driver module. The module is controlled via a step and direction interface. One configuration pin selects the current control mode between stealthChop™ for absolute silent motor control and spreadCycle™for high speed. A TTL UART interface allows for more advanced configuration and permanent parameter storage via TMCL™-IDE.** 

## Features 

- Supply Voltage +9 to +24V DC 

- Step and direction interface 

- **microPlyer™** to 256 µ-steps 

- **stealthChop™** silent PWM mode 

- **spreadCycle™** smart mixed decay 

- **stallGuard2™** load detection 

- **coolStep™** autom. current scaling 

- 

## Applications 

- Lab-Automation 

- Manufacturing 

- Robotics 

- Factory Automation 

- CNC 

- Laboratory Automation 

## 

**==> picture [440 x 165] intentionally omitted <==**

**----- Start of picture text -----**<br>
TMCL<br>Memory<br>9...24V<br>SPI<br>Step<br>cDriver<br>UART µC SPI with<br>stealthChop “<br>Motor<br>STEP/DIR<br>EN __§_—_—— J<br>CHOP<br>— — I<br>7<br>**----- End of picture text -----**<br>


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Read entire documentation. 

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## **Contents** 

|**1**|**Features**|**Features**||**3**|
|---|---|---|---|---|
||1.1|General Features . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|3|
||1.2|TRINAMIC’s Unique Features<br>. . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.1<br>stealthChop™. . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.2<br>spreadCycle™. . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
||1.3|stallGuard2. . . . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|5|
||1.4|coolStep<br>. . . . . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|5|
|**2**|**Order Codes**|||**6**|
|**3**|**Mechanical and Electrical Interfacing**|||**7**|
||3.1|TMCM-1070 Dimensions and Weight|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|7|
||3.2|Mounting Considerations . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|8|
|||3.2.1<br>Top Hat Rail Mounting . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|8|
|**4**|**Connectors and LEDs**|||**9**|
||4.1|Motor Connector . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9|
||4.2|I/O Connector . . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|10|
||4.3|TTL UART Connection<br>. . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11|
||4.4|Status LEDs<br>. . . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11|
|**5**|**Functional Description**|||**12**|
||5.1|Typical Application Wiring . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
||5.2|Optically Isolated Inputs with Common Anode Input . . . . . . . . . . . . . . . . . . . . . . . .||13|
||5.3|Optically Isolated Inputs with Common Cathode Input . . . . . . . . . . . . . . . . . . . . . . .||14|
||5.4|Thermal Behavior . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|15|
|**6**|**Operational Ratings and Characteristics**|||**16**|
||6.1|Absolute Maximum Ratings . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16|
||6.2|Electrical Characteristics (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . .||16|
||6.3|I/O Ratings (Ambient Temperature 25°|C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16|
||6.4|Functional Characteristics . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||6.5|Other Requirements . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
|**7**|**Abbreviations used in this Manual**|||**18**|
|**8**|**Figures Index**|||**19**|
|**9**|**Tables Index**|||**20**|
|**10 **|**Supplemental Directives**|||**21**|
||10.1|Producer Information<br>. . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|21|
||10.2|Copyright . . . . . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|21|
||10.3|Trademark Designations and Symbols|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|21|
||10.4|Target User . . . . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|21|
||10.5|Disclaimer: Life Support Systems . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|21|
||10.6|Disclaimer: Intended Use<br>. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|21|
||10.7|Collateral Documents & Tools . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|
|**11 **|**Revision History**|||**23**|
||11.1|Hardware Revision . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|23|
||11.2|Document Revision . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|23|



> ©2017 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-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Oct-27 

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## **1 Features** 

TMCM-1070 is an easy to use stepper driver unit with state of the art feature set. It is highly integrated TMCM-1070 can be used with a simple step and direction interface and and offers a convenient handling. can be configured using a TTL UART interface. stallGuard2 and coolStep can be configured via TTL UART interface and are disabled by default. 

