User Manual

TMCM-6212, TMCM-6213 Hardware Manual (V1.00 / 2018-MAY-04) 4

2 Features

The TMCM-6212 / TMCM-6213 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-6212 and EtherCAT™ together with USB (Micro-USB) on the TMCM-6213 for

communication. Furthermore the modules offer four analog / digital inputs and four digital outputs together with

a brake chopper unit (supporting an external brake resistor) for supply voltage limitation when energy is fed back

into the supply rail.

MAIN CHARACTERISTICS

Motion controller

 Motion profile calculation in real-time (supporting linear and sixPoint™ ramps)

 On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

 Dedicated HOME + STOP switch inputs (internal pull-ups)

 High performance microcontroller for overall system control and communication protocol handling

Bipolar stepper motor driver

 Up to 256 microsteps per full step

 High-efficient operation, low power dissipation

 Dynamic current control

 Integrated protection

 stealthChop™ for quiet operation and smooth motion

 dcStep™ feature for load dependent speed control

 stallGuard2™ feature for stall detection

 coolStep™ feature for reduced power consumption and heat dissipation

Interfaces

 TMCM-6212: CAN + RS485

 TMCM-6213: EtherCAT™

 USB full speed (12Mbit/s) device interface (Micro-USB)

 Differential encoder input per motor axis (6x)

 HOME, STOP_L, STOP_R switch inputs with internal pull-ups per motor axis (6x)

 4 general purpose analog inputs (0..10V) or digital inputs (accept +24V signals)

 4 general purpose digital outputs (open-drain)

Software

 TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands

 TMCM-6212: CANopen firmware available

 TMCM-6213: CoE (CANopen over EtherCAT™) firmware available

Electrical data

 Supply voltage: nom. +12V and +24V with +11V … +35V supply voltage operating range

 Motor current: up to 1.1A RMS (programmable)

Mechanical data

 Board size: 215mm x 100mm, overall height 21mm max. (incl. pcb but, without mating connectors and cables)

 12x M3 mounting holes (optional)

Please see separate TMCM-6212 / TMCM-6213 Software / Firmware documentation for additional information

regarding programming and communication protocol.