TMCM-1140-TMCL

**MODULE FOR** **`STEPPER MOTORS MODULE`** 

## **Hardware Version V1.3** 

## **HARDWARE MANUAL** 

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+ **TMCM-1140** 

**`1-Axis Stepper Controller / Driver 2 A / 24 V sensOstep™ Encoder USB, RS485, and CAN`** 

+ 

+ 

## **UNIQUE FEATURES:** 

## stallGuarde™ 

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany 

## **www.trinamic.com** 

TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05) 

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## **Table of Contents** 

|1|Features ........................................................................................................................................................................... 3|
|---|---|
|2|Order Codes ................................................................................................................................................................... 5|
|3|Mechanical and Electrical Interfacing ..................................................................................................................... 6|
||3.1<br>Dimensions and Mounting Holes ................................................................................................................... 6|
||3.2<br>Board mounting considerations ..................................................................................................................... 6|
||3.3<br>Connectors of TMCM-1140 ................................................................................................................................. 7|
||3.3.1<br>Power and Communication Connector ................................................................................................... 8|
||3.3.1.1<br>Power Supply .......................................................................................................................................... 8|
||3.3.1.2<br>RS485 ......................................................................................................................................................... 9|
||3.3.1.3<br>CAN ........................................................................................................................................................... 10|
||3.3.2<br>Multipurpose I/O Connector ..................................................................................................................... 11|
||3.3.2.1<br>Digital Inputs IN_1, IN_2, IN_3 ........................................................................................................ 12|
||3.3.2.2<br>Analog Input IN_0 ............................................................................................................................... 13|
||3.3.2.3<br>Outputs OUT_0, OUT_1 ........................................................................................................................ 13|
||3.3.3<br>Motor Connector .......................................................................................................................................... 14|
||3.3.4<br>Mini-USB Connector .................................................................................................................................... 15|
|4|Motor driver current .................................................................................................................................................. 16|
|5|Reset to Factory Defaults ......................................................................................................................................... 17|
|6|On-Board LEDs............................................................................................................................................................. 18|
|7|Operational Ratings ................................................................................................................................................... 19|
|8|Functional Description .............................................................................................................................................. 21|
|9|TMCM-1140 Operational Description ..................................................................................................................... 22|
||9.1<br>Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 22|
|10 Life Support Policy ..................................................................................................................................................... 24||
|11 Revision History .......................................................................................................................................................... 25||
||11.1<br>Document Revision ........................................................................................................................................... 25|
||11.2<br>Hardware Revision ............................................................................................................................................ 25|
|12 References .................................................................................................................................................................... 26||



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## **1 Features** 

The TMCM-1140 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 NEMA 17 (42mm flange size) stepper motors and has been designed for coil currents up to 2 A RMS and 24 V DC supply voltage. With its high energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The TMCL™ firmware allows for both, standalone operation and direct mode. 

## **MAIN CHARACTERISTICS** 

## **Motion controller** 

- 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 

## **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 (1024 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning supervision 

## **Interfaces** 

- RS485 2-wire communication interface 

- CAN 2.0B communication interface 

- USB full speed (12Mbit/s) device interface 

- 4 multipurpose inputs: 

   - 3x general-purpose digital inputs (Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input) 

   - - 1x dedicated analog input 

- 2 general purpose outputs 

   - 1x open-drain 1A max. 

   - 1x +5V supply output (can be switched on/off in software) 

## **Software** 

- TMCL: standalone operation or remote controlled operation, program memory (non volatile) for up to 2048 TMCL commands, and PC-based application development software TMCL-IDE available for free. 

## **Electrical and mechanical data** 

- Supply voltage: +24 V DC nominal (9… 28 V DC) 

- Motor current: up to 2 A RMS / 2.8 A peak (programmable) 

_Refer to separate TMCL Firmware Manual, too._ 

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## **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. 

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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. 

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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** 

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## **2 Order Codes** 

|**Order code**|**Description**|**Size (mm3) **|
|---|---|---|
|TMCM-1140-_option_|Single axis bipolar stepper motor controller / driver<br>electronics with integrated sensOstep encoder and<br>coolStepfeature|<br> <br>37 x 37 x 11.5|
||||



## **Table 2.1 Order codes** 

The following options are available: 

|**Firmware option**|**Description**|**Order code example:**|
|---|---|---|
|-TMCL|Modulepre-programmed with TMCL firmware|TMCM-1140-_TMCL_|
|-CANopen|Modulepre-prgrammed with CANopen firmware|TMCM-1140-_CANopen_|



## **Table 2.2 Firmware options** 

A cable loom set is available for this module: 

|**Order code**|**Description**|
|---|---|
|TMCM-1140-CABLE|Cable loom for TMCM-1140:<br>-<br>1x cable for power and communication connector (length 200mm)<br>-<br>1x cable for multipurpose In/Out connector (length 200mm)<br>-<br>1x cable for motor connector (length 200mm)<br>-<br>1x USB type A connector to mini-USB type B connector cable (length 1.5m)|
|||



## **Table 2.3 Cable loom order codes** 

Please note that the TMCM-1140 is available with NEMA17 stepper motors, too. Refer to the PD-1140 documents for more information about these products. 

