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modules for stepper motors modules trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com hardware version v 1. 0 hardware manual + + tmcm - 1161 + + u nique f eatures : 1 - axis stepper controller / driver up to 2.8 rms / 24v dc usb, rs485 , and rs232
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 2 www.trinamic.com table of c ontents 1 features ................................ ................................ ................................ ................................ ................................ ........... 3 2 order codes ................................ ................................ ................................ ................................ ................................ ... 5 3 mechanical and electrical interfacing ................................ ................................ ................................ ..................... 6 3.1 tmcm - 1161 dimensions and mounting holes ................................ ................................ ............................. 6 3.2 connectors of tmcm - 1161 ................................ ................................ ................................ ................................ . 7 3.2.1 interface and power supply connector ................................ ................................ ................................ . 8 3.2.2 usb connector ................................ ................................ ................................ ................................ ............. 10 3.2.3 in/out connector ................................ ................................ ................................ ................................ ......... 11 3.2.4 motor connector ................................ ................................ ................................ ................................ .......... 12 4 reset to factory defaults ................................ ................................ ................................ ................................ ......... 13 5 on - board leds ................................ ................................ ................................ ................................ ............................. 14 6 operational ratings ................................ ................................ ................................ ................................ ................... 15 7 functional description ................................ ................................ ................................ ................................ .............. 16 8 tmcm - 1161 operational description ................................ ................................ ................................ ..................... 17 8.1 calculation: velocity and acceleration vs. microstep and fullstep frequency ................................ 17 9 life support po licy ................................ ................................ ................................ ................................ ..................... 19 10 revision history ................................ ................................ ................................ ................................ .......................... 20 10.1 document revision ................................ ................................ ................................ ................................ ........... 20 10.2 hardware revision ................................ ................................ ................................ ................................ ............ 20 11 references ................................ ................................ ................................ ................................ ................................ .... 20
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 3 www.trinamic.com 1 features the tmcm - 1161 is a single axis controller/driver module for 2 - phase bipolar stepper motors with state of the art feature set . it is highly integrated, offers a convenient handling and can be used in many decentralized applications. the module can be mounted on the back of nema23 (57mm flange size) and nema24 (60mm flange size ) stepper motors and has been designed for coil current s up to 2.8a rms and 24v dc supply voltage . with its h igh energy efficiency from trinamics coolstep ? technology cost for power consumption is kept down . the tmcl? firmware allows for both, standalone operation and direct mode. m ain c haracteristics m otio n controller - motion profile calculation in real - time - on the fly alteration of motor parameters (e.g. position, velocity, acceleration) - high performance microcontroller for overall system control and serial communication protocol handling b ipolar stepper motor driver - up to 256 microsteps per full step - high - efficient o peration, low power dissipation - dynamic current control - integrated protection - stallguard2 feature for stall detection - coolstep feature for reduced power consumption and heat dissipation encod er - sensostep magnetic encoder (max. 1024 increments per rotation) e.g. for step - loss detection under all operating conditions and positioning supervision interfaces - inputs for stop switches (left and right) and home switch - 1 analog input - 2 general purpose outputs (open collector with freewheeling diodes) - usb, rs232, and rs485 communication interfaces software - tmcl : standalone operation or remote controlled operation , program memory (non volatile) for up to 2048 tmcl commands , and pc - based application development software tmcl - ide available for free . electrical and mechanical data - supply voltage: +24v dc nominal (10 30v dc) - motor current: up to 2.8 a rms (programmable) refer to separate tmcl firmware m anual , too .
