Trinamic TMCM-6110 HARDWARE MANUAL

MODULES FOR STEPPER MOTORS MODULES

V 1.10

HARDWARE MANUAL

+ +

6-axes stepper

controller / driver up to 1.1A RMS / 24V DC USB, CAN, RS485

+ +

TMCM-6110

TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany

www.trinamic.com

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 2

Table of contents

1 Life support policy ....................................................................................................................................................... 3

2 Features ........................................................................................................................................................................... 4

3 Order codes .................................................................................................................................................................... 5

4 Mechanical and electrical interfacing ..................................................................................................................... 6

4.1 Size of board ......................................................................................................................................................... 6

4.2 Board mounting considerations ...................................................................................................................... 7

4.2.1 DIN rail mounting ......................................................................................................................................... 7

4.3 Connectors ............................................................................................................................................................. 8

4.3.1 Power connector ............................................................................................................................................ 9

4.3.2 I/O connector 0 .............................................................................................................................................. 9

4.3.3 I/O connector 1 ............................................................................................................................................ 10

4.3.4 Motor connector 0-5 ................................................................................................................................... 10

4.3.5 Reference switch connector 0-5 .............................................................................................................. 10

4.3.6 CAN connector .............................................................................................................................................. 11

4.3.7 RS485 connector .......................................................................................................................................... 11

4.3.8 USB connector .............................................................................................................................................. 11

4.4 Power supply ...................................................................................................................................................... 12

4.5 Communication .................................................................................................................................................. 12

4.5.1 RS485 ............................................................................................................................................................... 12

4.5.2 CAN .................................................................................................................................................................. 13

4.5.3 USB................................................................................................................................................................... 14

4.6 Inputs and Outputs ........................................................................................................................................... 14

4.6.1 Reference switch inputs ............................................................................................................................ 14

4.6.2 General purpose Inputs ............................................................................................................................. 15

4.6.3 General purpose outputs .......................................................................................................................... 16

5 On-board LEDs ............................................................................................................................................................. 17

6 Reset to factory defaults .......................................................................................................................................... 18

7 Functional description .............................................................................................................................................. 19

8 Operational ratings .................................................................................................................................................... 20

9 Revision History .......................................................................................................................................................... 21

9.1 Document revision ............................................................................................................................................ 21

9.2 Hardware revision ............................................................................................................................................. 21

10 References..................................................................................................................................................................... 21

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 3

1 Life support policy

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.

Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.

Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use.

Specifications are subject to change without notice.

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 4

2 Features

The TMCM-6110 is a compact 6-axes stepper motor controller / driver standalone board. It supports up to 6 bipolar stepper motors with up to 1.1A RMS coil current. There are separate motor and reference / end-switch connectors for each motor. In addition, the module offers 8 general purpose inputs and 8 general purpose outputs.

Applications

 Highly compact multi-axes stepper motor solutions

Electrical data

 Supply voltage: +9V… +28V DC  Motor current: up to 1.1A RMS (programmable) per axis

Mechanical data

 Board size: 130mm x 100mm, height 30mm max.  4 mounting holes for M3 screws

Interfaces

 Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)  Up to 8 multi-purpose outputs (Open-drain, incl. 2 outputs for currents up to 1A)  RS485 2-wire communication interface  USB 2.0 full-speed (12Mbit/s) communication interface (mini-USB connector)  CAN 2.0B communication interface (9pin D-SUB)

Features

 2x TMC429 stepper motor controller IC for on-the-fly alteration of many motion specific parameters  6x TMC260 advanced stepper motor driver IC  Up to 256 microsteps per fullstep  Integrated protection: overtemperature/undervoltage

Software

 TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands)  Fully supported by TMCL-IDE (PC based integrated development environment)

Please see separate TMCM-6110 TMCL™ Firmware Manual for additional information

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 5

Order code

Description

Size of unit

TMCM-6110-option

6-axes bipolar stepper motor controller / driver module

130mm x 100mm x 30mm

Firmware option

Description

Order code example:

-TMCL

Module pre-programmed with TMCL firmware

TMCM-6110-TMCL

Interface option

Description

Order code example:

