MODULE
Module for Stepper
TMCM-1637 Hardware Manual
Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
The TMCM-1637 is a single axis controller/driver module for single phase DC motors, two phase
bipolar stepper motors and three phase BLDC motors. The TMCM-1637 can either be used with
TMCL firmware supporting standalone operation as well as direct mode control using the TMCL™
protocol or with CANopen firmware supporting control using the CANopen® protocol.
Features
• Single axis controller/driver with field
oriented control
• +10. . . 30V DC motor supply voltage
• Up to 5A RMS motor current
• RS485 and CAN interface
• Single-ended ABN encoder interface
• Hall sensor inputs
• Step/direction inputs
• Stop switch and home switch inputs
• General purpose inputs and outputs
Applications
• Laboratory Automation
• Manufacturing
• Semiconductor Handling
• Robotics
• Factory Automation
• Test & Measurement
Simplified Block Diagram
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com
Read entire documentation.
• Life Science
• Biotechnology
• Liquid Handling
2 / 26
TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
Contents
1 Features
3
2 Order Codes
5
3 Mechanical and Electrical Interfacing
3.1 Size of the board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
6
4 Connectors
7
5 Reset to Factory Defaults
12
6 I/Os
6.1 Analog input AIN0 . . . . . . . . . . . . . . . .
6.2 Digital Inputs IN0 and IN1 . . . . . . . . . . .
6.3 Digital Output OUT0 . . . . . . . . . . . . . .
6.4 HOME/STOP_L/STOP_R switch inputs . . . .
6.5 Incremental encoder input . . . . . . . . . .
6.6 Hall sensor input . . . . . . . . . . . . . . . .
6.7 Step/Direction inputs . . . . . . . . . . . . . .
6.8 Address pins . . . . . . . . . . . . . . . . . . .
6.9 Direct RS485 interface to the TMC4671 chip
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13
13
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7 Communication
15
7.1 RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7.2 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
8 Functional Description
18
9 Operational Ratings and Characteristics
19
10 Abbreviations used in this Manual
21
11 Figures Index
22
12 Tables Index
23
13 Supplemental Directives
13.1 Producer Information . . . . . . . . . .
13.2 Copyright . . . . . . . . . . . . . . . . . .
13.3 Trademark Designations and Symbols .
13.4 Target User . . . . . . . . . . . . . . . .
13.5 Disclaimer: Life Support Systems . . . .
13.6 Disclaimer: Intended Use . . . . . . . .
13.7 Collateral Documents & Tools . . . . . .
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24
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14 Revision History
26
14.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
14.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
1
3 / 26
Features
The TMCM-1637 is a single axis field oriented motor controller/driver board. It supports single phase DC
motors, two phase bipolar stepper motors and three phase BLDC motors with up to 5A RMS (7A peak) motor coil current. For motor commutation and position feedback, hall sensors or incremental ABN encoders
can be used. For driver-only applications, the TMCM-1637 offers Step/Direction inputs. The TMCM-1637 is
also equipped with two analog inputs (0. . . 5V range), two digital inputs and two digital (TTL level) outputs.
For communication, RS485 and CAN bus interfaces are available.
Motion Controller
• Motion profile calculation in real-time.
• On the fly alteration of motor parameters (e.g. position, velocity, acceleration).
• Linear ramps controlled by firmware.
• Encoder interface.
• Hall sensor interface.
• Home switch and stop switch inputs.
Driver
• Motor current: up to 5A RMS (7A peak, programmable in software).
• Motor supply voltage: +24V DC (+10. . . +30V DC).
• Logic supply voltage: +5V DC.
• Step/Dir interface for driver-only applications.
Encoder
• Input for ABN incremental encoder.
• Programmable encoder scaling and support for motor stop on encoder deviation.
Interfaces
• RS485 interface (up to 1Mbit/s).
• CAN interface (up to 1Mbit/s).
• Step/Dir input.
• Left and Right stop switch inputs.
• Two general purpose digital inputs.
• Encoder input for incremental ABN encoder signals.
• Hall sensor interface.
• Two analog inputs (0. . . 5V input range).
• Home switch input.
Mechanical data
• Board size: 80mm x 40/45mm, height 7mm max.
• 98-pin slot type connector
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
4 / 26
Software
• TMCL™ remote (direct mode) and standalone operation (memory for up to 2047 TMCL™ commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see TMCM1637 TMCL firmware manual for more details.
