Trinamic TMCM-6214 Hardware Manual

Module for Stepper

TMCM-6214

CAN

TMCL™

Memory

SPI

ARM

Cortex M3™

Microcontroller

RS485

USB

GPIO

Stepper

Motor

TMC5161

Stepper

Motor

TMC5161

E

RS232

SPI

SPI

3x

3x

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 in­cluded. 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 sup­ply.

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

Simplified Block Diagram

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

©2019 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.

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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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Download newest version at www.trinamic.com

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 inter­face).

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

• 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.

4 / 27

©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-6214 Hardware Manual • Hardware Version V1.30 | Document Revision V1.10 • 2019-MAR-25

2 Order Codes

The TMCM-6214 is pre-programmed with either TMCL™ firmware or CANopen® firmware.

Order Code Description Size (LxWxH)

5 / 27

TMCM-6214-TMCL

6-axes bipolar stepper motor controller/driver, up­to 2A RMS motor current, 24V nom. supply, 3x
encoder inputs, 2 analog inputs, 6 digital inputs,
8 OD outputs, CAN, RS485, RS232 and USB inter­faces, STO, TMCL

TMCM-6214-CANopen

6-axes bipolar stepper motor controller/driver, up­to 2A RMS motor current, 24V nom. supply, 3x
encoder inputs, 2 analog inputs, 6 digital inputs,
8 OD outputs, CAN, RS485, RS232 and USB inter­faces, STO, CANopen

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)

130mm x 100mm x 20mm

130mm x 100mm x 20mm

•

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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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
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

TMCM-6214 Hardware Manual • Hardware Version V1.30 | Document Revision V1.10 • 2019-MAR-25

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

STO1

STO2

RS232

RS485

CAN

USB

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

Encoder

Motor 5

Encoder

Motor 3

Encoder

Motor 4

7 / 27

4 Connectors

The TMCM-6214 offers 24 connectors altogehter. There are 6 motor connectors and 6 reference / end­switch 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 dur­ing 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.

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)

©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Connector housing: JST VHR-2N
Contacts: JST SVH-21T-P1.1
Wire: 0.83mm2, AWG 18

TMCM-6214 Hardware Manual • Hardware Version V1.30 | Document Revision V1.10 • 2019-MAR-25

Connector Connector type on-board Mating connector type

8 / 27

STO JST B2B-PH-K-S

(JST PH series, 2pins, 2mm pitch)

RS485 JST B3B-PH-K-S

(JST PH series, 3pins, 2mm pitch)

RS232 JST B3B-PH-K-S

(JST PH series, 3pins, 2mm pitch)

CAN JST B3B-PH-K-S

(JST PH series, 3pins, 2mm pitch)

Motor JST B4B-PH-K-S

(JST PH series, 4pins, 2mm pitch)

Stop JST B4B-PH-K-S

(JST PH series, 4pins, 2mm pitch)

Encoder JST B5B-PH-K-S

(JST PH series, 5pins, 2mm pitch)

Connector housing: JST PHR-2
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24

Connector housing: JST PHR-3
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24

Connector housing: JST PHR-3
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24

Connector housing: JST PHR-3
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24

Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24

Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24

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

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

9 / 27

2 V

POWER

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!

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)

Motor cable and mo-

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!

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-off mode. 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

©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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No motor movement

TMCM-6214 Hardware Manual • Hardware Version V1.30 | Document Revision V1.10 • 2019-MAR-25

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)

10 / 27

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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11 / 27

NOTICE

Do not connect or disconnect motor during 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.

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

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

connected to +24V supply input for supply of end switches etc.

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

3 ENC_A in

4 ENC_B in

5 ENC_N in

for encoder supply. Max. 100mA per encoder / 300mA for all
three encoders together.

Encoder A channel input. +5V TTL signals and open-drain
signals (internal 4k7 pull-up to +5V) are accepted.

Encoder B channel input. +5V TTL signals and open-drain
signals (internal 4k7 pull-up to +5V) are accepted.

Encoder N channel input (Null / Zero channel). +5V TTL sig­nals 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

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.

3 IN0/IN4 in Analog input (0..+10V nom. input range)

4 IN1/IN5 in digital input (internal pull-down, +24V compatible)

5 IN2/IN6 in digital input (internal pull-down, +24V compatible)

6 IN3/IN7 in digital input (internal pull-down, +24V compatible)

12 / 27

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.

©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

Green LED

Red LED

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.

Figure 3: TMCM-6214 LEDs

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TMCM-6214 Hardware Manual • Hardware Version V1.30 | Document Revision V1.10 • 2019-MAR-25

c:>

node

1

node

n

- 1

node

n

Host

Slave Slave Slave

RS485

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as
short as possible

14 / 27

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.