-232

Module with RS232 interface instead of RS485

TMCM-6110-232-TMCL

Order code

Description

TMCM-6110-CABLE

Cable loom for TMCM-6110. Contains (see chapter 4.2, also):

- 1x Cable loom for power connector

- 6x cable loom for reference switch connectors 0-5

- 6x cable loom for motor connector 0-5

- 2x cable loom for I/O connector 0+1

- 1x USB type A connector to mini-USB type B connector cable

3 Order codes

The standalone module TMCM-6110 is available as:

Table 3.1: TMCM-6110 order codes

The following options are available:

Table 3.2: TMCM-6110 firmware options

A version with RS232 interface and 9pin female D-SUB connector instead of RS485 is available as assembly option upon request:

Table 3.3: TMCM-6110 interface options

A cable loom set is available for this module:

Table 3.4: Cable loom order code

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 6

130

100

125

5

95

5

4x M3 screws for mounting

4 Mechanical and electrical interfacing

4.1 Size of board

The board with the controller / driver electronics has an overall size of 130mm x 100mm and offers four mounting holes for M3 screws (3.2mm diameter):

Figure 4.1: Board dimensions and position of mounting holes (all values in mm).

Maximum board height (without mating connectors and cable looms) is about 30mm (approx. 26mm above printed circuit board level).

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 7

4.2 Board mounting considerations

The TMCM-6110 offers four metal plated mounting holes. All four 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-6110 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 should be used.

4.2.1 DIN rail mounting

The board has been designed in order to support DIN rail mounting. One dimension of the board has been limited to 100mm and there is a minimum border of approx. two millimeters alongside all four corners of the board free of any component. This way, a standard mounting carrier for DIN rails as it is available from several sources might be used as adapter for DIN rail mounting of the board.

Example: Mounting carrier for DIN 35 rail from WAGO® (288-003) cut to the length of the TMCM-6110 board (130mm) with populated TMCM-6110:

Figure 4.2: DIN rail mounting

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 8

1 4

1

4

1

4

1

4

1

4

1

4

Reference switch connectors

0 1 2 3 4 5

Motor connectors

1 4

0

1 4

1

1 4

2

1 4

3

1 4

4

1 4

5

1

10

1

10

1

3

1

5

9

6

1

5

9

6

CAN connector

RS485 connector

Mini-USB connector

I/O connector 0

I/O connector 1

Power connector

Label

Connector type

Mating connector type

Power Connector

JST B3P-VH (JST VH series, 3pins, 3.96mm pitch)

Connector housing: JST VHR-3N Contacts: JST SVH-21T-P1.1 Wire: 0.83mm2, AWG 18

Motor Connectors

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

Reference Switch Connectors

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

I/O Connector 0 + 1

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

Mini-USB Connector

Molex 500075-1517 Mini USB Type B vertical receptacle

Any standard mini-USB plug RS485 Connector

Tyco electronics 3-1634218-2 D-SUB socket with 4-40 female screwlocks

Any standard D-SUB female 9-pin

CAN Connector

Male D-SUB 9-pin

Any standard D-SUB female 9-pin

4.3 Connectors

The TMCM-6110 has 18 connectors altogether. There are 6 separate connectors for each motor and corresponding reference switches (Figure 4.4), two I/O connectors, one power connector and 3 connectors for communication incl. Mini-USB, RS485 and CAN.

Figure 4.3: TMCM-6110 connectors

Overview of connector and mating connector types:

Table 4.1: Connectors and mating connectors, contacts and applicable wire

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 9

1

3

Label

Direction

Description

1

GND

Power (GND)

Common system supply and signal ground

2

V

DRIVER

Power (Supply input)

Stepper driver supply voltage. Without this voltage stepper driver ICs and therefore any motor connected will not be energized

3

V

DIGITAL

Power (Supply input)

Supply voltage for everything else apart from the stepper motor driver ICs. On-board voltage regulator will generate the necessary voltages for the digital circuits from this supply. This pin can be left unconnected. In this case a diode between V

DRIVER

and V

DIGITAL

will ensure supply of the

digital parts.