## **1.1 General Features** 

## **Main Characteristics** 

- Supply Voltage +9V to +24V DC 

- 1.2A RMS phase current (ca. 1.7A peak phase current) 

- Highest micro step resolution, up to 256 micro steps per full step 

- microPlyer™ microstep interpolator for obtaining increased smoothness of microstepping over a low frequency STEP/DIR interface 

- With housing and motor mounted 

- Permanent onboard parameter storage 

- Simple step & direction mode 

- Noiseless stealthChop™chopper mode for slow to medium velocities 

- High performance spreadCycle™chopper mode 

- High-precision sensorless load measurement with stallGuard2™ 

- Automatic current scaling algorithm coolStep™to save energy and keep your drive cool 

## **Optically Isolated Inputs** 

- Step & direction interface with up to 45kHz input frequency 

- 

- Mode select input to switch between the two chopper modes 

## **TTL UART Interface** 

- 

- Interface speed 9600-115200 bps (default 9600 bps) 

- 

- 

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## **1.2 TRINAMIC’s Unique Features** 

## **1.2.1 stealthChop™** 

stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities.a certain effective voltage into the coil, using a voltage mode PWM. There are no more configurationsWith stealthChop, the motor current is applied by driving required except for the regulation of the PWM voltage to yield the motor target current. 

_Figure 1: Motor coil sine wave current using stealthChop (measured with current probe)_ 

## **1.2.2 spreadCycle™** 

The spreadCycle chopper is a high-precision, hysteresis-based, and simple to use chopper mode, which automatically determines the optimum length for the fast-decay phase. Several parameters are available to optimize the chopper to the application. spreadCycle offers optimal zero crossing performance compared to other current controlled chopper algorithms and thereby allows for highest smoothness. The true target current is powered into the motor coils. 

_Figure 2: spreadCycle principle_ 

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## **1.3 stallGuard2** 

stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor 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 reaches zero or is near zero. This is the most energy-efficient point of operation for the motor. 

**==> picture [387 x 159] intentionally omitted <==**

**----- Start of picture text -----**<br>
stallGuard2<br>Load [Nm]<br>Initial stallGuard2 (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 3: stallGuard2 Load Measurement as a Function of Load_ 

## **1.4 coolStep** 

coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2. coolStep adapts 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.even a constant-load application allows significant energy savings because coolStep automatically enablesBecause a stepper motor application needs to work with a torque reserve of 30% to 50%, torque reserve when required. Reducing power consumption keeps the system cooler, increases motor life, and allows for cost reduction. 

**==> picture [325 x 156] intentionally omitted <==**

**----- Start of picture text -----**<br>
0,9<br>Efficiency with coolStep<br>0,8 Efficiency with 50v 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 4: Energy Efficiency Example with coolStep_ 

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## **2 Order Codes** 

|Order Code|Description|Size (LxWxH)|
|---|---|---|
|TMCM-1070|Controller/Driver Module without motor, +24V DC, TTL UART<br>interface (9600bps default), S/D interface, Enable, Mode Se-<br>lect|42mm x 42mm x 12mm|



_Table 1: Order codes modules_ 

|Order Code|Description|
|---|---|
|TMCM-1070-CABLE|Cable loom for TMCM-1070. Contains:<br>• 1x cable loom for motor connector with 4-pin JST PH female connector<br>• 1x cable loom for I/O connector with 9-in JST PH female connector|
|TMCM-KAMINO-CLIP|Self-Adhesive top hat rail mounting clip for TMCM-1070 base module (not<br>available with PANdrive versions PD42-x-1070)|
|TMCM-KAMINO-AP23|Aluminum adapter plate kit for mounting of TMCM-1070 base module to<br>NEMA23 size motors (not available with PANdrive versions PD42-x-1070)|
|TMCM-KAMINO-AP24|Aluminum adapter plate kit for mounting of TMCM-1070 base module to<br>NEMA24 size motors (not available with PANdrive versions PD42-x-1070)|



_Table 2: Order codes cable loom_ 

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## **3 Mechanical and Electrical Interfacing** 

## **3.1 TMCM-1070 Dimensions and Weight** 

The dimensions of the TMCM-1070 are approximately 42mm x 42mm x 12mm. There are two mounting holes for M3 screws for mounting the TMCM-1070 to a NEMA17 stepper motor (screw/thread length depends on motor size). 

