Trinamic TMCM-6214 Manuale utente

Module for Stepper MODULE

TMCM-6214 Hardware Manual

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

The TMCM-6214 is a 6-axes motor controller/driver board for 2-phase bipolar stepper motors with

up-to 1.9A RMS motor current and +24V supply. The motion controllers support 6-point ramps in

addition to linear ramps in hardware. 3 encoder inputs for incremental a/b/n encoders are in-

cluded. For communication either CAN, RS485, RS232 or USB may be selected. In addition, there

are 6 general purpose digital inputs, 2 analog inputs and 8 general purpose outputs (protected).

Two STO inputs are available together with an intergated power supply switch for the driver sup-

ply. Features

•

6-axes controller/driver for 2-phase

bipolar stepper motors

•Linear and SixPoint™ramps

•+9. . . 30V DC supply voltage

•Up to 1.9A RMS motor current

•

RS485, CAN, RS232 & USB interfaces

•3x A/B/N encoder inputs

•

multi-purpose inputs and outputs

(protected)

•

STO with integrated power switch

for the driver supply

Applications

•Laboratory Automation

•Manufacturing

•Semiconductor Handling

•Robotics

•Factory Automation

•Test & Measurement

•Life Science

•Biotechnology

•Liquid Handling

Simpliﬁed Block Diagram

TMCM-6214

CAN

24VDC

TMCL™

Memory

SPI

ARM

Cortex M3™

Microcontroller

RS485

USB

GPIO

Stepper

Motor

TMC5161

Stepper

Motor

TMC5161

RS232

SPI

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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 2 / 27

Contents

1 Features 3

2 Order Codes 5

3 Mechanical and Electrical Interfacing 6

3.1 Size of board ............................................... 6

3.2 Board mounting considerations .................................... 6

4 Connectors 7

4.1 Power Supply Input Connector ..................................... 9

4.2 STO Input Connector .......................................... 9

4.3 RS485 Connector ............................................. 9

4.4 CAN Connector .............................................. 10

4.5 RS232 Connector ............................................. 10

4.6 Motor Connector ............................................. 10

4.7 Stop switch connector .......................................... 11

4.8 Encoder connector ............................................ 11

4.9 I/O connector ............................................... 12

4.10 USB Connector .............................................. 12

5 On-Board LEDs 13

6 Communication 14

6.1 RS485 ................................................... 14

6.2 CAN .................................................... 15

7 Motor driver current 17

8 Functional Description 19

9 Operational Ratings and Characteristics 20

10 Abbreviations used in this Manual 22

11 Figures Index 23

12 Tables Index 24

13 Supplemental Directives 25

13.1 Producer Information .......................................... 25

13.2 Copyright ................................................. 25

13.3 Trademark Designations and Symbols ................................ 25

13.4 Target User ................................................ 25

13.5 Disclaimer: Life Support Systems ................................... 25

13.6 Disclaimer: Intended Use ........................................ 25

13.7 Collateral Documents & Tools ..................................... 26

14 Revision History 27

14.1 Hardware Revision ............................................ 27

14.2 Document Revision ........................................... 27

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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 3 / 27

1 Features

The TMCM-6214 is a 6-axis motor controller/driver board for 2-phase bipolar stepper motors with up to

2A RMS (2.8A peak) motor coil current and +24V nominal supply. It supports linear ramps and unique

SixPoint

™

ramps. Each motor axis has its own reference / stop switch input connector. Three axes (axis

3. . . 5) oﬀer encoder interfaces for incremental A/B/N encoders (either TTL +5V signals or open-drain

outputs). For communication CAN, RS485, RS232 or USB may be used. There are six general purpose

digital inputs, two analog inputs and eight outputs (open-drain, protected) available. Two isolated STO

inputs are available. The TMCM-6214 oﬀers an on-board smart high-side power switch for the driver

supply voltage.

The TMCM-6214 is available with standard TMCL

™

or CANopen

ﬁrmware (supported via the CAN inter-

face).

Motion Controller

•Motion proﬁle calculation in real-time.

•On the ﬂy alteration of motor parameters (e.g. position, velocity, acceleration).

•Linear and unique SixPoint™ramp in hardware.

•Encoder interface (axis 3. . . 5) and reference / stop switch inputs (axis 0. . . 5).

Driver

•Motor current: up to 1.9A RMS (2.7A peak, programmable in software).

•Supply voltage: +24V DC (+10. . . +30V DC).

•256 microsteps per fullstep.

•SpreadCycle™highly dynamic current control chopper.

•StealthChop™for quiet operation and smooth motion.

Encoder

•Programmable encoder scaling and support for motor stop on encoder deviation.

