TMCM-1231-TMCL

**MODULE** 

**Module for Stepper** 

## TMCM-1231 Hardware Manual 

Hardware Version V1.1 | Document Revision V1.01 • 2020-NOV-03 

**The TMCM-1231 is a single axis controller/driver module for 2-phase bipolar stepper motors. The module can either be used with TMCL firmware supporting standalone operation as well as direct mode control using TMCL™commands or with CANopen firmware supporting control using the CANopen® protocol. Both firmware versions make extensive use of the Trinamic TMC4361 motion controller and TMC5160 motor driver. Dynamic current control, and quiet, smooth and efficient operation are combined with StealthChop™, DcStep™, StallGuard2™and CoolStep™features.** 

Features 

- Single axis controller/driver for 2-phase bipolar stepper motor 

- Trapezoid, SixPoint™and S-shaped ramps 

- +10...48V DC motor supply voltage 

- Up to 6.5A RMS motor current 

- RS485 and CAN interface 

- Single-ended ABN encoder interface 

- Step/direction inputs 

- Stop switch and home switch inputs 

- General purpose inputs and outputs 

Applications 

- Laboratory Automation 

- Manufacturing 

- Semiconductor Handling 

- Robotics • Life Science 

- Factory Automation • Biotechnology 

- Test & Measurement • Liquid Handling 

## Simplified Block Diagram 

**==> picture [381 x 177] intentionally omitted <==**

**----- Start of picture text -----**<br>
Step/Dir >}<br>Inputs P| REFL/REFR/<br>HOME<br>TMCL™<br>Memory<br>SPI<br>Stepper<br>RS485GPIO : MicrocontrollerCortex M0+™ARM SPI Energy Efficient(TMC4361)ContStepperMotorDriTMC262roller ver Energy EfficientTMC5160StepperDriverMotorDriverTMC262 ©)<br>CAN a Motor<br>Ss<br>10...30V DC<br>TMCM-1231 ENCODER<br>A/B/N<br>E<br>**----- End of picture text -----**<br>


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Read entire documentation. 

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## **Contents** 

|**1**|**Features**||**3**|
|---|---|---|---|
|**2**|**Order Codes**||**5**|
|**3**|**Mechanical and Electrical Interfacing**||**6**|
||3.1<br>Size of the board<br>. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|6|
|**4**|**Connectors**||**7**|
|**5**|**Reset to Factory Defaults**||**10**|
|**6**|**I/Os**||**12**|
||6.1<br>Analog input IN0<br>. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
||6.2<br>Digital inputs IN2 and|IN3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
||6.3<br>Digital output OUT0|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
||6.4<br>HOME/STOP_L/STOP_R switch inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||12|
||6.5<br>External incremental encoder input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||12|
||6.6<br>Step/Direction inputs|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
||6.7<br>Address pins . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
|**7**|**Communication**||**14**|
||7.1<br>RS485 . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|14|
||7.2<br>CAN . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|15|
|**8**|**Functional Description**||**17**|
|**9**|**Operational Ratings and Characteristics**||**18**|
|**10 **|**Abbreviations used in this Manual**||**20**|
|**11 **|**Figures Index**||**21**|
|**12 **|**Tables Index**||**22**|
|**13 **|**Supplemental Directives**||**23**|
||13.1 Producer Information|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|23|
||13.2 Copyright . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|23|
||13.3 Trademark Designations and Symbols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||23|
||13.4 Target User<br>. . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|23|
||13.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||23|
||13.6 Disclaimer: Intended Use<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||23|
||13.7 Collateral Documents|& Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|24|
|**14 **|**Revision History**||**25**|
||14.1 Hardware Revision .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|25|
||14.2 Document Revision .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|25|



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

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## **1 Features** 

The TMCM-1231 is a single axis motor controller/driver board for 2-phase bipolar stepper motors with up to 5A RMS (7A peak) motor coil current. It supports linear ramps, SixPoint™ramps and S-shaped ramps. Incremental ABN encoders are also supported. For driver-only applications, the TMCM-1231 offers Step/Direction inputs. The TMCM-1231 is also equipped with two analog inputs (0...5V range), two digital inputs and two digital (TTL level) outputs. For communication, RS485 and CAN bus interfaces are available. With CANopen firmware CANopen protocol is supported via the CAN interface. 

## **Motion Controller** 

- Motion profile calculation in real-time. 

- On the fly alteration of motor parameters (e.g. position, velocity, acceleration). 

