Trinamic TMCM-1210 User manual

MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Hardware Version V 1.10
HARDWARE MANUAL
+ + TMCM-1210
1-Axis stepper
controller/driver
max. 0.6A RMS / 24V DC
STOP / HOME switch input
hall sensor
RS485
+ +

TMCM-1210 Hardware Manual (V0.93 / 2019-FEB-13) 2
Copyright © 2015-2019 TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1Life support policy ....................................................................................................................................................... 3
2Features........................................................................................................................................................................... 4
3Order codes.................................................................................................................................................................... 5
4Mechanical and Electrical Interfacing ..................................................................................................................... 6
4.1 Dimensions and Mounting Holes ................................................................................................................... 6
4.2 Board mounting considerations...................................................................................................................... 6
4.3 Connectors............................................................................................................................................................. 7
4.3.1 Power, RS485 + HOME connector .............................................................................................................. 8
4.3.2 Motor connector............................................................................................................................................. 9
4.4 Power supply ........................................................................................................................................................ 9
4.5 RS485.....................................................................................................................................................................10
5Motor driver current ..................................................................................................................................................12
6On-Board LEDs.............................................................................................................................................................13
7Reset to Factory Default Values .............................................................................................................................13
8EMC considerations....................................................................................................................................................14
9Operational Ratings ...................................................................................................................................................15
10 Functional Description ..............................................................................................................................................16
11 Revision History ..........................................................................................................................................................17
11.1 Document revision ............................................................................................................................................17
11.2 Hardware revision .............................................................................................................................................17
12 References.....................................................................................................................................................................17

TMCM-1210 Hardware Manual (V0.93 / 2019-FEB-13) 3
Copyright © 2015-2019 TRINAMIC Motion Control GmbH & Co. KG
1Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not authorize
or warrant any of its products for use in life support systems,
without the specific written consent of TRINAMIC Motion
Control GmbH & Co. KG.
Life support systems are equipment intended to support or
sustain life, and whose failure to perform, when properly used
in accordance with instructions provided, can be reasonably
expected to result in personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2015 - 2019
Information given in this data sheet is believed to be accurate
and reliable. However neither responsibility is assumed for the
consequences of its use nor for any infringement of patents or
other rights of third parties, which may result from its use.
Specifications are subject to change without notice.

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Copyright © 2015-2019 TRINAMIC Motion Control GmbH & Co. KG
2Features
The TMCM-1210 is a highly compact 20mm x 20mm single axis stepper motor controller and driver board with
RS485 interface. It has been designed in order to be mounted on the rear side of a NEMA8 (20mm flange size)
stepper motor and offers an integrated hall-sensor based encoder IC in addition to a reference switch input for
easy homing / search of reference position. The module supports motor currents up to 0.6A RMS and supply
voltages up to 24V DC nominal. It is available with standard TMCL firmware and supports stand-alone operation
(TMCL programs with auto-start stored on-board) and remote control via RS485 interface.
MAIN CHARACTERISTICS
Motion controller
Motion profile calculation in hardware in real-time
Motion controller supports linear and sixPoint™ ramps
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
High performance microcontroller (Cortex-M0+) for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
Up to 256 microsteps per full step
Highly integrated and highly-efficient operation
Dynamic current control
stallGuard2™ feature for stall detection
Interfaces
RS485 2-wire communication interface
Digital input IN0 (+24V compatible), can be used as reference switch or left and/or right stop switch input,
also
On board hall sensor
Absolute sensor within one motor rotation
12bit / 4096 steps / revolution max.
Low-cost sensor - suitable for low velocity applications (few hundred rpm) –e.g. initial reference search
(together with HOME sensor input) after power-up
Software
TMCL™ remote (direct mode) and standalone operation with memory for up to 876 TMCL commands
Fully supported by TMCL-IDE (PC based integrated development environment)
Electrical data
Supply voltage: +7V… +30V DC
Motor current: up to 0.6A RMS (programmable)
Mechanical data
Board size: 20mm x 20mm, overall height 9mm max. (without mating connectors and cables)
Mounting holes compatible with NEMA 8 stepper motors (for mounting the board to the rear side of a NEMA
8 stepper motor using two of the four existing screw)
Please see separate TMCM-1210 Firmware Manual for additional information regarding firmware functionality and
TMCL programming.