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## **3 Mechanical and Electrical Interfacing** 

## **3.1 Dimensions and Mounting Holes** 

The dimensions of the controller/driver board are approx. 37 mm x 37 mm x 11.5 mm in order to fit on the back of a 42 mm stepper motor. Maximum component height (height above PCB level) without mating connectors is around 8mm above PCB level and 2 mm below PCB level. There are two mounting holes for M3 screws for mounting to a NEMA17 stepper motor. 

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37<br>34<br>3<br>2xM3<br>37<br>3<br>34<br>**----- End of picture text -----**<br>


**Figure 3.1 Dimensions of TMCM-1140 and position of mounting holes** 

## **3.2 Board mounting considerations** 

The TMCM-1140 offers two metal plated mounting holes. Both mounting holes are connected to system and signal ground (same as power supply ground). 

In order to minimize distortion of signals and radiation of HF signals (improve EMC compatibility) especially in sensitive / noisy environments it is important to ensure a solid ground connection within the system. In order to support this, it is recommended to connect both mounting holes of the board in addition to the supply ground connection to system power supply ground. 

Nevertheless, this might not always be an option e.g. in case the metal system chassis / TMCM-1140 mounting plate is already connected to earth and a direct connection between supply ground (secondary side) and mains supply earth (primary side) is not desired / not an option. In this case plastic (e.g. made of nylon) spacers / distance bolts and screws should be used. 

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## **3.3 Connectors of TMCM-1140** 

The controller/driver board of the TMCM-1140 offers four connectors including the motor connector which is used for attaching the motor coils to the electronics. The power and communication connector is used for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface. 

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Multi-purpose<br>I/O<br>So.<br>a5fe aI ee) 8 1 x40<br>6<br>Power and<br>Communication USB<br>| Pe EP sisi Sy<br>1<br>= i<br>ee E. ea e DT fea)vis sy DO~<br>DO) ey ey el j<br>§  \ 4 1 - TRINAMIC k e.<br>Motor<br>**----- End of picture text -----**<br>


**Figure 3.2 Overview connectors** 

|**Label**|**Connector type**|**Mating connector type**|
|---|---|---|
|Power and<br>Communication<br>Connector|CI0106P1VK0-LF<br>CVIlux CI01 series, 6 pins, 2mm pitch|Connector housing CVIlux: CI01065000-A<br>Contacts CVIlux: CI01T011PE0-A<br>_or_<br>Connector housing JST: PHR-6<br>Contacts JST: SPH-002T-P0.5S<br>Wire: 0.22mm2|
|Multipurpose<br>I/O Connector|CI0108P1VK0-LF<br>CVIlux CI01 series, 8 pins, 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<br>Connector|CI0104P1VK0-LF<br>CVIlux CI01 series, 4 pins, 2mm 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|
|Mini-USB<br>Connector|Molex 500075-1517<br>Mini USB Type B vertical receptacle|Any standard mini-USB plug|



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

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## **3.3.1 Power and Communication Connector** 

A 6pin CVIlux CI0106P1VK0-LF 2mm pitch single row connector is used for power supply, RS485 and CAN serial communication. Please note the additional power supply information in chapter 3.3.1.1. 

_Note: CAN interface will be de-activated in case USB is connected due to internal sharing of hardware resources._ ~~PO~~ **Pin Label Direction Description** 1 GND Power (GND) System and signal ground 1 6 2 VDD Power (Supply) VDD (+9V…+28V) 3 RS485+ Bidirectional RS485 interface, diff. signal (non-inverting) 4 RS485Bidirectional RS485 interface, diff. signal (inverting) 5 CAN_H Bidirectional CAN interface, diff. signal (non-inverting) ~~=~~ 6 CAN_L Bidirectional CAN interface, diff. signal (inverting) **Table 3.2 Connector for power supply and interfaces** 

## **3.3.1.1 Power Supply** 

For proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the TMCM-1140 includes about 40µF/35V of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. The module includes a 28V suppressor diode for over-voltage protection. 

