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TMCM-1617-CANOPEN
Stepper Motor Unit, 3-Phase, 8 VDC - 28 VDC, 18 A, TMCM-1617 Series
⚠️ Reference pricing provided. In case of supply shortages, we will connect you with our trusted procurement partners to ensure your project's continuity.
- Manufacturer: TRINAMIC / ANALOG DEVICES
- Product type: Stepper Motor Drives
- SVHC: No SVHC (04-Feb-2026)
- No. of Phases: Three Phase
- Product Range: TMCM-1617
- Output Current Max: 18A
- Supply Voltage Max: 28VDC
- Supply Voltage Min: 8VDC
- Control / Drive Type: 1-Axis Controller / Driver Module
| Delivery and price | |
|---|---|
| Units per pack | 1 |
| Price | 686.69 € |
| Current stock | 10+ |
| Lead time | 30 days |
Datasheet
**MODULE** **Module for BLDC/PMSM** ## TMCM-1617 Hardware Manual HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 **The TMCM-1617 is a low-weight miniaturized single axis servo drive for 3-phase BLDC motors with up to 18A RMS motor current and +24V supply. With CAN, RS485, and EtherCAT® it offers various communication options. TMCM-1617 supports incremental encoders, analog encoders, and digital hall sensors as position feedback. Customization and different housing options are possible.** Features - Servo drive for 3ph/BLDC motors - +8. . . 28V DC supply voltage - Up to 18A RMS max. motor current - RS485, CAN & EtherCAT® interfaces - Incremental encoder feedback - Digital HALL sensor feedback - Analog encoder feedback - Reference Switch Inputs - Cooling via aluminum housing - L/W/H: 36.8mm x 26.8mm x 11.1mm - Weight: ca. 24g ## Applications - Customization options - Robotics - Laboratory Automation - Manufacturing - Factory Automation - Servo Drives - Low Inductance Motors ## Simplified Block Diagram > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 2 / 30 ## **Contents** |**1**|**Features**|**Features**|**4**| |---|---|---|---| |**2**|**Order Codes**||**5**| |**3**|**Mechanical and Electrical Interfacing**||**6**| ||3.1|Module Size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|6| ||3.2|Board Mounting Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|6| |||3.2.1 Soldering the Module onto a Baseboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|6| |||3.2.2 Plugging the Module onto a Baseboard<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . .|7| |||3.2.3 TMCM-1617 Baseboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|7| |||3.2.4 Mounting a Heat Sink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|8| ||3.3|Supply Bufering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9| |**4**|**Connectors and Signals**||**10**| ||4.1|TMCM-1617 TMCL and CANopen Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11| |||4.1.1 Motor & Supply Connectors J301. . . J305 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11| |||4.1.2 Low Voltage & I/O connector J315 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12| |||4.1.3 Low Voltage & I/O connector J316 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12| |||4.1.4 Low Voltage & I/O connector J317 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13| |||4.1.5 Low Voltage & I/O connector J318 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13| |||4.1.6 Low Voltage & I/O connector J319 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|14| |||4.1.7 Low Voltage & I/O connector J320 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|14| |||4.1.8 LED Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|15| ||4.2|TMCM-1617 EtherCAT Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| |||4.2.1 Motor & Supply Connectors J301. . . J305 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| |||4.2.2 Low Voltage & I/O connector J315 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17| |||4.2.3 Low Voltage & I/O connector J316 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17| |||4.2.4 Low Voltage & I/O connector J317 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18| |||4.2.5 Low Voltage & I/O connector J318 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18| |||4.2.6 Low Voltage & I/O connector J319 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19| |||4.2.7 Low Voltage & I/O connector J320 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19| |||4.2.8 LEDs Signals<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|20| |**5**|**Communication**||**21**| ||5.1|RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|21| ||5.2|CAN<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22| ||5.3|EtherCAT<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|23| |**6**|**Operational Ratings and Characteristics**||**24**| ||6.1|Absolute Maximum Ratings<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|24| ||6.2|Digital I/O Ratings (Ambient Temperature 25°C)<br>. . . . . . . . . . . . . . . . . . . . . . . . . . .