Please note:

- The diode has a current rating of 3A. As V

DIGTIAL

is available at the I/O connectors and the reference switch connectors also, always connect this pin to positive supply voltage in case substantial amount of current is withdrawn from these pins for external circuits.

- It is expected that V

DIGITAL

and V

DRIVER

are connected to the same power supply output when both pins are used. Otherwise please ensure that V

DIGITAL

is

always equal or higher than V

DRIVER

when connected

(due to the diode).

1

10

Label

Direction

Description

1

GND

Power (GND)

GND

2

V

DIGITAL

Power (Supply output)

Connected to V

DIGITAL

of Power connector

3

AIN_0

Input

Dedicated analog input, input voltage range: 0… +10V, resolution: 12bit (0… 4095)

4

IN_1

Input

Digital input (+24V compatible)

5

IN_2

Input

Digital input (+24V compatible)

6

IN_3

Input

Digital input (+24V compatible)

7

OUT_0

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

8

OUT_1

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

9

OUT_2

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

10

OUT_3

Output

Open-drain output (max. 1A) Integrated freewheeling diode

4.3.1 Power connector

The module offers a single power connector with the option to have separate supply for driver electronics and digital controller part. A single supply voltage is sufficient, all further voltages required e.g. for the digital components are generated on-board.

Table 4.2: Power connector

4.3.2 I/O connector 0

The module offers two I/O connectors. The number and type of inputs, outputs and supply is the same for both connectors. Therefore, if only half of the inputs / outputs etc. is required it will be sufficient to use just one of the two connectors and reduce / simplify cabling. Connector type is JST PH series 8pin with 2mm pitch.

Table 4.3: I/O connector 0

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 10

1

10

Label

Direction

Description

1

GND

Power (GND)

GND

2

V

DIGITAL

Power (Supply output)

Connected to V

DIGITAL

of Power connector

3

AIN_4

Input

Dedicated analog input, input voltage range: 0… +10V, resolution: 12bit (0… 4095)

4

IN_5

Input

Digital input (+24V compatible)

5

IN_6

Input

Digital input (+24V compatible)

6

IN_7

Input

Digital input (+24V compatible)

7

OUT_4

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

8

OUT_5

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

9

OUT_6

Output

Open-drain output (max. 100mA) Integrated freewheeling diode

10

OUT_7

Output

Open-drain output (max. 1A) Integrated freewheeling diode

14

Label

Direction

Description

1

A1

Output

Pin 1 of motor coil A

2

A2

Output

Pin 2 of motor coil A

3

B1

Output

Pin 1 of motor coil B

4

B2

Output

Pin 2 of motor coil B

14

Label

Direction

Description

1

GND

Power (GND)

Signal and system ground

2

V

DIGITAL

Power (Supply input)

Connected to V

DIGITAL

3

REF_L

Input

Input for reference / limit switch left

4

REF_R

Input

Input for reference / limit switch right

4.3.3 I/O connector 1

The module offers two I/O connectors. The number and type of inputs, outputs and supply is the same for both connectors. Therefore, if only half of the inputs / outputs etc. is required it will be sufficient to use just one of the two connectors and reduce / simplify cabling. Connector type is JST PH series 8pin with 2mm pitch.

Table 4.4: I/O connector 1

4.3.4 Motor connector 0-5

For each stepper motor axis a separate 4 pin JST PH series connector is available.

Table 4.5: Motor connector

4.3.5 Reference switch connector 0-5

For each stepper motor axis a separate reference / limit switch input connector is available. Connector type is JST PH series 4pin with 2mm pitch.

Table 4.6: Reference switch connector

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 11

5

1

6

9

Label

Direction

Description

1

2

CAN_L

Bi-directional

Differential CAN bus signal (inverting)

3

GND

Power (GND)

Signal and system ground

4

5 6

7

CAN_H

Bi-directional

Differential CAN bus signal (non-inverting)

8 9

5

1

6

9

Label

Direction

Description

1 2

RS485-

Bi-directional

Differential RS485 bus signal (inverting)

3

GND

Power (GND)

Signal and system ground

4 5

6

7

RS485+

Bi-directional

Differential RS485 bus signal (non-inverting)

8

9

1

5

Label

Direction

Description

1

VBUS

Power (+5V input)

+5V supply from Host

2

D-

Bi-directional

USB Data -

3

D+

Bi-directional

USB Data +

4

ID Connected to signal and system ground

5

GND

Power (GND)

Signal and System ground

4.3.6 CAN connector

A CAN 2.0B interface is available via a standard 9-pin male D-SUB connector. Only three pins of this connector are used. Pin assignment of these three pins is according to CiA Draft Recommendation Part 1: Cabling and connector pin assignment.

