TMCM-1276-TMCL

**MODULE** 

## **Module for Stepper** 

## TMCM-1276 Hardware Manual 

Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

**TMCM-1276 is an easy to use smart stepper motor driver module. The module is controlled via a CAN bus interface and comes with two firmware options – TMCL and CANopen. TMCM-1276 features StealthChop™for absolute silent motor control, SpreadCycle™for high speed stepper motor commutation, a fully integrated hardware motion controller with SixPoint™motion ramps, as well as StallGuard2™and CoolStep™.** 

Features 

- Supply Voltag +10 to +30V DC 

- CAN bus interface 

- TMCL or CANopen protocol 

- Integrated **SixPoint™** ramp motion controller 

- **StealthChop™** silent PWM mode 

- **SpreadCycle™** smart mixed decay 

- **StallGuard2™** load detection 

- **CoolStep™** autom. current scaling 

- Aluminum housing with stainless steel cover 

Applications 

- Lab-Automation 

- Manufacturing 

- Robotics • CNC 

- Factory Automation 

## Simplified Block Diagram 

**==> picture [378 x 157] intentionally omitted <==**

**----- Start of picture text -----**<br>
4<br>Input<br>TMCL™ REFL/REFR<br>ENCA/ENCB<br>Memory<br>ENABLE<br>I2C<br>Stepper Stepper<br>Cortex M0+™ARM SPI Energy EfficientControllerDriverMotor<br>Microcontroller TMC262&<br>CAN<br>Driver Motor<br>10...30V DC<br>TMCM-1276<br>**----- End of picture text -----**<br>


> ©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 

Read entire documentation. 

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

2 / 20 

## **Contents** 

|**1**|**Features**|**Features**||||**3**|
|---|---|---|---|---|---|---|
||1.1|General Features . . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|3|
||1.2|TRINAMIC’s Unique Features|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.1 stealthChop™. . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.2 spreadCycle™. . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.3 stallGuard2. . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.4 coolStep<br>. . . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|5|
|||1.2.5 sixPoint Motion Controller .|||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|5|
|**2**|**Order Codes**|||||**7**|
|**3**|**Mechanical and Electrical Interfacing**|||||**8**|
||3.1|TMCM-1276 Dimensions<br>. .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|8|
|**4**|**Connectors and LEDs**|||||**9**|
||4.1|Power supply and I/O Connector|||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9|
||4.2|CAN Connection . . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|10|
||4.3|Motor Connector . . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11|
||4.4|LEDs . . . . . . . . . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
|**5**|**Functional Description**|||||**13**|
||5.1|Typical Application Wiring . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13|
||5.2|Inputs<br>. . . . . . . . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13|
|**6**|**Operational Ratings and Characteristics**|||||**14**|
||6.1|Absolute Maximum Ratings|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|14|
||6.2|Electrical Characteristics (Ambient|||Temperature 25° C)<br>. . . . . . . . . . . . . . . . . . . . . .|14|
||6.3|I/O Ratings (Ambient Temperature|||25° C)<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|14|
||6.4|Functional Characteristics. .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|15|
||6.5|Other Requirements . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|15|
|**7**|**Abbreviations used in this Manual**|||||**15**|
|**8**|**Figures Index**|||||**16**|
|**9**|**Tables Index**|||||**17**|
|**10 **|**Supplemental Directives**|||||**18**|
||10.1|Producer Information . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18|
||10.2|Copyright<br>. . . . . . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18|
||10.3|Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||||18|
||10.4|Target User . . . . . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18|
||10.5|Disclaimer: Life Support Systems|||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18|
||10.6|Disclaimer: Intended Use . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18|
||10.7|Collateral Documents & Tools||. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19|
|**11 **|**Revision History**|||||**20**|
||11.1|Hardware Revision . . . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|20|
||11.2|Document Revision<br>. . . . .|.|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|20|



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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

3 / 20 

## **1 Features** 

The TMCM-1276 is a complete stepper driver and controller solution with state of the art feature set. It is highly integrated and offers convenient handling via CAN interface. The TMCM-1276 includes driver electronics and a fully featured hardware motion controller. It can be used in many decentralized applications and has been designed for up to 3A RMS (4.2A peak) phase current and 24V DC nominal supply voltage. With StealthChop™, the TMCM-1276 offers absolutely silent and smooth motor operation for lower and medium velocities. SpreadCycle™ is a high performance current controlled chopper mode for highest velocities with perfect zero crossing performance. With StallGuard2™, a sensorless load detection feature is available for automatic end step detection and load monitoring. stallGuard2 is also used for the automatic current scaling feature CoolStep™. The TMCM-1276 comes with a CAN bus interface and four (4) digital inputs. 

