User manual

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 11
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.3.6 CAN connector
A CAN 2.0B interface is available via a standard 9-pin male D-SUB connector. Only three pins of this connector
are used. Pin assignment of these three pins is according to CiA Draft Recommendation Part 1: Cabling and
connector pin assignment.
Please note: CAN interface will be de-activated in case USB is connected due to internal sharing of hardware
resources.
5
1
6
9
Pin
Label
Direction
Description
1
2
CAN_L
Bi-directional
Differential CAN bus signal (inverting)
3
GND
Power (GND)
Signal and system ground
4
5
6
7
CAN_H
Bi-directional
Differential CAN bus signal (non-inverting)
8
9
Table 4.7: CAN connector
4.3.7 RS485 connector
An RS485 interface is available via a 9-pin male D-SUB connector.
5
1
6
9
Pin
Label
Direction
Description
1
2
RS485-
Bi-directional
Differential RS485 bus signal (inverting)
3
GND
Power (GND)
Signal and system ground
4
5
6
7
RS485+
Bi-directional
Differential RS485 bus signal (non-inverting)
8
9
Table 4.8: RS485 connector
4.3.8 USB connector
A USB interface is available via a Mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s)
connections.
Please note:
- CAN interface will be deactivated as soon as USB is connected (VBUS voltage available)
- On-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other
supply is connected. This can be used to set parameters / download TMCL programs or perform
firmware updates with the module connected via USB only or inside the machine while the machine is
powered off.
1
5
Pin
Label
Direction
Description
1
VBUS
Power (+5V input)
+5V supply from Host
2
D-
Bi-directional
USB Data -
3
D+
Bi-directional
USB Data +
4
ID
Connected to signal and system ground
5
GND
Power (GND)
Signal and System ground
Table 4.9: USB connector