Please note: CAN interface will be de-activated in case USB is connected due to internal sharing of hardware resources.

Table 4.7: CAN connector

4.3.7 RS485 connector

An RS485 interface is available via a 9-pin male D-SUB connector.

Table 4.8: RS485 connector

4.3.8 USB connector

A USB interface is available via a Mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s) connections.

Please note:

- CAN interface will be deactivated as soon as USB is connected (VBUS voltage available)

- On-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other

supply is connected. This can be used to set parameters / download TMCL programs or perform firmware updates with the module connected via USB only or inside the machine while the machine is powered off.

Table 4.9: USB connector

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 12

Power

connector

V

DIGITAL

V

DRIVER

SMBJ28A

1000µF

GND

1000µF

GND

6x TMC260

(stepper driver ICs)

GND

SK36

SMBJ28A

100µF

GND

Supply of other circuits via on-board regulators

GND

V

DIGITAL

on I/O connector 0 + 1

V

DIGITAL

on Reference switch connector 0-5

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

4.4 Power supply

For proper operation care has to be taken with regard to power supply concept and design. The board offers 2000uF / 35V electrolytic buffer capacitors and additionally about 120uF / 35V ceramic capacitors for supply voltage filtering.

It is important that the power supply voltage (V Otherwise the on-board electronics might be seriously damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended.

DRIVER

and V

) is kept below the upper limit of 28V DC.

DIGITAL

Figure 4.4: TMCM-6110 power supply concept

4.5 Communication

4.5.1 RS485

For remote control and communication with a host system the TMCM-6110 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.

Figure 4.5: RS485 bus structure

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 13

node

n - 1

node

n

Slave Slave

termination

resistor

(120 Ohm)

+5V

GND

pull-up (1k)

pull-down (1k)

RS485- / RS485B

RS485+ / RS485A

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

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-6110 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 RS-485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-6110 units (SN65HVD3082ED) has just 1/8th of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus.

4. 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 as well defined logic levels. In contrast to the termination resistors this network is normally required just once per bus. Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485).

Figure 4.6: RS485 bus lines with resistor network

4.5.2 CAN

For remote control and communication with a host system the TMCM-6110 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:

5. 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.

Figure 4.7: CAN bus structure

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 14

+3.3V

REF_L, REF_R

TMC429

10k

22k

1nF

GND

GND GND

1k

+5V

6. 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-6110 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.

7. NUMBER OF NODES:

The bus transceiver used on the TMCM-6110 units (TJA1050T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depends on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).

4.5.3 USB

For remote control and communication with a host system the TMCM-6110 provides a USB 2.0 full-speed (12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept commands via USB. The CAN interface will be de-activated then.

The TMCM-6110 support USB self powered operation (when an external power is supplied via the power supply connector) and USB bus powered operation, also (no external power supply via power supply connector). During USB bus powered operation, only the core digital circuit parts will be operational. That is, the microcontroller itself and also the EEPROM. Motor movements will not be possible. This mode has been implemented in order to enable configuration / parameter setting / read-out, firmware updates etc. by just connecting a USB cable between the module and a host PC. No additional cabling / external devices as e.g. power supply etc. are required in that case.

Please note that the module might draw current from the USB +5V bus supply even in USB self powered operation depending on the voltage level of this supply.

4.6 Inputs and Outputs

4.6.1 Reference switch inputs

The six reference switch connectors – one for each stepper motor axis – offer two reference switch inputs each, REF_L and REF_R.

Both inputs offer the same input circuit with voltage resistor dividers, limiting diodes against over- and undervoltage and programmable 1k pull-ups to +5V. The programmable pull-ups can be switched on or off separately for the first three axes / first three reference switch connectors 0-2 and the second three axes / reference switch connectors 3-5.