- Linear, SixPoint™and S-shaped ramps in hardware. 

- Encoder interface. 

- Home switch and stop switch inputs. 

## **Driver** 

- Motor current: up to 6.5A RMS (9.2A peak, programmable in software). 

- Motor supply voltage: +24V or +48V DC (+10... +52V DC). 

- Logic supply voltage: +5V DC. 

- 256 microsteps per fullstep. 

- spreadCycle™highly dynamic current control chopper. 

- stealthChop™for quiet operation and smooth motion. 

- programmable Step/Dir interface for driver-only applications with microstep interpolation . 

## **Encoder** 

- Input for ABN incremental encoder. 

- Programmable encoder scaling and support for motor stop on encoder deviation. 

## **Interfaces** 

- RS485 interface (up to 1Mbit/s). 

- CAN interface (up to 1Mbit/s). 

- Step/Dir input. 

- Left and Right stop switch inputs. 

- Two general purpose digital inputs. 

- Encoder input for incremental ABN encoder signals. 

- Two analog inputs (0...5V input range). 

- Home switch input. 

## **Mechanical data** 

- Board size: 80mm x 40/45mm, height 7mm max. 

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- 98-pin slot type connector 

## **Software** 

- TMCL™remote (direct mode) and standalone operation (memory for up to 2047 TMCL™commands), fully supported by TMCL-IDE (PC based integrated development environment). Please see TMCM1231 TMCL firmware manual for more details. 

- CANopen firmware with CANopen standard protocol stack for the CAN interface. Please see TMCM1231 CANopen firmware manual for more details. 

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## **2 Order Codes** 

The standard version of the TMCM-1231 is pre-programmed with either TRINAMIC TMCL™firmware or CANopen firmware. 

|Order Code|Description|Size|
|---|---|---|
|TMCM-1231-TMCL|1-axis bipolar stepper motor controller/driver, up-<br>to 5A RMS motor current, 24V nom. supply, ABN<br>encoder input, S/D input, stop/home switch in-<br>puts, 2 analog inputs , 2 digital inputs, 2 digital<br>outputs, CAN and RS485 interfaces|80mm x 40mm (connector: 45mm)|
|TMCM-1231-CANopen|1-axis bipolar stepper motor controller/driver, up-<br>to 5A RMS motor current, 24V nom. supply, ABN<br>encoder input, S/D input,stop/home switch in-<br>puts, 2 analog inputs , 2 digital inputs, 2 digital<br>outputs, CAN and RS485 interfaces|80mm x 40mm (connector: 45mm)|



_Table 1: TMCM-1231 Order Codes_ 

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## **3 Mechanical and Electrical Interfacing** 

## **3.1 Size of the board** 

The board has an overall size of 80mm x 40mm without the connector. Together with the slot type connector the board size is 80mm x 45mm. The thickness of the board with components is max. 7mm. There is one 5mm diameter mounting hole. 

**==> picture [364 x 186] intentionally omitted <==**

**----- Start of picture text -----**<br>
80mm<br>40mm 45mm<br>**----- End of picture text -----**<br>


_Figure 1: Board dimensions, position of mounting holes and position (pin 1) of connectors (all values in mm)_ 

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## **4 Connectors** 

The TMCM-1231 is equipped with an 98-pin slot type connector. As a mating connector on base boards an 98-pin PCIe slot can be used (but please do not try to plug the module into the PCIe slot of a PC main board). All signals of the module are routed via the slot type connector. These are the supply voltages, the CAN and RS485 interface, motor coils, encoder inputs and all other signals needed by the module. The pins located on the top side of the module PCB are labelled B1...B48 and the pins located on the bottom side of the PCB are labelled A1...A48. 

For trying out the TMCM-1231 for the first time we recommend using a Trinamic base board. But a base board can also be designed by the user. 

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

|Slot Type Connector Pin Assigment (PCB Top Side)|Slot Type Connector Pin Assigment (PCB Top Side)|Slot Type Connector Pin Assigment (PCB Top Side)|Slot Type Connector Pin Assigment (PCB Top Side)|
|---|---|---|---|
|Pin|Label|Direction|Description|
|B1|+48V|input|Motor supply voltage|
|B2|+48V|input|Motor supply voltage|
|B3|+48V|input|Motor supply voltage|
|B4|+48V|input|Motor supply voltage|
|B5|GND|—|Power and signal ground|
|B6|GND|—|Power and signal ground|
|B7|GND|—|Power and signal ground|
|B8|GND|—|Power and signal ground|
|B9|NC|—|not connected|
|B10|NC|—|not connected|
|B11|NC|—|not connected|
|B12|OA2|output|Motor coil A pin 2|
|B13|OA2|output|Motor coil A pin 2|
|B14|OA2|output|Motor coil A pin 2|
|B15|OA2|output|Motor coil A pin 2|
|B16|OA1|output|Motor coil A pin 1|
|B17|OA1|output|Motor coil A pin 1|
|B18|OA1|output|Motor coil A pin 1|
|B19|OA1|output|Motor coil A pin 1|
|B20|OB2|output|Motor coil B pin 2|



