Trinamic TMCM-6214 User manual

Module for Stepper MODULE
TMCM-6214 Hardware Manual
Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25
The TMCM-6214 is a 6-axes motor controller/driver board for 2-phase bipolar stepper motors with
up-to 1.9A RMS motor current and +24V supply. The motion controllers support 6-point ramps in
addition to linear ramps in hardware. 3 encoder inputs for incremental a/b/n encoders are in-
cluded. For communication either CAN, RS485, RS232 or USB may be selected. In addition, there
are 6 general purpose digital inputs, 2 analog inputs and 8 general purpose outputs (protected).
Two STO inputs are available together with an intergated power supply switch for the driver sup-
ply. Features
• 6-axes controller/driver for 2-phase
bipolar stepper motors
•Linear and SixPoint™ramps
•+9. . . 30V DC supply voltage
•Up to 1.9A RMS motor current
• RS485, CAN, RS232 & USB interfaces
•3x A/B/N encoder inputs
• multi-purpose inputs and outputs
(protected)
• STO with integrated power switch
for the driver supply
Applications
•Laboratory Automation
•Manufacturing
•Semiconductor Handling
•Robotics
•Factory Automation
•Test & Measurement
•Life Science
•Biotechnology
•Liquid Handling
Simplified Block Diagram
TMCM-6214
CAN
24VDC
TMCL™
Memory
SPI
ARM
Cortex M3™
Microcontroller
RS485
USB
GPIO
Stepper
Motor
TMC5161
Stepper
Motor
TMC5161
E
RS232
SPI
SPI
3x
3x
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 2 / 27
Contents
1 Features 3
2 Order Codes 5
3 Mechanical and Electrical Interfacing 6
3.1 Size of board ............................................... 6
3.2 Board mounting considerations .................................... 6
4 Connectors 7
4.1 Power Supply Input Connector ..................................... 9
4.2 STO Input Connector .......................................... 9
4.3 RS485 Connector ............................................. 9
4.4 CAN Connector .............................................. 10
4.5 RS232 Connector ............................................. 10
4.6 Motor Connector ............................................. 10
4.7 Stop switch connector .......................................... 11
4.8 Encoder connector ............................................ 11
4.9 I/O connector ............................................... 12
4.10 USB Connector .............................................. 12
5 On-Board LEDs 13
6 Communication 14
6.1 RS485 ................................................... 14
6.2 CAN .................................................... 15
7 Motor driver current 17
8 Functional Description 19
9 Operational Ratings and Characteristics 20
10 Abbreviations used in this Manual 22
11 Figures Index 23
12 Tables Index 24
13 Supplemental Directives 25
13.1 Producer Information .......................................... 25
13.2 Copyright ................................................. 25
13.3 Trademark Designations and Symbols ................................ 25
13.4 Target User ................................................ 25
13.5 Disclaimer: Life Support Systems ................................... 25
13.6 Disclaimer: Intended Use ........................................ 25
13.7 Collateral Documents & Tools ..................................... 26
14 Revision History 27
14.1 Hardware Revision ............................................ 27
14.2 Document Revision ........................................... 27
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 3 / 27
1 Features
The TMCM-6214 is a 6-axis motor controller/driver board for 2-phase bipolar stepper motors with up to
2A RMS (2.8A peak) motor coil current and +24V nominal supply. It supports linear ramps and unique
SixPoint ™ ramps. Each motor axis has its own reference / stop switch input connector. Three axes (axis
3. . . 5) offer encoder interfaces for incremental A/B/N encoders (either TTL +5V signals or open-drain
outputs). For communication CAN, RS485, RS232 or USB may be used. There are six general purpose
digital inputs, two analog inputs and eight outputs (open-drain, protected) available. Two isolated STO
inputs are available. The TMCM-6214 offers an on-board smart high-side power switch for the driver
supply voltage.
The TMCM-6214 is available with standard TMCL ™ or CANopen ® firmware (supported via the CAN inter-
face).
