MODULES FOR STEPPER MOTORS
MODULES
Hardware Version V 1.10
HARDWARE MANUAL
+
+
TMCM-6210
TMCM-6211
6-Axes Stepper
Controller / Driver
Up-to 0.7A RMS / 24V DC
Encoder / HOME / STOP
4x analog / digital inputs
4x digital outputs
Brake chopper support
CAN, RS485, USB (TMCM-6210)
EtherCAT™, USB (TMCM-6211)
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
Table of contents
1
2
3
4
Life support policy ....................................................................................................................................................... 3
Features ........................................................................................................................................................................... 4
Order codes .................................................................................................................................................................... 5
Mechanical and Electrical Interfacing ..................................................................................................................... 6
4.1
Dimensions and Mounting Holes ................................................................................................................... 6
4.2
Board mounting considerations ...................................................................................................................... 7
5
Connectors of TMCM-6210 and TMCM-6211 ........................................................................................................... 8
5.1
TMCM-6210 Interface Brick ................................................................................................................................ 8
5.1.1 RS485 connector ............................................................................................................................................ 9
5.1.2 CAN connector ................................................................................................................................................ 9
5.1.3 USB connector .............................................................................................................................................. 10
5.1.4 Input connector ........................................................................................................................................... 10
5.1.5 Output connector ......................................................................................................................................... 11
5.2
TMCM-6211 Interface Brick .............................................................................................................................. 11
5.2.1 EtherCAT™ connector ................................................................................................................................. 12
5.2.2 USB connector .............................................................................................................................................. 12
5.2.3 Input connector ........................................................................................................................................... 12
5.2.4 Output connector ......................................................................................................................................... 13
5.3
TMCM-6210 + TMCM-6211 Driver Brick .......................................................................................................... 14
5.3.1 Motor connector........................................................................................................................................... 14
5.3.2 REF / HOME connector ................................................................................................................................ 15
5.3.3 Encoder connector....................................................................................................................................... 15
5.4
TMCM-6210 + TMCM-6211 Power supply Brick ........................................................................................... 16
5.4.1 Power connector.......................................................................................................................................... 17
5.4.2 Control connector ........................................................................................................................................ 17
5.4.3 Resistor connector....................................................................................................................................... 18
5.5
Power supply ...................................................................................................................................................... 18
5.6
RS485 ..................................................................................................................................................................... 18
5.7
CAN ........................................................................................................................................................................ 20
5.7.1 CAN adapter .................................................................................................................................................. 21
5.8
General purpose outputs OUT0..3 ................................................................................................................. 22
6
Motor driver current .................................................................................................................................................. 23
7
On Board LEDs............................................................................................................................................................. 24
7.1
Power supply brick ............................................................................................................................................ 24
7.2
TMCM-6210 Interface Brick .............................................................................................................................. 24
7.3
TMCM-6211 Interface Brick .............................................................................................................................. 25
8
Reset to Factory Default ........................................................................................................................................... 25
9
Operational ratings .................................................................................................................................................... 26
10 TMCM-6210 Functional Description ........................................................................................................................ 27
11 TMCM-6211 Functional Description ........................................................................................................................ 28
12 Revision History .......................................................................................................................................................... 29
12.1 Document revision ............................................................................................................................................ 29
12.2 Hardware revision ............................................................................................................................................. 29
13 References..................................................................................................................................................................... 29
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
2
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
1 Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not authorize
or warrant any of its products for use in life support systems,
without the specific written consent of TRINAMIC Motion
Control GmbH & Co. KG.
Life support systems are equipment intended to support or
sustain life, and whose failure to perform, when properly used
in accordance with instructions provided, can be reasonably
expected to result in personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2015, 2016, 2017
Information given in this data sheet is believed to be accurate
and reliable. However neither responsibility is assumed for the
consequences of its use nor for any infringement of patents or
other rights of third parties, which may result from its use.
Specifications are subject to change without notice.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
3
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
4
2 Features
The TMCM-6210 / TMCM-6211 is a six axes controller/driver module for 2-phase bipolar stepper motors with
separate encoder (differential) and HOME / STOP switch inputs for each axis. CAN, RS485 and USB (Micro-USB)
interfaces are available on the TMCM-6210 and EtherCAT™ together with USB (Micro-USB) on the TMCM-6211 for
communication. Furthermore the modules offer four analog / digital inputs and four digital outputs together with
a brake chopper unit (supporting an external brake resistor) for supply voltage limitation when energy is fed back
into the supply rail.