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|Pin|Label|Direction|Description|
|---|---|---|---|
|B21|OB2|output|Motor coil B pin 2|
|B22|OB2|output|Motor coil B pin 2|
|B23|OB2|output|Motor coil B pin 2|
|B24|OB1|output|Motor coil B pin 1|
|B25|OB1|output|Motor coil B pin 1|
|B26|OB1|output|Motor coil B pin 1|
|B27|OB1|output|Motor coil B pin 1|
|B28|NC||not connected|
|B29|GND|—|Power and signal ground|
|B30|NC|—|not connected|
|B31|NC|—|not connected|
|B32|NC|—|not connected|
|B33|GND|—|Power and signal ground|
|B34|SYNC|input|Synchronization signal input|
|B35|IRQ|output|Interrupt output|
|B36|ENABLE|input|Motor coil enable input|
|B37|GND|—|Power and signal ground|
|B38|IN3|input|General purpose digital input #3|
|B39|IN2|input|General puspose digital input #2|
|B40|GND|—|Power and signal ground|
|B41|NC|—|not connected #1|
|B42|OUT0|output|General purpose digital output #0|
|B43|GND|—|Power and signal ground|
|B44|RS485_A|in/out|RS485+ (non-inverted) signal|
|B45|RS485_B|in/out|RS485- (inverted) signal|
|B46|CAN_L|in/out|CAN bus low|
|B47|CAN_H|in/out|CAN bus high|
|B48|GND|—|Power and signal ground|
|B49|+5V|input|Logic supply voltage|



_Table 2: Top Side Slot Connector Pin Assignment_ 

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|Slot Type Connector Pin Assigment (PCB Bottom Side)|Slot Type Connector Pin Assigment (PCB Bottom Side)|Slot Type Connector Pin Assigment (PCB Bottom Side)|Slot Type Connector Pin Assigment (PCB Bottom Side)|
|---|---|---|---|
|Pin|Label|Direction|Description|
|A1|+48V|input|Motor supply voltage|
|A2|+48V|input|Motor supply voltage|
|A3|+48V|input|Motor supply voltage|
|A4|+48V|input|Motor supply voltage|
|A5|GND|—|Power and signal ground|
|A6|GND|—|Power and signal ground|
|A7|GND|—|Power and signal ground|
|A8|GND|—|Power and signal ground|
|A9|NC|—|Not connected|
|A10|NC|—|Not connected|
|A11|NC|—|Not connected|
|A12|OA2|output|Motor coil A pin 2|
|A13|OA2|output|Motor coil A pin 2|
|A14|OA2|output|Motor coil A pin 2|
|A15|OA2|output|Motor coil A pin 2|
|A16|OA1|output|Motor coil A pin 1|
|A17|OA1|output|Motor coil A pin 1|
|A18|OA1|output|Motor coil A pin 1|
|A19|OA1|output|Motor coil A pin 1|
|A20|OB2|output|Motor coil B pin 2|
|A21|OB2|output|Motor coil B pin 2|
|A22|OB2|output|Motor coil B pin 2|
|A23|OB2|output|Motor coil B pin 2|
|A24|OB1|output|Motor coil B pin 1|
|A25|OB1|output|Motor coil B pin 1|
|A26|OB1|output|Motor coil B pin 1|
|A27|OB1|output|Motor coil B pin 1|
|A28|NC||not connected|
|A29|GND|—|Power and signal ground|
|A30|ENC_A|input|Encoder signal A (A channel)|
|A31|ENC_B|input|Encoder signal B (B channel)|
|A32|ENC_N|input|Encoder signal N (null channel)|
|A33|GND|—|Power and signal ground|