## **CAUTION!** 

_**Add external power supply capacitors!**_ 

It is recommended to connect an electrolytic capacitor of significant size (e.g. at least 470µF/35V) to the power supply lines next to the TMCM-1140! 

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 slewrate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors may cause stability problems with some switching power supplies. 

_**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 power supply before connecting / disconnecting the motor. _**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 ~~oo~~ recommended. 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. ~~Oo~~ 

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## **3.3.1.2 RS485** 

For remote control and communication with a host system the TMCM-1140 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. 

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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 3.3: 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-1140 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 standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceivers used on the TMCM-1140 units (hardware V1.2: SN65HVD3082ED, since hardware V1.3: 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-1140 hardware V1.2 is 115200 bit/s and 1Mbit/s since hardware V1.3. Factory default is 9600 bit/s. _Please see separate TMCM1140 TMCL firmware manual for information regarding other possible communication speeds below the upper limit in hardware._ 

## 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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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 3.4: Bus lines with resistor (Bias) network on one side, only** 

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

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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 3.5: Bus lines with resistor (Bias) network at both ends** 

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). 

## **3.3.1.3 CAN** 

For remote control and communication with a host system the TMCM-1140 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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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>CAN keep distance as<br>short as possible<br>**----- End of picture text -----**<br>


**Figure 3.6 CAN bus structure** 

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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-1140 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 bus transceiver used on the TMCM-1140 units (TJA1050T) 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). 

## **3.3.2 Multipurpose I/O Connector** 

An 8pin CVIlux CI0108P1VK0-LF 2mm pitch single row connector is available for all multipurpose inputs and outputs. 

|8<br>1|**Pin**|**Label**|**Direction**|**Description**|
|---|---|---|---|---|
||1|GND|Power(GND)|System and signalground|
||2|VDD|Power (Supply)|VDD, connected to VDD pin of the power and<br>communication connector|
||3|OUT_0|Output|Open-drain output (max. 1A)<br>Integrated freewheelingdiode to VDD|
||4|OUT_1|Output|+5V supply output (max. 100mA)<br>Can be switched on/off in software|
||5|IN_0|Input|Dedicated analog input,<br>Input voltage range: 0..+10V<br>Resolution: 12bit(0..4095)|
||6|IN_1,<br>STOP_L,<br>ENC_A|Input|Generalpurpose digital input (+24V compatible)|
|||||Alternate function 1: left stopswitch input|
|||||Alternate<br>function<br>2:<br>external<br>incremental<br>encoder channel A input|
||7|IN_2,<br>STOP_R,<br>ENC_B|Input|Generalpurpose digital input(+24V compatible)|
|||||Alternate function 1: right stopswitch input|
|||||Alternate<br>function<br>2:<br>external<br>incremental<br>encoder channel B input|
||8<br>~~|~~|IN_3,<br>HOME,<br>ENC_N<br>||Input<br>~~-———~~|Generalpurpose digital input (+24V compatible)<br>~~-———~~|
|||||Alternate function 1: home switch input<br>~~-———~~|
|||||Alternate<br>function<br>2:<br>external<br>incremental<br>encoder index / zero channel input<br>~~-———~~|



**Table 3.3 Multipurpose I/O connector** 

_Note_ : 

- All inputs have resistor based voltage input dividers with protection diodes. These resistors also ensure a valid GND level when left unconnected. 

- For all digital inputs (IN_1, IN_2, IN_3) a 2k2 pull-up resistor to +5V can be activated (default setting with all more recent TMCL firmware versions). Then these inputs have a default (unconnected) logic level of 1 and an external switch to GND can be connected. This might be especially interesting in case these inputs are used as STOP_L / STOP_R and HOME switch inputs (alternate function 1) or as encoder input for an external incremental A/B/N encoder with opencollector outputs (pull-ups are not necessary for encoder with push-pull outputs). 

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## **3.3.2.1 Digital Inputs IN_1, IN_2, IN_3** 

The eight pin connector of the TMCM-1140 provides three multipurpose digital inputs IN_1, IN_2 and IN_3. All three inputs accept up to +24V (nom.) input signals and offer the same input circuit with voltage resistor dividers, limiting diodes against over- and under-voltage and programmable 2k2 pull-up resistors. The pull-ups can be switched on or off for all three inputs at once in software. 