Motion Controller
•Motion profile calculation in real-time.
•On the fly alteration of motor parameters (e.g. position, velocity, acceleration).
•Linear and unique SixPoint™ramp in hardware.
•Encoder interface (axis 3. . . 5) and reference / stop switch inputs (axis 0. . . 5).
Driver
•Motor current: up to 1.9A RMS (2.7A peak, programmable in software).
•Supply voltage: +24V DC (+10. . . +30V DC).
•256 microsteps per fullstep.
•SpreadCycle™highly dynamic current control chopper.
•StealthChop™for quiet operation and smooth motion.
Encoder
•Programmable encoder scaling and support for motor stop on encoder deviation.
STO
•Two STO isolated inputs.
•On-board power switch for driver supply switching (smart high-side power switch).
•Driver enable in hardware.
•Driver current (sum of all six axes) and driver supply voltage can be measured.
Interfaces
•RS485 interface (up to 1Mbit/s).
•RS232 interface (up to 115200 bit/s).
•CAN interface (up to 1Mbit/s).
•USB 2.0 full speed (12Mbit/s) device interface (USB-C connector).
• Left and right stop switch inputs (switchable internal pull-ups to +5V, separate connector for each
axis).
•Six general purpose digital inputs.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 4 / 27
•Two analog inputs (nominal input range selectable: 0. . . 10V, 0. . . 20V or -10. . . +10V).
•Eight outputs (open-drain, protected).
•Three encoder inputs for incremental A/B/N encoder signals (axis 3. . . 5).
•Two STO inputs.
Mechanical data
•Board size: 130mm x 100mm, height 20mm max. without mating connectors
•4 mounting holes for M3 screws
Software
•TMCL™remote (direct mode) and standalone operation (memory for up to 2047 TMCL commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see the
TMCM-6214 TMCL firmware manual for more details
• CANopen ® firmware with CANopen ® standard protocol stack for the CAN interface. Please see the
TMCM-6214 CANopen® firmware manual for more details.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 5 / 27
2 Order Codes
The TMCM-6214 is pre-programmed with either TMCL™ firmware or CANopen® firmware.
Order Code Description Size (LxWxH)
TMCM-6214-TMCL 6-axes bipolar stepper motor controller/driver, up-
to 2A RMS motor current, 24V nom. supply, 3x
encoder inputs, 2 analog inputs, 6 digital inputs,
8 OD outputs, CAN, RS485, RS232 and USB inter-
faces, STO, TMCL
130mm x 100mm x 20mm
TMCM-6214-CANopen 6-axes bipolar stepper motor controller/driver, up-
to 2A RMS motor current, 24V nom. supply, 3x
encoder inputs, 2 analog inputs, 6 digital inputs,
8 OD outputs, CAN, RS485, RS232 and USB inter-
faces, STO, CANopen
130mm x 100mm x 20mm
Table 1: TMCM-6214 Order Codes
A cable loom set is available for this module:
Order Code Description
TMCM-6214-CABLE Cable loom for TMCM-6214:
• 1x cable loom for power supply connector (cable length 200mm, 2pin
JST VH connector at one end, open wires at the other end)
• 2x cable loom for STO connectors (cable length 200mm, 2pin JST PH
connector at one end, open wires at the other end)
• 3x cable loom for RS485, RS232 and CAN connector (cable length
200mm, 3pin JST PH connector at one end, open wires at the other
end)
• 6x cable loom for motor connectors (cable length 200mm, 4pin JST
PH connector at one end, open wires at the other end)
• 6x cable loom for stop switch connectors (cable length 200mm, 4pin
JST PH connector at one end, open wires at the other end)
• 3x cable loom for encoder connectors (cable length 200mm, 5pin JST
PH connector at one end, open wires at the other end)
• 2x cable loom for general purpose input/output connectors (cable
length 200mm, 10pin JST PH connector at one end, open wires at the
other end)
•1x USB 2.0 A male to USB-C male cable
Table 2: TMCM-6214 Cable Loom
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 6 / 27
3 Mechanical and Electrical Interfacing
3.1 Size of board
The board with the controller/driver electronics has an overall size of 130mm x 100mm x 20mm without
mating connectors. Maximum component height (height above PCB level) without mating connectors
is around 15mm above PCB level and 3 mm below PCB level. There are four mounting holes (3.2mm
diameter) for M3 screws.