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|Pin|Label|Direction|Description|
|---|---|---|---|
|A34|STOP_L|input|Left stop switch|
|A35|STOP_R|input|Right stop switch|
|A36|HOME|input|Home switch|
|A37|GND|—|Power and signal ground|
|A38|DIR|input|direction signal input|
|A39|STEP|input|step signal input|
|A40|GND|—|Power and signal ground|
|A41|NC|—|not connected|
|A42|AIN0|input|General purpose analog/digital input|
|A43|GND|—|Power and signal ground|
|A44|ADDR3|input|Module address bit 3|
|A45|ADDR2|input|Module address bit 2|
|A46|ADDR1|input|Module address bit 1|
|A47|ADDR0|input|Module address bit 0|
|A48|GND|—|Power and signal ground|
|A49|+5V|input|Logic supply voltage|



_Table 3: Bottom Side Slot Connector Pin Assignment_ 

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

- _**NOTICE**_ **Do not remove or plug in the module while the base board is powered!** 

## **5 Reset to Factory Defaults** 

It is possible to reset all settings in firmware for the TMCM-1231 to factory defaults without establishing a working communication connection. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got lost. 

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

Please perform the following steps: 

1. Switch power supply OFF. 

2. Short CLK and DIO pads of programming pads on bottom of pcb (see figure 2). 

3. Switch power supply ON again. 

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4. Wait a few seconds. 

5. Switch power supply OFF again. 

6. Remove the short between the two pads. 

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

**==> picture [309 x 176] intentionally omitted <==**

**==> picture [46 x 19] intentionally omitted <==**

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


_Figure 2: Reset to factory default settings_ 

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## **6 I/Os** 

The slot connector offers two analog inputs, two digital inputs and digital ouputs. All inputs can be used for different purposes explained in more detail in the following subsections. 

## **6.1 Analog input IN0** 

The TMCM-1231 is equipped with one analog input. The analog input voltage range is approx. 0...+5V. For voltages above +5V saturation takes place, but up-to 30V higher voltages are tolerated without destroying the input. For analog to digital conversion the integrated ADC of the on-board microcontroller is used. Resolution of this converter is 12bit (0..4095). 

The analog input can also be used as a digital input. 

## **6.2 Digital inputs IN2 and IN3** 

The TMCM-1231 offers two digital inputs IN2 and IN3. Their input voltage range is 0...+5V. Higher voltages (up to 30V) are also tolerated without destroying the input. Voltages bove 1V are recognized as logical ’1’ and below 1V as logical ’0’. 

## **6.3 Digital output OUT0** 

The TMCM-1231 is equipped with one digital output OUT0. It is a 5V level TTL output. 

## **6.4 HOME/STOP_L/STOP_R switch inputs** 

The TMCM-1231 offers two inputs which can be used as left (STOP_L) and right (STOP_R) stop switch inputs. When enabled in software the STOP_L switch input will stop motor movement in negative direction (step counter decreasing) while activated. Likewise the STOP_R switch input will stop motor movement in positive direction (step counter increasing) while activated. 

## **6.5 External incremental encoder input** 

An external incremental A/B/N encoder may be connected to the encoder interface ENC_A, ENC_B and ENC_N. Encoder with push-pull signals (e.g. +5V TTL) and open-drain output signals are supported (singleended). Add external pull-up resistors (to +5V) when using encoders with open-drain outputs. 

## **6.6 Step/Direction inputs** 

The TMCM-1231 may be used as driver with an external motion controller. In this case the Step/Direction output signals of the external motion controller may be connected to the Step/Dir inputs of the TMCM1231. Please note that these signals have to be TTL level signals. 

## **6.7 Address pins** 

The address pins ADDR0, ADDR1, ADDR2 and ADDR3 can be used to set the TMCL module address or CANopen node ID of the TMCM-1231. This is useful when a base board with more than one slot is being used. In this case, every slot can be assigned to one specific TMCL module address or CANopen node ID by hardware. 

When all address pins are pulled low, the address pins are not used. The TMCL module address or CANopen node ID stored in the EEPROM of the module will be used then. So in this case address / ID 

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settings will be set in software. 

When at least one of the address pins is pulled high the address or ID set by the address pins will be used. With TMCL, the module address will be determined by the address pins (1...15), and the reply address will always be 255. This is true for CAN and for RS485 communication. With CANopen, the node ID will be determined by the address pins (1...15). 