_With TMCL firmware command_ _`SIO 0, 0,`_ _**`0`** will switch-off the pull-ups and command_ _`SIO 0, 0,`_ _**`1`** will switch them on (see separate TMCL firmware manual, command SIO for more detailed information)._ 

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common switch for all<br>three digital inputs<br>(programmable in software) +5V<br>2k2<br>IN_1, +3.3V<br>IN_2,<br>IN_3<br>15k<br>microcontroller (all)<br>and TMC429 (STOP_L,<br>STOP_R)<br>22k<br>33pF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.7 General purpose inputs (simplified input circuit)** 

The three digital inputs have alternate functionality depending on configuration in software. The following functions are available: 

|**Label**<br>**(pin)**|**Default function**|**Alternate function 1**|**Alternate function 2**|
|---|---|---|---|
|||||
|IN_1<br>(6)|General purpose digital input<br>_TMCL:__`GIO 1, 0`  // get digital_<br>_value of input IN_1_|STOP_L - left stop switch input,<br>connected to processor and TMC429<br>REF input (supporting left stop<br>functionality in hardware)<br>_TMCL: GAP 11, 0// get digital value_<br>_of STOP_L input_|ENC_A<br>-<br>external<br>incremental<br>encoder<br>input<br>channel<br>A,<br>connected to processor<br>encoder counter input|
|||||
|IN_2<br>(7)|General purpose digital input<br>_TMCL:__`GIO 2, 0` // get digital_<br>_value of input IN_2_|STOP_R - right stop switch input,<br>connected to processor and TMC429<br>REF input (supporting right stop<br>switch functionality in hardware)<br>_TMCL: GAP 10, 0// get digital value_<br>_of STOP_R input_|ENC_B<br>-<br>external<br>incremental<br>encoder<br>input<br>channel<br>B,<br>connected to processor<br>encoder counter input|
|||||
|IN_3<br>(8)|General purpose digital input<br>_TMCL:__`GIO 3, 0` // get digital_<br>_value of input IN_3_|HOME - home switch input,<br>connected to processor<br>_TMCL: GAP 9, 0// get digital value_<br>_of HOME input_|ENC_N<br>-<br>external<br>incremental<br>encoder<br>input<br>index<br>/<br>zero<br>channel, connected to<br>processor interrupt input|
|||||



**Table 3.4 Multipurpose inputs / alternate functions** 

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- All three digital inputs are connected to the on-board processor and can be used as general purpose digital inputs (default). 

- In order to use IN_1 and IN_2 as STOP_L and STOP_R inputs, this function has to be enabled explicitly in software (factory default: switched off). With TMCL firmware the stop switch functionality can be enabled using `SAP 12, 0, 0` (STOP_R / right limit switch) and `SAP 13, 0, 0` (STOP_L / left limit switch). As the names already indicate: the status of the left limit switch (STOP_L) will be significant during motor left turns and the status of the right limit switch during motor right turns (positive direction), only. Reading out input values using the GAP commands as listed in the table above is possible at any time. Please see separate TMCL firmware manual for additional information. 

- External encoder: an external incremental A/B/N encoder can be connected to the TMCM-1140 and used in addition or as an alternative to the internal sensOstep™ encoder. Using TMCL the encoder counter value for this second encoder can be read out via TMCL command `GAP 216, 0` (see separate TMCL firmware manual for more details). Factory default scaling of the encoder counter is 1:1 - that is, after one encoder rotation the encoder counter will be incremented / decremented by the number of encoder ticks (encoder lines x 4). When using an external encoder connect encoder channel A to IN_1, channel B to IN_2, the N or zero channel to IN_3 (optional), encoder ground to module supply ground (e.g. Pin 1 of the Multipurpose I/O connector) and the +5V supply input of the encoder to OUT_1 (all on the Multipurpose I/O connector). Please note that in order to supply the encoder with +5V the output OUT_1 has to be activated first using `SIO 1, 2, 1` (see also chapter 3.3.2.3). 

## **3.3.2.2 Analog Input IN_0** 

The eight pin connector of the TMCM-1140 provides one dedicated analog input IN_0. This dedicated analog input offers a full scale input range of approx. 0… +10 V (0..+10.56V nom.) with a resolution of the internal analog-to-digital converter of the microcontroller of 12bit (0… 4095). 

The input is protected against higher voltages up to +24 V using voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below). 