## **1.1 General Features** 

## **Main Characteristics** 

- Supply Voltage +24V nom. (+10V to +30V DC) 

- 3A RMS phase current (ca. 4.2A peak phase current) 

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

- Available with enclosure 

- Permanent onboard parameter storage 

- Advanced SixPoint™ramp hardware motion controller 

- 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 

## **I/Os** 

- Home and reference switch inputs 

- Enable input to power-on/-off driver H-bridges 

- Optionally configurable analog input 

- Optionally configurable incremental encoder inputs (quadrature channels A and B only, no N channel) 

## **CAN Bus Interface** 

- Standard CAN Bus Interface for control and configuration 

- CAN bit rate of 20. . . 1000kBit/s 

- TMCL-based protocol with TMCL firmware option 

- CANopen protocol with DS402 device profile with CANopen firmware option 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

4 / 20 

## **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. With stealthChop, the motor current is applied by driving a certain effective voltage into the coil, using a voltage mode PWM. There are no more configurations 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_ 

## **1.2.3 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 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

5 / 20 

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_ 

## **1.2.4 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. 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 for cost reduction. 

**==> picture [325 x 155] 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_ 

## **1.2.5 sixPoint Motion Controller** 

TRINAMIC’s sixPoint motion controller is a new type of ramp generator, which offers faster machine operation compared to the classical linear acceleration ramps. The sixPoint ramp generator allows adapting 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

6 / 20 

the acceleration ramps to the torque curves of a stepper motor and uses two different acceleration settings each for the acceleration phase and for the deceleration phase 

**==> picture [386 x 176] intentionally omitted <==**

_Figure 5: Typical motion profile with TRINAMIC’s sixPoint motion controller_ 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

7 / 20 

## **2 Order Codes** 

|Order Code|Description|Size (LxWxH)|
|---|---|---|
|TMCM-1276-TMCL|Controller/Driver Module without motor, +24V<br>DC, CAN Bus interface, TMCL frmware, weight<br>ca. 150g|80mm x 60mm x<br>13mm|
|TMCM-1276-CANOpen|Controller/Driver Module without motor, +24V DC,<br>CAN Bus interface, CANopen frmware, weight ca.<br>150g|80mm x 60mm x<br>13mm|



_Table 1: Order codes_ 

|Order Code|Description|
|---|---|
|TMCM-1276-<br>CABLE|Cable loom for TMCM-1276:<br>• 1x cable loom for motor connector with 4-pin JST EH series connector<br>• 1x cable loom for Power supply and I/O connector with 10-pin JST EH<br>series connector|



_Table 2: Order codes cable loom_ 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

8 / 20 

## **3 Mechanical and Electrical Interfacing** 

## **3.1 TMCM-1276 Dimensions** 

The dimensions of the TMCM-1276 are approx. 80mm x 60mm x 13mm. There are four mounting holes for M3 screws for mounting the TMCM-1276. These mounting holes are located in the bottom / base plate and accessible after removing the top cover (see 6, right figure, mounting holes marked red). Two of them at opposite positions can be used for mounting the module to the backside of our NEMA23 stepper motors (screw/thread length depends on motor size). The other two can be used for mounting the module to the backside of our NEMA24 stepper motors (screw/thread length depends on motor size). 

_Figure 6: TMCM-1276 top view mechanical dimensions_ 

_Figure 7: TMCM-1276 housing base dimensions and screw hole positions_ 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

9 / 20 

## **4 Connectors and LEDs** 

The TMCM-1276 offers two connectors - one 10-pin connector for power supply, communication (CAN) and four Inputs and one four pin connector for connecting the motor. 

**==> picture [190 x 164] intentionally omitted <==**

**----- Start of picture text -----**<br>
Power + I/O<br>1 10 Green LED<br>Red LED<br>4 1<br>al<br>Motor<br>**----- End of picture text -----**<br>


_Figure 8: TMCM-1276 connectors_ 

Overview of connector and mating connector types: 

Label Connector type Mating connector type Power and I/O connector JST B10B-EH-A (JST PH series, Connector housing: JST EHR10pins, 2.5mm pitch) 10 Contacts: JST SEH-001T-P0.6 Wire: 0.33mm[2] , AWG 22 Motor connector JST B4B-EH-A (JST EH series, Connector housing: JST EHR4pins, 2.5mm pitch) 4 Contacts: JST SEH-001T-P0.6 Wire: 0.33mm[2] , AWG 22 ~~———~~ _Table 3: Connector and mating connectors_ **4.1 Power supply and I/O Connector** Pin no. Pin name Description 1 GND Power supply and signal ground connection 2 +24V Power supply voltage input (+10V to +30V DC) 3 CAN_H Differential CAN bus signal (non-inverting) 4 CAN_L Differential CAN bus signal (inverting) 5 GND Signal ground connection 6 +5V 5V output, 100mA maximum load, e.g. for end / home switch circuit or external encoder supply ~~——~~ ©2020 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com 