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## **7 Communication** 

## **7.1 RS485** 

For remote control and communication with a host system the TMCM-1231 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: 

1. _BUS STRUCTURE:_ 

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

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

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


_Figure 3: RS485 bus structure with termination resistors_ 

2. _BUS TERMINATION:_ 

   - Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1231 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 

3. _NUMBER OF NODES:_ 

   - The RS485 electrical interface stadard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-1231 units (SN65HVD1781D) offers a significantly reduced bus load compared to the standard and allows a maximum of 255 units to be connected to a single RS485 bus using standard TMCL firmware. _Please note: usually it cannot be expected to get reliable communication with the maximum number of nodes connected to one bus and maximum supported communication speed at the same time. Instead, a compromise has to be found between bus cable length, communication speed and number of nodes._ 

4. _COMMUNICATION SPEED:_ 

   - The maximum RS485 communication speed supported by the TMCM-1231 hardware is 1Mbit/s. Factory default is 9600 bit/s. Please see separate TMCM-1231 TMCL firmware manual for information regarding other possible communication speeds below the upper hardware limit. 

5. _NO FLOATING BUS LINES:_ 

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

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

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

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


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

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

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

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


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

## **7.2 CAN** 

For remote control and communication with a host system the TMCM-1231 provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken into account when setting up a CAN network: 

## 1. _BUS STRUCTURE:_ 

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

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

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


_Figure 6: CAN bus structure with termination resistors_ 

## 2. _BUS TERMINATION:_ 

   - Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1231 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 

3. _BUS TERMINATION:_ 

The bus transceiver used on the TMCM-1231 units (TJA1051T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes). 

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## **8 Functional Description** 

The TMCM-1231 is a highly integrated single axis controller/driver module for stepper motors with up-to 7A RMS / 10A peak motor coil current. The TMCM-1231 can be controlled via RS485 or CAN interface. The TMCM-1231 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. Whereas the boot loader is installed during production and testing at TRINAMIC and remains usually untouched throughout the whole lifetime, the firmware can be updated by the user via any serial interface. 

Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed on-board. Full remote control of the device with feedback is possible. The firmware of the module can be updated via any of the serial interfaces. 

## **The TMCM-1231 module contains the following main components:** 

- Microcontroller (ARM Cortex-M0+™), responsible for overall control and communication 

- Highly integrated advanced stepper motor controller supporting linear, SixPoint™and S-shaped ramps in hardware. 

- Advanced stepper motor driver with stallGuard2™and coolStep™with MOSFET driver stage (8x power N-MOSFETs for bipolar stepper motor). 

- RS485 and CAN transceivers. 

**==> picture [436 x 215] intentionally omitted <==**

**----- Start of picture text -----**<br>
Step/Dir<br>Inputs<br>REFL/REFR/<br>HOME<br>TMCL™<br>Memory<br>SPI<br>Stepper<br>RS485GPIO MicrocontrollerCortex M0+™ARM SPI Energy EfficientContStepperMotorDriTMC262roller ver Energy EfficientStepperDriverMotorDriverTMC262<br>(TMC4361) TMC5160<br>Motor<br>CAN<br>10...30V DC<br>TMCM-1231 ENCODER<br>A/B/N<br>E<br>**----- End of picture text -----**<br>


_Figure 7: TMCM-1231 block diagram_ 

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## **9 Operational Ratings and Characteristics** 

_**NOTICE**_ **Never Exceed the absolute maximum ratings!** Keep the power supply voltage below the upper limit of +30V! 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. 