**==> picture [295 x 132] intentionally omitted <==**

**----- Start of picture text -----**<br>
+3.3V<br>IN_0<br>22k<br>ADC input<br>(microcontroller)<br>10k<br>100nF<br>GND GND GND<br>**----- End of picture text -----**<br>


**Figure 3.8 General purpose inputs (simplified input circuit)** 

_With TMCL firmware the analog value of this input may be read using command_ _`GIO 0, 1` . The command will return the raw value of the 12bit analog-to-digital converter between 0 .. 4095. It is also possible to read the digital value of this input using TMCL command_ _`GIO 0, 0` . The trip point (between 0 and 1) will be at approx. +5V input voltage (half the analog input range)._ 

## **3.3.2.3 Outputs OUT_0, OUT_1** 

The eight pin connector of the TMCM-1140 offers two general purpose outputs OUT_0 and OUT_1. OUT_0 is an open-drain output capable of switching (sinking) up to 1A. The output of the N-channel MOSFET transistors is connected to a freewheeling diode for protection against voltage spikes especially from inductive loads (relais etc.) above supply voltage (see figure below). 

OUT_0 should not be connected to any voltage above supply voltage of the module due to the internal freewheeling diode. 

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**==> picture [169 x 100] intentionally omitted <==**

**----- Start of picture text -----**<br>
VDD<br>microcontroller<br>GND<br>**----- End of picture text -----**<br>


**Figure 3.9 General purpose output OUT_0 (simplified circuit)** 

_With TMCL firmware OUT_0 can be switched_ _**on** (OUT_0 pulled low) using command_ _`SIO 0, 2,`_ _**`1`** and off again (OUT_0 floating) using command_ _`SIO 0, 2,`_ _**`0`** (this is also the factory default setting of this output). In case a floating output is not desired in the application an external resistor to e.g. supply voltage may be added._ 

**==> picture [473 x 180] intentionally omitted <==**

**----- Start of picture text -----**<br>
In contrast OUT_1 is able to supply +5V (sourcing 100mA max.) to an external load. An integrated P-<br>channel MOSFET allows switching on / off this +5V supply in software (see figure below). This output<br>might be used in order to supply +5V to an external encoder circuit. Please note that the +5V supply has<br>to be activated explicitly in software.<br>+5V<br>microcontroller<br>OUT_0<br>100pF 10k<br>=<br>GND GND<br>**----- End of picture text -----**<br>


**Figure 3.10 General purpose output OUT_1 (simplified circuit)** 

_With TMCL firmware OUT_1 can be switched_ _**on** (supply +5V to external circuit) using command_ _`SIO 1, 2,`_ _**`1`** and_ _**off** (output pulled low via 10k pull-down resistor) using command_ _`SIO 1, 2,`_ _**`0`** (this is also the factory default setting of this output)_ _`.`_ 

## **3.3.3 Motor Connector** 

As motor connector a 4pin CVIlux CI0104P1VK0-LF 2mm pitch single row connector is available. The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics. 

**Pin Label Direction Description** 1 4 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 3.5 Motor connector** _Example for connecting the QSH4218 NEMA 17 / 42mm stepper motors:_ **TMCM-1140 QS4218 Motor** ~~————~~ 

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**==> picture [473 x 228] intentionally omitted <==**

**----- Start of picture text -----**<br>
TMCM-1140 V1.3 Hardware Manual (Rev. 1.04 / 2015-JAN-05)    15<br>Motor connector pin  Cable color  Coil  Description  green<br>1  Red  B  Motor coil B pin 1  A M<br>2  Blue  B-  Motor coil B pin 2<br>3  Green  A-  Motor coil A pin 2  black<br>4  Black  A  Motor coil A pin 1<br>ae<br>3.3.4 Mini-USB Connector<br>A 5pin mini-USB connector is available on-board for serial communication (as alternative to the CAN and<br>RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.<br>B<br>blue red<br>**----- End of picture text -----**<br>


CAN interface will be de-activated as soon as USB is connected due to internal sharing of hardware resources. ~~a~~ **Pin Label Direction** ~~||~~ **Description** VBUS Power +5V supply from host 1 (supply input) ~~ee~~ 2 D- Bidirectional USB Data – 5 1 3 D+ Bidirectional USB Data + 4 ID Power (GND) Connected to signal and system ground ~~——~~ 5 GND Power (GND) Connected to signal and system ground **Table 3.6 Connector for USB** For remote control and communication with a host system the TMCM-1140 provides a USB 2.0 full-speed (12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept commands via USB. 

## **USB BUS POWERED OPERATION MODE** 

The TMCM-1140 supports both, USB self powered operation (when an external power is supplied via the power supply connector) and USB bus powered operation, (no external power supply via power supply connector). 