MAIN CHARACTERISTICS
Motion controller
Motion profile calculation in real-time
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
Dedicated HOME + STOP switch inputs (internal pull-ups)
High performance microcontroller for overall system control and communication protocol handling
Bipolar stepper motor driver
Up to 256 microsteps per full step
High-efficient operation, low power dissipation
Dynamic current control
Integrated protection
stealthChop™ for quiet operation and smooth motion
dcStep™ feature for load dependent speed control
stallGuard2™ feature for stall detection
coolStep™ feature for reduced power consumption and heat dissipation
Interfaces
TMCM-6210: CAN + RS485
TMCM-6211: EtherCAT™
USB full speed (12Mbit/s) device interface (Micro-USB)
Differential encoder input per motor axis (6x)
HOME, STOP_L, STOP_R switch inputs with internal pull-ups per motor axis (6x)
4 general purpose analog inputs (0..10V) or digital inputs (accept +24V signals)
4 general purpose digital outputs (open-drain, 500mA each)
Software
TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands
TMCM-6210: CANopen firmware available
TMCM-6211: CoE (CANopen over EtherCAT™) firmware available
Electrical data
Supply voltage: nom. +12V and +24V with +10V … +27V supply voltage operating range
Motor current: up to 0.7A RMS (programmable)
Mechanical data
Board size: 215mm x 100mm, overall height 21mm max. (incl. pcb but, without mating connectors and cables)
12x M3 mounting holes (optional)
Please see separate TMCM-6210 / TMCM-6211 Software / Firmware documentation for additional information
regarding programming and communication protocol.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
5
3 Order codes
The TMCM-6210 unit is available with two different firmware options:
Order code
TMCM-6210-TMCL
TMCM-6210-CANopen
Size of unit
Description
6-axes controller / driver up-to 0.7A RMS / +24V, CAN 215mm x 100mm x 21mm
+ RS485 + USB with standard TMCL firmware
6-axes controller / driver up-to 0.7A RMS / +24V, CAN 215mm x 100mm x 21mm
+ RS485 + USB with CANopen firmware
Table 3.1: TMCM-6210 order code
The TMCM-6211 unit is available as:
Order code
TMCM-6211-CoE
Size of unit
Description
6-axes controller / driver up-to 0.7A RMS / +24V, 215mm x 100mm x 21mm
EtherCAT™ + USB with CANopen over EtherCAT™
firmware
Table 3.2: TMCM-6211 order code
A cable loom is available, also:
Order code
G4-CABLE
Description
Cable loom for TMCM-6210/6211, TMCM-6212/6213, TMCM-3212/3213, TMCM-3214/3215,
TMCM-3312/3313 and TMCM-3314/3315. Contains:
1x cable loom for RS485 connector (6210)
1x standard CAT5 cable with 2x RJ45 for CAN / EtherCAT (6210/6211)
1x RJ45-2-DSUB_G4_V10 adapter (for CAN RJ45 D-SUB translation) (6210)
1x Micro-USB cable (6210/6211)
1x cable loom for INPUTs connector (6210/6211)
1x cable loom for OUTPUTs connector (6210/6211)
6x cable loom for MOTOR connector (small) (6210/6211)
3x cable loom for MOTOR connector (big)
6x cable loom for ENCODER connector (6210/6211)
6x cable loom for REF / HOME connector (6210/6211)
1 cable loom for POWER connector (small) (6210/6211)
1x cable loom for POWER connector (big)
1x cable loom for CONTROL connector (6210/6211)
1x cable loom for RESISTOR connector (6210/6211)
Please note: there is one cable loom available for a complete family of modules in order to speed-up initial setup
of these modules. The family consists of these currently planned / available modules: TMCM-6210/6211, TMCM6212/6213, TMCM-3212/3213, TMCM-3214/3215, TMCM-3312/3313 and TMCM-3314/3315. Not all cables are required
for all modules – some cable will fit or will be helpful for some modules, only. Module numbers in parenthesis
behind each cable in the table above indicate whether the particular part of the cable loom can be used with
the TMCM-6210 and / or TMCM-6211.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
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4 Mechanical and Electrical Interfacing
4.1 Dimensions and Mounting Holes
The dimensions of the TMCM-6210 and TMCM-6211 controller/driver board are approx. 215mm x 100mm x 21mm.
Maximum component height (height above PCB level) without mating connectors is around 17mm above PCB
level and 2mm below PCB level. There are 12 mounting holes for M3 screws (3.2mm diameter) altogether for
mounting the PCB.
Figure 4.1 Dimension of TMCM-6210 / TMCM-6211 and position of mounting holes
Please note: TMCM-6210 and TMCM-6211 share the same PCB with different assembly options regarding the
interface section. Dimensions, mounting holes and board mounting considerations (see chapter below) are the
same for both boards.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
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4.2 Board mounting considerations
The TMCM-6210 / TMCM-6211 offer 12 metal plated mounting holes. One hole (lower right) is connected to onboard system ground (connected to power supply input ground) via 1M (500VDC) || 1nF (1kV). The same
combination or resistor and capacitor is used for connecting the RJ45 shield ground (connector enclosure) to
power supply input ground (see figure 4.1).
1M
1nF
1nF
1M
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
1M
1nF
Figure 4.2 TMCM-6210 / TMCM-6211 mounting hole connections
All other mounting holes are electrically isolated. Please note that not all holes have to be used for mounting
the pcb. At least the mounting holes in all four corners and two in the middle (6 altogether) should be used to
ensure adequate support of the pcb when inserting / removing connectors in order to avoid significant bending
of the pcb.
In any case: please remove / attach mating connectors carefully – supporting the pcb if necessary!
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
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5 Connectors of TMCM-6210 and TMCM-6211
The TMCM-6210 and TMCM-6211 are two members of a new family of modules with a modular architecture
composed of so called “bricks”.
The TMCM-6210 and TMCM-6211 consist of one interface brick, three dual-axes stepper motor controller / driver
bricks and one supply brick. With the TMCM-6210 the interface brick offers CAN and RS485 interfaces while with
the TMCM-6211 the EtherCAT™ option is assembled instead. All other bricks are the same for both modules.
