Stepper Motor with
Controller / Driver
0.7A RMS / 24V DC
RS485 Interface
MODULE FOR STEPPER MOTORS MODULE
Hardware Version V1.2
HARDWARE MANUAL
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TMCM-1021
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1021 V1.2 Hardware Manual (Ref. 1.00 / 2012-MAR-09) 2
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 Size of Board ........................................................................................................................................................ 6
3.2 Connectors ............................................................................................................................................................. 7
3.2.1 Power, Communication and I/O Connector .......................................................................................... 8
3.2.2 Motor Connector ............................................................................................................................................ 8
3.3 Power Supply ....................................................................................................................................................... 9
3.4 Communication .................................................................................................................................................... 9
3.4.1 RS485 ................................................................................................................................................................ 9
3.5 Inputs and Outputs .......................................................................................................................................... 10
3.5.1 Multi-purpose Inputs .................................................................................................................................. 10
3.5.2 General Purpose Outputs .......................................................................................................................... 11
4 Reset to Factory Defaults ......................................................................................................................................... 12
5 On-board LED ............................................................................................................................................................... 12
6 Operational Ratings ................................................................................................................................................... 13
7 Functional Description .............................................................................................................................................. 14
8 Life Support Policy ..................................................................................................................................................... 15
9 Revision History .......................................................................................................................................................... 16
9.1 Document Revision ........................................................................................................................................... 16
9.2 Hardware Revision ............................................................................................................................................ 16
10 References .................................................................................................................................................................... 16
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TMCM-1021 V1.2 Hardware Manual (Ref. 1.00 / 2012-MAR-09) 3
1 Features
The TMCM-1021 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of the
art feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized
applications. The module can be mounted on the back of NEMA11 (28mm flange size) and has been
designed for coil currents up to 0.7A RMS and 24V DC supply voltage. With its high energy efficiency from
TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The TMCL™ firmware allows for
both, standalone operation and direct mode.
MAIN CHARACTERISTICS
Highlights
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
- For position movement applications, where larger motors do not fit and higher torques are not
required
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2 feature for stall detection
- coolStep feature for reduced power consumption and heat dissipation
Encoder
- sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
- Up to 4 multi-purpose inputs (2 shared with outputs)
- 2 general purpose outputs
- RS485 2-wire communication interface
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 876 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24V DC nominal (9… 28V DC)
- Motor current: up to 0.7A RMS (programmable)
Refer to separate TMCL Firmware Manual, too.
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TMCM-1021 V1.2 Hardware Manual (Ref. 1.00 / 2012-MAR-09) 4
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL
stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range of
load, velocity, and current settings. At maximum motor load, the value goes to zero or near
to zero. This is the most energy-efficient point of operation for the motor.
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™ coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be reduced
by as much as 75%. coolStep allows substantial energy savings, especially for motors which
see varying loads or operate at a high duty cycle. Because a stepper motor application
needs to work with a torque reserve of 30% to 50%, even a constant-load application allows
significant energy savings because coolStep automatically enables torque reserve when
required. Reducing power consumption keeps the system cooler, increases motor life, and
allows reducing cost.
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Figure 1.2 Energy efficiency example with coolStep
TMCM-1021 V1.2 Hardware Manual (Ref. 1.00 / 2012-MAR-09) 5
Order code
Description
Size of unit
TMCM-1021
Single axis bipolar stepper motor controller/driver
electronics with integrated encoder electronics
28mm x 28mm
Order code
Description
TMCM-1021-CABLE
Cable loom for TMCM-1021
- 1x cable loom for power, communication and I/O connector
(cable length approx. 200mm)
- 1x cable loom for motor connector (cable length ca. 200mm)
2 Order Codes
Table 2.2: Order codes
A cable loom set is available for this module:
Table 2.5: Cable loom order code
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