On-board digital core logic will be powered via USB in case no other supply is connected (USB bus powered operation). The digital core logic includes the microcontroller itself and also the EEPROM. The _USB bus powered operation mode_ has been implemented to enable configuration, parameter settings, read-outs, firmware updates, etc. by just connecting an USB cable between module and host PC. No additional cabling or external devices (e.g. power supply) are required. 

Please note that the module might draw current from the USB +5V bus supply even in USB self powered operation depending on the voltage level of this supply. 

Motor movements are not possible in this mode. Therefore, always connect a power supply to the _Power and Communication Connector_ for motor movements. ~~Se~~ 

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## **4 Motor driver current** 

The on-board stepper motor driver operates current controlled. The driver current may be programmed in software for motor coil currents up-to 2A RMS with 32 effective scaling steps in hardware (CS in table below). 

_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-1140 firmware manual for further information) 

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

|**Motor current**<br>**setting in**<br>**software(TMCL)**|**Current**<br>**scaling step**<br>**(CS)**|**Motor**<br>**current**<br>**ICOIL_PEAK[A]**|**Motor**<br>**current**<br>**ICOIL_RMS[A]**|
|---|---|---|---|
|0..7|0|<br>0.092|<br>0.065|
|8..15|1|0.184|0.130|
|16..23|2|0.276|0.195|
|24..31|3|0.368|0.260|
|32..39|4|0.460|0.326|
|40..47|5|0.552|0.391|
|48..55|6|0.645|0.456|
|56..63|7|0.737|0.521|
|64..71|8|0.829|0.586|
|72..79|9|0.921|0.651|
|80..87|10|1.013|0.716|
|88..95|11|1.105|0.781|
|96..103|12|1.197|0.846|
|104..111|13|1.289|0.912|
|112..119|14|1.381|0.977|
|120..127|15|1.473|1.042|
|128..135|16|1.565|1.107|
|136..143|17|1.657|1.172|
|144..151|18|1.749|1.237|
|152..159|19|1.842|1.302|
|160..167|20|1.934|1.367|
|168..175|21|2.026|1.432|
|176..183|22|2.118|1.497|
|184..191|23|2.210|1.563|
|192..199|24|2.302|1.628|
|200..207|25|2.394|1.693|
|208..215|26|2.486|1.758|
|216..223|27|2.578|1.823|
|224..231|28|2.670|1.888|
|232..239|29|2.762|1.953|
|240..247|30|2.854|2.018|
|248..255|31|2.946|2.083|



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In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see TMCM-1140 firmware manual). 

## **5 Reset to Factory Defaults** 

It is possible to reset the TMCM-1140 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. 

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 

**==> picture [96 x 10] intentionally omitted <==**

**----- Start of picture text -----**<br>
Short these two pads<br>**----- End of picture text -----**<br>


**Figure 5.1 Reset to factory default settings** 

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## **6 On-Board LEDs** 

The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation and the red LED should be off. 

When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on. 

## **BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE** 

|**Status**|**Label**|**Description**|
|---|---|---|
|Heartbeat|Run|This green LED flashes slowly during operation.|
|Error|Error|This red LED lights up if an error occurs.|



## Green LED 

## Red LED 

**Figure 6.1 On-board LEDs** 

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## **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 supplyvoltage for operation|9|12…  24|28|V|
|ICOIL_peak|Motor coil current for sine wave**peak**<br>(chopper regulated, adjustable via software)|0||2.8|A|
|||||||
|ICOIL_RMS|Continuous motor current (**RMS**)|0||2.0|A|
|IDD|Power supplycurrent||<< ICOIL|1.4 * ICOIL|A|
|TENV|Environment temperature at rated current (no<br>forced coolingrequired)|-30||+50|°C|
|||||||
|TENV_1A|Environment temperature at**1A** **RMS**motor<br>current / half max. current (no forced cooling<br>required)|-30||+70|°C|
|||||||



**Table 7.1 General operational ratings of module** 

## **OPERATIONAL RATINGS OF MULTIPURPOSE I/OS** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|VOUT_0|Voltage at open drain output OUT_0|0||+VDD|V|
|IOUT_0|Output sink current of open drain output<br>OUT_0|||1|A|
|||||||
|VOUT_1|Voltage at output OUT_1 (when switched on)||+5||V|
|IOUT_1|Output source current for OUT_1|||100|mA|
|VIN_1/2/3|Input voltage for IN_1, IN_2, IN_3 (digital<br>inputs)|0||+VDD|V|
|||||||
|VIN_L 1/2/3|Low level voltage for IN_1, IN_2 and IN_3|0||1.1|V|
|VIN_H 1/2/3|High level voltage for IN_1, IN_2 and IN_3|3.4||+VDD|V|
|VIN_0|Measurement range for analoginput IN_0|0||+10*)|V|