Motor 1
Interface Brick
Motor 3
Motor 5
Motor 0
Motor 2
Motor 4
Driver Brick
Driver Brick
Driver Brick
Supply Brick
Figure 5.1 different bricks used for the TMCM-6210 / TMCM-6211
5.1 TMCM-6210 Interface Brick
The interface brick of the TMCM-6210 offers RS485, CAN and USB interfaces for communication, four general
purpose analog inputs (which can be used as digital inputs as well) and four open-drain outputs.
RS485
connector (2x)
1 GND
2 RS485+
3 RS485-
1
3
3
1
1
8
USB (MicroUSB)
connector
Output connector
1 OUT0
2 OUT1
3 OUT2
4 OUT3
5
6
7
8
+24V_FUSE
+24V_FUSE
+24V_FUSE
+24V_FUSE
8
5
10
6
4
1
5
1
8
1
CAN
connector (2x)
1 CAN_H
2 CAN_L
3 GND
4 n.c.
5 n.c.
6 n.c.
7 n.c.
8 n.c.
Input connector
1 +24V_FUSE
2 AIN0
3 AIN1
4 AIN2
5 AIN3
Figure 5.2 TMCM-6210 interface brick
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
6
7
8
9
10
GND
GND
GND
GND
GND
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
9
Connector and mating connector overview:
Label
Connector type
RS485 connector (2x)
Mating connector type
Molex MicroFit™, 436500315
1x4 pin header, 3mm pitch
CAN connector (2x)
RJ45 plug connector
USB (MicroUSB) connector
Micro-USB connector, type B
(USB device interface)
Input connector
Molex MicroFit™, 430451012
2x5 pin header, 3mm pitch
Output connector
Molex MicroFit™, 430450812
2x4 pin header, 3mm pitch
Molex MicroFit™,
Housing: 43645-0300
Contacts: 43030-0007
e.g. Standard CAT 5 / CAT 5e
cables may be used
Standard Micro-USB
Molex MicroFit™,
Housing: 43025-1000
Contacts: 43030-0007
Molex MicroFit™,
Housing: 43025-0800
Contacts: 43030-0007
Table 5.1 TMCM-6210 interface brick: connectors and mating connectors
5.1.1 RS485 connector
There are two RS485 connectors on the board with the same pin assignment – pins directly connected to each
other. The second connector may be used for attaching a bus termination resistor to the RS485 bus (there is no
termination resistor on-board) or for further distribution of the RS485 bus signals to other RS485 communication
nodes while maintaining a proper bus structure.
A three pin Molex MicroFit™ connector (Molex part no. 436500315) is used for RS485 connection. Mating connector
housing e.g. Molex 43645-0300, contacts Molex 43030-0007. Please note that there are alternative options available
from Molex for both, housing and contacts.
3
1
Pin
1
2
3
Label
GND
RS485+
RS485-
Direction
Power
Bi-directional
Bi-directional
Description
Supply and signal ground
RS485 interface, diff. signal (non-inverting)
RS485 interface, diff signal (inverting)
Table 5.1: Interface Brick: RS485 connector
5.1.2 CAN connector
There are two CAN connectors on the board with the same pin assignment – pins directly connected to each
other. The second one may be used for attaching a bus termination resistor to the RS485 bus (there is no
termination resistor on-board) or for further distribution of the CAN bus signals to other CAN nodes while
maintaining a proper bus structure.
A standard RJ45 plug connector is used for CAN communication. Standard CAT cables (e.g. CAT 5, non-crossing)
might be used for connection. Pin assignment of the RJ45 is based on the CiA 303-1 recommendation.
8
1
Pin
1
2
3
4
5
6
7
8
Label
CAN_H
CAN_L
GND
n.c.
n.c.
n.c.
n.c.
n.c.
Direction
Bi-Directional
Bi-directional
Power
Description
CAN interface, diff signal (non-inverting)
CAN interface, diff signal (inverting)
Supply and signal ground
Table 5.2 Interface Brick: CAN connector
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
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5.1.3 USB connector
The TMCM-6210 / TMCM-6211 offers a Micro USB connector (Type B, device interface) for communication. The USB
interface supports USB high speed communication (12Mbit/s). With USB attached the digital logic part of the
TMCM-6210 / TMCM-6211 will be supplied via USB (USB powered mode) if there is no main supply available. This
mode may be used for firmware-updates, TMCL-program download or parameter settings etc. (requires USB
connection, only). Please note that in USB stand-alone mode (main board supply available) the board might still
draw current from the USB supply – depending on the voltage level of the USB +5V and the on-board generated
+5V.
5.1.4 Input connector
The TMCM-6210 / TMCM-6211 offer four analog inputs (nom. 0..10V range) which may be used as digital inputs,
also (+24V tolerant).
The four inputs are available via one 10 pin Molex MicroFit™ connector (Molex part no. 430451012). Mating
connector housing e.g. Molex 43025-1000, contacts Molex 43030-0007. Please note that there are alternative options
available from Molex for both, mating housing and contacts.