**==> picture [192 x 196] intentionally omitted <==**

**----- Start of picture text -----**<br>
42mm<br>42mm<br>**----- End of picture text -----**<br>


_Figure 5: TMCM-1070 top view mechanical dimensions_ 

|Order Code|**L**in mm|
|---|---|
|TMCM-1070|12_±_0,2|



_Table 3: TMCM-1070 length and weight_ 

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## **3.2 Mounting Considerations** 

TMCM-1070 is designed to be mountable on the back of a NEMA17 motor. Alternatively it can be mounted standalone. 

## _**NOTICE**_ **Thermal Considerations** ~~Mm~~ 

If not mounted to a motor take care for a proper cooling. The electronics have an overtemperature shutdown, nevertheless damage to electronics or system can be caused by excessive temperature. 

## **3.2.1 Top Hat Rail Mounting** 

The order code is provided in table 2. 

_Figure 6: TMCM-1070 top hat rail mounting clip example with module_ 

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## **4 Connectors and LEDs** 

_Figure 7: TMCM-1070 connectors (pin 1 highlighted in red)_ 

## **4.1 Motor Connector** 

|Pin no.|Pin name|Description|
|---|---|---|
|1|A1|Motor phase A pin 1|
|2|A2|Motor phase A pin 2|
|3|B1|Motor phase B pin 1|
|4|B2|Motor phase B pin 2|



_Table 4: Motor connector pinning_ 

## _**NOTICE**_ 

**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 or disconnect power supply before (dis)connecting the motor. 

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## **4.2 I/O Connector** 

|Pin no.|Pin name|Description|
|---|---|---|
|1|GND|Supply ground connection, also used for USB serial converter ground connection|
|2|V+|Supply voltage (_V DD_) +9V to +28V DC|
|3|DIR|Optically isolated direction input of S/D interface|
|4|STEP|Optically isolated step input of S/D interface|
|5|EN|Optically isolated enable input of motor driver H-bridges|
|6|CHOP|Optically isolated chopper mode selection input|
|7|COMM|Opto-coupler common anode or cathode, connect to ground or VCCIO (3.3V to<br>6V - higher voltages possible with additional external resistors)|
|8|RXD|TTL-level UART receive line, use with USB serial converter TXD line to connect to<br>PC|
|9|TXD|TTL-level UART transmit line, use with USB serial converter RXD line to connect to<br>PC|



_Table 5: I/O connector pinning_ 

|**_NOTICE_**|**Supply Voltage Bufering / Add External Power Supply Capacitors**<br>|
|---|---|
|A sufciently bufered power supply or an external electrolyte capacitor<br>connected between V+ and GND is recommended for stable operation.<br>It is recommended to connect an electrolytic capacitor of signifcant size to the<br>power supply lines next to the TMCM-1070.<br>Rule of thumb for size of electrolytic capacitor: _C_ = 1000 _µF_<br>_A_ _∗ISUP P LY_<br>The PD42-1070 comes with approximately 40_µ_F of onboard ceramic capacitors.||
|||
|**_NOTICE_**|**There is no reverse polarity protection on the supply input!**<br>|
|The module will short any reversed supply voltage and board electronics will get<br>damaged.||
|||
|**_NOTICE_**|**Power Up Sequence**<br> <br>|
|The TMCM-1070 must be powered up with disabled driver stage only. Depending<br>on your confguration the EN input should be logically OFF. For example, if COMM<br>input is connected to 3.3V to 6V, the EN input must be 0V. If common ground or<br>0V level is connected to COMM input, the EN input must have high level.||



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## **4.3 TTL UART Connection** 

To connect via the TTL UART interface to a host PC, we suggest using a USB serial converter from TTL-UART (5V) to USB interface. 

Communication with the host PC, for example when using TRINAMIC’s TMCL-IDE, is done via the Virtual COM port installed by the converter driver. 

