●Dear Valued TRINAMIC Customer, this is to inform you that a new firmware version has officially been released for the module TMCM-1021
●The module will be delivered together with this new release. Modules already shipped can be updated to this new release using the firmware update feature of the TMCL-IDE via serial interface. The new firmware and updated documentation will be available for download from the Trinamic website. Prior releases are still available on request.
●If you have any questions, please contact your sales partner.
●Firmware Changes
■2nd address available also for RS232/RS485 (SGP 87)
■Reply on command to 2nd address will be suppressed for RS232/RS485 and CAN
■Using GAP 197 the last position before zeroing at RFS can be requested
■The stored parameter 140 will now correctly be loaded at startup
■A bug was corrected which led to oscillations around the target position at minimum speeds > 0 (parameter 130).
■Update rate of the magnetic encoder has been increased.
■The reference mode moving directions and the reference switches can now be inverted (by addition of 64 to the reference search mode)
■Correction of reference search mode 7 and 8: the end switches in these modes are generally deactivated
■Software ramps: correction of start/stop velocity (the target was sometimes not properly reached if start/stop velocity >0)
■The clock frequency of the TMCM-1021 was increased to 16MHz. This way all baud rates from 9600 to 115200 can be used without restriction. The increased computation power is required for the integrated software ramp generator.
●Timing
■Effective date for firmware release: April 15, 2013

Brand of Product：	TRINAMIC
Part#：	TMCM-1021 More Part#
Product Category：	single axis stepper motor controller module 、 single axis stepper motor driver module More
Application：	More
Data Type：	PCN/EOL More
Safety & Environment Standards：	More
Operating Temperature：	Please see the document for details
Qualification Grade：	More
Qualification Approval：	More
Package：
Language：	English Chinese Chinese and English Japanese
Date of Creation：	April 15, 2013
Version Number：
Data Encoding：	PCN-2013-04-15
Data Size：	30 KB