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

10 / 20 

|Pin no.|Pin name|Description|
|---|---|---|
|7|HOME (GPI0)|General purpose input 0, can be used as HOME switch input, also. Confg-<br>urable as analog input AIN0 via software (+5V compatible, internal 10k pull-up<br>to +5V)|
|8|REFL (GPI1)|General purpose input 1, can be used as left reference / stop switch input<br>REFL / STOP_L, also. Confgurable as incremental encoder input channel A via<br>software (+5V TTL compatible, internal 10k pull-up to +5V)|
|9|REFR (GPI2)|General purpose input 2, can be used as right reference / stop switch input<br>REFR / STOP_R, also. Confgurable as incremental encoder input channel B<br>via software (+5V TTL compatible, internal 10k pull-up to +5V)|
|10|ENN (GPI3)|ENABLE NOT input (active low) for driver stage, 0 = enabled, 1 = disabled (+5V<br>TTL compatible, internal 10k pull-up to +5V)|



_Table 4: TMCM-1276 Power and I/O connector pin assignment_ 

|**_NOTICE_**|**Always keep the power supply voltage below the upper limit of 30V!** Oth-<br>|
|---|---|
|erwise the driver electronics will be seriously damaged. Especially, when the<br>selected operating voltage is near the upper limit a regulated power supply is<br>highly recommended.||
|||
|**_NOTICE_**|**Add external power supply capacitors!** It is recommended to connect an elec-<br>|
|trolytic capacitor of signifcant size (e.g. 470_µ_F/35V) to the power supply lines next<br>to the TMCM-1276!<br>Rule of thumb for size of electrolytic capacitor: _C_ = 1000_µF_<br>_A_<br>_× ISUP P LY_<br>In addition to power stabilization (bufer) and fltering this added capacitor will<br>also reduce any voltage spikes which might otherwise occur from a combination<br>of high inductance power supply wires and the ceramic capacitors. In addition<br>it will limit slew-rate of power supply voltage at the module. The low ESR of<br>ceramic-only flter capacitors may cause stability problems with some switching<br>power supplies.||
|||
|**_NOTICE_**||



## **4.2 CAN Connection** 

For remote control and communication with a host system the TMCM-1276 provides a CAN bus interface. For proper operation the following items should be taken into account when setting up a CAN network: 

**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. 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

11 / 20 

**==> picture [432 x 135] intentionally omitted <==**

_Figure 9: CAN bus strcuture_ 

**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-1276 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 

> **Number of Nodes** The bus transceiver used on the TMCM-1276 (TJA1051) supports at least 100 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). 

**CAN Bus Adapters** To quickly connect to the TMCM-1276 a PC based intergated development environment TMCL-IDE is available. Latest release can be downloaded for free from our web site: www.trinamic.com A number of common CAN interface adapters from different manufactures is supported from within this software. Please make sure to check our web site from time to time for the latest version of the software! 

## **4.3 Motor Connector** 

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



_Table 5: 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 connected / disconnected 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 connecting or disconnecting the motor. 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

12 / 20 

## **4.4 LEDs** 

The TMCM-1276 includes two LEDs: one green status LED and one red error LED. See figure 10 for LED location. 

**==> picture [68 x 13] intentionally omitted <==**

**----- Start of picture text -----**<br>
Power + I/O<br>**----- End of picture text -----**<br>


**==> picture [190 x 171] intentionally omitted <==**

**----- Start of picture text -----**<br>
1 10<br>Green LED<br>Red LED<br>4 1<br>Motor<br>**----- End of picture text -----**<br>


_Figure 10: TMCM-1276 LED colors and loacation_ 

Depending on the firmware option (TMCL or CANopen), these LEDs have different functionality. Main states for TMCL: 

|State green LED|State red LED|Description TMCL Firmware|
|---|---|---|
|Flashing|off|Firmware running (normal operation mode)|
|Permanent on|Permanent on|Bootloader mode, firmware update supported|



_Table 6: LED functionality description_ 

For CANopen firmware LED functionality has been implemented based on CANopen standard. 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

13 / 20 

## **5 Functional Description** 

## **5.1 Typical Application Wiring** 

The TMCM-1276 driver/controller’s wiring is straightforward as shown in the following figure. 

- Power supply must be connected to V+ and GND. 