• CANopen firmware with CANopen standard protocol stack for the CAN interface. Please see TMCM1637 CANopen firmware manual for more details.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
2
5 / 26
Order Codes
The standard version of the TMCM-1637 is pre-programmed with either TMCL™ firmware or CANopen®
firmware.
Order Code
Description
Size
TMCM-1637-TMCL
1-axis field oriented motor controller/driver, upto 5A RMS motor current, 24V nom. supply,
ABN encoder input, hall sensor input, S/D input,
stop/home switch inputs, 1 analog input, 2 digital
inputs, 1 digital output, CAN and RS485 interfaces
80mm x 40mm (connector: 45mm)
TMCM-1637-CANopen
1-axis field oriented motor controller/driver, upto 5A RMS motor current, 24V nom. supply,
ABN encoder input, hall sensor input, S/D input,stop/home switch inputs, 1 analog input, 2
digital inputs, 1 digital output, CAN and RS485 interfaces
80mm x 40mm (connector: 45mm)
Table 1: TMCM-1637 Order Codes
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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6 / 26
TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
3
3.1
Mechanical and Electrical Interfacing
Size of the board
The board has an overall size of 80mm x 40mm without the connector. Together with the slot type connector the board size is 80mm x 45mm. The thickness of the board with components is max. 7mm. There
is one 5mm diameter mounting hole.
80mm
40mm
45mm
Figure 1: Board dimensions, position of mounting holes and position (pin 1) of connectors (all values in mm)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
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7 / 26
Connectors
The TMCM-1637 is equipped with an 98-pin slot type connector. As a mating connector on base boards
an 98-pin PCIe slot can be used (but please do not try to plug the module into the PCIe slot of a PC main
board). All signals of the module are routed via the slot type connector. These are the supply voltages, the
CAN and RS485 interface, motor coils, encoder inputs and all other signals needed by the module. The
pins located on the top side of the module PCB are labeled B1. . . B48 and the pins located on the bottom
side of the PCB are labeled A1. . . A48.
For trying out the TMCM-1637 for the first time we recommend using a Trinamic base board. But a base
board can also be designed by the user.
Start with power supply OFF and do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes
when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them.
Therefore, always switch off / disconnect power supply or at least disable driver
stage before connecting / disconnecting motor.
NOTICE
Slot Type Connector Pin Assignment (PCB Top Side)
Pin
Label
Direction
Description
B1
NC
—
not connected
B2
NC
—
not connected
B3
NC
—
not connected
B4
NC
—
not connected
B5
GND
—
Power and signal ground
B6
GND
—
Power and signal ground
B7
GND
—
Power and signal ground
B8
GND
—
Power and signal ground
B9
+24V
input
Motor supply voltage
B10
+24V
input
Motor supply voltage
B11
+24V
input
Motor supply voltage
B12
OA2
output
Stepper motor: coil A pin 2
B13
OA2
output
Stepper motor: coil A pin 2
B14
OA2
output
Stepper motor: coil A pin 2
B15
OA2
output
Stepper motor: coil A pin 2
B16
OA1/W
output
Stepper motor: coil A pin 1
BLDC motor: phase W
B17
OA1/W
output
Stepper motor: coil A pin 1
BLDC motor: phase W
B18
OA1/W
output
Stepper motor: coil A pin 1
BLDC motor: phase W
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
Pin
Label
Direction
Description
B19
OA1/W
output
Stepper motor: coil A pin 1
BLDC motor: phase W
B20
OB2/V
output
Stepper motor: coil B pin 2
BLDC motor: phase V
B21
OB2/V
output
Stepper motor: coil B pin 2
BLDC motor: phase V
B22
OB2/V
output
Stepper motor: coil B pin 2
BLDC motor: phase V
B23
OB2/V
output
Stepper motor: coil B pin 2
BLDC motor: phase V
B24
OB1/U
output
Stepper motor: coil B pin 1