STO

•Two STO isolated inputs.

•On-board power switch for driver supply switching (smart high-side power switch).

•Driver enable in hardware.

•Driver current (sum of all six axes) and driver supply voltage can be measured.

Interfaces

•RS485 interface (up to 1Mbit/s).

•RS232 interface (up to 115200 bit/s).

•CAN interface (up to 1Mbit/s).

•USB 2.0 full speed (12Mbit/s) device interface (USB-C connector).

•

Left and right stop switch inputs (switchable internal pull-ups to +5V, separate connector for each

axis).

•Six general purpose digital inputs.

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•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.

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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 5 / 27

2 Order Codes

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

Order Code Description Size (LxWxH)

TMCM-6214-TMCL

6-axes bipolar stepper motor controller/driver, up-

to 2A RMS motor current, 24V nom. supply, 3x

encoder inputs, 2 analog inputs, 6 digital inputs,

8 OD outputs, CAN, RS485, RS232 and USB inter-

faces, STO, TMCL

130mm x 100mm x 20mm

TMCM-6214-CANopen

6-axes bipolar stepper motor controller/driver, up-

to 2A RMS motor current, 24V nom. supply, 3x

encoder inputs, 2 analog inputs, 6 digital inputs,

8 OD outputs, CAN, RS485, RS232 and USB inter-

faces, STO, CANopen

130mm x 100mm x 20mm

Table 1: TMCM-6214 Order Codes

A cable loom set is available for this module:

Order Code Description

TMCM-6214-CABLE Cable loom for TMCM-6214:

•

1x cable loom for power supply connector (cable length 200mm, 2pin

JST VH connector at one end, open wires at the other end)

•

2x cable loom for STO connectors (cable length 200mm, 2pin JST PH

connector at one end, open wires at the other end)

•

3x cable loom for RS485, RS232 and CAN connector (cable length

200mm, 3pin JST PH connector at one end, open wires at the other

end)

•

6x cable loom for motor connectors (cable length 200mm, 4pin JST

PH connector at one end, open wires at the other end)

•

6x cable loom for stop switch connectors (cable length 200mm, 4pin

JST PH connector at one end, open wires at the other end)

•

3x cable loom for encoder connectors (cable length 200mm, 5pin JST

PH connector at one end, open wires at the other end)

•

2x cable loom for general purpose input/output connectors (cable

length 200mm, 10pin JST PH connector at one end, open wires at the

other end)

•1x USB 2.0 A male to USB-C male cable

Table 2: TMCM-6214 Cable Loom

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TMCM-6214 Hardware Manual •Hardware Version V1.30 | Document Revision V1.10 •2019-MAR-25 6 / 27

3 Mechanical and Electrical Interfacing

3.1 Size of board

The board with the controller/driver electronics has an overall size of 130mm x 100mm x 20mm without

mating connectors. Maximum component height (height above PCB level) without mating connectors

is around 15mm above PCB level and 3 mm below PCB level. There are four mounting holes (3.2mm

diameter) for M3 screws.

Figure 1: Board dimensions and position of mounting holes (all values in mm)

3.2 Board mounting considerations

The TMCM-6214 oﬀers four metal plated mounting holes. All mounting holes are connected to system and

signal ground (same as power supply ground). In order to minimize distortion of signals and radiation

of HF signals (improve EMC compatibility) especially in sensitive / noisy environments it is important to

ensure a solid ground connection within the system. In order to support this, it is recommended to

connect all four mounting holes of the board in addition to the supply ground connection to system power

supply ground. Nevertheless, this might not always be an option e.g. in case the metal system chassis /

TMCM-6214 mounting plate is already connected to earth and a direct connection between supply ground

(secondary side) and mains supply earth (primary side) is not desired / not an option. In this case plastic

(e.g. made of nylon) spacers / distance bolts and screws should be used.

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4 Connectors

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

switch connectors - one for each axis. The three encoder inputs have separate connectors and for

communication via RS485, CAN, RS232 or USB 4 connectors are available. The two STO inputs have

individual connectors, also. Apart from the USB connector (USB-C) all these connectors are JST PH series

types. For power supply input a 2 pin JST VH series connector is available.

NOTICE Start with power supply OFF and do not connect or disconnect motor dur-

ing operation!

Motor cable and motor inductivity might lead to voltage spikes

when the motor is (dis)connected while energized. These voltage spikes might

exceed voltage limits of the driver MOSFETs and might permanently damage

them. Therefore, always switch oﬀ/ disconnect power supply or at least disable

driver stage before connecting / disconnecting motor.