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3Order codes
The TMCM-1210 is available as:
Order code
Description
Size of unit
TMCM-1210
1-Axis stepper controller / driver, 0.6A RMS, 24V DC
20mm x 20mm x 9mm
A cable loom set is available for this module, also:
Order code
Description
TMCM-1210-CABLE
Cable loom for TMCM-1210. Contains (see chapter 4.3, also):
-1x cable loom for Power, RS485 and HOME connector
-1x cable loom for Motor connector
Table 3.2: Cable loom order code

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Copyright © 2015-2019 TRINAMIC Motion Control GmbH & Co. KG
4Mechanical and Electrical Interfacing
4.1 Dimensions and Mounting Holes
The dimensions of the board are approx. 20mm x 20mm x 9 mm in order to fit on the back side of a 20mm
(NEMA8) stepper motor. Maximum component height (height above PCB level) without mating connectors is
around 6mm above PCB level and 2 mm below PCB level. There are two mounting holes for M2 screws for
mounting to a NEMA8 stepper motor.
20mm
18mm
2mm
PCB
20mm
2mm
18mm
2.1mm
2x
Figure 4.1 Dimensions of TMCM-1210 and position of mounting holes (with comparison of size)
4.2 Board mounting considerations
The TMCM-1210 offers two metal plated mounting holes. Both mounting holes are connected to power supply
ground. Please keep this in mind when mounting the board to the rear side of a motor.
Figure 4.2: Example of TMCM-1210 mounted to NEMA 8 stepper motor

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4.3 Connectors
The TMCM-1210 offers two connectors including the motor connector which is used for attaching the motor coils
to the electronics. The Power, RS485 and HOME connector is used for power supply, RS485 serial wire
communication and offers one digital input.
4
1
1 5
Power, RS485 + HOME connector
HOME5
RS485+
RS485-3
4
VDD
GND1
2
IN0STOP_L / STOP_R
Motor connector
OA1
OA23
4
OB1
OB21
2
Figure 4.2 Overview connectors
Overview of connectors and mating connectors types:
Label
Connector type
Mating connector type
Power, RS485 + HOME
connector
JST B5B-PH-K-S
(JST PH series, 5pins, 2mm pitch)
Connector housing: JST PHR-5
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Motor connector
JST B4B-PH-K-S
(JST PH series, 4pins, 2mm pitch)
Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Table 4.1: Connectors and mating connectors, contacts and applicable wire

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4.3.1 Power, RS485 + HOME connector
The module offers one combined power, RS485 2-wire serial communication and digital input (HOME) connector
(JST PH series).
5 1
Pin
Label
Direction
Description
1
GND
Power (GND)
Supply and signal ground
2
VCC
Power (Supply in)
Power supply input
3
RS485-
Bi-directional
RS485 2-wire bus interface, diff. signal (inverting)
4
RS485+
Bi-directional
RS485 2-wire bus interface, diff. signal (non-
inverting)
5
HOME
Input
Digital input (accepts +24V signals), internal 10k pull-
down resistor
Can be used as:
HOME switch input
GAP 9, 0 // home switch status
STOP_L / STOP_R input
GAP 10, 0 // right limit switch status
GAP 11, 0 // left limit switch status
General purpose digital input 0 (IN0)
GIO 0, 0 // IN0
Table 4.2: Power, RS485 + IN0 connector
Please note:
-RS485: there is no line termination etc. on-board. Please ensure proper RS485 cabling and line
termination.
-HOME / digital input IN0: input offers pull-down resistor, input series resistor and protection diodes.
This way input is protected for voltages up-to nom. +24V. The pull-down resistors also ensure a valid
(low) level when left unconnected.
CAUTION
Always keep the power supply voltage (VDD) below the upper limit of 30V!
Otherwise the driver electronics will be seriously damaged. Especially, when the selected operating voltage
is near the upper limit a regulated power supply is highly recommended.

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4.3.2 Motor connector
As motor connector a 4pin JST PH-series 2mm pitch single row connector is available. The motor connector is
used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics.
14
Pin
Label
Direction
Description
1
OB2
Output
Pin 2 of motor coil B
2
OB1
Output
Pin 1 of motor coil B
3
OA2
Output
Pin 2 of motor coil A
4
OA1
Output
Pin 1 of motor coil A
Table 4.4: Motor connector
CAUTION
Do not connect or disconnect motor while driver stage is active and supplies current to the motor as
this might permanently damage the driver stage!
4.4 Power supply
For proper operation care has to be taken with regard to power supply concept and design. Due to space
restrictions the TMCM-1210 includes just about 20µF/35V of supply filter capacitors. These are ceramic capacitors
which have been selected for high reliability and long life time.
CAUTION
Add external power supply capacitors!
It is recommended to connect an electrolytic capacitor of significant size (e.g. 470µF/35V) to the power supply
lines next to the TMCM-1210!
Rule of thumb for size of electrolytic capacitor: c = 1000 μF
A× ISUPPLY
In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any voltage spikes
which might otherwise occur from a combination of high inductance power supply wires and the ceramic
capacitors. In addition it will limit slew-rate of power supply voltage at the module. The low ESR of ceramic-
only filter capacitors may cause stability problems with some switching power supplies.
Do not connect or disconnect motor during operation!
Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected
while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently
damage them. Therefore, always disconnect power supply before connecting / disconnecting the motor.
Keep the power supply voltage below the upper limit of 30V!
Otherwise the driver electronics will seriously be damaged! Especially, when the selected operating voltage is
near the upper limit a regulated power supply is highly recommended. Please see also chapter 7, operating
values.
No reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver transistors.