Pin
10
6
5
1
Label
Direction
1
+24V_FUSE
Power output
2
3
4
5
6
7
8
9
10
AIN0
AIN1
AIN2
AIN3
GND
GND
GND
GND
GND
Input
Input
Input
Input
Power
Power
Power
Power
Power
Description
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Analog input channel 0 (nom. 0..10V)
Analog input channel 1 (nom. 0..10V)
Analog input channel 2 (nom. 0..10V)
Analog input channel 3 (nom. 0..10V)
Supply and signal ground
Supply and signal ground
Supply and signal ground
Supply and signal ground
Supply and signal ground
Table 5.3: Interface Brick: Input connector
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TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
11
5.1.5 Output connector
The TMCM-6210 / TMCM-6211 offer four digital outputs (open-drain). The four outputs are available via one 8 pin
Molex MicroFit™ connector (Molex part no. 43045-0812). Mating connector housing e.g. Molex 43025-0800, contacts
Molex 43030-0007. Please note that there are alternative options available from Molex for both, mating housing
and contacts.
8
5
4
1
Pin
1
2
3
4
Label
OUT0
OUT1
OUT2
OUT3
Direction
Output
Output
Output
Output
Description
5
+24V_FUSE
Power output
6
+24V_FUSE
Power output
7
+24V_FUSE
Power output
8
+24V_FUSE
Power output
Open-drain output
Open-drain output
Open-drain output
Open-drain output
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Table 5.4: Interface Brick: Output connector
5.2 TMCM-6211 Interface Brick
The interface brick of the TMCM-6210 offers EtherCAT™ and USB interfaces for communication, four general
purpose analog inputs (which can be used as digital inputs as well) and four open-drain outputs.
LINK
IN
8
1
USB (MicroUSB)
connector
Output connector
1 OUT0
2 OUT1
3 OUT2
4 OUT3
5
6
7
8
+24V_FUSE
+24V_FUSE
+24V_FUSE
+24V_FUSE
8
5
10
6
4
1
5
1
LINK
OUT
8
1
EtherCAT
connector (2x)
1 TX+
2 TX3 RX+
4
5
6 RX7
8
Input connector
1 +24V_FUSE
2 AIN0
3 AIN1
4 AIN2
5 AIN3
Figure 5.3 TMCM-6211 interface brick
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
6
7
8
9
10
GND
GND
GND
GND
GND
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
12
Connector and mating connector overview:
Label
Connector type
Mating connector type
RJ45 plug connector
e.g. Standard CAT 5 / CAT 5e
cables suitable for 100Mbit/s
Ethernet
Micro-USB connector, type B
(USB device interface)
Standard Micro-USB
EtherCAT™ connector (2x)
USB (MicroUSB) connector
Input connector
Molex MicroFit™, 43045-1012
2x5 pin header, 3mm pitch
Output connector
Molex MicroFit™, 43045-0812
2x4 pin header, 3mm pitch
Molex MicroFit™,
Housing: 43025-1000
Contacts: 43030-0007
Molex MicroFit™,
Housing: 43025-0800
Contacts: 43030-0007
Table 5.5: TMCM-6211 interface brick: connectors and mating connectors
5.2.1 EtherCAT™ connector
There are two EtherCAT™ connectors on the board – one for LINK IN (towards / coming from EtherCAT™ master)
and one for LINK OUT (for connecting further slaves) connection.
A standard RJ45 plug connector (as used for 10/100Mbit/s Ethernet) is used for EtherCAT™ communication.
Standard CAT cables suitable for 100Mbit/s Ethernet (e.g. CAT 5 / 5e etc.) might be used for connection. The PHYs
used on the TMCM-6211 support auto MDI-X – therefore, TX and RX signals on the connector might be exchanged
– e.g. cables with straight-through pin-assignment can be used.
8
1
Pin
1
2
3
4
5
6
7
8
Label
TX+
TXRX+
Direction
Output
Output
Input
Description
Transmit data output, differential, non-inverting
Transmit data output, differential, inverting
Receive data input, differential, non-inverting
RX-
Input
Receive data input, differential, inverting
Table 5.6: TMCM-6211 Interface Brick: EtherCAT™ connector
5.2.2 USB connector
The TMCM-6210 / TMCM-6211 offers a Micro USB connector (Type B, device interface) for communication. The USB
interface supports USB high speed communication (12Mbit/s). With USB attached the digital logic part of the
TMCM-6210 / TMCM-6211 will be supplied via USB (USB powered mode) if there is no main supply available. This
mode may be used for firmware-updates, TMCL-program download or parameter settings etc. (requires USB
connection, only). Please note that in USB stand-alone mode (main board supply available) the board might still
draw current from the USB supply – depending on the voltage level of the USB +5V and the on-board generated
+5V.
5.2.3 Input connector
The TMCM-6210 / TMCM-6211 offer four analog inputs (nom. 0..10V range) which may be used as digital inputs,
also (+24V tolerant).
