User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
5 / 103
1 Features
The TMCM-3230 is a triple 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 has been designed for coil currents up to 3A RMS and 48 V 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 and direct mode operation.
Main Characteristics
• Motion controller & stepper motor driver:
– Hardware motion profile calculation in real-time.
– On the fly alteration of motion parameters (e.g. position, velocity, acceleration) .
– High performance microcontroller for overall system control and communication protocol
handling.
– 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.
– stealthChop™ feature for quiet operation and smooth motion.
– dcStep™ feature for load dependent speed control.
– Dedicated home and stop switch inputs for each motor.
• Interfaces
– Serial communication interface (3.3V, level shifter for RS232, RS485 or RS422 can be added).
– CAN 2.0B communication interface.
– USB full speed (12Mbit/s) device interface.
– 8 general purpose digital/analog inputs.
– 8 general-purpose digital oututs.
Software
TMCL: standalone operation or remote controlled operation or both modes combined, program memory
(non volatile) for up to 6144 TMCL commands. PC-based application development software TMCL-IDE
available for free.
Electrical data
• Logic supply voltage: +5V.
• Motor supply voltage: up to +24V.
• Motor current: up to 0.9A RMS / 1.3A peak (programmable).
Please see also the separate Hardware Manual.
©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com