|24| ||6.3|CAN Communication Interface (Ambient Temperature 25°C) . . . . . . . . . . . . . . . . . . . .|25| ||6.4|Analog Inputs Interface (Ambient Temperature 25°C) . . . . . . . . . . . . . . . . . . . . . . . .|25| ||6.5|Other Requirements<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|25| |**7**|**Figures Index**||**26**| |**8**|**Tables Index**||**27**| |**9**|**Supplemental Directives**||**28**| ||9.1|Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|28| ||9.2|Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|28| > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 3 / 30 |9.3|Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28| |---|---| |9.4|Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28| |9.5|Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28| |9.6|Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28| |9.7|Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29| |**10 Revision History**<br>**30**|| |10.1|Hardware Revision. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30| |10.2|Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30| > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 4 / 30 ## **1 Features** The TMCM-1617is a low-weight miniaturized single axis servo drive for 3-phase BLDC motors with up to 18A RMS motor current (short time peak) and +24V supply. With CAN, RS485, and EtherCAT® it offers various interfaces for communication. TMCM-1617supports incremental encoders, analog encoders, and digital hall sensors as position feedback. Customization and different housing options are possible. ## **Controller & Driver** - Motor current: up to 18A RMS short time peak (depends on duty cycle, temperature, and cooling) - Motor current: 4A RMS continuous at room temperature without forced cooling - Supply voltage: +8. . . +28V DC, (+24V nominal) - Field Oriented Control in hardware with up to 100kHz PWM and current control loop - Temperature rating: -30. . . +60° (standard version) ## **Position Feedback** - Incremental encoder (ABN) - Digital Hall sensors - +5V supply for sensors and feedback systems ## **IO** - 2x general purpose digital inputs (0. . . +3.3V input range) - 4x general purpose digital ouputs (0. . . +3.3V input range) - 3x analog inputs (0. . . +3.3V input range) - 3x reference switch inputs (0. . . +3.3V input range, left/right/home) - +3.3V provided for signal conditioning on a base board or as reference ## **Interfaces** - Digital RS485 interface with up-to 1Mbit/s (external transceiver needed on base board) - Digital CAN interface with up-to 1Mbit/s (external transceiver needed on base board) - EtherCAT interface (100Mbit Ethernet PHYs included in the module) with EtherCAT LED indicator outputs ## **Mechanical data** - Max. dimension: 36.8mm x 26.8mm x 11.1mm (L/W/H) - Weight: ca. 24g - 2 mounting holes for M2.5 screws - Forced cooling via housing, mount heat sink to bottom side - Optional no housing and no potting, bare PCB stack - Weight: ca. 14g - Max. dimension: 35.9mm x 25.9mm x 11.1mm (L/W/H) - Forced cooling via bottom side PCB > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 5 / 30 ## **Software** - TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands), fully supported by TMCL-IDE (PC based integrated development environment). Further information given in the TMCM-1617 TMCL firmware manual. - CANopen firmware with CANopen standard protocol stack for the CAN interface. Further information given in the TMCM-1617 CANopen firmware manual. - CANopen-over-EtherCAT (COE) with DS402 standard protocol stack. Please see TMCM-1617 COE firmware manual for more details. ## **2 Order Codes** |Order Code|Description|Size (LxWxH)| |---|---|---| |TMCM-1617-TMCL|Miniaturized Servo Drive, TMCL frmware,<br>housing & potted, standard temperature rat-<br>ing|36.8mm x 26.8mm x 11.1mm| |TMCM-1617-CANOPEN|Miniaturized<br>Servo<br>Drive,<br>CANopen<br>frmware,<br>housing & potted,<br>standard<br>temperature rating|36.8mm x 26.8mm x 11.1mm| |TMCM-1617-COE|Miniaturized Servo Drive, CANopen-over-<br>EtherCAT frmware, housing & potted, stan-<br>dard temperature rating|36.8mm x 26.8mm x 11.1mm| |TMCM-1617-BB|TMCM-1617 base board, white|130mm x 85mm| _Table 1: TMCM-1617 Order Codes_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 6 / 30 ## **3 Mechanical and Electrical Interfacing** ## **3.1 Module Size** The TMCM-1617 comes potted