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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node

n - 1

node

n

Slave Slave

termination

resistor

(120R)

+5V

GND

pull-up (680R)

pull-down (680R)

RS485- / RS485B

resistor

(120R)

RS485+ / RS485A

node

n - 1

node

n

Slave Slave

termination

resistor

(220R)

+5V

GND

pull-up (390R)

pull-down (390R)

RS485- / RS485B

RS485+ / RS485A

resistor

(220R)

+5V

GND

pull-up (390R)

pull-down (390R)

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):

15 / 27

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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c:>

node

1

node

n

- 1

node

n

Host

Slave Slave Slave

CAN

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).

16 / 27

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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 set­ting 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 I

Resulting motor current based on motor current setting

RMS

[A]

Motor Current Setting

Motor current setting
in software (TMCL)

Current scaling step

(CS)

Motor current I
peak

COIL

[A]

Motor current I
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

COIL

[A]

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

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18 / 27

Motor current setting
in software (TMCL)

Current scaling step
(CS)

Motor current I
peak

COIL

[A]

Motor current I
RMS

COIL

[A]

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 off completely (free-wheeling)
using axis parameter 204 (see TMCM-6214 firmware manual).

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TMCM-6214

CAN

TMCL™

Memory

SPI

ARM

Cortex M3™

Microcontroller

RS485

USB

GPIO

Stepper

Motor

TMC5161

Stepper

Motor

TMC5161

E

RS232

SPI

SPI

3x

3x

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.

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Figure 8: TMCM-6214 block diagram

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9 Operational Ratings and Characteristics

20 / 27

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

V

Power

I

Power

V

I

USB

USB

Power supply voltage 9 12. . . 24 30 V

Power supply current <<I

COIL_RMS

1.4 x I

COIL_RMS

Power supply via USB connector 5 V

Current withdrawn from USB supply when USB

75 mA

A

bus powered (no other supply connected)

I

COIL_PEAK

Motor coil current for sine wave

peak (chopper

0 2.7 A

regulated, adjustable via software)

I

COIL_RMS

T

ENV

Continuous motor current (RMS) 0 1.9 A

Environmental temperature at rated current (no

-30 40 °C

forced cooling reaquired)

Table 15: General operational ratings of the module

Operational Ratings of the I/Os

Symbol Parameter Min Typ Max Unit

V

OUT0. . . OUT7

V

OUT0. . . OUT7

I

OUT0. . . OUT7

Voltage at open drain outputs (switched off) 0 36 V

Output clamp voltage (e.g. for inductive loads) 36 40 44 V

Output sink current of open drain outputs

100 mA

(switched on)

I

OUT0. . . OUT7

Overload detection current of open drain outputs

0.6 1.3 A

(switched on)

V

IN0. . . IN7

V

IN0, IN4

V

IN_H

Input voltage for IN0. . . IN7 0 0. . . +24 +30 V

Measurement range for analog input IN0 and IN4

High level voltage for IN1. . . IN3 and IN5. . . IN7

0 +10

2.9 V

1

(digital inputs)

V

IN_L

Low level voltage for IN1. . . IN3 and IN5. . . IN7

1.4 V

(digital inputs)

V

REF_L/R_H

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).

High level voltage for stop switch inputs 3.4 V

V

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Operational Ratings of the I/Os

Symbol Parameter Min Typ Max Unit

21 / 27

V

REF_L/R_L

Low level voltage for stop switch inputs 1.4 V

Table 16: Operational ratings of I/Os

Operational Ratings of the STO inputs

Symbol Parameter Min Typ Max Unit

V

V

IN_H

IN_L

High level voltage (enable driver) 15 24 30 V

Low level voltage (disable driver) 0 0 5 V

Table 17: Operational ratings of STO inputs

Operational Ratings of the RS485 Interface

Symbol Parameter Min Typ Max Unit

N

f

RS485

RS485

Number of nodes connected to single RS485 network 256

Max. speed for RS485 network 1Mbit/s

Table 18: Operational ratings of the RS485 interface

Operational Ratings of the RS232 Interface

Symbol Parameter Min Typ Max Unit

f

RS485

Max. speed for RS232 connection 115200 bit/s

Table 19: Operational ratings of the RS232 interface

Operational Ratings of the CAN Interface

Symbol Parameter Min Typ Max Unit

N

f

CAN

CAN

Number of nodes connected to single CAN network >110

Max. speed for CAN network 1Mbit/s

Table 20: Operational ratings of the CAN interface

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10 Abbreviations used in this Manual