Figure 1: Board dimensions and position of mounting holes (all values in mm)
3.2 Board mounting considerations
The TMCM-6214 offers four metal plated mounting holes. All mounting holes are connected to system and
signal ground (same as power supply ground). In order to minimize distortion of signals and radiation
of HF signals (improve EMC compatibility) especially in sensitive / noisy environments it is important to
ensure a solid ground connection within the system. In order to support this, it is recommended to
connect all four mounting holes of the board in addition to the supply ground connection to system power
supply ground. Nevertheless, this might not always be an option e.g. in case the metal system chassis /
TMCM-6214 mounting plate is already connected to earth and a direct connection between supply ground
(secondary side) and mains supply earth (primary side) is not desired / not an option. In this case plastic
(e.g. made of nylon) spacers / distance bolts and screws should be used.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 7 / 27
4 Connectors
The TMCM-6214 offers 24 connectors altogehter. There are 6 motor connectors and 6 reference / end-
switch connectors - one for each axis. The three encoder inputs have separate connectors and for
communication via RS485, CAN, RS232 or USB 4 connectors are available. The two STO inputs have
individual connectors, also. Apart from the USB connector (USB-C) all these connectors are JST PH series
types. For power supply input a 2 pin JST VH series connector is available.
NOTICE Start with power supply OFF and do not connect or disconnect motor dur-
ing operation! Motor cable and motor inductivity might lead to voltage spikes
when the motor is (dis)connected while energized. These voltage spikes might
exceed voltage limits of the driver MOSFETs and might permanently damage
them. Therefore, always switch off/ disconnect power supply or at least disable
driver stage before connecting / disconnecting motor.
STOP
Motor 0
STOP
Motor 1
STOP
Motor 2
STOP
Motor 3
STOP
Motor 4
STOP
Motor 5
Motor 0 Motor 1 Motor 2 Motor 3 Motor 4 Motor 5
I/O 1
I/O 2
Power
STO1
STO2
RS232
RS485
CAN
USB
1
1
1
1
1
111111
111111
1
1
1
111
Encoder
Motor 5
Encoder
Motor 3
Encoder
Motor 4
Figure 2: TMCM-6214 connectors
Connector Types and Mating Connectors
Connector Connector type on-board Mating connector type
Power JST B2P-VH
(JST VH series, 2pins, 3.96mm pitch)
Connector housing: JST VHR-2N
Contacts: JST SVH-21T-P1.1
Wire: 0.83mm2, AWG 18
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 8 / 27
Connector Connector type on-board Mating connector type
STO JST B2B-PH-K-S
(JST PH series, 2pins, 2mm pitch)
Connector housing: JST PHR-2
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
RS485 JST B3B-PH-K-S
(JST PH series, 3pins, 2mm pitch)
Connector housing: JST PHR-3
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
RS232 JST B3B-PH-K-S
(JST PH series, 3pins, 2mm pitch)
Connector housing: JST PHR-3
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
CAN JST B3B-PH-K-S
(JST PH series, 3pins, 2mm pitch)
Connector housing: JST PHR-3
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Motor JST B4B-PH-K-S
(JST PH series, 4pins, 2mm pitch)
Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Stop JST B4B-PH-K-S
(JST PH series, 4pins, 2mm pitch)
Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Encoder JST B5B-PH-K-S
(JST PH series, 5pins, 2mm pitch)
Connector housing: JST PHR-5
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
I/O JST B10B-PH-K-S
(JST PH series, 10pins, 2mm pitch)
Connector housing: JST PHR-10
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
USB USB-C connector USB-C connector
Table 3: Connector Types and Mating Connectors of the TMCM-6214
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 9 / 27
4.1 Power Supply Input Connector
The TMCM-6214 offers one power supply input connector (2pin JST VH series).