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 4 www.trinamic.com trinamic s u nique f eatures C e asy to u se with tmcl stallguard2 ? stallguard2 is a h igh - precision sensorless load measurement using the back emf on the coils . it can be used for stall detection as well as other uses at loads be low those which stall the motor. the stallguard2 measur ement value changes linearly over a wide range of load, velocity, and current settings. at maximum motor load, the value goes to zero or near to zero. this is the most energy - efficient point of operation for the motor. figure 1 . 1 stallguard2 load measurement sg as a function of load coolstep ? coolstep is a l oad - adaptive automatic current scaling based on the load measurement via stallguard2 adapting the required current to the load. energy consumption can be reduced by as much as 75% . coolstep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant - load application allows significant energy savings because coolstep automatically enables torque reserve when required. reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost. figure 1 . 2 energy efficiency example with coolstep l o a d [ n m ] s t a l l g u a r d 2 i n i t i a l s t a l l g u a r d 2 ( s g ) v a l u e : 1 0 0 % m a x . l o a d s t a l l g u a r d 2 ( s g ) v a l u e : 0 m a x i m u m l o a d r e a c h e d . m o t o r c l o s e t o s t a l l . m o t o r s t a l l s 0 0 , 1 0 , 2 0 , 3 0 , 4 0 , 5 0 , 6 0 , 7 0 , 8 0 , 9 0 5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 0 e f f i c i e n c y v e l o c i t y [ r p m ] e f f i c i e n c y w i t h c o o l s t e p e f f i c i e n c y w i t h 5 0 % t o r q u e r e s e r v e
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 5 www.trinamic.com 2 order c odes order code description size (mm 3 ) tmcm - 1161 - opiton single axis bipolar stepper motor controller / driver electronics with integrated sensostep encoder and coolstep feature 60 x 60 x 12 table 2 . 1 tmcm - 1161 order codes the following options are available: firmware option description order code example: - tmcl module pre - programmed with tmcl firmware tmcm - 11 61 - tmcl table 2 . 2 f irmware options a cable loom set is available for this module: order code description tmcm - 1161 - cable cable loom for tmcm - 1161 - 1x c able loom for interface connector - 1x cable loom for in/out connector - 1x cable loom for motor connector - 1x usb type a connector to mini - usb type b connector cable table 2 . 3 cable loom order code please note that the tmcm - 1161 is available with nema23 and nema24 stepper motors, too. please refer to the pd - 1161 documents for more information about these products.
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 6 www.trinamic.com 3 mechanical and electrical i nterfacing 3.1 tmcm - 1161 dimensions and mounting h oles the dimensions of the controller/driver board are approx. 60mm x 60mm x 12mm i n order to fit on the back of a 60mm stepper motor. maximum component height (height above pcb level) without mating connectors is around 8mm above pcb level and 2.5mm below pcb level. there are four mounting holes for m3 screws for mounting the board either to a nema23 (two mounting holes at opposite corners) or a nema24 (other two mounting holes at opposite corners) stepper moto r. figure 3 . 1 dimensions of tmcm - 1161 and position of mounting holes 6 0 6 0 5 6 . 7 5 4 6 . 2 5 4 9 . 5 1 0 . 5 4 . 5 9 4 5 . 9 5 1 3 . 7 5 3 . 2 5 1 0 . 5 5 5 . 4 1 1 4 . 0 5
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 7 www.trinamic.com 3.2 connector s of tmcm - 1161 the tmcm - 1161 offers four connectors including the motor connector which is used for attaching the motor coils to the electronics. t here are two connectors for serial communication ( one for usb and one for rs232/rs485 ) and one connector for i/o signals and switches . figure 3 . 2 overview connectors label connector type mating connector type interface / power jst b6b - eh - a, 2.5mm pitch connector header, vertical jst ehr - 6 , female crimp connector housing; crimp contact s jst seh - 001t - p0.6 motor jst b4b - eh - a, 2.5mm pitch connector header, vertical jst ehr - 4, female crimp connector housing; crimp contacts jst seh - 001t - p0.6 in/out jst b8b - eh - a, 2.5mm pitch connector header, vertical jst eh r - 8, female crimp connector housing; crimp contacts jst seh - 001t - p0.6 usb m ini - usb type b vertical female mini - usb type b, male i n / o u t i n t e r f a c e u s b m o t o r 1 1 1 1
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 8 www.trinamic.com 3.2.1 interface and power supply c onnector pin label description 1 gnd module and signal ground 2 vcc 10 30v dc power supply / table 3 . 1 connector for power supply and interfaces 3.2.1.1 power supply when using supply voltages near the upper limit, a regulated power supply is mandatory. the power supply should be designed in a way, that it supplies the nominal motor voltage at the desired maximum motor power. to ensure reliable operation of the unit, the power supply has to have a sufficient output capacitor and the supply cables should have a low resistance, so that the chopper operation does not lead to an increased power supply ripple directly at the unit. power supply ripple due to the chopper operation should be kept at a maximum of a few 100mv. h ints for power supply cables - k eep power supply cables as short as possible . - u se large diameters for power supply cables . c aution ! add external power supply capacitors! it is recommended to connect an electrolytic capacitor of significant size ( 2200f or larger recommended) to the power supply lines next to the tmcm - 1 161 especially if the distance to the power supply is large (i.e. more than 2 - 3m) ! rule of thumb for size of electrolytic capacitor: in addition to power stabilization (buffer) and filtering this added cap acitor 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 - on ly 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 lim it of 30 v! 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 chapter 6 also ( operating values ) . there is no reverse polarity protection! the module will short any reversed supply voltage due to internal diodes of the driver transistors.
