m o d u l e s m o d u l e s f o r s t e p p e r m o t o r s i n f o m a in ch a r ac t er is t ic s www.trinamic.com C for detailed information and datasheets 1 0 m m t m c m - 3 5 1 3 - a x i s c o n t r o l l e r / d r i v e r 2 . 8 a / 2 4 v o p t i o n a l e n c o d e r i n t e r f a c e o p t i o n a l c a n o p e n f i r m w a r e the TMCM-351 is a powerful triple axis 2-phase stepper motor controller/driver module with optional encoder interface. using the integrated additional i/os it even can do complete system control applications. the motors and switches can be connected easily with screw or crimp style connectors. the connection of the i/os, the encoder and spi can be done via a two row header. the TMCM-351 comes with the pc based software devel - opment environment tmcl-ide for the trinamic motion control language (tmcl). using predefined tmcl high level commands like ?move to position or ?constant rotation rapid and fast development of motion control applications is guaranteed. the TMCM-351 can be controlled via rs-232, rs485, can or usb interface. communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed on board. a user tmcl program can be stored in the on board ee - prom for stand-alone operation. an optional firmware allows to control the TMCM-351 via canopen. the firmware of the module can be updated via the serial interface. with the stallguard? feature it is possible to detect overload and stall of the motor. e l e c t r i c a l d a t a up to 2.8a coil current rms nom. 24v dc supply voltage (28.5v dc max) ? ? s u p p o r t e d m o t o r s two-phase bipolar motors with up-to 2.8a coil current ? i n t e r f a c e rs-232, rs-485, can 2.0b host and usb se - rial communication interfaces inputs for reference and stop switches general purpose analog and digital i/os spi connector with three chip select signals for i/o extension ? ? ? ? f e a t u r e s each axis individually programmable closed loop operation with tmcl possible up to 64 times microstepping memory for 2048 tmcl commands motion profile generation in real-time on the fly alteration of motion parameters dynamic current control stallguard? for sensorless stall detection integrated protection trinamic driver technology: low power dissipation, no heatsink required ? ? ? ? ? ? ? ? ? ? s o f t w a r e stand-alone operation using tmcl or remote controlled operation pc-based application development software tmcl-ide included optional canopen firmware (cia 301, 402) ? ? ? o t h e r pluggable screw or crimp style connectors rohs compliant size: 160 x 100 mm2 ? ? ? o r d e r c o d e d e s c r i p t i o n TMCM-351 (-option) TMCM-351 without encoder interface TMCM-351-e (-opt.) TMCM-351 with encoder interface o p t i o n s tmcl with tmcl firmware canopen with canopen firmware option 5 v power supply 24 v tmcm - 351 tmcl memory high power driver tmc 249 step motor programmable motion controller with tmc 428 can usb rs 485 rs 232 abn encoder 3 - axes encoder interface tmc 423 high power driver tmc 249 step motor high power driver tmc 249 step motor encoder encoder mosfet driver stage mosfet driver stage mosfet driver stage i / os 20 90
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