|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|General Operational Ratings|
|---|---|---|---|---|---|---|---|---|---|---|---|
|Symbol||Parameter||Min|Typ|||Max|||Unit|
|VMotor||Motor power supply voltage||10|24...48|||52|||V|
|IMotor||Motor power supply current|||<<ICOIL_RMS|||1.4 x ICOIL_RMS|||A|
|VLogic||Logic power supply voltage|||5||||||V|
|ILogic||Logic power supply current|||tbd||||||mA|
|ICOIL_PEAK||Motor coil current for sine wave **peak (chopper**<br>**regulated, adjustable via software)**||0|0...9.2|||9.2|||A|
|ICOIL_RMS||Continuous motor current (**RMS)**||0|0...6.5|||6.5|||A|
|TENV||Environmental temperature at rated current (no<br>forced cooling reaquired)||-30||||60|||°C|
||_Table 4: General operational ratings of the module_<br>Operational Ratings of the I/Os<br>Symbol<br>Parameter<br>Min<br>Typ<br>Max<br>Unit<br>VOUT<br>Voltage at digital outputs OUT0 and OUT1<br>0<br>5<br>V<br>IOUT<br>Current through OUT0 and OUT1<br>20<br>mA<br>VIN0/1/2/3<br>Input voltage for inputs IN0...IN3<br>0<br>0...5<br>5<br>V<br>VIN0/1<br>Measurement range for analog inputs IN0, IN1<br>0<br>5<br>V<br>VIN1/2_L<br>Low level voltage for IN0...IN3 (digital inputs)<br>1<br>V<br>VIN1/2_H<br>High level voltage for IN0...IN3 (digital inputs)<br>2.9<br>V<br>VSTOP_L/R_L<br>Low level voltage for stop and home switch inputs<br>1<br>V<br>VSTOP_L/R_H<br>High level voltage for stop and home switch in-<br>puts<br>0<br>2.9<br>V<br>fSTEP/DIR<br>Max. frequency for step/direction inputs<br>250<br>kHz|||||||||||
||Operational Ratings of the I/Os|||||||||||
||Symbol||Parameter|||Min|Typ||Max|Unit||
||VOUT||Voltage at digital outputs OUT0 and OUT1|||0|||5|V||
||IOUT||Current through OUT0 and OUT1||||||20|mA||
||VIN0/1/2/3||Input voltage for inputs IN0...IN3|||0|0...5||5|V||
||VIN0/1||Measurement range for analog inputs IN0, IN1|||0|||5|V||
||VIN1/2_L||Low level voltage for IN0...IN3 (digital inputs)||||||1|V||
||VIN1/2_H||High level voltage for IN0...IN3 (digital inputs)|||2.9||||V||
||VSTOP_L/R_L||Low level voltage for stop and home switch inputs||||1|||V||
||VSTOP_L/R_H||High level voltage for stop and home switch in-<br>puts|||0|2.9|||V||
||fSTEP/DIR||Max. frequency for step/direction inputs||||250|||kHz||



_Table 5: Operational ratings of I/Os_ 

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



_Table 6: Operational ratings of the RS485 interface_ 

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



_Table 7: Operational ratings of the CAN interface_ 

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## **10 Abbreviations used in this Manual** 

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



_Table 8: Abbreviations used in this Manual_ 

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## **11 Figures Index** 

- 1 Board dimensions, position of mounting holes and position (pin 1) of connectors (all values in mm) . . . . . . . 

- 1 Board dimensions, position of mount4 RS485 bus lines with resistor (bias) ing holes and position (pin 1) of connetwork on one side, only . . . . . . . 15 nectors (all values in mm) . . . . . . . 6 5 RS485 bus lines with Profibus™recommended 

- 2 Reset to factory default settings . . . 11 line termination . . . . . . . . . . . . . 15 6 CAN bus structure with termination 

- 3 RS485 bus structure with termination resistors . . . . . . . . . . . . . . . . . 16 resistors . . . . . . . . . . . . . . . . . 14 7 TMCM-1231 block diagram . . . . . . 17 

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## **12 Tables Index** 

- 1 TMCM-1231 Order Codes . . . . . . . 5 6 Operational ratings of the RS485 inter2 Top Side Slot Connector Pin Assignment 8 face . . . . . . . . . . . . . . . . . . . . 19 3 Bottom Side Slot Connector Pin As7 Operational ratings of the CAN interface 19 signment . . . . . . . . . . . . . . . . . 10 

- 4 General operational ratings of the 8 Abbreviations used in this Manual . . 20 module . . . . . . . . . . . . . . . . . . 18 9 Hardware Revision . . . . . . . . . . . 25 

- 5 Operational ratings of I/Os . . . . . . 18 10 Document Revision . . . . . . . . . . . 25 

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## **13 Supplemental Directives** 

## **13.1 Producer Information** 

## **13.2 Copyright** 

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

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

## **13.3 Trademark Designations and Symbols** 

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

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

## **13.4 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. 

## **13.5 Disclaimer: Life Support Systems** 

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

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

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

## **13.6 Disclaimer: Intended Use** 

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

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

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

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

## **13.7 Collateral Documents & Tools** 

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

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## **14 Revision History** 

## **14.1 Hardware Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|V1.0|2020-MAY-05|HH|Initial version.|
|V1.1|2020-AUG-13|HH|IN1 and OUT1 removed.<br>(A41 and B41 not connected any more.)|



## _Table 9: Hardware Revision_ 

## **14.2 Document Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|2020-MAY-25|OK|Initial version.|
|1.01|2020-NOV-03|OK|Covers hardware V1.1.|



_Table 10: Document Revision_ 

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