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.
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 ........................................................
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.
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.
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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 6 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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 7 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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 8 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.
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TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 10 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.
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.
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.
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..
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.
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.
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TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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.
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.
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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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).
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 27 10 TMCM-6210 Functional Description The TMCM-6210 is a highly integrated controller/driver module for 6 stepper motor axes which can be controlled via several serial interfaces (CAN, RS485 and USB – depending on firmware). Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on board. The nominal supply voltage of the unit is 12V or 24V DC.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 28 11 TMCM-6211 Functional Description The TMCM-6211 is a highly integrated controller/driver module for 6 stepper motor axes which offers an EtherCAT™ interface in addition to USB for communication. The nominal supply voltage of the unit is 12V or 24V DC. Full remote control of the device with feedback is possible using the CANopen over EtherCAT™ (CoE) firmware. The firmware of the module can be updated via one of the serial interfaces.
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 29 12 Revision History 12.1 Document revision Version 0.90 Date 2015-DEC-17 Author GE 0.91 2016-MAR-14 GE 0.92 2016-MAR-16 GE 0.93 2016-APR-20 GE 0.94 2016-MAY-17 GE 0.