Abbreviation Description

IDE Integrated Development Environment

LED Light Emmitting Diode

RMS Root Mean Square value

TMCL TRINAMIC Motion Control Language

Table 21: Abbreviations used in this Manual

22 / 27

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11 Figures Index

23 / 27

1 Board dimensions and position of

mounting holes (all values in mm) . . . . 6

2 TMCM-6214 connectors . . . . . . . . . . 7

3 TMCM-6214 LEDs . . . . . . . . . . . . . . 13

4 RS485 bus structure with termination

resistors . . . . . . . . . . . . . . . . . . . 14

5 RS485 bus lines with resistor (bias)

network on one side, only . . . . . . . . 15

6 RS485 bus lines with

Profibus™recommended line termination 15

7 CAN bus structure with termination

resistors . . . . . . . . . . . . . . . . . . . 16

8 TMCM-6214 block diagram . . . . . . . . 19

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12 Tables Index

24 / 27

1 TMCM-6214 Order Codes . . . . . . . . 5

2 TMCM-6214 Cable Loom . . . . . . . . . 5

3 Connector Types and Mating

Connectors of the TMCM-6214 . . . . . 8

4 Power Supply Connector Pin Assignment 9

5 STO Connector Pin Assignment . . . . . 9

6 RS485 connector pin assignment . . . . 10

7 CAN connector pin assignment . . . . . 10

8 RS232 connector pin assignment . . . . 10

9 Motor connector pin assignment . . . . 10

10 Stop switch connector pin assignment 11
11 Encoder connector pin assignment . . 11

12 I/O connector pin assignment . . . . . 12

14 Available motor current settings . . . . 18

15 General operational ratings of the

module . . . . . . . . . . . . . . . . . . . 20

16 Operational ratings of I/Os . . . . . . . 21

17 Operational ratings of STO inputs . . . 21
18 Operational ratings of the RS485

interface . . . . . . . . . . . . . . . . . . 21

19 Operational ratings of the RS232

interface . . . . . . . . . . . . . . . . . . 21

20 Operational ratings of the CAN interface 21
21 Abbreviations used in this Manual . . . 22

22 Hardware Revision . . . . . . . . . . . . 27

23 Document Revision . . . . . . . . . . . . 27

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25 / 27

13 Supplemental Directives

13.1 Producer Information

13.2 Copyright

TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos,

trademarks, and resources.©Copyright 2019 TRINAMIC. All rights reserved. Electronically published by

TRINAMIC, Germany.

Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete Datasheet User Manual docu­mentation of this product including associated Application Notes; and a reference to other available
product-related documentation.

13.3 Trademark Designations and Symbols

Trademark designations and symbols used in this documentation indicate that a product or feature is

owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose
products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product docu­mentation.

This Hardware Manual is a non-commercial publication that seeks to provide concise scientific and technical

user information to the target user. Thus, trademark designations and symbols are only entered in the
Short Spec of this document that introduces the product at a quick glance. The trademark designation

/symbol is also entered when the product or feature name occurs for the first time in the document. All

trademarks and brand names used are property of their respective owners.

13.4 Target User

The documentation provided here, is for programmers and engineers only, who are equipped with the

necessary skills and have been trained to work with this type of product.

The Target User knows how to responsibly make use of this product without causing harm to himself or

others, and without causing damage to systems or devices, in which the user incorporates the product.

13.5 Disclaimer: Life Support Systems

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 document is believed to be accurate and reliable. However, no 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.

13.6 Disclaimer: Intended Use

The data specified in this user manual is intended solely for the purpose of product description. No repre-

sentations or warranties, either express or implied, of merchantability, fitness for a particular purpose

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26 / 27

or of any other nature are made hereunder with respect to information/specification or the products to

which information refers and no guarantee with respect to compliance to the intended use is given.

In particular, this also applies to the stated possible applications or areas of applications of the product.

TRINAMIC products are not designed for and must not be used in connection with any applications where

the failure of such products would reasonably be expected to result in significant personal injury or death

(safety-Critical Applications) without TRINAMIC’s specific written consent.

TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ-

ments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC
conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes
no liability for any patent and/or other trade mark rights of a third party resulting from processing or
handling of the product and/or any other use of the product.

13.7 Collateral Documents & Tools

This product documentation is related and/or associated with additional tool kits, firmware and other

items, as provided on the product page at: www.trinamic.com.

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14 Revision History

14.1 Hardware Revision

Version Date Author Description

V1.0 2018-SEP-04 Initial version.

27 / 27

V1.1 2018-OCT-01

2 independent STO inputs, footprint of controller / driver TMC5161
corrected

V1.2 2018-NOV-05

processor replaced for more memory for CANopen firmware support,

+3V3 linear regulator replaced with more powerful one, STO input

circuit isolated + optimized

V1.3 2018-DEC-19

USB circuit correction, EEPROM and octal output switch on different
SPI channels, polarity of STO inputs changed

Table 22: Hardware Revision

14.2 Document Revision

Version Date Author Description

1.00 2019-MAR-15 GE Initial version.

1.10 2019-MAR-25 GE Update for series version.

Table 23: Document Revision

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