User manual

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 19
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7 Functional description
The TMCM-6110 is a highly integrated 6-axes controller / driver module. The TMCM-6110 can be controlled via
CAN, RS485 or USB serial interfaces.
The TMCM-6110 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 a rapid and
fast development of motion control applications is guaranteed. Please refer to the TMCM-6110 Firmware Manual
for more information about TMCL™ commands.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation are performed on
board. Full remote control of device with feedback is possible. The firmware of the module can be updated via
any of the serial interfaces.
The TMCM-6110 module contains the following main components (see figure below, also):
- ARM Cortex-M3™ microcontroller running at 72MHz
- 16Kbytes EEPROM for storing configuration parameters and TMCL™ program storage
(up to 2048 TMCL commands)
- 2x TMC429 [TMC429] highly integrated 3 axes stepper motor controller
- 6x TMC260 [TMC260] advanced stepper motor driver IC with stallGuard2™ and coolStep™ with
integrated MOSFET driver transistors
- RS485, CAN and USB transceivers
- On-board switching and linear voltage regulators for supply of on-board digital circuits
9..28V
µC
(ARM)
TMCL
Memory
CAN
USB
8
Inputs
TMC
260
progammable
Motion
Controller
with TMC429
3x 2 reference
switches
+5V
TMC
260
TMC
260
TMC
260
progammable
Motion
Controller
with TMC429
+5V
TMC
260
TMC
260
TMCM-6110
3x 2 reference
switches
8
Outputs
RS485
+5V
SPI
SPI
SPI
SPI
Step/Dir
Step/Dir
Step/Dir
Step/Dir
Step/Dir
Step/Dir
+5V
Motor 0
Motor 1
Motor 2
Motor 3
Motor 4
Motor 5
Figure 7.1: TMCM-6110 block diagram