The TMCM-343 is a compact and versatile triple axis 2-phase stepper motor controller and driver module. It provides a complete motion control solution at a very small size for embedded applications. Using the integrated additional I/Os it even can do complete system control applications. The board can be connected to a baseboard or customized electronics with a pin connector. The TMCM-343-TMCL comes with the PC based software development environment TMCL-IDE. Using predefined TMCL™ (Trinamic Motion Control Language) high level commands like "move to position" or "constant rotation" rapid and fast development of motion control applications is guaranteed. Host communication is possible via the serial UART interface (e.g. using a RS-232 or RS-485 level shifter) or via CAN. A user TMCL program can be stored in the on board EEPROM for stand-alone operation. With the TMCM-343-CANopen it is possible to operate the module in CANopen networks together with other equipment. All time critical operations, e.g. ramp calculation are performed on board. With the stallGuard™ feature it is possible to detect overload and stall of the motor. The firmware of the module can be updated via the serial interface.

Special Features

  • stallGuard™

Technical Details

Motor Supply7…34V
Phase Current, RMS1.1A
CAN yes
UART yes
CANopen yes
TMCL yes
trapezoidal yes
stallGuard™ yes

Block Diagram / Pinout



Hardware manual pdf780 KBNov 4, 2016 1:32 PM


CANopen firmware manual revision V2.0 for firmware V3.18 pdf2.0 MBNov 4, 2016 1:32 PM
TMCL firmware manual revision V1.06 for firmware V4.36 pdf1.8 MBNov 4, 2016 1:32 PM
CANopen Firmware 3.20 Manual V2.01 pdf2.1 MBJul 31, 2017 8:57 AM


Firmware V4.49 hex110 KBJul 20, 2017 10:37 AM
Firmware V4.48 hex110 KBNov 10, 2016 1:51 PM
Firmware V4.42 hex110 KBNov 10, 2016 1:51 PM
Firmware V4.41 hex110 KBNov 10, 2016 1:51 PM
Firmware V4.39 hex110 KBNov 10, 2016 1:52 PM
CANopen firmware V3.20 hex300 KBJul 20, 2017 10:37 AM
CANopen V3.18 zip120 KBNov 10, 2016 1:51 PM
CANopen V3.09 zip110 KBNov 10, 2016 1:51 PM
CANopen V3.05 zip110 KBNov 10, 2016 1:51 PM
CANopen V3.03 zip100 KBNov 10, 2016 1:51 PM


PCN-2017-07-04 - Firmware 3.20 pdf43 KBJul 31, 2017 7:13 AM