The TMCM-6110 coolStep is a 6-axis stepper controller/driver 1.1A/24V

Features:
• Up to 256 times microstep
• StallGuard2 for sensorless load detection
• CoolStep for load dependent current control
• SpreadCycle chopper for smooth current wave form
• Ready for dcStep feature: auto-ramping and load depending speed adjustment
• Memory for 2048 TMCL commands
• Automatic ramp generation in hardware
• ‘On the fly’ alteration of motion parameters (e.g. position, velocity, acceleration)
• Integrated protection: over-temperature/under-voltage
• Full step frequencies up to 20kHz
• TRINAMIC driver technology therefore no heatsink required
• 8x DIP switch for addressing or general purpose

Besides the user programmable I/O controlled stand alone operation (onboard memory), a variety of high level interfaces allow remote controlled operation. Since all time critical operations, for example ramp calculation, are performed onboard, the communication traffic is kept very low. Inimitable smooth, precise and fast movements are given by a resolution of up to 256 electrically equi-distant microsteps and by the ultimate spreadCycle chopper scheme for optimal motor currents.

In addition the TMCM-6110 features the following revolutionising technologies:
stallGuard2 can detect and monitor dynamic load changes in high resolution without the need of an encoder, it builds the basis for the automated load dependent current control coolStep for energy/ heat efficient motor control, as well as giving unlimited motor performance.

Electrical Data:
• Up to 1.1A coil current RMS (1.5A peak)
• 9V to 28V supply voltage

Supported Motors:
• Two-phase bipolar motors with up to 1.1A coil current

Interface:
• RS485 (9pin D-SUB connector)
• CAN (9pin D-SUB connector)
• USB 2.0 full speed (mini USB connector)
• 2 reference / limit switch input per axis
• 6 general purpose digital inputs (24V compatible)
• 2 general purpose analogue input (0-10V, 12-bit)
• 6 general purpose digital outputs (open drain, 100mA)
• 2 general purpose digital outputs (open drain, 1A)

Software:
• stand-alone or remote controlled operation using TMCL
• PC-based application development soft-ware TMCL-IDE is included