More information on the TMCL-IDE and the latest release can be found here: www.trinamic.com 

The converter cable must be connected to pins 1, 8, and 9 (GND, RXD, TXD) of the I/O connector. 

_**Note**_ **Default Baud Rates** The default baud rate is 9600 bps. In bootloader mode, the baud rate is 115200 bps. 

_**Info**_ **USB to UART converter** For example, the TTL-232R-5V from FTDI is working with the module and has been tested. More information on this converter is available on the FTDI website: www.ftdichip.com 

## _**NOTICE**_ **5V TTL UART Level** 

The TTL UART interface works with 5V level. Take special care when selecting a converter cable for USB connection. 

## **4.4 Status LEDs** 

7 for its location. 

|State|Description|
|---|---|
|Blinking|MCU active, normal operation|
|Permanent on<br>|Bootloader mode<br>|
|Of|Power Of|



_Table 6: LED state description_ 

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## **5 Functional Description** 

## **5.1 Typical Application Wiring** 

   - Connect the the power supply to V+ and GND. 

   - Connect the Step and Direction signals to your motion controller. 

   - At power up time, the EN input must be low (= driver stage disabled)! 

   - Optional: Connect UART to a TTL UART interface with 5V logic levels. connect start the TMCL-IDE and use the parameterization tools. For detailed instructions refer to the 

## _**Note**_ 

## **The TTL UART interface is not optically isolated. It has and requires 5V level signals.** 

Nevertheless, it provides basic ESD and rail-to-rail signal line protection for the TMCM-1070. 

**==> picture [300 x 271] intentionally omitted <==**

**----- Start of picture text -----**<br>
V+<br>TMCM-1070 /<br>9V-28V<br>GND PD-x-1070 +5V<br>+5V<br>COMM<br>tt<br>STEP 270 Ω<br>A1<br>A2<br>B1<br>DIR 270 Ω M<br>B2<br>User<br>MCU<br>Driver &<br>EN 270 Ω Controller<br>CHOP 270 Ω<br>GND<br>RXD<br>TXD<br>**----- End of picture text -----**<br>


_Figure 8: Typical application scenario with 5V inputs_ 

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## **5.2 Optically Isolated Inputs with Common Anode Input** 

The control inputs of the TMCM-1070 are optically isolated (not the TTL UART interface).share one common anode (COMM) input as shown in the figure above. All optocouplers 

**==> picture [339 x 244] intentionally omitted <==**

**----- Start of picture text -----**<br>
3.3V to +6V TMCM-1070 / +5V<br>PD-x-1070<br>COMM<br>STEP 270 Ω<br>A1<br>A2<br>B1<br>DIR 270 Ω M<br>Driver & B2<br>Controller<br>User<br>MCU<br>EN 270 Ω<br>CHOP 270 Ω<br>GND<br>**----- End of picture text -----**<br>


_Figure 9: Inputs with common anode input with 3.3V to 6V_ 

The typical voltage at COMM input is 5V. Nevertheless, 3.3V or voltages higher than 5V can also be used as long as the current is through the optocouplers’ emitter is between 5mA to 20mA. For 3.3V operation the controller must be carefully selected with respect to its I/O ports, its actual output voltage, and the series resistor of the I/O ports. The user must make sure that the current through the optocouplers’ emitter is between 5mA to 20mA. 

## _**Note**_ 

## **Step pulse width** 

Width of the step pulses should be between 2µs and 4µs, for maximum step frequency. 

With a larger step pulse width, for example 50% duty cycle coming from a frequency generator, the maximum input frequency will be lower at ca. 9kHz.. 