Figure 4.8: Reference switch input circuit (simplified diagram)

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 15

+3.3V

IN_1, IN_2, IN_3, IN_5, IN_6,

IN_7

microcontroller

10k

22k

1nF

GND

GND GND

+3.3V

AIN_0, AIN_4

microcontroller

22k

10k

1nF

GND

GND GND

4.6.2 General purpose Inputs

The TMCM-6110 offers two I/O connectors with 8 inputs altogether including two dedicated analog inputs. All inputs offer the same basic input protection circuit. The dedicated analog inputs have different input voltage

dividers in order to support a full scale input voltage range of 0…+10V. The other digital inputs have been

designed in order to be able to accept +5V and +24V signal levels.

Figure 4.9: General purpose digital input circuit

Figure 4.10: General purpose analog input circuit

The function of the inputs might differ depending on firmware version.

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 16

V

DIGITAL

OUT_0, OUT_1, OUT_2, OUT_3, OUT_4, OUT_5, OUT_6,

OUT_7

microcontroller

GND

4.6.3 General purpose outputs

The TMCM-6110 offers two I/O connectors with 8 outputs altogether. All outputs are open-drain outputs. For all outputs a freewheeling diode (to V

Nevertheless, two output offer more powerful MOSFET driver transistors supporting currents up to 1A. All other have been designed for currents up to 100mA.

Please note: If V

connection of the I/O connectors is used for supply of substantial current to any external

DIGITAL

circuit please make sure to connect V

) is already integrated.

DIGTAL

in addition to V

DIGTIAL

of the power supply connector.

DRIVER

Figure 4.11: General purpose output (open-drain with freewheeling diode)

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 17

Red LED

Green LED

5 On-board LEDs

The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on firmware version.

With standard TMCL firmware the green LED should be slowly flashing during operation and the red LED should be off. Please see separate TMCM-6110 TMCL™ firmware manual for additional information.

When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on.

Figure 5.1: On-board LEDs

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 18

Short these two pads

6 Reset to factory defaults

Since TMCL firmware version V1.13 it is possible to reset the TMCM-6110 module to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost.

For this procedure two pads on the bottom side of the board have to be shortened (see figure 4.12).

Please perform the following steps:

1. Power supply off and USB cable disconnected

2. Short two pads as marked in figure 4.12 below

3. Power up board (power via USB is sufficient for this purpose)

4. Wait until the on-board red and green LEDs start flashing fast (this might take a while)

5. Power-off board (disconnect USB cable)

6. Remove short between pads

7. After switching on power-supply / connecting USB cable all permanent settings have been restored to

factory defaults

Figure 6.1: Reset to factory default settings

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 19

9..28V

µC

(ARM)

TMCL

Memory

CAN

USB

8

Inputs

TMC

260

progammable

Motion

Controller

with TMC429

3x 2 reference switches

+5V

TMC

260

TMC

260

TMC

260

progammable

Motion

Controller

with TMC429

+5V

TMC

260

TMC

260

TMCM-6110

3x 2 reference switches

8

Outputs

RS485

+5V

SPI

Step/Dir

+5V

Motor 0

Motor 1

Motor 2

Motor 3

Motor 4

Motor 5

7 Functional description

The TMCM-6110 is a highly integrated 6-axes controller / driver module. The TMCM-6110 can be controlled via CAN, RS485 or USB serial interfaces.

The TMCM-6110 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. Please refer to the TMCM-6110 Firmware Manual for more information about TMCL™ commands.

Communication traffic is kept low since all time critical operations, e.g. ramp calculation are performed on board. Full remote control of device with feedback is possible. The firmware of the module can be updated via any of the serial interfaces.

