1-axis Stepper
Controller / Driver
up to 2.8 RMS / 24V DC
USB, RS485, and RS232
MODULES FOR STEPPER MOTORS MODULES
Hardware Version V1.0
HARDWARE MANUAL
+
+
TMCM-1161
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UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
2
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 TMCM-1161 Dimensions and Mounting Holes ............................................................................................. 6
3.2 Connectors of TMCM-1161 ................................................................................................................................. 7
3.2.1 Interface and Power Supply Connector ................................................................................................. 8
3.2.2 USB Connector ............................................................................................................................................... 9
3.2.3 In/Out Connector ......................................................................................................................................... 10
3.2.4 Motor Connector .......................................................................................................................................... 11
4 Reset to Factory Defaults ......................................................................................................................................... 12
5 On-board LEDs ............................................................................................................................................................. 13
6 Operational Ratings ................................................................................................................................................... 14
7 Functional Description .............................................................................................................................................. 15
8 TMCM-1161 Operational Description ..................................................................................................................... 16
8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 16
9 Life Support Policy ..................................................................................................................................................... 18
10 Revision History .......................................................................................................................................................... 19
10.1 Document Revision ........................................................................................................................................... 19
10.2 Hardware Revision ............................................................................................................................................ 19
11 References .................................................................................................................................................................... 19
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TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
3
1 Features
The TMCM-1161 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 NEMA23 (57mm flange size) and
NEMA24 (60mm flange size) stepper motors and has been designed for coil currents up to 2.8A 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
Motion controller
- 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
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
- inputs for stop switches (left and right) and home switch
- 1 analog input
- 2 general purpose outputs (open collector with freewheeling diodes)
- USB, RS232, and RS485 communication interfaces
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24V DC nominal (10… 30V DC)
- Motor current: up to 2.8A RMS (programmable)
Refer to separate TMCL Firmware Manual, too.
www.trinamic.com
TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
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
4
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-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
Order code
Description
Size (mm3)
TMCM-1161
Single axis bipolar stepper motor controller / driver electronics with
integrated sensOstep encoder and coolStep feature
60 x 60 x 12
Order code
Description
TMCM-1161-CABLE
Cable loom for TMCM-1161
- 1x cable loom for interface connector
- 1x cable loom for In/Out connector
- 1x cable loom for motor connector
- 1x USB type A connector to mini-USB type B connector cable
5
2 Order Codes
Table 2.1: TMCM-1161 order codes
A cable loom set is available for this module:
Table 2.2 Cable loom order code
Please note that the TMCM-1161 is available with NEMA23 and NEMA24 stepper motors, too. Please refer
to the PD-1161 documents for more information about these products.
www.trinamic.com
TMCM-1161 V1.0 Hardware Manual (Rev. 1.12 / 2012-JUL-30)
60
60
56.75
46.25
49.5
10.5
4.59
45 .9 5
13.75
3.25
10.5
55.41
14.05
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3 Mechanical and Electrical Interfacing
3.1 TMCM-1161 Dimensions and Mounting Holes
The dimensions of the controller/driver board are approx. 60mm x 60mm x 12mm in order to fit on the
back of a 60mm stepper motor. Maximum component height (height above PCB level) without mating
connectors is around 8mm above PCB level and 2.5mm below PCB level. There are four mounting holes
for M3 screws for mounting the board either to a NEMA23 (two mounting holes at opposite corners) or a
NEMA24 (other two mounting holes at opposite corners) stepper motor.
Figure 3.1: Dimensions of TMCM-1161 and position of mounting holes
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