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 9 www.trinamic.com 3.2.1.2 rs485 for remote control and communication with a host system the pd - 1161 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 structur e 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. figure 3 .5: rs485 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 pd - 1161 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 rs - 485 electrical interface standard (eia - 485) allows up to 32 nodes to be connected to a sin gle bus. the bus transceiver used on the pd - 1161 units (sn65hvd3082ed) has just 1/8th of the standard bus load and allows a maximum of 256 units to be connected to a single rs485 bus. 4. 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 con necting both bus lines as well defined logic levels. in contrast to the termination resistors this network is normally required just once per bus. certain rs485 interface converters available for pcs already include these additional resistors (e.g. usb - 2 - 4 85). figure 3 .6: rs485 bus lines with resistor network c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e r s 4 8 5 t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) + 5 v g n d p u l l - u p ( 1 k ) p u l l - d o w n ( 1 k ) r s 4 8 5 - / r s 4 8 5 b r s 4 8 5 + / r s 4 8 5 a
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 10 www.trinamic.com 3.2.2 usb c onnector pin label description 1 vbus +5v power 2 d - data C table 3 . 2 mini usb connector
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 11 www.trinamic.com 3.2.3 i n /o ut c onnector pin label description 1 gnd module ground (system and signal ground) 2 vcc 10 30v dc power supply / nom. 24v dc put, 0 10v (analog to digital converter range left stop switch input (connected to ref1 input of tmc429 motion controller) b) step signal (connected to step input of tmc262 stepper driver) c) general purpose input (connected to processor) 7 stop_r/ dir/ in_2 digital i nput +24v compatible, programmable internal pull - up.* functionality can be selected in software: a) right stop switch input (connected to ref3 input of tmc429 motion controller) b) direction signal (connected to direction input of tmc262 stepper driver) c) general purpose input (connected to processor) 8 home/ enable / in_3 digital i nput +24v compatible, programmable internal pull - up.* functionality can be chosen in software: a) home switch input (connected to processor) b) enable signal (connected to processor) c) general purpose input (connected to processor) table 3 . 3 i n /o ut connector * it is possible to enable / disables pull - ups (1k to 5+v) in software for all three digital inputs . pull - ups are always enabled / disabled for all three together / at the same time. figure 3 . 3 internal circuit of out_0/1 g n d g n d o u t _ 0 o u t _ 1 + 2 4 v o u t _ 0 o u t _ 1
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 12 www.trinamic.com figure 3 . 4 internal circuit of in_0 figure 3 . 5 internal circuit of in_1/2/3 3.2.3.1 left and right limit s witches the tmcm - 1161 can be configured so that a motor has a left and a right limit switch. the motor stops when the traveler has reached one of the limit switches. an additional home switch might be used for initialization. figure 3 . 6 limit switches and home switch 3.2.4 motor c onnector pin label description 1 oa1 motor coil a 2 oa2 motor coil a 3 ob1 motor coil b 4 ob2 motor coil b table 3 . 4 motor connector i n _ 0 4 7 k o g n d g n d i n _ 0 1 0 0 n f 2 2 k o i n _ 1 / 2 / 3 g n d + 3 . 3 v i n _ 1 / 2 / 3 1 n f g n d 1 0 k o 2 2 k o g n d 1 k o + 5 v / p u l l - u p o n 0 v / p u l l - u p o f f p u l e f t s t o p s w i t c h r i g h t s t o p s w i t c h s t o p _ l m o t o r t r a v e l e r s t o p _ r h o m e