inside an aluminum housing with an overall size of 36.8mm (length) x 26.8mm (width) x 11.1mm (height). The module has 2 additional mounting holes for M2.5 screws to screw it to a carrier board. ## _Figure 1: Board dimensions and position of mounting holes (all values in mm)_ ## **3.2 Board Mounting Considerations** ## **3.2.1 Soldering the Module onto a Baseboard** The TMCM-1617 is intended to be soldered onto a base PCB via its THT connectors. For easy integration into own designs a PCB library including symbol and footprint is provided for selected CAD tools (Mentor PADS, KiCAD). _Figure 2: TMCM-1617 PCB footprint as seen on the top side of a base/carrier PCB_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 7 / 30 ## **3.2.2 Plugging the Module onto a Baseboard** If required, the TMCM-1617 can also be plugged onto a base PCB using special mating connectors. Thereby, the module is replaceable. The mating connectors fit into the same PCB footprint as shown in the previous section. The following table show the mating connector types required for plugging the module. The images show the top view of Trinamic’s baseboard for the TMCM-1617 and the positions of the respective mating connectors. |Connector #|Connector Type|Sourcing (example)| |---|---|---| |J301. . . J305|Mill-Max9354-0-15-15-18-27-10-0<br>or<br>Mill-Max9357-0-15-80-18-27-10-0|DigiKeyED1047-ND<br>or<br>DigiKeyED10171-ND0| |J315, J317, J318, J320|Mill-Max853-41-008-10-001000|Mouser575-8534100810001000| |J316, J319|Mill-Max853-41-016-10-001000|Mouser575-8534101610001000| _Table 2: TMCM-1617 mating connectors for plugging onto a baseboard_ _Figure 3: TMCM-1617 baseboard mating connector positions_ **==> picture [43 x 9] intentionally omitted <==** **----- Start of picture text -----**<br> NOTICE<br>**----- End of picture text -----**<br> Please note that when plugged into the mating connectors the maximum power rating of the connection between TMCM-1617 power input and motor phase outputs and PCB might be lower compared to soldering TMCM-1617 directly into a PCB. ## **3.2.3 TMCM-1617 Baseboard** The TMCM-1617 baseboard is an additional product that can be used for evaluation of the TMCM-1617. The full CAD data (Mentor PADS) and Gerber files for the TMCM-1617 baseboard is available as reference and can be used for own designs. The CAD data and additional information can be downloaded from Trinamic’s website `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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 8 / 30 _Figure 4: Side and top view on TMCM-1617 baseboard complete with TMCM-1617 module and mating connectors_ ## **3.2.4 Mounting a Heat Sink** The aluminum housing of TMCM-1617 has 2 mounting holes for M2.5 screws/bolts to be able to further fixate it to a baseboard. These mounting holes also allow for mounting a heat sink connected to the bottom side of the housing. A thermal gap pad (electrically isolating) is recommended between the housing and the heat sink for proper heat transfer. The heat sink requires M2.5 threaded screw holes at the same positions as highlighted in Section 3.1 _Figure 5: Heat sink mounting_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 9 / 30 ## **3.3 Supply Buffering** TMCM-1617 includes only limited onboard capacitance. For high current applications additional capacitors must be placed close to the module power input to stabilize power supply. In addition, a regulated power supply is highly recommended. |**_NOTICE_**|**Depending on your application make sure to add sufcient capacitors to**| |---|---| ||**the driver input to stabilize supply.**| ||**Low ESR electrolyte caps are recommended.**| ||**It is recommended to connect electrolytic capacitors of signifcant size to**| ||**the power supply lines next to the TMCM-1617 !**| ||**Rule of thumb for size of electrolytic capacitor:** _C_ = 1000 _µF_<br>_A_ _∗ISUP P LY_| ||**The capacitors should be selected with regard to high ripple current rating.**| ||**In addition to power stabilization (bufer) and fltering this added capaci-**| ||**tor will also reduce any voltage spikes which might otherwise occur from**| ||**a combination of high inductance power supply wires and the ceramic ca-**| ||**pacitors. In addition it will limit slew-rate of power supply voltage at the**| ||**module. The low ESR of ceramic-only flter capacitors may cause stability**| ||**problems with some switching power supplies.**| > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 10 / 30 ## **4 Connectors and Signals** The TMCM-1617 has 11 connectors altogether. There are 6 low voltage & I/O connectors (J315. . . J320) and 5 motor & supply connectors (J301. . . J305). The black dots in the image below are pin 1 marks. _Figure 6: TMCM-1617 connectors as seen on the baseboard footprint (mirrored compared to top side of TMCM-1617 itself)_ _**NOTICE**_ **Start with power supply OFF and do not connect or disconnect motor during operation!** Motor cable and motor inductance might lead to voltage spikes ~~=z~~ #=FSt ~~‘OCC~~ 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**_ **Take care of polarity, wrong polarity can destroy the board!** ~~=== =&=&=5#5#5+5#5+5#88§©Cl~~ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 11 / 30 ## **4.1 TMCM-1617 TMCL and CANopen Version** _Figure 7: TMCM-1617 connectors and signals for TMCL/CANopen version (potted and open module)_ ## **4.1.1 Motor & Supply Connectors J301. . . J305** |Connector|Signal|Description| |---|---|---| |J301|+VM|Motor supply voltage, +24V| |J302|GND|Signal and supply ground| |J303|U|Motor phase U| |J304|V|Motor phase V| |J305|W|Motor phase W| _Table 3: Motor & supply connectors J301. . . J305_ _**NOTICE**_ **The TMCM-1617 does not contain a suppressor diode or other over-voltage protection at the supply input. On the baseboard a proper suppressor diode must be provided for protection if required. For example a suppressor of type SMBJ26A.** _**NOTICE**_ **The TMCM-1617 only contains minimum onboard capacitance to stabilize** **The TMCM-1617 only contains minimum onboard capacitance to stabilize the supply voltage and minimize current ripple.** **Depending on your application make sure to add sufficient capacitors to the driver input. Low ESR electrolyte caps are recommended, especially for higher current applications. See Section 3.3 for more information.** > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 12 / 30 ## **4.1.2 Low Voltage & I/O connector J315** |Pin|Signal|Description| |---|---|---| |1|+3.3V_OUT|+3.3V output rail for used on the baseboard, 50mA max.| |2|GND|Common system supply and signal ground| |3|REF_R|Right reference switch input, +3.3V level| |4|-dnc-|do not connect| |5|REF_H|Home reference switch input, +3.3V level| |6|-dnc-|do not connect, reserved for future use| |7|REF_L|Left reference switch input, +3.3V level| |8|-dnc-|do not connect, reserved for future use| _Table 4: Low voltage & I/O connector J315_ ## **4.1.3 Low Voltage & I/O connector J316** |Pin|Signal|Description| |---|---|---| |1|-dnc-|do not connect| |2|GND|Common system supply and signal ground| |3|-dnc-|do not connect| |4|GND|Common system supply and signal ground| |5|-dnc-|do not connect| |6|GND|Common system supply and signal ground| |7|-dnc-|do not connect| |8|AIN0|Analog input 0, 0. . . +3.3V| |9|-dnc-|do not connect| |10|AIN1|Analog input 1, 0. . . +3.3V| |11|-dnc-|do not connect| |12|AIN2|Analog input 2, 0. . . +3.3V| |13|-dnc-|do not connect| |14|GND|Common system supply and signal ground| |15|-dnc-|do not connect| |16|GND|Common system supply and signal ground| _Table 5: Low voltage & I/O connector J315_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 13 / 30 ## **4.1.4 Low Voltage & I/O connector J317** |Pin|Signal|Description| |---|---|---| |1|-dnc-|do not connect| |2|-dnc-|do not connect| |3|-dnc-|do not connect| |4|nRESET|external reset line, low active, +3.3V level| |5|-dnc-|do not connect| |6|GND|Common system supply and signal ground| |7|-dnc-|do not connect| |8|-dnc-|do not connect| _Table 6: Low voltage & I/O connector J317_ ## **4.1.5 Low Voltage & I/O connector J318** |Pin|Signal|Description| |---|---|---| |1|-dnc-|do not connect| |2|RS485_RX|RS485 interface digital RX line, +3.3V level, connect to external transceiver| |3|RUN_LED|Control signal for MCU/CANopen status LED, +3.3V level| |4|RS485_TX|RS485 interface digital TX line, +3.3V level, connect to external transceiver| |5|ERR_LED|Control signal for MCU/CANopen error LED, +3.3V level| |6|RS485_DIR|RS485 interface direction control line, +3.3V level, connect to external<br>transceiver| |7|CAN_H|CAN physical bus interface, positive line from internal transceiver| |8|CAN_L|CAN physical bus interface, negative line from internal transceiver| _Table 7: Low voltage & I/O connector J318_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 14 / 30 ## **4.1.6 Low Voltage & I/O connector J319** |Pin|Signal|Description| |---|---|---| |1|-dnc-|do not connect, reserved for future use| |2|-dnc-|do not connect, reserved for future use| |3|-dnc-|do not connect, reserved for future use| |4|BRAKE|Digital PWM brake chopper output, +3.3V level| |5|+5V_OUT|+5V output rail from TMCM-1617 to be used for sensor/encoder supply<br>and/or external signal conditioning, 100mA max.