Power Supply Connector Pin Assigment
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2 VPOWER Power (input) Main power supply input for the driver and on-board logic
10. . . 30V
Table 4: Power Supply Connector Pin Assignment
NOTICE Do not connect or disconnect motor during operation!
Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
NOTICE Take care of polarity, wrong polarity can destroy the board!
4.2 STO Input Connector
The TMCM-6214 offers two STO (torque-off) input connectors (2pin JST PH series).
STO1 and STO2 connector pin assignment
Pin Label Direction Description
1 FGND STO input ground (isolated from power supply GND)
2 STO1 / STO2 in STO1 / STO2 +24V input signal
Table 5: STO Connector Pin Assignment
NOTICE Both STO inputs have to be connected to positive supply voltage (e.g. 24V,
min. 15V) in order to enable all six motor driver stages! No motor movement
will be possible in case one or both of these inputs are left unconnected.
If both STO inputs are not in the same state for more than 2.3 seconds the module
will lock itself in torque-offmode. This state can only be reset by a power cycle.
4.3 RS485 Connector
The TMCM-6214 offers one RS485 interface connector (3pin JST PH series).
RS485 connector pin assignment
Pin Label Direction Description
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Pin Label Direction Description
1 GND signal ground (connected to power supply GND)
2 RS485+ in-out differential RS485 bus signal (non-inverting)
3 RS485- in-out differential RS485 bus signal (non-inverting)
Table 6: RS485 connector pin assignment
4.4 CAN Connector
The TMCM-6214 offers one CAN interface connector (3pin JST PH series).
CAN connector pin assignment
Pin Label Direction Description
1 GND signal ground (connected to power supply GND)
2 CAN_H in-out differential CAN bus signal (non-inverting)
3 CAN_L in-out differential CAN bus signal (non-inverting)
Table 7: CAN connector pin assignment
4.5 RS232 Connector
The TMCM-6214 offers one RS232 interface connector (3pin JST PH series).
RS232 connector pin assignment
Pin Label Direction Description
1 GND signal ground (connected to power supply GND)
2 RS232_TXD out RS232 transmit data output
3 RS232_RXD in RS232 receive data input
Table 8: RS232 connector pin assignment
4.6 Motor Connector
The TMCM-6214 offers 6 motor connectors (4pin JST PH series).
Motor connector pin assignment
Pin Label Direction Description
1 A2 Motor phase A
2 A1 Motor phase A
3 B2 Motor phase B
4 B1 Motor phase B
Table 9: Motor connector pin assignment
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 11 / 27
NOTICE Do not connect or disconnect motor during operation!
Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
NOTICE Do not mix-up stop switch and motor connectors!
4.7 Stop switch connector
The TMCM-6214 offers 6 stop switch connectors (4pin JST PH series) - one for each motor axis.
Motor connector pin assignment
Pin Label Direction Description
1 GND Signal and supply GND
2 +24V out connected to +24V supply input for supply of end switches etc.
3 STOP_L in Stop left switch input. Interal pull-up to +5V
4 STOP_R in Stop right switch input. Internal pull-up to +5V
Table 10: Stop switch connector pin assignment
4.8 Encoder connector
The TMCM-6214 offers 3 encoder connectors (5pin JST PH series) for motor axis 3 to 5 (with axis numbering
0 to 5).
Motor connector pin assignment
Pin Label Direction Description
1 GND Signal and supply GND
2 +5V out for encoder supply. Max. 100mA per encoder / 300mA for all
three encoders together.
3 ENC_A in Encoder A channel input. +5V TTL signals and open-drain
signals (internal 4k7 pull-up to +5V) are accepted.
4 ENC_B in Encoder B channel input. +5V TTL signals and open-drain
signals (internal 4k7 pull-up to +5V) are accepted.
