Data Sheet (10-0075)Table of Contents1 Features41.1: Order codes43 Electrical and Mechanical Interfacing6Power6Motor63.1: Pinning of TMCM-07863.1: Power connector63.2: Motor connector6RS4857Step / Dir73.2: Opto isolated input circuit73.3: RS485 connector73.4: Step-/Direction connector7I / O8Select Optically Isolation83.3: Differential input circuit83.5: I/O connector8RS485 Term9Motor current settings9Microstep resolution10Stall detection11Mode setting113.4: Circuit board dimensions123.5 Connectors133.5: Base plate dimensions133.6: Connectors134.1: Operational Ratings145 Getting Started15Motor Choice15Motor velocity15Operating Modes 0 (SPI / Default Mode) and 1 (PWM)15Operating Mode 2 (PHASE)165.1: Maximum voltage regarding motor current and inductivity165.1: Maximum voltage regarding motor current and inductivity16Operating Modes17Operating Mode 0 (SPI) / Default Mode17Operating Mode 1 (PWM)18Operating Mode 2 (PHASE)18Direction195.2: Differential Step-Direction signals and motor reactions (schematically)195.2: External signals and motor reactions19Step205.3: Step and Direction Signal (schematically, optocoupler input at screw connector)20RS485 command overview215.3: RS485 Commands21Example for test move:22Commands ‘A’ and ‘a’: Set or read back acceleration22Commands ‘C’ and ‘c’: Set or read back motor current22Commands ‘D’ and ‘d’: Set or read back mixed decay setting22Commands ‘E’ and ‘e’: Read motor driver error status225.4: Failure readout in SPI mode22Commands ‘G’ and ‘g’: StallGuard23Command ‘H’ and ‘h’: start or check reference search23Command ‘L’: limit switch configuration23Command ‘M’ and ‘m’: Chopper mode235.5: StallGuard235.6: Limit switch configuration235.4.10 Command ‘O’: set the general purpose output245.4.11 Command ‘P’ and ‘p’: set and read position counter245.4.12 Command ‘Q’ or ‘q’: read the state of the I/O lines245.4.13 Command ‘R’ and ‘r’: configure automatic reference search245.7: Output adjustment245.8: I/Os Readout245.4.14 Command ‘T’ and ‘t’: set RS485 delay255.4.15 Command ‘U’ and ‘u’: set RS485 bit rate255.4.16 Command ‘V’ and ‘v’: velocity mode255.4.17 Command ‘W’: store parameters to FlashROM255.9: Baud rate255.4.18 Command ‘X’ and ‘x’: firmware revision number265.4.19 Command ‘Y’ and ‘y’: standby current setting265.4.20 Command ‘Z’ and ‘z’: change microstep resolution265.4.21 Command ‘@’: change RS485 address265.10: Adjustment of Microstep Resolution26Revision History276.1 Documentation Revision276.2 Firmware Revision276.1: Document Revision276.2: Firmware Revision27Size: 1.46 MBPages: 27Language: EnglishOpen manual
