The TMCM-351 is a compact and powerful triple axis 2-phase stepper motor controller and driver module. It provides a complete motion control solution at a small size for embedded applications. 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 and encoder can be made via two row header. 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. The TMCM-351-E is equipped with an 3-axis incremental encoder interface for position monitoring. The "-TMCL™" firmware option 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 USB, RS-232, RS-485 or CAN interface. A user TMCL program can be stored in the on board EEPROM for stand-alone operation. With the "-CANopen" firmware option it is possible to operate the module in CANopen networks together with other equipment.

Special Features

  • stallGuard™

Technical Details

Motor Supply7…28.5V
Phase Current, RMS2.8A
a/b/n incremental yes
CAN yes
RS232 yes
RS485 yes
USB yes
CANopen yes
TMCL yes
trapezoidal yes
stallGuard™ yes

Block Diagram / Pinout



Hardware manual pdf1.0 MBNov 4, 2016 1:32 PM


Setup information inf3.3 KBNov 10, 2016 2:17 PM
CANopen firmware manual V3.18 pdf2.0 MBNov 4, 2016 1:32 PM
TMCL Firmware Manual V4.45 pdf2.0 MBNov 4, 2016 1:32 PM
CANopen Firmware V3.20 Manual V2.01 pdf2.1 MBJul 31, 2017 8:57 AM


Firmware V4.48 hex120 KBNov 10, 2016 2:14 PM
Firmware V4.45 hex120 KBNov 10, 2016 2:14 PM
Firmware V4.42 hex120 KBNov 10, 2016 2:14 PM
Firmware V4.41 hex120 KBNov 10, 2016 2:14 PM
CANopen firmware V3.20 hex320 KBJul 21, 2017 11:59 AM
CANopen V3.18 zip120 KBNov 10, 2016 2:14 PM
CANopen V3.09 zip110 KBNov 10, 2016 2:14 PM
CANopen V3.05 zip110 KBNov 10, 2016 2:14 PM
CANopen V3.03 zip100 KBNov 10, 2016 2:14 PM


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