The four inputs are available via one 10 pin Molex MicroFit™ connector (Molex part no. 430451012). Mating
connector housing e.g. Molex 43025-1000, contacts Molex 43030-0007. Please note that there are alternative options
available from Molex for both, mating housing and contacts.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
Pin
10
6
5
1
Label
Direction
1
+24V_FUSE
Power output
2
3
4
5
6
7
8
9
10
AIN0
AIN1
AIN2
AIN3
GND
GND
GND
GND
GND
Input
Input
Input
Input
Power
Power
Power
Power
Power
13
Description
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Analog input channel 0 (nom. 0..10V)
Analog input channel 1 (nom. 0..10V)
Analog input channel 2 (nom. 0..10V)
Analog input channel 3 (nom. 0..10V)
Supply and signal ground
Supply and signal ground
Supply and signal ground
Supply and signal ground
Supply and signal ground
Table 5.7: Interface Brick: Input connector
5.2.4 Output connector
The TMCM-6210 / TMCM-6211 offer four digital outputs (open-drain). The four outputs are available via one 8 pin
Molex MicroFit™ connector (Molex part no. 43045-0812). Mating connector housing e.g. Molex 43025-0800, contacts
Molex 43030-0007. Please note that there are alternative options available from Molex for both, mating housing
and contacts.
8
5
4
1
Pin
1
2
3
4
Label
OUT0
OUT1
OUT2
OUT3
Direction
Output
Output
Output
Output
5
+24V_FUSE
Power output
6
+24V_FUSE
Power output
7
+24V_FUSE
Power output
8
+24V_FUSE
Power output
Description
Open-drain output channel 0
Open-drain output channel 1
Open-drain output channel 2
Open-drain output channel 3
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Connected via fuse (polyfuse) to power supply input
(+24V_LOGIC supply input on power control connector).
Max. output current (together with all +24V_FUSE supply
outputs on output connector: 500mA / polyfuse
protected)
Table 5.8: Interface Brick: Output connector
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TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
14
5.3 TMCM-6210 + TMCM-6211 Driver Brick
The driver brick of the TMCM-6210 and TMCM-6211 offers two outputs for bipolar stepper motors with up-to 0.7A
RMS / 1.0A peak motor current (programmable), separate HOME + REFL and REFR inputs and encoder inputs (for
incremental ABN encoders with differential signals) for each motor axes. Please note that due to sharing of
hardware resources either REFL and REFR inputs or encoder inputs are available at a given point in time and may
be used. The TMCM-6210 and TMCM-6211 offer three such driver bricks, supporting 6 stepper motors altogether.
Motor connector
1 2
3 4
1
5
1
2
6
3
Motor connector
1 OA1
2 OB1
4 3
2 1
3 OA2
4 OB2
8
4
4
8
3
4
Encoder connector
REF / HOME connector
4
1
5
1
REF / HOME connector
1 GND
4 +5V_OUT
2 REFL
5 REFR
3 HOME
6 GND
Encoder connector
1 GND
2 ENC_A+
3 ENC_B+
4 ENC_N+
5
6
7
8
+5V_OUT
ENC_AENC_BENC_N-
Figure 5.4 TMCM-6210 + TMCM-6211 Driver Brick
Label
Connector type
Motor connector
Mating connector type
Molex MicroFit Jr.™, 43045-0412
2x2 pin header, 3mm pitch
REF / HOME connector
Molex MicroFit™, 43045-0612
2x3 pin header, 3mm pitch
Encoder connector
Molex MicroFit™, 43045-0812
2x4 pin header, 3mm pitch
Molex MicroFit Jr.™,
Housing: 43025-0400
Contacts: 43030-0007
Molex MicroFit™,
Housing: 43025-0600
Contacts: 43030-0007
Molex MicroFit™,
Housing: 43025-0800
Contacts: 43030-0007
Table 5.9 TMCM-6210 and TMCM-6211 Driver brick: connectors and mating connectors
5.3.1 Motor connector
As there are two bipolar stepper motors supported per single driver brick there are also two motor connectors
per brick.
Each motor (with two coils A + B and four connecting wires) can be connected via one 4 pin Molex MicroFit™
connector (Molex part no. 43045-0412). Mating connector housing e.g. Molex 43025-0400, contacts Molex 430300007. Please note that there are alternative options available from Molex for both, mating housing and contacts.
4
3
2
1
Pin
1
2
3
4
Label
OA1
OB1
OA2
OB2
Direction
Output
Output
Output
Output
Description
Motor
Motor
Motor
Motor
coil
coil
coil
coil
A
B
A
B
Table 5.10: Driver Brick: Motor connector
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TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
15
CAUTION
Do not connect or disconnect motor during operation!
Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected
while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might
permanently damage them. Therefore, always switch off and / or disconnect power supply before connecting
/ disconnecting the motor.
5.3.2 REF / HOME connector
There are two REF / HOME connectors per single driver brick – one for each motor axis. HOME, REFL and / or REFR
switches may be connected via one 6 pin Molex MicroFit™ connector (Molex part no. 43045-0612). Mating connector
housing e.g. Molex 43025-0600, contacts Molex 43030-0007. Please note that there are alternative options available
from Molex for both, mating housing and contacts.
6
4
3
1
Pin
1
Label
GND
Direction
Power
2
REFL
Input
3
HOME
Input
4
+5V_OUT
Power output
5
REFR
Input
6
GND
Power
Description
Supply and signal ground
REF left / Left stop switch input. Internal pull-up (5k6) to
+5V. External switch to ground may be connected or upto +5V push-pull signal.
Home switch input. Internal pull-up (5k6) to +5V. External
switch to ground may be connected or up-to +5V pushpull signal.
Connected to the on-board +5V auxiliary DC/DC converter.
All +5V_OUT power supply outputs together on the 6 REF
/ HOME and 6 Encoder connectors may draw up-to 1A
(e.g. 100mA per encoder and up-to 20mA per REF / HOME
switch).