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 13 www.trinamic.com 4 reset to f actory d efaults i t is po ssible to reset the tmcm - 1161 to factory default settings without establishing a communication link. this might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost. for this procedure two pads on the bottom s ide of the board have to be shortened (see figure 4.12). please perform the following steps: 1. power supply off and usb cable disconnected 2. short two pads as marked in figure 4 . 1 3. power up board (power via usb is sufficient for this purpose) 4. wait until the on - board red and green leds start flashing fast (this might take a while) 5. power - off board (disconnect usb cable) 6. remove short between pads 7. after switching on power - supply / connecting usb cable all permanent settings have been restored to factory defaults figure 4 . 1 reset to factory default settings s h o r t t h e s e t w o p a d s
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 14 www.trinamic.com 5 on - board leds the board offers two leds in order to indicate board status. the function of both leds is dependent on the firmware version. with standard tmcl firmware the green led should be slowly flashing during operation and the red led should be off. when there is no valid firmware programmed into the board or during firmware update the red and green leds are permanently on. b ehavior of led s with s tandard tmcl f irmware status label description heartbeat run this green led flashes slowly during operation. error error this red led lights up if an error occurs. figure 5 . 1 o n - board leds r e d l e d g r e e n l e d u s b
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 15 www.trinamic.com 6 operational r atings the operational ratings shown below should be used as design values. in no case should the maximum values been exceeded during operation. symbol parameter min typ max unit vcc power supply voltage for operation 10 24 30 v dc v usb power supply via usb connector 5 v i usb current withdrawn from usb supply when usb bus powered (no other supply connected) 40 ma i coil_peak motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 4 a i coil_rms continuous motor current ( rms ) 0 2.8 a i supply power supply current << i coil 1.4 * i coil a t env environment temperature at rated current (no forced cooling required) - 35 *) + 50 c table 6 . 1 general operational ratings of the module *) limited by test equipment. includes power - up / cold start at this temperature. it can be expected that the module will work down to - 40c. symbol parameter min typ max unit v stop_l/r_home input voltage for stop / home switch inputs stop_l / stop_r and home (also valid when configured for alternate function) 0 28 v v stop_l/r_home_l low level voltage for stop / home switch inputs stop_l / stop_r and home (also valid when configured for alternate function) 0 1.1 v v stop_l/r_home_h high level voltage for stop / home switch inputs stop_l / stop_r and home (also valid when configured for alternate function) 2.9 28 v v out_0/1 voltage at open collector output out_0 / out_1 0 vcc v i out_0/1 output sink current for out_0 / out_1 100 ma v in_0 full scale input voltage range for analog input in_0 0 10 v table 6 . 2 operational ratings of general purpose i/os table 6 .4 operational ratings of the rs485 interface symbol parameter min typ max unit n rs485 number of nodes connected to single rs485 network 256
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 16 www.trinamic.com 7 functional d escription the tmcm - 1161 is a highly integrated controller/ driver module which can be controlled via several serial interfaces . communication traffic is kept low sin ce all time critical operations ( e.g. ramp calculati on s ) are performed on board. the n ominal supply voltage of the unit is 24v dc . the module is designed for both , standalone operation and direct mode. full remote cont rol of device with feedback is possible. the firmware of the module can be updated via any of the serial interfaces. in figure 7 . 1 the main parts of the tmcm - 1161 are shown. - the microprocessor, which runs the tmcl operating system (connected to tmcl memory), - the motion controller , which calculates ramps and speed profiles internally by hardware , - the power driver with its energy efficient coolstep feature, - the mosfet driver stage , and - the sensostep encoder with resolutions of 10bit (1024 steps) per revolution . figure 7 . 1 main parts of the tmcm - 1161 t he pc based software development environment tmcl - ide for the trinami c motion control language (tmcm) can be downloaded free of charge from the trinamic website ( www.trinamic.com ) . 