5 ENC_N in Encoder N channel input (Null / Zero channel). +5V TTL sig-
nals and open-drain signals (internal 4k7 pull-up to +5V) are
accepted.
Table 11: Encoder connector pin assignment
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 12 / 27
4.9 I/O connector
The TMCM-6214 offers 2 I/O connectors (10pin JST PH series).
Motor connector pin assignment
Pin Label Direction Description
1 GND Signal and supply GND
2 +24V out connected to +24V supply input for supply of switches etc.
3IN0/IN4 in Analog input (0..+10V nom. input range)
4IN1/IN5 in digital input (internal pull-down, +24V compatible)
5IN2/IN6 in digital input (internal pull-down, +24V compatible)
6IN3/IN7 in digital input (internal pull-down, +24V compatible)
7 OUT0/OUT4 out digital output (open-drain / low-side switch). Max. 100mA sink
current. Over-load and -temperature protected
8 OUT1/OUT5 out digital output (open-drain / low-side switch). Max. 100mA sink
current. Over-load and -temperature protected
9 OUT2/OUT6 out digital output (open-drain / low-side switch). Max. 100mA sink
current. Over-load and -temperature protected
10 OUT3/OUT7 out digital output (open-drain / low-side switch). Max. 100mA sink
current. Over-load and -temperature protected
Table 12: I/O connector pin assignment
4.10 USB Connector
For serial communication the TMCM-6214 offers selection between RS485, CAN and USB interfaces. The
USB interface via on-board USB-C connector is available for configuration and service of the board, mainly
(e.g. parameter settings, firmware updates). The USB device interface supports full speed (12Mbit/s)
communication and supports bus powered and self-powered operation. During bus-powered operation
the low voltage logic part of the board will be powered, only. This includes the microcontroller and the
non-volatile memory and therefore allows parameter settings and firmware updates of the board using a
standard USB cable, only. Of course, for any motor movement main supply via supply input connector is
required.
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 13 / 27
5 On-Board LEDs
The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the
firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation
and the red LED should be off. When there is no valid firmware programmed into the board or during
firmware update the red and green LEDs are permanently switched on. During reset to factory default
values the green LED will be flashing fast. With CANopen firmware both LEDs are switched on/off/flashing
according to standard defintion.
Green LED
Red LED
Figure 3: TMCM-6214 LEDs
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6 Communication
6.1 RS485
For remote control and communication with a host system the TMCM-6214 provides a two wire RS485
bus interface. For proper operation the following items should be taken into account when setting up an
RS485 network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection
between each node and the bus itself should be as short as possible. Basically, it should be short
compared to the length of the bus.
c:> node
1
node
n- 1
node
n
Host Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 4: RS485 bus structure with termination resistors
2. BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends. The TMCM-6214 does not integrate any
termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be
added externally.
3. NUMBER OF NODES:
The RS485 electrical interface stadard (EIA-485) allows up to 32 nodes to be connected to a single bus.
The bus transceiver used on the TMCM-6214 units (SN65HVD1781D) offers a significantly reduced
bus load compared to the standard and allows a maximum of 255 units to be connected to a single
RS485 bus using standard TMCL firmware. Please note: usually it cannot be expected to get reliable
communication with the maximum number of nodes connected to one bus and maximum supported
communication speed at the same time. Instead, a compromise has to be found between bus cable length,
communication speed and number of nodes.
4. COMMUNICATION SPEED:
The maximum RS485 communication speed supported by the TMCM-6214 hardware is 1Mbit/s.
Factory default is 9600 bit/s. Please see separate TMCM-6214 TMCL firmware manual for information
regarding other possible communication speeds below the upper hardware limit.
5. NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line
is transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to
communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor
network connecting both bus lines to well defined logic levels.