BLDC motor: phase U
B25
OB1/U
output
Stepper motor: coil B pin 1
BLDC motor: phase U
B26
OB1/U
output
Stepper motor: coil B pin 1
BLDC motor: phase U
B27
OB1/U
output
Stepper motor: coil B pin 1
BLDC motor: phase U
B28
NC
B29
GND
—
Power and signal ground
B30
HALL_U
input
Hall sensor U
B31
HALL_V
input
Hall sensor V
B32
HALL_W
input
Hall sensor W
B33
GND
—
Power and signal ground
B34
SYNC
input
Synchronization signal input
B35
IRQ
output
Interrupt output
B36
ENABLE
input
Motor coil enable input
B37
GND
—
Power and signal ground
B38
IN1
input
General purpose digital input #3
B39
IN0
input
General purpose digital input #2
B40
GND
—
Power and signal ground
B41
RS485B_4671
input
Direct RS485 interface to the TMC4671 chip
B42
OUT0
output
General purpose digital output #0
B43
GND
—
Power and signal ground
B44
RS485_A
in/out
RS485+ (non-inverted) signal
B45
RS485_B
in/out
RS485- (inverted) signal
B46
CAN_L
in/out
CAN bus low
not connected
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TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
Pin
Label
Direction
Description
B47
CAN_H
in/out
CAN bus high
B48
GND
—
Power and signal ground
B49
+5V
input
Logic supply voltage
Table 2: Top Side Slot Connector Pin Assignment
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TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
Slot Type Connector Pin Assignment (PCB Bottom Side)
Pin
Label
Direction
Description
A1
NC
—
not connected
A2
NC
—
not connected
A3
NC
—
not connected
A4
NC
—
not connected
A5
GND
—
Power and signal ground
A6
GND
—
Power and signal ground
A7
GND
—
Power and signal ground
A8
GND
—
Power and signal ground
A9
+24V
input
Motor supply voltage
A10
+24V
input
Motor supply voltage
A11
+24V
input
Motor supply voltage
A12
OA2
output
Stepper motor: coil A pin 2
A13
OA2
output
Stepper motor: coil A pin 2
A14
OA2
output
Stepper motor: coil A pin 2
A15
OA2
output
Stepper motor: coil A pin 2
A16
OA1/W
output
Stepper motor: coil A pin 1
BLDC motor: phase W
A17
OA1/W
output
Stepper motor: coil A pin 1
BLDC motor: phase W
A18
OA1/W
output
Stepper motor: coil A pin 1
BLDC motor: phase W
A19
OA1/W
output
Stepper motor: coil A pin 1
BLDC motor: phase W
A20
OB2/V
output
Stepper motor: coil B pin 2
BLDC motor: phase V
A21
OB2/V
output
Stepper motor: coil B pin 2
BLDC motor: phase V
A22
OB2/V
output
Stepper motor: coil B pin 2
BLDC motor: phase V
A23
OB2/V
output
Stepper motor: coil B pin 2
BLDC motor: phase V
A24
OB1/U
output
Stepper motor: coil B pin 1
BLDC motor: phase U
A25
OB1/U
output
Stepper motor: coil B pin 1
BLDC motor: phase U
A26
OB1/U
output
Stepper motor: coil B pin 1
BLDC motor: phase U
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
Pin
Label
Direction
Description
A27
OB1/U
output
Stepper motor: coil B pin 1
BLDC motor: phase U
A28
NC
A29
GND
—
Power and signal ground
A30
ENC_A
input
Encoder signal A (A channel)
A31
ENC_B
input
Encoder signal B (B channel)
A32
ENC_N
input
Encoder signal N (null channel)
A33
GND
—
Power and signal ground
A34
STOP_L
input
Left stop switch
A35
STOP_R
input
Right stop switch
A36
HOME
input
Home switch
A37
GND
—
Power and signal ground
A38
DIR
input
direction signal input
A39
STEP
input
step signal input
A40
GND
—
Power and signal ground
A41
RS485A_4671
input
Direct RS485 interface to the TMC4671 chip
A42
AIN0
input
General purpose analog/digital input #0
A43
GND
—
Power and signal ground
A44
ADDR3
input
Module address bit 3
A45
ADDR2
input
Module address bit 2
A46
ADDR1
input
Module address bit 1
A47
ADDR0
input
Module address bit 0
A48
GND
—
Power and signal ground
A49
+5V
input
Logic supply voltage
11 / 26
not connected
Table 3: Bottom Side Slot Connector Pin Assignment
NOTICE
Do not connect or disconnect a motor during operation! Motor cable and
motor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
NOTICE
Do not remove or plug in the module while the base board is powered!
