●Dear Valued TRINAMIC Customer, this is to inform you that a new firmware version has officially been released for the modules listed in the table below.
●New batches of the modules will be delivered preprogrammed with this new firmware release. Modules already shipped can be updated to this new release of the firmware using the provided firmware update feature of the TMCL-IDE. Prior releases are still available on the corresponding product pages on www.trinamic.com.
●Changes:
■TMCM-1110 StepRocker(TMCL Firmware V1.11 => V1.12)
▲RORA command fixed.
■TMCM-1111 StepRocker, TMCM-1316 StepRocker, TMCM-3312-TMCL, TMCM-3314-TMCL, TMCM-3351-TMCL (TMCL Firmware V1.11 => V1.12)
▲New axis parameters #150 and #151.
▲New reference search methods 9 and 10.
▲Global parameter #87 implemented.
▲RORA command fixed.
▲MVP REL command in closed loop mode fixed.
▲Activating closed loop mode when it is already activated does not cause problems anymore.
■TMCM-1211 StepRocker, TMCM-3212-TMCL, TMCM-3214-TMCL, TMCM-3230-TMCL, TMCM-6210-TMCL, TMCM-6212-TMCL(TMCL Firmware V1.11 => V1.12)
▲Problem with velocity dependent StallGuard switching fixed.
▲New reference search methods 9 and 10.
▲Global parameter #87 implemented.
▲RORA command fixed.
▲Axis parameter #201: bit 10 now always zero
●These changes are classified as minor changes.
●Timing
■Effective date for firmware release: September 11, 2014
●The modules 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:
■TMCM-1140, TMCM-1160, PDx-1140, PDx-1160: Changing the CAN receive ID will no longer hang up the module firmware
■TMCM-1161, PDx-1161: Improvement on the sensOstep encoder reading fix to make the sensOstep encoder even more realiable.
●These changes are classified as minor changes.
●Timing
■Effective date for firmware release: June 02, 2021

Brand of Product：	TRINAMIC
Part#：	TMCM-1110 StepRocker 、 TMCM-1111 StepRocker 、 TMCM-1316 StepRocker 、 TMCM-3312-TMCL 、 TMCM-3314-TMCL 、 TMCM-3351-TMCL 、 TMCM-1211 StepRocker 、 TMCM-3212-TMCL 、 TMCM-3214-TMCL 、 TMCM-3230-TMCL 、 TMCM-6210-TMCL 、 TMCM-6212-TMCL 、 10-0374 、 10-0305 、 10-0348 、 10-0287 、 10-0311 、 10-0306 、 10-0336 、 10-0264 、 10-0296 、 10-0307 、 10-0262 、 10-0290 More Part#
Product Category：	triple axis stepper motor controller module 、 triple 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：	June02, 2021
Version Number：
Data Encoding：	PCN_2021-06-02_Firmware_TMCL_V112
Data Size：	69 KB