Discontinued Products

The TMCM-140-42-SE is an intelligent stepper motor controller and driver module to be mounted directly on a 42mm flange stepper motor. This module converts the motor into a compact mechatronic device with bus oriented or stand-alone control. The motor, switches, power and the multi purpose I/Os can be connected with small pluggable connectors. The chopSync™ feature allows high speed movement without resonance problems.The TMCM-140-42-SE comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level commands like "move to position" or "constant rotation" a rapid and fast development of motion control applications is guaranteed. The TMCM-140-42-SE can be controlled via RS232, RS485, CAN or USB interface. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed onboard. The TMCL™ program can be stored in the on board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. With the stallGuard™ feature it is possible to detect motor overload or motor stall. An optional firmware allows to control the module with the CANopen protocol.

Special Features

  • stallGuard™

Technical Details

Motor Supply7…28.5V
Phase Current, Peak2.8A
CAN yes
RS232 yes
RS485 yes
USB yes



Hardware manual pdf650 KBDec 6, 2016 2:35 PM
TMCL firmware manual V1.06 pdf1.5 MBDec 7, 2016 2:26 PM
TMCM-140 CANopen firmware manual pdf1.5 MBDec 6, 2016 2:36 PM
PCN_TMCM-140_2014-06-16 pdf120 KBDec 6, 2016 2:35 PM
PCN_TMCM-140_2012-07-25 pdf140 KBDec 6, 2016 2:35 PM
PCN-2017-07-04 - Firmware 3.20 pdf43 KBJul 31, 2017 7:13 AM
CANopen Firmware V3.20 Maula 2.01 pdf1.1 MBJul 31, 2017 10:02 AM


TMCM-140 CANopen V3.03 zip89 KBDec 6, 2016 2:39 PM
TMCM-140 CANopen V3.05 zip97 KBDec 6, 2016 2:39 PM
TMCM-140 CANopen V3.18 zip110 KBDec 6, 2016 2:39 PM
CANopen firmware V3.20 hex280 KBJul 20, 2017 10:33 AM
TMCM-140 firmware V4.48 hex120 KBDec 6, 2016 2:39 PM
TMCM-140 firmware V4.45 hex120 KBDec 6, 2016 2:39 PM
TMCM-140 firmware V4.42 hex110 KBDec 6, 2016 2:39 PM