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**==> picture [339 x 240] intentionally omitted <==**

**----- Start of picture text -----**<br>
TMCM-1070 / +5V<br>PD-x-1070<br>>5V to +24V<br>COMM<br>Rexternal 270 Ω<br>STEP A1<br>A2<br>GND Rexternal 270 Ω B1 M<br>Driver & B2<br>DIR Controller<br>GND Rexternal 270 Ω<br>EN<br>GND Rexternal 270 Ω<br>CHOP<br>GND<br>GND<br>**----- End of picture text -----**<br>


_Figure 10: Inputs with common anode input with >5V to 24V_ 

The series resistors in the TMCM-1070 are 270mOhms. For operation with voltages higher than 5V an additional external resistor _Rexternal_ is required per input to limit the current. See Table 7 as reference for additional external resistor values. 

|COMM Voltage (V)|Value of_Rexternal_ (Ω)|
|---|---|
|3.3|-|
|5|-|
|9|300|
|12|500|
|15|700|
|24|1K5|



_Table 7: Additional resistor reference values_ 

## _**Note**_ 

## _Rexternal_ **Selection** 

Take care when selecting an additional external resistor. The resistor type must This depends on the voltage used at COMM input. have a fitting power rating. 

## **5.3 Optically Isolated Inputs with Common Cathode Input** 

The optocouplers inside TMCM-1070 are bidirectional types (AC/DC). Thus, COMM can also be used as common cathode connection with high-side (pnp style) switches instead of low side (npn style) as shown 10, 9 or 8. in previous figures 

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## **5.4 Thermal Behavior** 

rms / 1.7A peak, which is the maximum motor phase current specified for the stepper motor options given in Table **??** . 

Typically, at this nominal current setting the stepper motor and the driver electronics will get hot. Continuwill switch off due to its internal over-temperature protection until temperature falls below the threshold.ous operation at maximum current is not guaranteed without cooling the motor since the stepper driver 

_**Note**_ **Operation with Maximum Current Setting** For table-top testing and application bring-up the current should be reduced or the coolStep feature should be Especially, when there is no configured to keep heating on a reasonable level. other cooling option for the motor. 

For proper and continuous operation at maximum current, the motor must be mounted to the applications mechanical interface with good contact. 

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## **6 Operational Ratings and Characteristics** 

## **6.1 Absolute Maximum Ratings** 

|Parameter|Min|Max|Unit|
|---|---|---|---|
|Supply voltage|+9|+28|V|
|Working temperature|-30|+40|° C|
|Motor coil current / sine wave**peak**||1.7|A|
|Continuous motor current (**RMS**)||1.0|A|



## _**NOTICE**_ 

**Never Exceed the absolute maximum ratings!** Stresses above those listed under "‘Absolute Maximum Ratings"’ may cause permanent damage to the device. This is a stress rating only and functional operation of the device at those or any other conditions above those indicated in the operation listings of this Exposure to maximum rating conditions for extended specification is not implied. periods may affect device reliability. 

Keep the power supply voltage below the upper limit of +28V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. 

## **6.2 Electrical Characteristics (Ambient Temperature 25° C)** 

|Parameter|Symbol|Min|Typ|Max|Unit|
|---|---|---|---|---|---|
|Supply voltage|_V DD_|9|24|26|V|
|Motor coil current / sine wave**peak**(chopper regu-<br>lated, adjustable via TTL UART interface)|_ICOILpeak_|0||1.7|A|
|Continuous motor current (**RMS**)|_ICOILRMS_|0||1.2|A|
|Power supply current|_IDD_||_≪ICOIL_|1.4_∗ICOIL_|A|



_Table 9: Electrical Characteristics_ 

## **6.3 I/O Ratings (Ambient Temperature 25° C)** 

|Parameter|Symbol|Min|Typ|Max|Unit|
|---|---|---|---|---|---|
|COMM input voltage|_VCOMM_|3.3|5|6|V|
|Input frequency of optically isolated I/Os|_fin_|||45|kHz|
|TTL UART input voltage|_VT T L_IN_||5|5.5|V|
|TTL UART low level voltage|_VT LLL_|0||1.75|V|



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|TTL UART high level voltage|_VT T LH_|3.25||5|V|
|---|---|---|---|---|---|
|TTL UART output voltage|_VT T L_OUT_||5||V|



_Table 10: Operational ratings of optically isolated inputs and TTL UART interface_ 