| |6|ENC_N|Digital quadrature/incremental encoder input, index channel, +3.3V level| |7|GND|Common system supply and signal ground| |8|ENC_B|Digital quadrature/incremental encoder input, B channel, +3.3V level| |9|GPIO_1|Dedicated general purposeinput1, +3.3V level| |10|ENC_A|Digital quadrature/incremental encoder input, A channel, +3.3V level| |11|GPIO_2|Dedicated general purposeoutput2, +3.3V level| |12|HALL_WY|Digital Hall sensor input, +3.3V level| |13|DRV_FAULT|Driver stage fault indicator| |14|HALL_V|Digital Hall sensor input, +3.3V level| |15|-dnc-|do not connect| |16|HALL_UX|Digital Hall sensor input, +3.3V level| _Table 8: Low voltage & I/O connector J319_ **4.1.7 Low Voltage & I/O connector J320** |Pin|Signal|Description| |---|---|---| |1|GND|Common system supply and signal ground| |2|+VS|Digital and logic supply input, +24V, can be combined with +VM| |3|-dnc-|do not connect| |4|GPIO_2|Dedicated general purposeoutput2, +3.3V level| |5|-dnc-|do not connect| |6|GPIO_3|Dedicated general purposeoutput3, +3.3V level| |7|GPIO_0|Dedicated general purposeinput0, +3.3V level| |8|GPIO_5|Dedicated general purposeoutput5, +3.3V level| _Table 9: Low voltage & I/O connector J320_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 15 / 30 ## **4.1.8 LED Signals** The TMCM-1617 has no on-boards LEDs due to the way it is mounted. Nevertheless it has dedicated digital outputs to drive LEDs located on the baseboard. The following table summarizes these driver signals and gives baseboard recommendations. All LED control signals are +3.3V level outputs. (Connector & pin numbers when looking onto the TMCM-1617 from top / see Sections 4.1 and 4.2.) |Signal Name|Connector<br>(Pin)|Description|Comment| |---|---|---|---| |RUN_LED|J318 (3)|MCU/CANopen status LED|use a green LED| |ERR_LED|J318 (5)|MCU/CANopen error LED|use a red LED| _Table 10: TMCM-1617 digital LED output signals_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 16 / 30 ## **4.2 TMCM-1617 EtherCAT Version** _Figure 8: TMCM-1617 connectors and signals for CoE version (potted and open module)_ ## **4.2.1 Motor & Supply Connectors J301. . . J305** |Connector|Signal|Description| |---|---|---| |J301|+VM|Motor supply voltage, +24V| |J302|GND|Common system supply and signal ground| |J303|U|Motor phase U| |J304|V|Motor phase V| |J305|W|Motor phase W| _Table 11: Motor & supply connectors J301. . . J305_ _**NOTICE**_ **The TMCM-1617 does not contain a suppressor diode or other over-voltage protection at the supply input. On the baseboard a proper suppressor diode must be provided for protection if required. For example a suppressor of type SMBJ26A.** _**NOTICE**_ **The TMCM-1617 only contains minimum onboard capacitance to stabilize** **The TMCM-1617 only contains minimum onboard capacitance to stabilize the supply voltage and minimize current ripple. Depending on your application make sure to add sufficient capacitors to the driver input. Low ESR electrolyte caps are recommended, especially for higher current applications. See Section 3.3 for more information.** > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 17 / 30 ## **4.2.2 Low Voltage & I/O connector J315** |Pin|Signal|Description| |---|---|---| |1|+3.3V_OUT|+3.3V output rail for used on the baseboard, 50mA max.| |2|GND|Common system supply and signal ground| |3|REF_R|Right reference switch input, +3.3V level| |4|-dnc-|do not connect| |5|REF_H|Home reference switch input, +3.3V level| |6|-dnc-|do not connect, reserved for future use| |7|REF_L|Left reference switch input, +3.3V level| |8|-dnc-|do not connect, reserved for future use| _Table 12: Low voltage & I/O connector J315_ ## **4.2.3 Low Voltage & I/O connector J316** |Pin|Signal|Description| |---|---|---| |1|ECAT_TP_OUT|EtherCAT OUT port physical interface TX| |2|ECAT_LINK_IN_LED|Control signal for EtherCAT link IN status and activity LED, +3.3V level| |3|ECAT_TN_OUT|EtherCAT OUT port physical interface TX| |4|ECAT_LINK_OUT_LED|Control signal for EtherCAT link OUT status and activity LED, +3.3V level| |5|ECAT_RP_OUT|EtherCAT OUT port physical interface RX| |6|GND|Common system supply and signal ground| |7|ECAT_RN_OUT|EtherCAT OUT port physical interface RX| |8|AIN0|Analog input 0, 0. . . +3.3V| |9|ECAT_TP_IN|EtherCAT IN port physical interface TX| |10|AIN1|Analog input 1, 0. . . +3.3V| |11|ECAT_TN_IN|EtherCAT IN port physical interface TX| |12|AIN2|Analog input 2, 0. . . +3.3V| |13|ECAT_RP_IN|EtherCAT IN port physical interface RX| |14|ECAT_RUN_LED|Control signal for EtherCAT state machine RUN