User Manual

TMCM-6212, TMCM-6213 Hardware Manual (V1.00 / 2018-MAY-04) 8
Copyright © 2016 - 2018 TRINAMIC Motion Control GmbH & Co. KG
5 Connectors of TMCM-6212 and TMCM-6213
The TMCM-6212 and TMCM-6213 are two members of a new family of modules with a modular architecture
composed of so called “bricks”.
The TMCM-6212 and TMCM-6213 consist of one interface brick, three dual-axes stepper motor controller / driver
bricks and one supply brick. With the TMCM-6212 the interface brick offers CAN and RS485 interfaces while with
the TMCM-6213 the EtherCAT™ option is assembled instead. All other bricks are the same for both modules.
Interface Brick Driver Brick Driver Brick Driver Brick Supply Brick
Motor 0
Motor 1
Motor 2 Motor 4
Motor 3 Motor 5
Figure 5.1 different bricks used for the TMCM-6212 / TMCM-6213
5.1 TMCM-6212 Interface Brick
The interface brick of the TMCM-6212 offers RS485, CAN and USB interfaces for communication, four general
purpose analog inputs (which can be used as digital inputs as well) and four open-drain outputs.
1
3
3
1
1
4
5
8
1
5
6
10
RS485
connector (2x)
RS485-3
RS485+
GND1
2
CAN
connector (2x)
GND3
CAN_L
CAN_H1
2
n.c.6
n.c.
n.c.4
5
n.c.8
n.c.7
Output connector
OUT3
OUT23
4
OUT1
OUT01
2
+24V_FUSE
+24V_FUSE
7
8
+24V_FUSE
+24V_FUSE5
6
Input connector
AIN2
AIN13
4
AIN0
+24V_FUSE1
2
GND
GND8
9
GND
GND6
7
AIN35 GND10
USB (MicroUSB)
connector
1
8
1
8
Figure 5.2 TMCM-6212 interface brick