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4.5 RS485
For remote control and communication with a host system the TMCM-1210 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.
c:> node
1
node
n- 1
node
n
Host Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 4.6: Bus structure
2. BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends. The TMCM-1210 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-1210 unit (SN65HVD3085E) has a significantly reduced bus load
and allow a maximum of 255 units to be connected to a single RS485 bus using 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-1210 hardware is 1Mbit/s. Factory
default is 9600 bit/s. Please see separate TMCM-1210 TMCL firmware manual for information regarding
other possible communication speeds below the upper limit in hardware.
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):

TMCM-1210 Hardware Manual (V0.93 / 2019-FEB-13) 11
Copyright © 2015-2019 TRINAMIC Motion Control GmbH & Co. KG
node
n- 1
node
n
Slave Slave
termination
resistor
(120R)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
termination
resistor
(120R)
RS485+ / RS485A
Figure 4.7: Bus lines with resistor (Bias) network on one side, only
Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination):
node
n- 1
node
n
Slave Slave
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
RS485- / RS485B
RS485+ / RS485A
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
Figure 4.8: Bus lines with resistor (Bias) network at both ends
Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-
485 with bias network at one end of the bus).

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5Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed in software
with 32 effective scaling steps in hardware.
Explanation of different columns in table below:
Motor current
setting in
software (TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby
current). They are used to set the run / standby current using the following TMCL
commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-1210 firmware
manual for further information)
Motor current
IRMS [A]
Resulting motor current based on motor current setting
Motor current
setting in
software (TMCL)
Motor
current
ICOIL_PEAK [A]
Motor
current
ICOIL_RMS [A]
0..7
0.06
0.04
8..15
0.08
0.06
16..23
0.10
0.07
24..31
0.13
0.09
32..39
0.15
0.11
40..47
0.18
0.13
48..55
0.21
0.15
56..63
0.24
0.17
64..71
0.26
0.19
72..79
0.29
0.21
80..87
0.32
0.23
88..95
0.35
0.25
96..103
0.38
0.27
104..111
0.41
0.29
112..119
0.43
0.30
120..127
0.46
0.32
128..135
0.49
0.34
136..143
0.51
0.36
144..151
0.54
0.38
152..159
0.56
0.40
160..167
0.59
0.42
168..175
0.62
0.44
176..183
0.64
0.45
184..191
0.67
0.47
192..199
0.70
0.49
200..207
0.72
0.51
208..215
0.75
0.53
216..223
0.77
0.55
224..231
0.80
0.57
232..239
0.82
0.58
240..247
0.84
0.60
248..255
0.87
0.62

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6On-Board LEDs
The board offers one LED in order to indicate board status. The function of the LED is dependent on the firmware
version. With standard TMCL firmware the green LED should be flashing slowly during operation.
BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE
Status
Label
Description
Heartbeat
Run
This green LED flashes slowly during operation.
GREEN LED
Figure 6.1 On-board LED
7Reset to Factory Default Values
In order to reset all settings (e.g. incl. address and RS485 baud rate) to factory default values please follow
instruction sequence below:
1. Switch OFF power supply.
2. Short programming pads on bottom of PCB as shown in figure 7.1.
3. Switch ON power supply (on-board LED should start flashing fast).
4. Switch OFF power supply.
5. Remove short circuit.
Figure 7.1 Reset to factory default values (bottom view of pcb)

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8EMC considerations
The TMCM-1210 contains ferrite beads on-board in line with the positive supply input and all 4 motor windings
connections in addition to filter capacitors.
Tests have shown that it is possible to meet Class B emission standards using the bare TMCM-1210 (motor and
power connected) with the motor running slowly at maximum current (0.7A RMS) and +24V supply voltage without
additional / external filters.
Figure 8.1: Setup with TMCM-1210 and attached motor (motor rotating slowly @ 0.7A RMS / 24V supply, stand-
alone mode using on-board TMCL-autostart-program)
Figure 8.2: measurement results (example)
Please note that these measurement results using a bare TMCM-1210 unit with only motor and power supply
connected do not imply any guarantee for a complete system with one or more integrated TMCM-1210 with
meeting any emission limits.