## **6.4 Functional Characteristics** 

|Parameter|Description / Value|
|---|---|
|Control|4-wire interface with Step, Direction, Enable, and Chopper Mode Switch|
|Step Pulse Width|The step pulse width should be between 2µs and 4µs for maximum frequency.<br>With a larger step pulse width, for example 50% duty cycle coming from a<br>frequency generator, the maximum input frequency will be lower at ca. 9kHz.<br>|
|Communication|2-wire TTL UART interface for confguration, 9600-115200 bps (default 9600 bps)|
|Driving Mode|spreadCycle and stealthChop chopper modes (selectable with CHOP input),<br>adaptive automatic current reduction using stallGuard2 and coolStep|
|Stepping Resolution|Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step, default is 1/16 with internal<br>interpolation to 1/256|



_Table 11: Functional Characteristics_ 

## **6.5 Other Requirements** 

|||
|---|---|
|Specifcations|Description or Value|
|Cooling|Free air|
|Working environment|Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting|
|Working temperature|-30° C to +40° C|



_Table 12: Other Requirements and Characteristics_ 

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## **7 Abbreviations used in this Manual** 

|Abbreviation|Description|
|---|---|
|COMM|Common Anode or common cathode|
|IDE|Integrated Development Environment|
|LED|Light Emmitting Diode|
|RMS|Root Mean Square value|
|TMCL|TRINAMIC Motion Control Language|
|TTL|Transistor Transistor Logic|
|UART|Universal Asynchronous Receiver Transmitter|
|USB|Universal Serial Bus|



_Table 13: Abbreviations used in this Manual_ 

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## **8 Figures Index** 

- 1 Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . 

- 2 spreadCycle principle . . . . . . . . . . 

- 3 stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . 

- 4 5 TMCM-1070 top view mechanical dimensions . . . . . . . . . . . . . . . . . 

- 6 TMCM-1070 top hat rail mounting clip example with module . . . . . . . . . 8 

- 4 7 TMCM-1070 connectors (pin 1 high4 lighted in red) . . . . . . . . . . . . . . 9 8 Typical application scenario with 5V inputs . . . . . . . . . . . . . . . . . . . . 12 

- 5 9 Inputs with common anode input with 

- 5 3.3V to 6V . . . . . . . . . . . . . . . . 13 10 Inputs with common anode input with 

- 7 >5V to 24V . . . . . . . . . . . . . . . . 14 

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## **9 Tables Index** 

- 1 Order codes modules . . . . . . . . . 6 2 Order codes cable loom . . . . . . . . 6 3 TMCM-1070 length and weight . . . . 7 4 Motor connector pinning . . . . . . . 9 5 I/O connector pinning . . . . . . . . . 10 6 LED state description . . . . . . . . . . 11 7 Additional resistor reference values . 14 9 Electrical Characteristics . . . . . . . . 16 

- 10 Operational ratings of optically isolated inputs and TTL UART interface . 17 

- 11 Functional Characteristics . . . . . . . 17 12 Other Requirements and Characteristics 17 13 Abbreviations used in this Manual . . 18 14 Hardware Revision . . . . . . . . . . . 23 15 Document Revision . . . . . . . . . . . 23 

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## **10 Supplemental Directives** 

## **10.1 Producer Information** 

## **10.2 Copyright** 

TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2017 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 product-related documentation. 

## **10.3 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. 

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 All /symbol is also entered when the product or feature name occurs for the first time in the document. trademarks and brand names used are property of their respective owners. 

## **10.4 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. 

## **10.5 Disclaimer: Life Support Systems** 

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

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. 

## **10.6 Disclaimer: Intended Use** 

sentations or warranties, either express or implied, of merchantability, fitness for a particular purposeNo repre- 

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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 wherethe 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 environ-ments 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. 

## **10.7 Collateral Documents & Tools** 

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

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## **11 Revision History** 

## **11.1 Hardware Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|09.06.2016|BS|First Version.|



## _Table 14: Hardware Revision_ 

## **11.2 Document Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|26.06.2016|BS|Initial release.|
|1.10|27.10.2017|GE|Current rating, digital inputs rating and drawings updated / corrected.<br>9600bps default value for communication speed corrected.|



_Table 15: Document Revision_ 

> ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com