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 - 1161 firmware manual for more information about tmcl commands. 1 0 3 0 v d c c t m c l ? m e m o r y m o t i o n c o n t r o l l e r t m c 4 2 9 r s 2 3 2 3 i / o s s t e p m o t o r u s b s t e p / d i r * ) m o s f e t d r i v e r s t a g e e n e r g y e f f i c i e n t d r i v e r t m c 2 6 2 p o w e r d r i v e r t m c 2 6 2 w i t h c o o l s t e p ? s e n s o s t e p ? e n c o d e r s p i s t o p s w i t c h e s * ) + 3 . 3 v t m c m - 1 1 6 1 * ) t h e m o d u l e o f f e r s t h r e e a d d i t i o n a l i n p u t s . f u n c t i o n a l i t y c a n b e c h o s e n b y s o f t w a r e : : a ) s t o p _ l / s t o p _ r / h o m e b ) s t e p / d i r i n t e r f a c e c ) 3 g e n e r a l p u r p o s e i n p u t s r s 4 8 5
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 17 www.trinamic.com 8 tmcm - 11 61 operational d escription 8.1 calculation: velocity and acceleration vs. microstep and fullstep f requency the values of t he parameters sent to the tmc429 do not have typical motor values like rotations per second as velocity. but these values c an be calculated from the tmc429 parameters as shown in this section . p arameters of tmc 429 signal description range f clk clock - frequency 16 mhz velocity - 0 2047 0 2047 0 13 0 13 usrs ) 0 table 8 . 1 tmc 429 velocity parameters the microstep - frequency of the stepper motor is calculated with with usf: microstep - frequency to calculate the fullstep - frequency from the microstep - frequency, the microstep - frequency must be divided by the number of microsteps per fullstep. with fsf: fullstep - frequency the change in the pulse rate per time unit (pulse frequency change per second C the acceleration a ) is given by this results in acceleration in fullsteps of: with af: acceleration in fullsteps 32 2048 2 velocity ] hz [ f ] hz [ usf div _ pulse clk ? ? ? ? usrs 2 ] hz [ usf ] hz [ fsf ? 29 div _ ramp div _ pulse max 2 clk 2 a f a ? ? ? ? usrs 2 a af ?
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 18 www.trinamic.com example: signal value f_ clk 16 mhz velocity 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 calculation of the number of rotations: a stepper motor has e.g. 72 fullsteps per rotation. hz 31 . 122070 32 2048 2 1000 mhz 16 msf 1 ? ? ? ? ? hz 34 . 1907 2 31 . 122070 ] hz [ fsf 6 ? ? s mhz 21 . 119 2 1000 ) mhz 16 ( a 29 1 1 2 ? ? ? ? ? s mhz 863 . 1 2 s mhz 21 . 119 af 6 ? ? 49 . 26 72 34 . 1907 rotation per fullsteps fsf rps ? ? ? 46 . 1589 72 60 34 . 1907 rotation per fullsteps 60 fsf rpm ? ? ? ? ?
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 19 www.trinamic.com 9 life support p olicy 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 int ended 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 2013 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. s pecifications are subject to change without notice. all trademarks used are property of their respective owners.
tmcm - 1161 v1.0 hard ware manual (rev. 1.14 / 2013 - jul - 23 ) 20 www.trinamic.com 10 revision h istory 10.1 document r evision version date author ge - g?ran eggers sd - sonja dwersteg description 1.00 2011 - jun - 30 sd initial version 1.10 2011 - aug - 22 ge updates for hardware version tmcm - 1161_v10 1.11 2012 - mar - 0 9 sd - chapter 5 added - chapter 4 added - design updated 1.12 2012 - jul - 30 sd description of analog and digital inputs corrected 1.13 2013 - mar - 2 7 sd ain_0 renamed: in_o 1.14 2013 - jul - 23 sd chapter 3.2.1.1 (power supply) updated table 10 . 1 document revision 10.2 hardware r evision version date description tmcm - 1061_v 1 0 2011 - apr - 2 0 first p rototype version tmcm - 1161_v10 2011 - jul - 22 redesign: - c orrected and modified clock concept - stop switches connected to ref1+3 of tmc429 - new encoder ic with 10bit resolution (max.) table 10 . 2 hardware revision 11 references [tmcm - 1161 ] tm cm - 1161 tmcl firmware manual [ tmcl - ide] tmcl - ide user manual [qsh 5718 ] qsh 5718 manual [qsh6018] qsh6018 manual please refer to www.trinamic.com .

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