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9Operational Ratings
The operational ratings show the intended or the characteristic ranges and should be used as design values.
In no case shall the maximum values be exceeded!
Symbol
Parameter
Min
Typ
Max
Unit
VDD
Power supply voltage for operation
6
12…24
30
V
ICOIL_peak
Motor coil current for sine wave peak (chopper
regulated, adjustable via software)
0
0.9
A
ICOIL_RMS
Continuous motor current (RMS)
0
0.6
A
IDD
Power supply current
<< ICOIL
1.4 * ICOIL
A
TENV
Environment temperature at rated current (0.6A
RMS) and rated voltage (+24V) (no forced cooling
required)
-30
+40
°C
Table 9.1 General operational ratings of module
OPERATIONAL RATINGS OF HOME SWITCH
Symbol
Parameter
Min
Typ
Max
Unit
VHOME
Input voltage for HOME/STOP_L/STOP_R/IN0
0
+30
V
VHOME_LOW
Low level voltage for HOME/STOP_L/STOP_R/IN0
(digital input)
0
2
V
VHOME_HIGH
High level voltage for HOME/STOP_L/STOP_R/IN0
(digital input)
4.6
+30
V
Table 9.2 Operational ratings of HOME + STOP switches / IN0 inputs
OPERATIONAL RATINGS OF RS485 INTERFACE
Symbol
Parameter
Min
Typ
Max
Unit
NRS485
Number of nodes connected to single RS485
network
255
fRS485
Maximum bit rate supported on RS485
connection
9600
1000000
bit/s
Table 9.3: Operational ratings of RS485 interface

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10 Functional Description
The TMCM-1210 is a highly integrated controller/driver module which can be controlled via several serial interfaces.
Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on
board. The nominal supply voltage of the unit is 12V or 24V DC. The module is designed for both, standalone
operation and direct mode. Full remote control of device with feedback is possible. The firmware of the module
can be updated via the RS485 serial interfaces.
In Figure 10.1 the main parts of the TMCM-1210 are shown:
microprocessor, which runs the TMCL operating system (connected to TMCL memory),
motion controller (part of TMC2130), which calculates ramps and speed profiles internally by hardware,
driver (part of TMC2130) with stallGuard2™and its energy efficient coolStep™ feature and stealthChop™
for extremely quiet operation
hall sensor based encoder which delivers position feedback at low speed (few 100rpm max.) –can be
used for reference search e.g. after power-up
7…28.5V DC
ARM
Cortex-M0+TM
microcontroller
TMCL™
Memory
Step
Motor
RS485 Energy Efficient
Driver
TMC262
TMC2130
Bipolar
stepper
motor
controller +
driver
TMCM-1210
I2C
VREG +5V
SPI
Input
Hall
Encoder
I2C
A/B
+3V3
Figure 10.1 Main parts of the TMCM-1210
The TMCM-1210 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.
Please refer to the TMCM-1210 TMCL Firmware Manual for more information about TMCL commands.

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Copyright © 2015-2019 TRINAMIC Motion Control GmbH & Co. KG
11 Revision History
11.1Document revision
Version
Date
Author
Description
0.90
2016-APR-14
GE
Initial version
0.91
2017-SEP-04
GE
Typos corrected
0.92
2019-JAN-30
GE
Description motor connector (chapter 4.3) corrected
0.93
2019-FEB-13
GE
Current setting table (chapter 5) corrected / updated (with measurement
results)
Table 11.1: Document revision
11.2Hardware revision
Version
Date
Description
TMCM-1210_V10
2014-DEC-17
Initial version
TMCM-1210_V11
2015-JUN-25
External digital input connected to REFL/REFR of TMC2130.
/RESET input of processor not connected (used for
programming, only)
/CS and SCK connection between processor and TMC2130
corrected (signals exchanged)
Footprint of protection diode for external digital input
corrected
Table 11.2: Hardware revision
12 References
[JST] JST connector
http://www.jst.com
[TMC2130] TMC2130 datasheet
Manual available on http://www.trinamic.com
[TMCL-IDE] TMCL-IDE User Manual
Manual available on http://www.trinamic.com.