STOP

Motor 0

STOP

Motor 1

STOP

Motor 2

STOP

Motor 3

STOP

Motor 4

STOP

Motor 5

Motor 0 Motor 1 Motor 2 Motor 3 Motor 4 Motor 5

I/O 1

I/O 2

Power

STO1

STO2

RS232

RS485

CAN

USB

111111

111

Encoder

Motor 5

Encoder

Motor 3

Encoder

Motor 4

Figure 2: TMCM-6214 connectors

Connector Types and Mating Connectors

Connector Connector type on-board Mating connector type

Power JST B2P-VH

(JST VH series, 2pins, 3.96mm pitch)

Connector housing: JST VHR-2N

Contacts: JST SVH-21T-P1.1

Wire: 0.83mm2, AWG 18

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Connector Connector type on-board Mating connector type

STO JST B2B-PH-K-S

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

Connector housing: JST PHR-2

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

RS485 JST B3B-PH-K-S

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

Connector housing: JST PHR-3

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

RS232 JST B3B-PH-K-S

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

Connector housing: JST PHR-3

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

CAN JST B3B-PH-K-S

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

Connector housing: JST PHR-3

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

Motor JST B4B-PH-K-S

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

Connector housing: JST PHR-4

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

Stop JST B4B-PH-K-S

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

Connector housing: JST PHR-4

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

Encoder JST B5B-PH-K-S

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

Connector housing: JST PHR-5

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

I/O JST B10B-PH-K-S

(JST PH series, 10pins, 2mm pitch)

Connector housing: JST PHR-10

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

USB USB-C connector USB-C connector

Table 3: Connector Types and Mating Connectors of the TMCM-6214

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4.1 Power Supply Input Connector

The TMCM-6214 oﬀers one power supply input connector (2pin JST VH series).

Power Supply Connector Pin Assigment

Pin Label Direction Description

1 GND Power (GND) Common system supply and signal ground

2 VPOWER Power (input) Main power supply input for the driver and on-board logic

10. . . 30V

Table 4: Power Supply Connector Pin Assignment

NOTICE Do not connect or disconnect motor during operation!

Motor cable and mo-

tor inductivity might lead to voltage spikes when the motor is (dis)connected

while energized. These voltage spikes might exceed voltage limits of the driver

MOSFETs and might permanently damage them. Therefore, always switch oﬀ

/ disconnect power supply or at least disable driver stage before connecting /

disconnecting motor.

NOTICE Take care of polarity, wrong polarity can destroy the board!

4.2 STO Input Connector

The TMCM-6214 oﬀers two STO (torque-oﬀ) input connectors (2pin JST PH series).

STO1 and STO2 connector pin assignment

Pin Label Direction Description

1 FGND STO input ground (isolated from power supply GND)

2 STO1 / STO2 in STO1 / STO2 +24V input signal

Table 5: STO Connector Pin Assignment

NOTICE Both STO inputs have to be connected to positive supply voltage (e.g. 24V,

min. 15V) in order to enable all six motor driver stages!

No motor movement

will be possible in case one or both of these inputs are left unconnected.

If both STO inputs are not in the same state for more than 2.3 seconds the module

will lock itself in torque-oﬀmode. This state can only be reset by a power cycle.

4.3 RS485 Connector

The TMCM-6214 oﬀers one RS485 interface connector (3pin JST PH series).

RS485 connector pin assignment

Pin Label Direction Description

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Pin Label Direction Description

1 GND signal ground (connected to power supply GND)

2 RS485+ in-out diﬀerential RS485 bus signal (non-inverting)

3 RS485- in-out diﬀerential RS485 bus signal (non-inverting)

Table 6: RS485 connector pin assignment

4.4 CAN Connector

The TMCM-6214 oﬀers one CAN interface connector (3pin JST PH series).

CAN connector pin assignment

Pin Label Direction Description

1 GND signal ground (connected to power supply GND)

2 CAN_H in-out diﬀerential CAN bus signal (non-inverting)

3 CAN_L in-out diﬀerential CAN bus signal (non-inverting)

Table 7: CAN connector pin assignment

4.5 RS232 Connector

The TMCM-6214 oﬀers one RS232 interface connector (3pin JST PH series).

RS232 connector pin assignment

Pin Label Direction Description

1 GND signal ground (connected to power supply GND)

2 RS232_TXD out RS232 transmit data output

3 RS232_RXD in RS232 receive data input

Table 8: RS232 connector pin assignment

4.6 Motor Connector

The TMCM-6214 oﬀers 6 motor connectors (4pin JST PH series).

Motor connector pin assignment

Pin Label Direction Description

1 A2 Motor phase A

2 A1 Motor phase A

3 B2 Motor phase B

4 B1 Motor phase B

Table 9: Motor connector pin assignment

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