REF right / Right stop switch input. Internal pull-up (5k6)
to +5V. External switch to ground may be connected or
up-to +5V push-pull signal.
Supply and signal ground
Table 5.11: Driver Brick: REF / HOME connector
5.3.3 Encoder connector
There are two Encoder connectors per single driver brick – one for each motor axis. Incremental A/B/N encoders
with differential encoder signals are supported. The TMCM-6210 / TMCM-6211 offer on-board differential line
receivers (AM26LV32 or equivalent) with 120R termination resistor per differential signal pair. Differential encoder
signals may be connected via one 8 pin Molex MicroFit™ connector (Molex part no. 43045-0812). Mating connector
housing e.g. Molex 43025-0800, contacts Molex 43030-0007. Please note that there are alternative options available
from Molex for both, mating housing and contacts.
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8
5
4
1
Pin
1
2
3
Label
GND
ENC_A+
ENC_B+
Direction
Power
Input
Input
4
ENC_N+
Input
5
+5V_OUT
Power
output
6
7
ENC_AENC_B-
Input
Input
8
ENC_N-
Input
16
Description
Supply and signal ground
Differential input of encoder channel A, non-inverting input
Differential input of encoder channel B, non-inverting input
Differential input of encoder null / zero channel, noninverting input
Connected to the on-board +5V auxiliary DC/DC converter.
All +5V_OUT power supply outputs together on the 6 REF /
HOME and 6 Encoder connectors may draw up-to 1A (e.g.
100mA per encoder and up-to 20mA per REF / HOME
switch).
Differential input of encoder channel A, inverting input
Differential input of encoder channel B, inverting input
Differential input of encoder null / zero channel, inverting
input
Table 5.12: Driver Brick: Encoder connector
5.4 TMCM-6210 + TMCM-6211 Power supply Brick
The power supply brick of the TMCM-6210 and TMCM-6211 offers one main supply input via the Power connector,
separate logic supply input as an option and a hardware driver stage enable input on the Control connector and
connection for an external brake connector with the on-board brake chopper circuit.
Power connector
1 GND
2 +24V
Control connector
1
2
3
4
GND
+24V_LOGIC
+24V_LOGIC
Enable
Resistor connector
2 1
4
2 1
1 +24V
2 Resistor
1
Figure 5.5: TMCM-6210 + TMCM-6211 Power supply Brick
Connector and mating connector overview:
Label
Power connector
Control connector
Resistor connector
Connector type
Molex MiniFit Jr.™, 39-28-1023
1x2 pin header, 4.2mm pitch
Molex MicroFit™, 43650-0415
1x4 pin header, 3mm pitch
Molex MicroFit™, 43650-0215
2x4 pin header, 3mm pitch
Mating connector type
Molex MiniFit Jr.™,
Housing: 39-01-2020
Contacts: 39-00-0039
Molex MicroFit™,
Housing: 43645-0400
Contacts: 43030-0007
Molex MicroFit™,
Housing: 43645-0200
Contacts: 43030-0007
Table 5.13 TMCM-6210 and TMCM-6211 Power supply brick: connectors and mating connectors
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17
5.4.1 Power connector
A two pin Molex MiniFit Jr.™ connector (Molex part no. 39-28-1023) is available for power supply connection.
Mating connector housing e.g. Molex 39-01-2020, contacts Molex 39-00-0039. Please note that there are alternative
options available from Molex for both, housing and contacts.
2
1
Pin
1
Label
GND
2
+24V
Direction
Power
Power supply
input
Description
Supply and signal ground
Power supply input. +12V … +24V +/- 10% regulated power
supply input. Supply input for all six motor driver stages
and logic supply.
Table 5.14: Power supply Brick: Power connector
CAUTION
Always keep the power supply voltage (+24V) below the upper limit of 27V!
Otherwise the driver electronics will be seriously damaged. Especially, when the selected operating voltage
is near the upper limit a regulated power supply is highly recommended.
Always keep the logic power supply voltage (+24V_LOGIC) above or equal to the main power supply!
Otherwise the on-board electronics (diode connection between +24V main power supply input and +24V
logic supply input) might be seriously damaged.
5.4.2 Control connector
A four pin Molex MicroFit™ connector (Molex part no. 436500415) is used for the driver stage enable signal and
optional separate logic supply input. Mating connector housing e.g. Molex 43645-0400, contacts Molex 43030-0007.
Please note that there are alternative options available from Molex for both, housing and contacts.
Pin
1
4
1
Label
GND
Direction
Power
Description
Supply and signal ground
Separate logic supply input. May be used in order to
keep digital / logic part alive while driver stage is not
supplied (Power supply input via Power connector either
switched off or disconnected).
2
+24V_LOGIC
Power supply
input
3
+24V_LOGIC
Power supply
input
Same as Pin 2.
4
ENABLE
Input
Driver stage enable input (logic high). Maybe connected
to pin 3 / +24V_LOGIC in order to enable driver.
Table 5.15: Power supply brick: Control connector
CAUTION
Always keep the digital logic power supply voltage (+24V_LOGIC) below the upper limit of 27V!
Otherwise the on-board electronics might be seriously damaged. Especially, when the selected operating
voltage is near the upper limit a regulated power supply is highly recommended.