The TMCM-6110 module contains the following main components (see figure below, also):

- ARM Cortex-M3™ microcontroller running at 72MHz

- 16Kbytes EEPROM for storing configuration parameters and TMCL™ program storage

(up to 2048 TMCL commands)

- 2x TMC429 [TMC429] highly integrated 3 axes stepper motor controller

- 6x TMC260 [TMC260] advanced stepper motor driver IC with stallGuard2™ and coolStep™ with

integrated MOSFET driver transistors

- RS485, CAN and USB transceivers

- On-board switching and linear voltage regulators for supply of on-board digital circuits

Figure 7.1: TMCM-6110 block diagram

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 20

Symbol

Parameter

Min

Typ

Max

Unit

V

DRIVER

Power supply voltage for driver

9

12 ... 24

28

V

DIGITAL

Power supply voltage for controller (option, can be left unconnected)

V

DRIVER

V V

USB

Power supply via USB connector

5

V

I

USB

Current withdrawn from USB supply when USB bus powered (no other supply connected)

85 mA

I

COIL

Motor coil current for sine wave peak (chopper regulated, adjustable via software)

0 1600

mA IMC

Continuous motor current (RMS)

0 1100

mA

IS

Power supply current

<< 6x I

COIL

1.4x 6x I

COIL

A

T

ENV

Environmental temperature at maximum current (all six axes, no forced cooling)

-34*)

60

°C

Symbol

Parameter

Min

Typ

Max

Unit

V

REF_L/R

Input voltage for reference switch inputs REF_L / REF_R

0 28 V I

REF_L/R_L

Low level voltage for reference switch inputs REF_L / REF_R

0 1.1 V I

REF_L/R_H

High level voltage for reference switch inputs REF_L / REF_R

2.9 28

V

Symbol

Parameter

Min

Typ

Max

Unit

V

OUT_0..7

Voltage at open collector output

0 V

DIGITAL

V

I

OUT_0/1/2/4/5/6

Output sink current for OUT_0/1/2 and OUT_4/5/6

100

mA I

OUT_3/7

Output sink current for OUT_3 and OUT_7

1

A

V

IN_ 1/2/3/5/6/7

Input voltage for general purpose digital inputs IN_1/2/3 and IN_5/6/7

0 28 V V

IN_1/1/2/3/5/6/7_L

Low level voltage for general purpose digital inputs IN_1/2/3 and IN_5/6/7

0 1.1 V V

IN_1/2/3/5/6/7_H

High level voltage for general purpose digital inputs IN_1/2/3 and IN_5/6/7

2.9 28

V

AIN_0!4

Full scale input voltage range for analog voltage inputs

0 10

V

8 Operational ratings

The operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded.

Table 8.1: General operational ratings of the module

*)

limited by test equipment. Includes power-up / cold start at this temperature. It can be expected that the

module will work down to -40°C.

Table 8.2: Operational ratings of the reference switch inputs

Table 8.3: Operational ratings of the general purpose I/Os

TMCM-6110 Hardware Manual (V1.10 / 2012-JAN-25) 21

Version

Date

Author

Description

0.90

2011-AUG-17

GE

Preliminary version

1.00

2011-SEP-13

SD

First complete version, minor changes

1.01

2011-NOV-11

SD

Minor changes, T

ENV

in chapter 8 added.

1.10

2012-JAN-25

GE

- DIN rail mounting option added

- Basic description of on-board LEDs

- Reset to factory default in hardware added

- Lower environmental operating temperature added

Version

Date

Description

TMCM-6110_V10

2011-MAY-12

Initial version

TMCM-6110_V11

2011-AUG-02

Several corrections and enhancement:

- Corrected / modified clock concept

- Connection of reference switch corrected

- 8x DIP switch THT instead of 4x SMT

- Separate power supplies for driver stage and other

electronic

Symbol

Parameter

Min

Typ

Max

Unit

N

RS485

Number of nodes connected to single RS485 network

256

Table 8.4: Operational ratings of the RS485 interface

9 Revision History

9.1 Document revision

Figure 9.1: Document revision

9.2 Hardware revision

Figure 9.2: Hardware revision

10 References

[JST] JST connector http://www.jst.com [USB-2-485] USB-2-485 interface converter Manual available on http://www.trinamic.com [TMC260] TMC260 datasheet Manual available on http://www.trinamic.com. [TMC429] TMC429 datasheet Manual available on http://www.trinamic.com. [TMCL-IDE] TMCL-IDE User Manual Manual available on http://www.trinamic.com.

Trinamic TMCM-6110 HARDWARE MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual