MODULES FOR STEPPER MOTORS MODULES
Hardware Version V 1.10
HARDWARE MANUAL
+ +
TMCM-6211
6-Axes Stepper
Controller / Driver
Up-to 0.7A RMS / 24V DC
Encoder / HOME / STOP
4x analog / digital inputs
4x digital outputs
Brake chopper support
CAN, RS485, USB (TMCM-6210)
EtherCAT™, USB (TMCM-6211)
+ +
TMCM-6210
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 2
Table of contents
1 Life support policy ....................................................................................................................................................... 3
2 Features ........................................................................................................................................................................... 4
3 Order codes .................................................................................................................................................................... 5
4 Mechanical and Electrical Interfacing ..................................................................................................................... 6
4.1 Dimensions and Mounting Holes ................................................................................................................... 6
4.2 Board mounting considerations ...................................................................................................................... 7
5 Connectors of TMCM-6210 and TMCM-6211 ........................................................................................................... 8
5.1 TMCM-6210 Interface Brick ................................................................................................................................ 8
5.1.1 RS485 connector ............................................................................................................................................ 9
5.1.2 CAN connector ................................................................................................................................................ 9
5.1.3 USB connector .............................................................................................................................................. 10
5.1.4 Input connector ........................................................................................................................................... 10
5.1.5 Output connector ......................................................................................................................................... 11
5.2 TMCM-6211 Interface Brick .............................................................................................................................. 11
5.2.1 EtherCAT™ connector ................................................................................................................................. 12
5.2.2 USB connector .............................................................................................................................................. 12
5.2.3 Input connector ........................................................................................................................................... 12
5.2.4 Output connector ......................................................................................................................................... 13
5.3 TMCM-6210 + TMCM-6211 Driver Brick .......................................................................................................... 14
5.3.1 Motor connector........................................................................................................................................... 14
5.3.2 REF / HOME connector ................................................................................................................................ 15
5.3.3 Encoder connector....................................................................................................................................... 15
5.4 TMCM-6210 + TMCM-6211 Power supply Brick ........................................................................................... 16
5.4.1 Power connector .......................................................................................................................................... 17
5.4.2 Control connector ........................................................................................................................................ 17
5.4.3 Resistor connector ....................................................................................................................................... 18
5.5 Power supply ...................................................................................................................................................... 18
5.6 RS485 ..................................................................................................................................................................... 18
5.7 CAN ........................................................................................................................................................................ 20
5.7.1 CAN adapter .................................................................................................................................................. 21
5.8 General purpose outputs OUT0..3 ................................................................................................................. 22
6 Motor driver current .................................................................................................................................................. 23
7 On Board LEDs............................................................................................................................................................. 24
7.1 Power supply brick ............................................................................................................................................ 24
7.2 TMCM-6210 Interface Brick .............................................................................................................................. 24
7.3 TMCM-6211 Interface Brick .............................................................................................................................. 25
8 Reset to Factory Default ........................................................................................................................................... 25
9 Operational ratings .................................................................................................................................................... 26
10 TMCM-6210 Functional Description ........................................................................................................................ 27
11 TMCM-6211 Functional Description ........................................................................................................................ 28
12 Revision History .......................................................................................................................................................... 29
12.1 Document revision ............................................................................................................................................ 29
12.2 Hardware revision ............................................................................................................................................. 29
13 References..................................................................................................................................................................... 29
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 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.
© TRINAMIC Motion Control GmbH & Co. KG 2015, 2016, 2017
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.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 4
2 Features
The TMCM-6210 / TMCM-6211 is a six axes controller/driver module for 2-phase bipolar stepper motors with
separate encoder (differential) and HOME / STOP switch inputs for each axis. CAN, RS485 and USB (Micro-USB)
interfaces are available on the TMCM-6210 and EtherCAT™ together with USB (Micro-USB) on the TMCM-6211 for
communication. Furthermore the modules offer four analog / digital inputs and four digital outputs together with
a brake chopper unit (supporting an external brake resistor) for supply voltage limitation when energy is fed back
into the supply rail.
MAIN CHARACTERISTICS
Motion controller
Motion profile calculation in real-time
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
Dedicated HOME + STOP switch inputs (internal pull-ups)
High performance microcontroller for overall system control and communication protocol handling
Bipolar stepper motor driver
Up to 256 microsteps per full step
High-efficient operation, low power dissipation
Dynamic current control
Integrated protection
stealthChop™ for quiet operation and smooth motion
dcStep™ feature for load dependent speed control
stallGuard2™ feature for stall detection
coolStep™ feature for reduced power consumption and heat dissipation
Interfaces
TMCM-6210: CAN + RS485
TMCM-6211: EtherCAT™
USB full speed (12Mbit/s) device interface (Micro-USB)
Differential encoder input per motor axis (6x)
HOME, STOP_L, STOP_R switch inputs with internal pull-ups per motor axis (6x)
4 general purpose analog inputs (0..10V) or digital inputs (accept +24V signals)
4 general purpose digital outputs (open-drain, 500mA each)
Software
TMCL™ remote (direct mode) and standalone operation with memory for up to 1024 TMCL commands
TMCM-6210: CANopen firmware available
TMCM-6211: CoE (CANopen over EtherCAT™) firmware available
Electrical data
Supply voltage: nom. +12V and +24V with +10V … +27V supply voltage operating range
Motor current: up to 0.7A RMS (programmable)
Mechanical data
Board size: 215mm x 100mm, overall height 21mm max. (incl. pcb but, without mating connectors and cables)
12x M3 mounting holes (optional)
Please see separate TMCM-6210 / TMCM-6211 Software / Firmware documentation for additional information
regarding programming and communication protocol.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 5
Order code
Description
Size of unit
TMCM-6210-TMCL
6-axes controller / driver up-to 0.7A RMS / +24V, CAN
+ RS485 + USB with standard TMCL firmware
215mm x 100mm x 21mm
TMCM-6210-CANopen
6-axes controller / driver up-to 0.7A RMS / +24V, CAN
+ RS485 + USB with CANopen firmware
215mm x 100mm x 21mm
Order code
Description
Size of unit
TMCM-6211-CoE
6-axes controller / driver up-to 0.7A RMS / +24V,
EtherCAT™ + USB with CANopen over EtherCAT™
firmware
215mm x 100mm x 21mm
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 (6210)
- 1x standard CAT5 cable with 2x RJ45 for CAN / EtherCAT (6210/6211)
- 1x RJ45-2-DSUB_G4_V10 adapter (for CAN RJ45 <-> D-SUB translation) (6210)
- 1x Micro-USB cable (6210/6211)
- 1x cable loom for INPUTs connector (6210/6211)
- 1x cable loom for OUTPUTs connector (6210/6211)
- 6x cable loom for MOTOR connector (small) (6210/6211)
- 3x cable loom for MOTOR connector (big)
- 6x cable loom for ENCODER connector (6210/6211)
- 6x cable loom for REF / HOME connector (6210/6211)
- 1 cable loom for POWER connector (small) (6210/6211)
- 1x cable loom for POWER connector (big)
- 1x cable loom for CONTROL connector (6210/6211)
- 1x cable loom for RESISTOR connector (6210/6211)
3 Order codes
The TMCM-6210 unit is available with two different firmware options:
Table 3.1: TMCM-6210 order code
The TMCM-6211 unit is available as:
Table 3.2: TMCM-6211 order code
A cable loom is available, also:
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, TMCM6212/6213, 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-6210 and / or TMCM-6211.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 6
4 Mechanical and Electrical Interfacing
4.1 Dimensions and Mounting Holes
The dimensions of the TMCM-6210 and TMCM-6211 controller/driver board are approx. 215mm x 100mm x 21mm.
Maximum component height (height above PCB level) without mating connectors is around 17mm above PCB
level and 2mm below PCB level. There are 12 mounting holes for M3 screws (3.2mm diameter) altogether for
mounting the PCB.
Figure 4.1 Dimension of TMCM-6210 / TMCM-6211 and position of mounting holes
Please note: TMCM-6210 and TMCM-6211 share the same PCB with different assembly options regarding the
interface section. Dimensions, mounting holes and board mounting considerations (see chapter below) are the
same for both boards.
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 7
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c. n.c.
n.c.
1M
1nF
1M
1M
1nF
1nF
4.2 Board mounting considerations
The TMCM-6210 / TMCM-6211 offer 12 metal plated mounting holes. One hole (lower right) is connected to onboard system ground (connected to power supply input ground) via 1M (500VDC) || 1nF (1kV). The same
combination or resistor and capacitor is used for connecting the RJ45 shield ground (connector enclosure) to
power supply input ground (see figure 4.1).
Figure 4.2 TMCM-6210 / TMCM-6211 mounting hole connections
All other mounting holes are electrically isolated. Please note that not all holes have to be used for mounting
the pcb. At least the mounting holes in all four corners and two in the middle (6 altogether) should be used to
ensure adequate support of the pcb when inserting / removing connectors in order to avoid significant bending
of the pcb.
In any case: please remove / attach mating connectors carefully – supporting the pcb if necessary!
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 8
Interface Brick Driver Brick Driver Brick Driver Brick Supply Brick
Motor 0
Motor 1
Motor 2 Motor 4
Motor 3 Motor 5
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
5 Connectors of TMCM-6210 and TMCM-6211
The TMCM-6210 and TMCM-6211 are two members of a new family of modules with a modular architecture
composed of so called “bricks”.
The TMCM-6210 and TMCM-6211 consist of one interface brick, three dual-axes stepper motor controller / driver
bricks and one supply brick. With the TMCM-6210 the interface brick offers CAN and RS485 interfaces while with
the TMCM-6211 the EtherCAT™ option is assembled instead. All other bricks are the same for both modules.
Figure 5.1 different bricks used for the TMCM-6210 / TMCM-6211
5.1 TMCM-6210 Interface Brick
The interface brick of the TMCM-6210 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.
Figure 5.2 TMCM-6210 interface brick
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TMCM-6210, TMCM-6211 Hardware Manual (V0.95 / 2017-MAR-01) 9
Label
Connector type
Mating connector type
RS485 connector (2x)
Molex MicroFit™, 436500315
1x4 pin header, 3mm pitch
Molex MicroFit™,
Housing: 43645-0300
Contacts: 43030-0007
CAN connector (2x)
RJ45 plug connector
e.g. Standard CAT 5 / CAT 5e
cables may be used
USB (MicroUSB) connector
Micro-USB connector, type B
(USB device interface)
Standard Micro-USB
Input connector
Molex MicroFit™, 430451012
2x5 pin header, 3mm pitch
Molex MicroFit™,
Housing: 43025-1000
Contacts: 43030-0007
Output connector
Molex MicroFit™, 430450812
2x4 pin header, 3mm pitch
Molex MicroFit™,
Housing: 43025-0800
Contacts: 43030-0007
1
3
Pin
Label
Direction
Description
1
GND
Power
Supply and signal ground
2
RS485+
Bi-directional
RS485 interface, diff. signal (non-inverting)
3
RS485-
Bi-directional
RS485 interface, diff signal (inverting)
1
8
Pin
Label
Direction
Description
1
CAN_H
Bi-Directional
CAN interface, diff signal (non-inverting)
2
CAN_L
Bi-directional
CAN interface, diff signal (inverting)
3
GND
Power
Supply and signal ground
4
n.c.
5
n.c. 6 n.c. 7 n.c.
8
n.c.
Connector and mating connector overview:
Table 5.1 TMCM-6210 interface brick: connectors and mating connectors
5.1.1 RS485 connector
There are two RS485 connectors on the board with the same pin assignment – pins directly connected to each
other. The second connector may be used for attaching a bus termination resistor to the RS485 bus (there is no
termination resistor on-board) or for further distribution of the RS485 bus signals to other RS485 communication
nodes while maintaining a proper bus structure.
A three pin Molex MicroFit™ connector (Molex part no. 436500315) is used for RS485 connection. Mating connector
housing e.g. Molex 43645-0300, contacts Molex 43030-0007. Please note that there are alternative options available
from Molex for both, housing and contacts.
Table 5.1: Interface Brick: RS485 connector
5.1.2 CAN connector
There are two CAN connectors on the board with the same pin assignment – pins directly connected to each
other. The second one may be used for attaching a bus termination resistor to the RS485 bus (there is no
termination resistor on-board) or for further distribution of the CAN bus signals to other CAN nodes while
maintaining a proper bus structure.
A standard RJ45 plug connector is used for CAN communication. Standard CAT cables (e.g. CAT 5, non-crossing)
might be used for connection. Pin assignment of the RJ45 is based on the CiA 303-1 recommendation.
Table 5.2 Interface Brick: CAN connector
Copyright © 2015, 2016, 2017 TRINAMIC Motion Control GmbH & Co. KG
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