- CAN - use appropriate CAN interface adapter 

- ENN - connect ENN signal to GND in order to enable driver stage 

**==> picture [339 x 56] intentionally omitted <==**

**----- Start of picture text -----**<br>
Host<br>c:><br>USB-CAN Power supply<br>A L=]<br>**----- End of picture text -----**<br>


_Figure 11: Typical application scenario for remote control of TMCM-1276_ 

## **5.2 Inputs** 

The four inputs of the TMCM-1276 are +5V TTL compatible with internal pull-ups (10k) to +5V and not optically isolated. 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

14 / 20 

## **6 Operational Ratings and Characteristics** 

## **6.1 Absolute Maximum Ratings** 

|Parameter|Min|Max|Unit|
|---|---|---|---|
|Supply voltage|+10|+30|V|
|Working temperature|-30|+40|° C|
|Motor coil current / sine wave**peak**||4.2|A|
|Continuous motor current (**RMS**)||3|A|



_**NOTICE**_ 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 specification is not implied. Exposure to maximum rating conditions for extended periods may affect device reliability. 

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

|Parameter|Symbol|Min|Typ|Max|Unit|
|---|---|---|---|---|---|
|Supply voltage|_V DD_|10|24|30|V|
|Motor coil current / sine wave**peak**(chopper reg-<br>ulated, adjustable in software)|_ICOILpeak_|0||4.2|A|
|Continuous motor current (**RMS**)|_ICOILRMS_|0||3|A|
|Power supply current|_IDD_||_≪ICOIL_|1.7_∗ICOIL_|A|



## _Table 8: Electrical Characteristics_ 

_Please note: maximum motor current settings may require appropriate cooling of the unit_ 

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

|Parameter|Symbol|Min|Typ|Max|Unit|
|---|---|---|---|---|---|
|Input voltage|_VIN_||5|5.5|V|
|Low level voltage|_VL_|0||1.5|V|
|High level voltage|_VH_|3.5||5|V|



_Table 9: I/O ratings_ 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

15 / 20 

## **6.4 Functional Characteristics** 

|Parameter|Description / Value|
|---|---|
|Control|CAN bus interface and four digital inputs for referencing, incremental en-<br>coder, and NOT_ENABLE|
|Communication|CAN bus interface for control and confguration, 20. . . 1000kBit/s|
|Driving Mode|spreadCycle, stealthChop, and constant _Toff_ chopper, adaptive current<br>control via stallGuard2 and coolstep|
|Stepping Resolution|Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step|



_Table 10: 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 +50° C|



_Table 11: Other Requirements and Characteristics_ 

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

|Abbreviation|Description|
|---|---|
|CAN|Controller Area Network|
|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 12: Abbreviations used in this Manual_ 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

16 / 20 

## **8 Figures Index** 

- 1 Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . 4 

- 2 spreadCycle principle . . . . . . . . . . 4 3 stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . . 5 

- 4 Energy Efficiency Example with coolStep 5 5 Typical motion profile with TRINAMIC’s sixPoint motion controller . . . . . . . . 6 

   - 6 TMCM-1276 top view mechanical dimensions . . . . . . . . . . . . . . . . 8 

   - 4 7 TMCM-1276 housing base dimensions 4 and screw hole positions . . . . . . . . 8 8 TMCM-1276 connectors . . . . . . . . . 9 

   - 5 9 CAN bus strcuture . . . . . . . . . . . . 11 5 10 TMCM-1276 LED colors and loacation . 12 11 Typical application scenario for remote 

   - 6 control of TMCM-1276 . . . . . . . . . . 13 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

17 / 20 

## **9 Tables Index** 

- 1 Order codes . . . . . . . . . . . . . . . . 7 8 Electrical Characteristics . . . . . . . . . 14 2 Order codes cable loom . . . . . . . . . 7 9 I/O ratings . . . . . . . . . . . . . . . . . 14 3 Connector and mating connectors . . . 9 10 Functional Characteristics . . . . . . . . 15 4 TMCM-1276 Power and I/O connector 11 Other Requirements and Characteristics 15 pin assignment . . . . . . . . . . . . . . 10 12 Abbreviations used in this Manual . . . 15 

- 5 Motor connector pinning . . . . . . . . 11 13 Hardware Revision . . . . . . . . . . . . 20 6 LED functionality description . . . . . . 12 14 Document Revision . . . . . . . . . . . . 20 

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

18 / 20 

## **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 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 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. 

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. 

## **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 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. 

## **10.6 Disclaimer: Intended Use** 

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

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

19 / 20 

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. 

## **10.7 Collateral Documents & Tools** 

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

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

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2020-MAY-08 

20 / 20 

## **11 Revision History** 

## **11.1 Hardware Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|2018-FEB-28|TMC|First Prototypes.|
|1.10|2018-APR-05|TMC|Minor corrections. Resistor added to crystal oscillator and one test<br>pad removed.|



## _Table 13: Hardware Revision_ 

## **11.2 Document Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|2018-JUN-25|GE|First version.|
|1.01|2019-AUG-01|OK|Product picture updated.|
|1.02|2020-APR-08|SK|Housing information/dimensions corrected.|



_Table 14: Document Revision_ 

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