LED, +3.3V level| |15|ECAT_RN_IN|EtherCAT IN port physical interface RX| |16|ECAT_ERR_LED|Control signal for EtherCAT state machine ERR LED, +3.3V level| _Table 13: Low voltage & I/O connector J315_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 18 / 30 ## **4.2.4 Low Voltage & I/O connector J317** |Pin|Signal|Description| |---|---|---| |1|-dnc-|do not connect| |2|-dnc-|do not connect| |3|-dnc-|do not connect| |4|nRESET|external reset line, low active, +3.3V level| |5|-dnc-|do not connect| |6|GND|Common system supply and signal ground| |7|-dnc-|do not connect| |8|-dnc-|do not connect| _Table 14: Low voltage & I/O connector J317_ ## **4.2.5 Low Voltage & I/O connector J318** |Pin|Signal|Description| |---|---|---| |1|ECAT_LATCH0|EtherCAT external DC latch input 0, +3.3V level, apply appropriate external<br>flter to avoid noise and glitches| |2|RS485_RX|RS485 interface digital RX line, +3.3V level, connect to external transceiver| |3|RUN_LED|Control signal for MCU/CANopen status LED, +3.3V level| |4|RS485_TX|RS485 interface digital TX line, +3.3V level, connect to external transceiver| |5|ERR_LED|Control signal for MCU/CANopen error LED, +3.3V level| |6|RS485_DIR|RS485 interface direction control line, +3.3V level, connect to external<br>transceiver| |7|CAN_TX|CAN interface digital TX line, +3.3V level, connect to external transceiver| |8|CAN_RX|CAN interface digital RX line, +3.3V level, connect to external transceiver| _Table 15: Low voltage & I/O connector J318_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 19 / 30 ## **4.2.6 Low Voltage & I/O connector J319** |Pin|Signal|Description| |---|---|---| |1|-dnc-|do not connect, reserved for future use| |2|-dnc-|do not connect, reserved for future use| |3|-dnc-|do not connect, reserved for future use| |4|BRAKE|Digital PWM brake chopper output, +3.3V level| |5|+5V_OUT|+5V output rail from TMCM-1617 to be used for sensor/encoder supply<br>and/or external signal conditioning, 100mA max.| |6|ENC_N|Digital quadrature/incremental encoder input, index channel, +3.3V level| |7|GND|Common system supply and signal ground| |8|ENC_B|Digital quadrature/incremental encoder input, B channel, +3.3V level| |9|GPIO_1|Dedicated general purposeinput1, +3.3V level| |10|ENC_A|Digital quadrature/incremental encoder input, A channel, +3.3V level| |11|GPIO_2|Dedicated general purposeoutput2, +3.3V level| |12|HALL_WY|Digital Hall sensor input, +3.3V level| |13|DRV_FAULT|Driver stage fault indicator| |14|HALL_V|Digital Hall sensor input, +3.3V level| |15|-dnc-|do not connect| |16|HALL_UX|Digital Hall sensor input, +3.3V level| _Table 16: Low voltage & I/O connector J319_ **4.2.7 Low Voltage & I/O connector J320** |Pin|Signal|Description| |---|---|---| |1|GND|Common system supply and signal ground| |2|+VS|Digital and logic supply input, +24V, can be combined with +VM| |3|-dnc-|do not connect| |4|GPIO_3|Dedicated general purposeoutput3, +3.3V level| |5|-dnc-|do not connect| |6|GPIO_4|Dedicated general purposeoutput4, +3.3V level| |7|GPIO_0|Dedicated general purposeinput0, +3.3V level| |8|GPIO_5|Dedicated general purposeoutput5, +3.3V level| _Table 17: Low voltage & I/O connector J320_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 20 / 30 ## **4.2.8 LEDs Signals** The TMCM-1617 has no on-boards LEDs due to the way it is mounted. Nevertheless it has dedicated digital outputs to drive LEDs located on the baseboard. The following table summarizes these driver signals and gives baseboard recommendations. All LED control signals are +3.3V level outputs. (Connector & pin numbers when looking onto the TMCM-1617 from top / see Sections 4.1 and 4.2.) |Signal Name|Connector<br>(Pin)|Description|Comment| |---|---|---|---| |RUN_LED|J318 (3)|MCU status LED|use a green LED| |ERR_LED|J318 (5)|MCU error LED|use a red LED| |ECAT_LINK_IN_LED|J316 (2)|EtherCAT link IN status and ac-<br>tivity|use a green LED, close to IN<br>port| |ECAT_LINK_OUT_LED|J316 (4)|EtherCAT link OUT status and<br>activity|use a green LED, close to OUT<br>port| |ECAT_RUN_LED|J316 (14)|EtherCAT state machine RUN<br>LED|use a green LED, do not mix up<br>with MCU RUN LED, mark ac-<br>cordingly| |ECAT_ERR_LED|J316 (16)|EtherCAT state machine ERR<br>LED|use a red LED, do not mix up<br>with MCU ERR LED, mark ac-<br>cordingly| _Table 18: TMCM-1617 digital LED output signals_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 21 / 30 ## **5 Communication** The following sections give some guidelines and best practices when setting up the different communication bus systems supported by TMCM-1617. ## **5.1 RS485** For remote control and communication with a host system the TMCM-1617 provides a digital interface to RS485 bus transceivers on a baseboard. 