User Manual

TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 28
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
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.
In Figure 10.1 the main parts of the TMCM-6211 are shown:
- Microcontroller, responsible for overall control – executes the firmware (CANopen over EtherCAT, CoE)
- 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
- EtherCAT™ and USB interfaces for communication. The EtherCAT™ interface is intended for in-system
control and operation (using CoE firmware), while USB may be used for parameter setting 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)
USB
Inputs
Outputs
10..27V
DC
DC
EEPROM
I2C
SPI
EtherCAT
slave
controller
SPI
PHY
PHY
EtherCAT
TM
TMCM-6211
Figure 11.1 Main parts of the TMCM-6211