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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12 / 26
TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
5
Reset to Factory Defaults
It is possible to reset all settings in firmware for the TMCM-1637 to factory defaults without establishing
a working communication connection. This might be helpful in case communication parameters of the
preferred interface have been set to unknown values or got lost.
For this procedure two pads on the top side of the module have to be shorted (electrically connected with
each other) during power-on.
Please perform the following steps:
1. Switch power supply OFF.
2. Short CLK and DIO pads of programming pads on bottom of PCB (see figure 2).
3. Switch power supply ON again.
4. Wait a few seconds.
5. Switch power supply OFF again.
6. Remove the short between the two pads.
7. After switching power supply ON again all permanent settings have been restored to factory defaults.
Short these
two pads.
Figure 2: Reset to factory default settings
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
6
13 / 26
I/Os
The slot connector offers two analog inputs, two digital inputs and digital outputs. All inputs can be used
for different purposes explained in more detail in the following subsections.
6.1
Analog input AIN0
The TMCM-1637 is equipped with one analog inputs. The analog input voltage range is approx. 0. . . +5V.
For voltages above +5V saturation takes place but, up-to 30V higher voltages are tolerated without destroying the input. For analog to digital conversion the integrated ADC of the on-board microcontroller is
used. Resolution of this converter is 12bit (0..4095).
The analog inputs can also be used as a digital inputs.
6.2
Digital Inputs IN0 and IN1
The TMCM-1637 offers two digital inputs IN0 and IN1. Their input voltage range is 0. . . +5V. Higher voltages
(up to 30V) are also tolerated without destroying the input. Voltages above 1V are recognized as logical ’1’
and below 1V as logical ’0’.
6.3
Digital Output OUT0
The TMCM-1637 is equipped with one general purpose digital output, using TTL level (0. . . +5V).
6.4
HOME/STOP_L/STOP_R switch inputs
The TMCM-1637 offers two inputs which can be used as left (STOP_L) and right (STOP_R) stop switch
inputs. When enabled in software the STOP_L switch input will stop motor movement in negative direction
(step counter decreasing) while activated. Likewise the STOP_R switch input will stop motor movement in
positive direction (step counter increasing) while activated.
6.5
Incremental encoder input
An incremental A/B/N encoder can be connected to the encoder interface ENC_A, ENC_B and ENC_N. Encoder with push-pull signals (e.g. +5V TTL) and open-drain output signals are supported (single-ended).
The module is equipped with 4k7 pull-up resistors to +5V.
6.6
Hall sensor input
Hall sensor may be connected to the inputs HALL_U, HALL_V, HALL_W. The module is equipped with 4k7
pull-up resistors to +5V.
6.7
Step/Direction inputs
The TMCM-1637 may be used as driver with an external motion controller. In this case the Step/Direction
output signals of the external motion controller may be connected to the Step/Dir inputs of the TMCM1637. Please note that these signals have to be TTL level signals.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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TMCM-1637 Hardware Manual • Hardware Version V1.2 | Document Revision V1.02 • 2021-JAN-08
6.8
14 / 26
Address pins
The address pins ADDR0, ADDR1, ADDR2 and ADDR3 can be used to set the TMCL module address or
CANopen node ID of the TMCM-1637. This is useful when a base board with more than one slot is being
used. In this case, every slot can be assigned to one specific TMCL module address or CANopen node ID
by hardware.
When all address pins are pulled low, the address pins are not used. The TMCL module address or
CANopen node ID stored in the EEPROM of the module will be used then. So in this case address / ID
settings will be set in software.
When at least one of the address pins is pulled high the address or ID set by the address pins will be used.
With TMCL, the module address will be determined by the address pins (1. . . 15), and the reply address
will always be 255. This is true for CAN and for RS485 communication. With CANopen, the node ID will be
determined by the address pins (1. . . 15).
6.9
Direct RS485 interface to the TMC4671 chip
The pins RS485A_4671 (A41) and RS485B_4671 (B41) are connected to the serial interface of the TMC4671
chip via an RS485 transceiver. This way, the TMC4671 chip can also be controlled directly, bypassing the
CPU of the TMCM-1637 module. This RS485 interface only works as an input. So it is only possible to write
to the TMC4671 registers and not possible to read from the TMC4671 via this interface. This interface is
only needed for special cases. In most cases these two pins can be left unconnected.