## **Table 7.2 Operational ratings of multipurpose I/Os** 

_*) approx. 0…+10.56V at the analog input IN_0 is translated to 0..4095 (12bit ADC, raw values). Above approx. +10.56V the analog input will saturate but, not being damaged (up-to VDD)._ 

## **OPERATIONAL RATINGS OF RS485 INTERFACE** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|NRS485|Number of nodes connected to single RS485<br>network|||256||
|||||||
|fRS485|Maximum bit rate supported on RS485<br>connection||9600|115200<br>1000000*)|bit/s|
|||||||



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

_*) hardware revision V1.2: max. 115200 bit/s, hardware revision V1.3: max. 1Mbit/s_ 

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## **OPERATIONAL RATINGS OF CAN INTERFACE** 

|**Symbol**|**Parameter**|**Min**|**Typ**|**Max**|**Unit**|
|---|---|---|---|---|---|
|NCAN|Number of nodes connected to single RS485<br>network|||> 110||
|||||||
|fCAN|Maximum bit rate supported on CAN<br>connection||1000|1000|kbit/s|
|||||||



## **Table 7.4 Operational ratings of the CAN interface** 

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## **8 Functional Description** 

The TMCM-1140 is a highly integrated controller/driver module which can be controlled via several serial interfaces. 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 any of the serial interfaces. 

In Figure 8.1 the main parts of the TMCM-1140 are shown: 

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

- - the motion controller, which calculates ramps and speed profiles internally by hardware, 

- the power driver with stallGuard2 and its energy efficient coolStep feature, 

- the MOSFET driver stage, and 

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

**==> picture [459 x 239] intentionally omitted <==**

**----- Start of picture text -----**<br>
TMCL™<br>Memory TMCM-1140<br>SPI<br>SPI<br>USB<br>Power<br>Step<br>RS485 Energy Efficient Driver MOSFET<br>SPI S/D DriverTMC262 Drive r<br>CAN µC TMC262 with<br>TMC429 Stage<br>5  coolStep™<br>I/Os Motion Motor<br>Controller<br>OUT_0<br>S/D<br>Stop<br>switches<br>+5V<br>+5V<br>9… 28V DC SPI sensOstep™<br>DC/DC Encoder<br>**----- End of picture text -----**<br>


**Figure 8.1 Main parts of the TMCM-1140** 

The TMCM-1140 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCM). 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-1140 Firmware Manual for more information about TMCL commands._ 

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## **9 TMCM-1140 Operational Description** 

## **9.1 Calculation: Velocity and Acceleration vs. Microstep and** 

## **Fullstep Frequency** 

The values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC429 parameters as shown in this section. 

## **PARAMETERS OF TMC429** 

|**Signal**|**Description**|**Range **|
|---|---|---|
|fCLK|clock-frequency|16 MHz|
|velocity|-|0… 2047|
|a_max|maximum acceleration|0… 2047|
||divider for the velocity. The higher the value is, the less is<br>the maximum velocity<br>default value = 0|<br>0… 13|
|pulse_div|||
||||
||divider for the acceleration. The higher the value is, the<br>less is the maximum acceleration<br>default value = 0|<br>0… 13|
|ramp_div|||
||||
|Usrs|microstep-resolution(microstepsper fullstep= 2usrs)|0… 8|



## **Table 9.1 TMC429 velocity parameters** 

## **MICROSTEP FREQUENCY** 

The microstep frequency of the stepper motor is calculated with 

_usf_ [ _Hz_ ]  2 _fpulseCLK_ [ Hzdiv_ ]  2048 _velocit_  32 _y_ with usf: microstep-frequency 

## **FULLSTEP FREQUENCY** 

To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided by the number of microsteps per fullstep. 

_fsf_ [ _Hz_ ]  _us_ 2 _fusrs_ [ _Hz_ ] with fsf: fullstep-frequency 

The change in the pulse rate per time unit (pulse frequency change per second – the _**acceleration a** )_ is given by 

_a_  _f CLK_ 2  _a_ max 2 _pulse_  div_  _ramp_  div_  29 

This results in acceleration in fullsteps of: 

_a_  _af_ 2 _usrs_ with af: acceleration in fullsteps 

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## **EXAMPLE** 

|**Signal**|**value**|
|---|---|
|f_CLK|16 MHz|
|velocity|1000|
|a_max|1000|
|pulse_div|1|
|ramp_div|1|
|usrs|6|



16 _MHz_  1000 _msf_  21  2048  32  122070.31 _Hz_ 

122070.31 _fsf_ [ _Hz_ ]  26  1907.34 _Hz_ 

**==> picture [141 x 85] intentionally omitted <==**

## **CALCULATION OF THE NUMBER OF ROTATIONS** 

A stepper motor has e.g. 72 fullsteps per rotation. 