Always keep the logic power supply voltage (+24V_LOGIC) above or equal to the main power supply
(on the Power supply connector)!
Otherwise the on-board electronics (diode connection between +24V main power supply input and +24V
logic supply input) might be seriously damaged.
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18
5.4.3 Resistor connector
The TMCM-6210 and TMCM-6211 offer a brake chopper in hardware for limiting supply voltage in case energy is
fed back from motor / driver stage into the supply rail. A two pin Molex MicroFit™ connector (Molex part no.
43650-0215) is used for connecting an external brake resistor. Mating connector housing e.g. Molex 43645-0200,
contacts Molex 43030-0007. Please note that there are alternative options available from Molex for both, housing
and contacts.
Pin
2
Label
1
+24V
2
Resistor
1
Direction
Power supply
input
Output
Description
Connected to power supply input of Power connector.
Brake chopper output. An external power resistor should
be connected between Pin 1 and Pin 2 of this connector.
Table 5.16: Power supply brick: Resistor connector
5.5 Power supply
For proper operation care has to be taken with regard to power supply concept and design. The TMCM-6210 /
TMCM-6211 includes about 2800µF/35V of supply filter capacitors. In addition, the module includes a 24V
suppressor diode for over-voltage protection. Nevertheless, it is important to make sure that supply voltage will
not rise beyond the upper limit of +27V! Please note: during motor deceleration the driver stage might feedback
energy from the motor into the supply rail and supply voltage might increase. In order to limit the supply voltage
a brake chopper circuit has been included on the board. When activated in software and together with an external
power resistor this circuit will limit the supply voltage.
CAUTION
Always keep the power supply voltage (+24V) below the upper limit of 27V!
Otherwise the on-board electronics might be seriously damaged. Especially, when the selected operating
voltage is near the upper limit a regulated power supply is highly recommended. In addition, the on-board
brake chopper may be used together with an external power resistor connected to the Resistor connector in
order to limit supply voltage.
Always keep the digital logic power supply voltage (+24V_LOGIC) below the upper limit of 27V!
Otherwise the on-board electronics might be seriously damaged. Especially, when the selected operating
voltage is near the upper limit a regulated power supply is highly recommended.
Always keep the logic power supply voltage (+24V_LOGIC) above or equal to the main power supply (on
the Power supply connector)!
Otherwise the on-board electronics (diode connection between +24V main power supply input and +24V logic
supply input) might be seriously damaged.
There is limited reverse polarity protection, only!
The module will short any reversed supply voltage.
5.6 RS485
For remote control and communication with a host system the TMCM-6210 provides a two wire RS485 bus
interface. For proper operation the following items should be taken into account when setting up an RS485
network:
1.
BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection
between each node and the bus itself should be as short as possible. Basically, it should be short
compared to the length of the bus. The TMCM-6210 offers two connectors which are connected directly
to each other and the on-board RS485 transceiver. Using both connectors for passing through the bus
will help with keeping a proper bus topology.
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TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
Host
c:>
19
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
keep distance as
short as possible
RS485
Figure 5.3: Bus structure
2.
BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends. The TMCM-6210 does not integrate any
termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added
externally.
3.
NUMBER OF NODES:
The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus.
The bus transceivers used on the TMCM-6110 units (SN65HVD1781D) have a significantly reduced bus load
and allow a maximum of 255 units to be connected to a single RS485 bus using TMCL firmware. Please
note: usually it cannot be expected to get reliable communication with the maximum number of nodes
connected to one bus and maximum supported communication speed at the same time. Instead, a
compromise has to be found between bus cable length, communication speed and number of nodes.
4.
COMMUNICATION SPEED:
The maximum RS485 communication speed supported by the TMCM-6210 hardware is 1Mbit/s. Factory
default is 9600 bit/s. Please see separate firmware manuals for information regarding other possible
communication speeds below the upper limit in hardware.
5.
NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is
transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication
errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting
both bus lines to well defined logic levels.
There are actually two options which can be recommended:
Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both ends):
termination
resistor
(220R)
Slave
Slave
node
n- 1
node
n
+5V
pull-up (680R)
RS485+ / RS485A
termination
resistor
(120R)
RS485- / RS485B
pull-down (680R)
GND
Figure 4.4: Bus lines with resistor (Bias) network on one side, only
Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination):
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TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01)
+5V
pull-up (390R)
20
Slave
Slave
node
n- 1
node
n
+5V
pull-up (390R)
RS485+ / RS485A
termination
resistor
(220R)
termination
resistor
(220R)
RS485- / RS485B
pull-down (390R)
pull-down (390R)
GND
GND
Figure 4.5: Bus lines with resistor (Bias) network at both ends
Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2485 with bias network at one end of the bus).
5.7 CAN
For remote control and communication with a host system the TMCM-6210 provides a CAN bus interface. For
proper operation the following items should be taken into account when setting up a CAN network:
1.
BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection
between each node and the bus itself should be as short as possible. Basically, it should be short
compared to the length of the bus. The TMCM-6210 offers two connectors (RJ45) which are connected
directly to each other and the on-board CAN transceiver. Using both connectors for passing through the
bus will help with keeping a proper bus topology.
Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
CAN
termination
resistor
(120 Ohm)
keep distance as
short as possible
Figure 5.6: CAN bus structure
2.
BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends. The TMCM-6210 does not integrate any
termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added
externally.