There are actually two options which can be recommended: Add resistor (bias) network on one side
of the bus, only (120R termination resistor still at both ends):
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 15 / 27
node
n- 1
node
n
Slave Slave
termination
resistor
(120R)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
termination
resistor
(120R)
RS485+ / RS485A
Figure 5: RS485 bus lines with resistor (bias) network on one side, only
Or add resistor network at both ends of the bus (like Profibus™termination):
node
n- 1
node
n
Slave Slave
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
RS485- / RS485B
RS485+ / RS485A
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
Figure 6: RS485 bus lines with Profibus™recommended line termination
6.2 CAN
For remote control and communication with a host system the TMCM-6214 provides a CAN bus interface.
Please note that the CAN interface is not available in case USB is connected. For proper operation the
following items should be taken into account when setting up a CAN network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection
between each node and the bus itself should be as short as possible. Basically, it should be short
compared to the length of the bus.
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 16 / 27
c:> node
1
node
n- 1
node
n
Host Slave Slave Slave
CAN
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 7: CAN bus structure with termination resistors
2. BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends. The TMCM-6214 does not integrate any
termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be
added externally.
3. BUS TERMINATION:
The bus transceiver used on the TMCM-6214 units (TJA1051T) supports at least 110 nodes under
optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus
length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 17 / 27
7 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed
in software with 32 effective scaling steps in hardware.
Explanation of different columns in table below:
Motor current set-
ting in software
(TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and
7 (motor standby current). They are used to set the run / standby current
using the following TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-6214
firmware manual for further information)
Motor current IRMS
[A] Resulting motor current based on motor current setting
Motor Current Setting
Motor current setting
in software (TMCL)
Current scaling step
(CS)
Motor current I
COIL
[A]
peak
Motor current I
COIL
[A]
RMS
0. . . 7 0 0.085 0.06
8. . . 15 1 0.169 0.12
16. . . 23 2 0.254 0.18
24. . . 31 3 0.339 0.239
32. . . 39 4 0.423 0.299
40. . . 47 5 0.508 0.359
48. . . 55 6 0.592 0.419
56. . . 63 7 0.677 0.479
64. . . 71 8 0.762 0.539
72. . . 79 9 0.846 0.598
80. . . 87 10 0.931 0.658
88. . . 95 11 1.016 0.718
96. . . 103 12 1.100 0.778
104. . . 111 13 1.185 0.838
112. . . 119 14 1.270 0.898
120. . . 127 15 1.354 0.958
128. . . 135 16 1.439 1.017
136. . . 143 17 1.523 1.077
144. . . 151 18 1.608 1.137
152. . . 159 19 1.693 1.197
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 18 / 27
Motor current setting
in software (TMCL)
Current scaling step
(CS)
Motor current I
COIL
[A]
peak
Motor current I
COIL
[A]
RMS
160. . . 167 20 1.777 1.257
168. . . 175 21 1.862 1.317
176. . . 183 22 1.947 1.376
184. . . 191 23 2.031 1.436
192. . . 199 24 2.116 1.496
200. . . 207 25 2.201 1.556
208. . . 215 26 2.285 1.616
216. . . 223 27 2.370 1.676
224. . . 231 28 2.454 1.736
232. . . 239 29 2.539 1.795
240. . . 247 30 2.624 1.855
248. . . 255 31 2.708 1.915
Table 14: Available motor current settings
In addition to the settings in the table the motor current may be switched offcompletely (free-wheeling)
using axis parameter 204 (see TMCM-6214 firmware manual).
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 19 / 27
8 Functional Description
The TMCM-6214 is a highly integrated 6-axes controller/driver module for stepper motors with up-to 1.9A
RMS / 2.7A peak motor coil current. The TMCM-6214 can be controlled via RS485, RS232, CAN or USB serial
interfaces. It offers 6 digital inputs which accept 24V signals, 2 analog inputs with 0..10V nom. input range
and 8 digital outputs (open-drain / low side switches) with protection and diagnostic functions. In additon,
two STO (torque-off) inputs (isolated) are available driving the enable inputs of the 8 motor drivers and the
on-board smart power switch for the motor driver supply.