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 9: RS485 bus structure with termination resistors_ 2. _BUS TERMINATION:_ - Especially for longer buses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1617 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 transceiver used on the baseboard of TMCM-1617 (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-1617 hardware is 1Mbit/s. Factory default is 9600 bit/s. Please see separate TMCM-1617 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 > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 22 / 30 communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well defined logic levels. There are actually two options which can be recommended: Add resistor (bias) network on one side of the bus, only (120R termination resistor still at both ends): **==> picture [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 10: 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 11: RS485 bus lines with Profibus™recommended line termination_ ## **5.2 CAN** For remote control and communication with a host system the TMCM-1617 provides a CAN bus interface. TMCM-1617-CANOPEN and TMCM-1617-TMCL have the CAN transceiver integrated. TMCM-1617-COE only provides the digital CAN interface and requires an external CAN transceiver on a baseboard if this interface is required as well. 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. > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 23 / 30 **==> 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 12: CAN bus structure with termination resistors_ 2. _BUS TERMINATION:_ Especially for longer buses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1617 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-1617-TMCL/-CANOPEN units or on the base board (TJA1051TK/3) 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). ## **5.3 EtherCAT** For remote control and communication with an EtherCAT master system the TMCM-1617COE provides an EtherCAT bus interface. The required Ethernet PHYs and the EtherCAT Slave Controller are integrated on the TMCM-1617 -COE. Only the transformer circuit, line protection, and physical connector’s need to be integrated on the baseboard. For more information on EtherCAT and how it works please check our website: https://www.trinamic.com/technology/architecture/interfaces/ethercat/ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 24 / 30 ## **6 Operational Ratings and Characteristics** ## **6.1 Absolute Maximum Ratings** |Parameter|Symbol|Min|Abs. Max|Unit| |---|---|---|---|---| |Motor Supply voltage|+_V M_|+8|+28|V| |Digital Supply voltage|+_V S_|+8|+28|V| |Motor phase current RMS (phase peak)|_Iphase,MAX_||18.0 (25.0)1|A| |Working temperature|_TA_|-30|+60|° C| |Max current at +5V_OUT|_IOUT_+5_V,MAX_||100|mA| |Max current at +3.3V_OUT|_IOUT_+3_._3_V,MAX_||50|mA| _**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 Digital I/O Ratings (Ambient Temperature 25°C)** The digital I/O ratings refer to the following pin groups/functions: Incremental encoder inputs (ENCx), HALL sensor inputs (HALLx), General purpose inputs (GPIx), Drive fault indicator output (DRV_FAULT), Reference switch inputs (REFx), all LED control outputs (xLED), RS485 digital interface (RS485x), Brake control output (BRAKE), Reset input (nRESET). Information on the CAN interface signals is given in the next subsection. |Parameter|Symbol|Min|Typ|Max|Unit| |---|---|---|---|---|---| |I/O Voltage|_V CCIO_||3.3||V| |Input voltage for digital inputs and reference switch inputs|_VIN_|0|+3.3|+3.6|V| |Low level voltage for digital inputs and reference switch inputs|_VL_|0||+0.8|V| |High level voltage for digital inputs and reference switch inputs|_VH_|+2|||V| |Voltage range for the analog inputs|_VAIN_|0||+3.3|V| _Table 20: Digital I/O ratings_ > 1 This is the maximum current rating. This is not for continuous operation but depends on duty cycle, ambient temperature, and cooling. > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 25 / 30 ## **6.3 CAN Communication Interface (Ambient Temperature 25°C)** Both hardware versions of TMCM-1617 (CAN/TMCL and EtherCAT) support a CAN interface. While the TMCM-1617-TMCL/CAN includes an on-board CAN transceiver, the TMCM-1617-COE does not include the CAN transceiver. The TMCM-1617-COE requires an additional external CAN transceiver on the base board (only if CAN should be used as well with that model). Thus, the interface specification is different. For the CAN interface pins on the