_RPS_  _fsf_  1907.34  26.49 _fullsteps per rotation_ 72 _RPM_  _fsf_  60  1907.34  60  1589.46 _fullsteps per rotation_ 72 

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## **10 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 – 2015 

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. 

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## **11 Revision History** 

## **11.1 Document Revision** 

|**Version**|**Date**|**Author**|**Description**|
|---|---|---|---|
|0.90|2011-DEC-22|GE|Initial version|
|0.91|2012-MAY-02|GE|Updated for TMCM-1140_V11pcb version|
||2012-JUN-12|SD|First complete version including new chapters about:<br>-<br>reset to factory defaults, and<br>-<br>LEDs|
|1.00||||
|||||
|1.01|2012-JUL-30|SD|Internal circuit of inputs corrected.|
||2013-MAR-26|SD|Names of inputs changed:<br>~~AIN~~<br>~~_0~~<br> IN_0<br>~~IN_~~<br>~~0~~<br> <br>IN_1<br>~~IN_~~<br>~~1~~<br> <br>IN_2<br>~~IN_~~<br>~~2~~<br> <br>IN_3<br>Names of outputs changed:<br>~~OUT_1~~<br> = OUT_0<br>~~OUT_0~~<br> = OUT_1|
|1.02||||
|||||
||2013-JUL-23|SD|-<br>Connector types updated.<br>-<br>Chapter 3.3.1.1 updated.|
|1.03||||
|||||
||2015-JAN-05|GE|-<br>New hardware version V13 added<br>-<br>Motor driver current settings added (chapter 4)<br>-<br>Several additions|
|1.04||||
|||||



**Table 11.1 Document revision** 

## **11.2 Hardware Revision** 

|**Version**|**Date**|**Description**|
|---|---|---|
|TMCM-1040_V10*)|2011-MAR-08|Initial version|
|TMCM-1140_V11*)|2011-JUL-19|-<br>Optimization of multipurpose I/O circuits<br>-<br>Clock generation and distribution changed (16MHz<br>oscillator)|
||||
|TMCM-1140_V12**)|2012-APR-12|-<br>Further cost optimization incl. different sensor IC<br>with 10bit max. resolution|
||||
|TMCM-1140_V13**)|2013-AUG-22|-<br>Stepper motor driver MOSFETs: The MOSFETs of the<br>driver stage have been replaced. The new MOSFETs<br>offer less heat dissipation than the previous /<br>currently<br>used<br>ones.<br>Apart<br>from<br>that<br>the<br>performance and settings including driver output<br>current and output waveform are essentially the<br>same.<br>-<br>General purpose outputs OUT_0 / OUT_1: The<br>MOSFETs used for switching these outputs on / off<br>have been replaced. The new MOSFETs offer less<br>heat dissipation than the previous / currently used<br>ones. Apart from that the functionality and ratings<br>are essentially the same.<br>-<br>RS485 transceiver: the RS485 transceiver has been<br>replaced with the SN65HVD1781 transceiver offering<br>better fault protection (up-to 70V fault protection)<br>and supporting higher communication speeds (up-<br>to 1Mbit/s).<br>-<br>_Inprogress (coming soon):_Conformal coatingof|
||||



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|**Version**|**Date**|**Description**|
|---|---|---|
|||both sides of the PCB. Provides improved<br>protection against humidity and dust / swarf (e.g.<br>in case of the motor mounted versions PD42-x-1140:<br>tiny metal parts on the PCB attracted by the<br>encoder magnet might lead to malfunction of the<br>unprotected device).|



## **Table 11.2 Hardware revision** 

## _*): V10, V11: prototypes only._ 

_**) V12: series product version. Is replaced with V13 series product version due to EOL (end-of-life) of MOSFETs. Please see “PCN_1014_08_29_TMCM-1140.pdf” on our Web-site, also_ 

## **12 References** 

[TMCM-1140 TMCL] TMCM-1140 TMCL Firmware Manual [TMC262] TMC262 Datasheet [TMC429] TMC429 Datasheet [TMCL-IDE] TMCL-IDE User Manual 

Please refer to www.trinamic.com. 

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