MODULE ModuleforStepper TMCM-1231HardwareManual HardwareVersionV1.1 DocumentRevisionV1.012020-NOV-03 The TMCM-1231 is a single axis controller/driver module for 2-phase bipolar stepper motors. The modulecaneitherbeusedwithTMCLrmwaresupportingstandaloneoperationaswellasdirect mode control using TMCL commands or with CANopen rmware supporting control using the CANopenprotocol. BothrmwareversionsmakeextensiveuseoftheTrinamicTMC4361motion controller and TMC5160 motor driver. Dynamic current control, and quiet, smooth and ecient operationarecombinedwithStealthChop,DcStep,StallGuard2andCoolStepfeatures. Features Singleaxiscontroller/driverfor2-phase bipolarsteppermotor Trapezoid,SixPointandS-shaped ramps +10...48VDCmotorsupplyvoltage Upto6.5ARMSmotorcurrent RS485andCANinterface Single-endedABNencoderinterface Step/directioninputs Stopswitchandhomeswitchinputs Generalpurposeinputsandoutputs Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram Step/Dir Inputs REFL/REFR/ HOME TMCL Memory SPI Stepper GPIO Stepper Stepper Energy Efficient Energy Efficient ARM SPI Motor Motor Driver Driver Cortex M0+ Controller Driver RS485 Microcontroller TMC262 TMC262 (TMC4361) TMC5160 Motor CAN 10...30V DC ENCODER TMCM-1231 A/B/N E 2020TRINAMICMotionControlGmbH&Co. KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat: www.trinamic.com Readentiredocumentation.TMCM-1231HardwareManualHardwareVersionV1.1 DocumentRevisionV1.012020-NOV-03 2/25 Contents 1 Features 3 2 OrderCodes 5 3 MechanicalandElectricalInterfacing 6 3.1 Sizeoftheboard . 6 4 Connectors 7 5 ResettoFactoryDefaults 10 6 I/Os 12 6.1 AnaloginputIN0 . 12 6.2 DigitalinputsIN2andIN3 12 6.3 DigitaloutputOUT0 . 12 6.4 HOME/STOP L/STOP Rswitchinputs . 12 6.5 Externalincrementalencoderinput 12 6.6 Step/Directioninputs . 12 6.7 Addresspins 12 7 Communication 14 7.1 RS485 14 7.2 CAN . 15 8 FunctionalDescription 17 9 OperationalRatingsandCharacteristics 18 10 AbbreviationsusedinthisManual 20 11 FiguresIndex 21 12 TablesIndex 22 13 SupplementalDirectives 23 13.1 ProducerInformation 23 13.2 Copyright 23 13.3 TrademarkDesignationsandSymbols . 23 13.4 TargetUser 23 13.5 Disclaimer: LifeSupportSystems 23 13.6 Disclaimer: IntendedUse 23 13.7 CollateralDocuments&Tools 24 14 RevisionHistory 25 14.1 HardwareRevision 25 14.2 DocumentRevision 25 2020TRINAMICMotionControlGmbH&Co. KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com