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21
5.7.1 CAN adapter
As part of the cable loom for the TMCM-6210 (G4-CABLE) an adapter pcb is vailable (RJ45-2-DSUB_G4_V10) for
making CAN bus connection via standard D-SUB connectors instead of the RJ45 available on the TMCM-6210. A
standard e.g. CAT5 ethernet cable might be used to connect the RJ45 connector on the TMCM-6210 with the RJ45
connector on the adapter pcb. The D-SUB connector on the adapter pcb might then be used to connect further
slaves or the master with CAN D-SUB connectors. Please make sure to maintain a proper bus structure while
using the adapter pcb.
Figure 5.6: RJ45-2-DSUB PCB top view
Figure 5.7: RJ45-2-DSUB schematic / connector pin assignment
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22
5.8 General purpose outputs OUT0..3
The TMCM-6210 and TMCM-6211 offer 4 open-drain (N-channel MOSFET) general purpose outputs available at the
output connector of the interface brick part. The internal connection of the N-channel MOSFETs together with a
flyback / freewheeling diode can be seen in figure 5.8. When activating the MOSFET the related output will be
pulled low (sometimes called npn-style switch). Please note the internal fuse limiting the current that can be
drawn from the output connector.
TMCM-6210 / TMCM-6211
+24V_LOGIC
Polyfuse
0.5A/60V
5
8
1
4
OUT0
OUT1
OUT2
OUT3
microcontroller
GND
Output OUT0..3 with internal circuit
of OUT0 as example
Figure 5.8: General purpose output – internal circuit (simplified)
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23
6 Motor driver current
The stepper motor driver section of the TMCM-6210 + TMCM-6211 operates current controlled. The driver current
may be programmed in software with 256 effective scaling steps in hardware up-to 0.7A RMS / 1A peak max.
motor coil current.
Motor current measured for one phase with max. current settings (100% e.g. “SAP 6, 0, 255”) and 256 microsteps:
CH1 (yellow): motor current [50mV / A]
Motor current
setting in
software (TMC)
In TMCL axis parameter 6 (motor run current) and 7 (motor standby current) can be used
for motor current setting:
SAP 6, 0, // set run current
SAP 7, 0, // set standby current
For numbers between 0 (minimum) and 255 (maximum) are supported. Motor
current is scaled linearly up-to 0.7A RMS / 1A peak.
(read-out value with GAP instead of SAP. Please see separate TMCM-6210 / TMCM-6211
firmware / software manual for further information)
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24
7 On Board LEDs
There are a number of LEDs on-board indicating status.
7.1 Power supply brick
With the TMCM-6210 and TMCM-6211 two LEDs are available on the power supply brick part.
+5V supply
+5V auxilliary supply
Figure 7.1: LEDs on power supply brick
LED
Description
+5V supply
+5V available from on-board DC/DC converter for supply of on-board digital circuit
+5V auxiliary supply
+5V auxiliary supply available (can be switched on/off in software). +5V_OUT on
REF/HOME and ENCODER connector.
7.2 TMCM-6210 Interface Brick
With the TMCM-6210 there are two LEDs (one green and one red) available. Both are connected to the on-board
microcontroller and function is firmware dependent. With TMCL firmware the green LED is flashing slowly during
operation. During firmware updates both LEDs are switched on.
LED (red)
LED (green)
Figure 7.2: LEDs on TMCM-6210 interface brick
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25
7.3 TMCM-6211 Interface Brick
With the TMCM-6211 there are five LEDs available. Two LEDs are connected to the processor and three to the
EtherCAT™ slave controller (ESC). In addition, one LED (ERROR) is connected to both, the microcontroller and the
ESC.
EtherCAT LINK IN
EtherCAT LINK OUT
EtherCAT RUN
ERROR
LED (green)
Figure 7.3: LEDs on TMCM-6211 interface brick
LED
Description
EtherCAT™ LINK IN
Signal LINK IN, connected to ESC
EtherCAT™ LINK OUT
Signal LINK OUT, connected to ESC
EtherCAT RUN
Indicating status of EtherCAT state machine, connected to ESC
ERROR
Connected to microcontroller and ESC – indicating Error
LED (green)
Connected to microcontroller – flashing slowly during normal operation
8 Reset to Factory Default
For reset to factory default values please follow instructions below:
1.
2.
3.
4.
5.
Switch OFF power supply.
Short two pads of programming connector pad-array (see figure 8.1).
Switch ON power supply (on-board LED should be flashing fast / faster than during normal operation).
Switch OFF power supply.
Remove short circuit.
Figure 8.1 Reset to factory defaults (bottom view of pcb – interface brick end)
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26
9 Operational ratings
The operational ratings show the intended or the characteristic ranges and should be used as design values.
In no case shall the maximum values be exceeded.
Symbol
Parameter
Min
Typ
Max
Unit
+24V
Power supply voltage input
10
24
27
V
+24V_LOGIC
Power supply voltage for on-board digital /
logic (if supplied separately)
Same as
+24V
supply
input
IPEAK
Motor coil current for sine wave peak
(chopper regulated, adjustable via software)
1
A
IRMS
Continuous motor current (RMS)
0.7
A
I+24V
Power supply current for driver
TENV
Environmental temperature at 6x 0.7A RMS
motor current (no forced cooling)
V
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