User Manual

TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 27
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
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. The module is designed for both, standalone operation and direct mode. Full remote
control of device with feedback is possible. The firmware of the module can be updated via one of the serial
interfaces (depending on module and firmware type).
In Figure 10.1 the main parts of the TMCM-6210 are shown:
- Microcontroller, responsible for overall control – executes the firmware (either TMCL or CANopen incl. the
communication stack)
- 3 dual-axes motion controller and driver with calculation of ramps (linear and sixPoint™) and speed
profiles internally in hardware
- interface for an external (e.g. optical) incremental A/B/N encoder (differential RS422 signals) for each axis
- interface for HOME / REFL / REFR reference switches for each axis (either encoder interface or reference
switches can be selected in software)
- 4 general purpose analog / digital inputs
- 4 general purpose digital (open-drain) outputs
- Three serial communication interfaces: CAN, RS485 and USB (Micro-USB-connector). While CAN and RS485
are intended for in-system control and operation (for CANopen firmware just CAN) the USB interface may
be primarily used for parameter settings and firmware updates.
Dual Axes
Controller +
Driver
+5V
HOME, REFL, REFR
+5V
+5V
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
A/B/N Encoder
E
E
Dual Axes
Controller +
Driver
+5V
HOME, REFL, REFR
+5V
+5V
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
A/B/N Encoder
E
E
Dual Axes
Controller +
Driver
+5V
HOME, REFL, REFR
+5V
+5V
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
A/B/N Encoder
E
E
µC
(ARM)
CAN
USB
RS485
Inputs
Outputs
10..27V
DC
DC
EEPROM
I2C
SPI
TMCM-6210
Figure 10.1 Main parts of the TMCM-6210