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7
Communication
7.1
RS485
For remote control and communication with a host system the TMCM-1637 provides a two wire RS485
bus interface. For proper operation the following items should be taken into account when setting up an
RS485 network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection
between each node and the bus itself should be as short as possible. Basically, it should be short
compared to the length of the bus.
Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
RS485
termination
resistor
(120 Ohm)
keep distance as
short as possible
Figure 3: RS485 bus structure with termination resistors
2. BUS TERMINATION:
Especially for longer buses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends. The TMCM-1637 does not integrate
any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to
be added externally.
3. NUMBER OF NODES:
The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single
bus. The bus transceiver used on the TMCM-1637 units (MAX22501E) offers a significantly reduced
bus load compared to the standard and allows a maximum of 255 units to be connected to a single
RS485 bus using standard TMCL firmware. Please note: usually it cannot be expected to get reliable
communication with the maximum number of nodes connected to one bus and maximum supported
communication speed at the same time. Instead, a compromise has to be found between bus cable length,
communication speed and number of nodes.
4. COMMUNICATION SPEED:
The maximum RS485 communication speed supported by the TMCM-1637 hardware is 1Mbit/s. Factory default is 9600 bit/s. Please see separate TMCM-1637 TMCL firmware manual for information
regarding other possible communication speeds below the upper hardware limit.
5. NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is
transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network
connecting both bus lines to well defined logic levels.
There are actually two options which can be recommended: Add resistor (bias) network on one side
of the bus, only (120R termination resistor still at both ends):
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Slave
Slave
node
n- 1
node
n
+5V
pull-up (680R)
RS485+ / RS485A
termination
resistor
(120R)
termination
resistor
(120R)
RS485- / RS485B
pull-down (680R)
GND
Figure 4: RS485 bus lines with resistor (bias) network on one side, only
Or add resistor network at both ends of the bus (like Profibus™ termination):
+5V
pull-up (390R)
Slave
Slave
node
n- 1
node
n
+5V
pull-up (390R)
RS485+ / RS485A
termination
resistor
(220R)
termination
resistor
(220R)
RS485- / RS485B
pull-down (390R)
GND
pull-down (390R)
GND
Figure 5: RS485 bus lines with Profibus™recommended line termination
7.2
CAN
For remote control and communication with a host system the TMCM-1637 provides a CAN bus interface.
Please note that the CAN interface is not available in case USB is connected. For proper operation the
following items should be taken into account when setting up a CAN network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection
between each node and the bus itself should be as short as possible. Basically, it should be short
compared to the length of the bus.
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Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
CAN
termination
resistor
(120 Ohm)
keep distance as
short as possible
Figure 6: CAN bus structure with termination resistors
2. BUS TERMINATION:
Especially for longer buses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends. The TMCM-1637 does not integrate
any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to
be added externally.
3. BUS TERMINATION:
The bus transceiver used on the TMCM-1637 units (TJA1051TK/3) supports at least 110 nodes under
optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus
length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).
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8
18 / 26
Functional Description
The TMCM-1637 is a highly integrated single axis, field oriented controller/driver module for single phase
DC motors, two phase stepper motors and three phase BLDC motors with up-to 5A RMS / 7A peak motor
coil current. The TMCM-1637 can be controlled via RS485 or CAN interface.
The TMCM-1637 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
a rapid and fast development of motion control applications is guaranteed. Whereas the boot loader
is installed during production and testing at TRINAMIC and remains usually untouched throughout the
whole lifetime, the firmware can be updated by the user via any serial interface.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed
on-board. Full remote control of the device with feedback is possible. The firmware of the module can be
updated via the CAN or the RS485 interface.
The TMCM-1637 module contains the following main components:
• Microcontroller (ARM Cortex-M0+™), responsible for overall control and communication
• Highly integrated advanced field oriented motor controller supporting field oriented control in hardware.
• MOSFET driver stage.
• RS485 and CAN transceivers.
Figure 7: TMCM-1637 block diagram
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9
Operational Ratings and Characteristics
Never Exceed the absolute maximum ratings! Keep the power supply voltage
below the upper limit of +30V! Otherwise the board electronics will seriously be
damaged! Especially, when the selected operating voltage is near the upper limit
a regulated power supply is highly recommended.
NOTICE
General Operational Ratings
Symbol
Parameter
Min
Typ
Max
Unit
10
12. . . 24
30
V
1.4 x ICOIL_RMS
A
VMotor
Motor power supply voltage
IMotor
Motor power supply current
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