TMCM-1617-COE follow the I/O ratings as defined in Section 6.2. For the CAN interface pins on the TMCM-1617-CAN/TMCL follow the I/O ratings given in the table below: |Parameter|Symbol|Min|Typ|Max|Unit| |---|---|---|---|---|---| |Voltage on pin CANH|_VCANH_|||+24|V| |Voltage on pin CANL|_VCANL_|||+24|V| _Table 21: TMCM-1617-CAN/TMCL CAN interface I/O ratings_ ## **6.4 Analog Inputs Interface (Ambient Temperature 25°C)** These ratings are valid for the analog inputs pins AIN0, AIN1, and AIN2. |Parameter|Symbol|Min|Typ|Max|Unit| |---|---|---|---|---|---| |Voltage on pins AINx|_VAIN_|0||+3.3|V| _Table 22: Analog input ratings_ ## **6.5 Other Requirements** |Specifcations|Description or Value| |---|---| |Cooling|Free air or heat sink mounted depending on use case and required power| |Working environment|Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting| |Working temperature|-30° C to +60° C (standard version)| _Table 23: Other Requirements and Characteristics_ > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 26 / 30 ## **7 Figures Index** - 1 Board dimensions and position of mounting holes (all values in mm) . . . - 2 TMCM-1617 PCB footprint as seen on the top side of a base/carrier PCB . . . - 3 TMCM-1617 baseboard mating connector positions . . . . . . . . . . . - 4 Side and top view on TMCM-1617 baseboard complete with TMCM-1617 module and mating connectors . . . . - 5 Heat sink mounting . . . . . . . . . . . 6 TMCM-1617 connectors as seen on the baseboard footprint (mirrored compared to top side of TMCM-1617 itself) . . . . . . . . . . . . . . . . . . . . - 6 - 6 - 7 - 8 - 8 - 10 - 7 TMCM-1617 connectors and signals for TMCL/CANopen version (potted and open module) . . . . . . . . . . . . . . . 11 - 8 TMCM-1617 connectors and signals for CoE version (potted and open module) 16 - 9 RS485 bus structure with termination resistors . . . . . . . . . . . . . . . . . . 21 - 10 RS485 bus lines with resistor (bias) network on one side, only . . . . . . . . 22 - 11 RS485 bus lines with Profibus™recommended line termination 22 - 12 CAN bus structure with termination resistors . . . . . . . . . . . . . . . . . . 23 > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 27 / 30 ## **8 Tables Index** - 1 TMCM-1617 Order Codes . . . . . . . . 5 13 Low voltage & I/O connector J315 . . . 17 2 TMCM-1617 mating connectors for 14 Low voltage & I/O connector J317 . . . 18 plugging onto a baseboard . . . . . . . 7 15 Low voltage & I/O connector J318 . . . 18 - 3 Motor & supply connectors J301. . . J305 11 16 Low voltage & I/O connector J319 . . . 19 4 Low voltage & I/O connector J315 . . . 12 17 Low voltage & I/O connector J320 . . . 19 5 Low voltage & I/O connector J315 . . . 12 18 TMCM-1617 digital LED output signals 20 6 Low voltage & I/O connector J317 . . . 13 20 Digital I/O ratings . . . . . . . . . . . . . 24 7 Low voltage & I/O connector J318 . . . 13 21 TMCM-1617-CAN/TMCL CAN interface 8 Low voltage & I/O connector J319 . . . 14 I/O ratings . . . . . . . . . . . . . . . . . 25 9 Low voltage & I/O connector J320 . . . 14 22 Analog input ratings . . . . . . . . . . . 25 10 TMCM-1617 digital LED output signals 15 23 Other Requirements and Characteristics 25 11 Motor & supply connectors J301. . . J305 16 24 Hardware Revision . . . . . . . . . . . . 30 12 Low voltage & I/O connector J315 . . . 17 25 Document Revision . . . . . . . . . . . . 30 > ©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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 28 / 30 ## **9 Supplemental Directives** ## **9.1 Producer Information** ## **9.2 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. ## **9.3 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. ## **9.4 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. ## **9.5 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. ## **9.6 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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 29 / 30 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. ## **9.7 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-1617 Hardware Manual • HW Version V1.2 | Document Revision V1.00 • 2020-Mar-27 30 / 30 ## **10 Revision History** ## **10.1 Hardware Revision** |Version|Date|Author|Description| |---|---|---|---| |V1.20|2019-10-22|MM/SK|V1.2 ES Samples| _Table 24: Hardware Revision_ ## **10.2 Document Revision** |Version|Date|Author|Description| |---|---|---|---| |V1.00|2020-02-27|SK|First version.| _Table 25: 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
Updated at April 29, 2026
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