The TMCM-140-42-SE is an intelligent stepper motor controller and driver module to be mounted directly on a 42mm flange motor (NEMA17). This module converts the motor into a compact mechatronic device with bus oriented or stand-alone control. The module is able to drive a 2-phase stepper motor at supply voltages between 7V and 28,5V and coil currents up to 2Arms. Typical Stepper Motors in this range normally provide a torque between 0,25 Nm and 0,5 Nm at 24V supply voltage.

The patented chopSync^TM feature allows very high velocity operation of the stepper motor using the standard TRINAMIC [stepper motor] Driver-ICs. This is achieved by reducing resonances occurring when operating the motor at velocities where the EMF voltage exceeds the level of the supply voltage. With chopSyncTM, motor velocities of several 1000 RPM can be reached.

TRINAMIC’s patented sensorless stall detection stallGuard^TM enables the TMCM-140-42-SE to detect mechanical overload conditions and stall conditions without external sensors, by measuring the load at a predefined point where a step loss has not yet occurred. Thus, eliminates the need for reference or end switches. This reduces cost and complexity of applications, where a reference point is required. When compared to pure mechanical referencing, stress on the mechanic and noise is reduced. However if somebody has to stay with external switches then he can use the multi purpose I/Os of the module.

The TMCM-140-42-SE can be controlled via RS232, RS485, CAN/CANopen and USB interface.  Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed onboard.

The Board comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level commands like "move to position" or "constant rotation" a rapid and fast development of motion control applications is guaranteed. The TMCL™ program can be stored in the on board EEPROM for stand-alone operation.

Features:

• 7V to 28.5V supply voltage
• two-phase bipolar motors with 1A to 2A coil current
• mountable on motors with flange size: 42mm / NEMA17
• USB plus RS232 or RS485 or CAN 2.0b host interface 
• 2 inputs for reference and stop switches 
• 2 general purpose inputs (24V compatible)
• 2 general purpose outputs (open collector)
• up to 16 times microstepping 
• memory for 2048 TMCL™ commands 
• automatic ramp generation in hardware 
• on the fly alteration of motion parameters (e.g. position, velocity, acceleration) 
• stallGuard™ for sensorless motor stall detection
• chopSync™ feature for high motor velocity by reducing resonances
• integrated absolute sensOstep™ encoder chip (max. 4096 cpr)
• stand-alone operation using TMCL™ or remote controlled operation
• PC-based application development software TMCL-IDE included
• optional: CANopen firmware (CiA301 / CiA402)
• pluggable JST connectors
• RoHS compliant
• size 42 x 42 [mm]

Available Models:  TMCM-140-42-SE (-option)

Order Options:

• 232   (USB & RS-232 interface, TMCL™ firmware)
• 485   (USB & RS-485 interface, TMCL™ firmware)
• CAN  (USB & CAN interface, TMCL™ firmware)
• CANopen (USB & CAN interface, CANopen firmware)
  

The TMCM-140-42-SE is available also together with a selection of 42 mm motors (NEMA 17) as mechatronic solution named PANdrive PDx-140-42-SE.

Product Management Team Trinamic: Achim Dobrunz Product Manager Phone: +49 5722 / 203-114 Fax: +49 5722 / 203-131 Email: achim_dobrunz@spezial.com Matthias Göing FAE  Phone: +49 5722 / 203-141 Fax: +49 5722 / 203-131 Email: matthias_goeing@spezial.com

Download:  TMCM-140-42-SE_ShortSpec.pdf   Download:  TMCM-140-42-SE_manual.pdf   Download:  PD-140-42-SE_ShortSpec.pdf