TMCM-6210 Datasheet, PDF (38/44 Pages) TRINAMIC Motion Control GmbH & Co. KG. – Module for Stepper Motors

TMCM-6210/-6211 Hardware Version 1.10 • 2015-OCT-26 | Document Rev. 1.00 • 2016-APR-20
38/44
7. TMCM-6210 Functional Description
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).
Additional
Functional
Details
Main Parts of
TMCM-6210
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 the figure below, 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 (based on the TMC5072) with
calculation of ramps 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)
10..27V
TMCM-6210
DC
DC
A/B/N Encoder
TMC5072
+5V
+5V
HOME, REFL, REFR
+5V
E
E
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
A/B/N Encoder
RS485
CAN
USB
Inputs
Outputs
TMC5072
EEPROM
I2C
SPI
A/B/N Encoder
A/B/N Encoder
µC
(ARM)
TMC5072
+5V
+5V
HOME, REFL, REFR
+5V
E
E
+5V
+5V
+5V
HOME, REFL, REFR
+5V
+5V
HOME, REFL, REFR
+5V
E
E
+5V
+5V
+5V
HOME, REFL, REFR
A/B/N Encoder
Figure 29: Main Parts of TMCM-6210
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and
rights to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” (page 41)
 MAIN MANUAL 