The TMCM-6214 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCL ™ ). Using predefined TMCL ™ high level commands like move to position
a rapid and fast development of motion control applications is guaranteed. Whereas the boot loader is
installed during production and testing at TRINAMIC and remains usually untouched throughout the whole
lifetime, the firmware can be updated by the user via any serial interface.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed
on-board. Full remote control of the device with feedback is possible. The firmware of the module can be
updated via any of the serial interfaces. As an alternative CANopen firmware is available.
The TMCM-6214 module contains the following main components:
•Microcontroller (ARM Cortex-M3™) for overall control and communication.
• Six highly integrated advanced stepper motor controllers supporting linear and unique 6-points
ramps in hardware.
• Advanced stepper motor driver supporting spreadCycle ™ highly dynamic current control chopper
and stealthChop™for quiet operation and smooth motion.
•RS485, RS232, CAN and USB transceivers.
•Six general purpose digital inputs, two analog input (also usable as digital inputs).
•Eight general purpose digital outputs (open-drain, protected, 100mA each).
•Three incremental A/B/N encoder interfaces (+5V TTL and open-collector).
• Two STO inputs (isolated), driver enable in hardware, smart power switch for driver supply voltage
with measurement of driver supply current and voltage.
•On-board voltage regulators (+5V and +3V3) for supply of all on-board digital circuits.
TMCM-6214
CAN
24VDC
TMCL™
Memory
SPI
ARM
Cortex M3™
Microcontroller
RS485
USB
GPIO
Stepper
Motor
TMC5161
Stepper
Motor
TMC5161
E
RS232
SPI
SPI
3x
3x
Figure 8: TMCM-6214 block diagram
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 20 / 27
9 Operational Ratings and Characteristics
NOTICE Never Exceed the absolute maximum ratings!
Keep the power supply voltage
below the upper limit of +30V! Otherwise the board electronics will seriously be
damaged! Especially, when the selected operating voltage is near the upper limit
a regulated power supply is highly recommended.
General Operational Ratings
Symbol Parameter Min Typ Max Unit
VPower Power supply voltage 9 12. . . 24 30 V
IPower Power supply current <<ICOIL_RMS 1.4 x ICOIL_RMS A
VUSB Power supply via USB connector 5 V
IUSB Current withdrawn from USB supply when USB
bus powered (no other supply connected)
75 mA
ICOIL_PEAK Motor coil current for sine wave peak (chopper
regulated, adjustable via software) 0 2.7 A
ICOIL_RMS Continuous motor current (RMS) 0 1.9 A
TENV Environmental temperature at rated current (no
forced cooling reaquired)
-30 40 °C
Table 15: General operational ratings of the module
Operational Ratings of the I/Os
Symbol Parameter Min Typ Max Unit
VOUT0. . . OUT7 Voltage at open drain outputs (switched off) 0 36 V
VOUT0. . . OUT7 Output clamp voltage (e.g. for inductive loads) 36 40 44 V
IOUT0. . . OUT7 Output sink current of open drain outputs
(switched on)
100 mA
IOUT0. . . OUT7 Overload detection current of open drain outputs
(switched on)
0.6 1.3 A
VIN0. . . IN7 Input voltage for IN0. . . IN7 0 0. . . +24 +30 V
VIN0, IN4 Measurement range for analog input IN0 and IN4 0 +101V
VIN_H High level voltage for IN1. . . IN3 and IN5. . . IN7
(digital inputs)
2.9 V
VIN_L Low level voltage for IN1. . . IN3 and IN5. . . IN7
(digital inputs)
1.4 V
VREF_L/R_H High level voltage for stop switch inputs 3.4 V
1
approx. 0. . . +10.56V at the analog input IN0 is translated to 0. . . 4095 (12bit ADC, raw values). Above approx. +10.56V the analog
input will saturate but, not being damaged (up-to +30V).
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Download newest version at www.trinamic.com