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TMCM-6212, TMCM-6213 Hardware Manual (V1.00 / 2018-MAY-04) 5

3 Order codes

The TMCM-6212 unit is available with two different firmware options:

Order code

Description

Size of unit

TMCM-6212-TMCL

6-axes controller / driver up-to 1.1A RMS / +24V, CAN

+ RS485 + USB with standard TMCL firmware

215mm x 100mm x 21mm

TMCM-6212-CANopen

6-axes controller / driver up-to 1.1A RMS / +24V, CAN

+ RS485 + USB with CANopen firmware

215mm x 100mm x 21mm

Table 3.1: TMCM-6212 order code

The TMCM-6213 unit is available as:

Order code

Description

Size of unit

TMCM-6213-CoE

6-axes controller / driver up-to 1.1A RMS / +24V,

EtherCAT™ + USB with CANopen over EtherCAT™

firmware

215mm x 100mm x 21mm

Table 3.2: TMCM-6213 order code

A cable loom is available, also:

Order code

Description

G4-CABLE

Cable loom for TMCM-6210/6211, TMCM-6212/6213, TMCM-3212/3213, TMCM-3214/3215,

TMCM-3312/3313 and TMCM-3314/3315. Contains:

- 1x cable loom for RS485 connector (6212)

- 1x standard CAT5 cable with 2x RJ45 for CAN / EtherCAT (6212/6213)

- 1x RJ45-2-DSUB_G4_V10 adapter (for CAN RJ45 <-> D-SUB translation) (6212)

- 1x Micro-USB cable (6212/6213)

- 1x cable loom for INPUTs connector (6212/6213)

- 1x cable loom for OUTPUTs connector (6212/6213)

- 6x cable loom for MOTOR connector (small) (6212/6213)

- 3x cable loom for MOTOR connector (big)

- 6x cable loom for ENCODER connector (6212/6213)

- 6x cable loom for REF / HOME connector (6212/6213)

- 1 cable loom for POWER connector (small) (6212/6213)

- 1x cable loom for POWER connector (big)

- 1x cable loom for CONTROL connector (6212/6213)

- 1x cable loom for RESISTOR connector (6212/6213)

Please note: there is one cable loom available for a complete family of modules in order to speed-up initial setup

of these modules. The family consists of these currently planned / available modules: TMCM-6210/6211, TMCM-

6212/6213, TMCM-3212/3213, TMCM-3214/3215, TMCM-3312/3313 and TMCM-3314/3315. Not all cables are required

for all modules – some cable will fit or will be helpful for some modules, only. Module numbers in parenthesis

behind each cable in the table above indicate whether the particular part of the cable loom can be used with

the TMCM-6212 and / or TMCM-6213.