Module for Stepper
MODULE
TMCM-6214 Hardware Manual
Hardware Version V1.30 | Document Revision V1.10 • 2019-MAR-25
The TMCM-6214 is a 6-axes motor controller/driver board for 2-phase bipolar stepper motors with
up-to 1.9A RMS motor current and +24V supply. The motion controllers support 6-point ramps in
addition to linear ramps in hardware. 3 encoder inputs for incremental a/b/n encoders are in-
cluded. For communication either CAN, RS485, RS232 or USB may be selected. In addition, there
are 6 general purpose digital inputs, 2 analog inputs and 8 general purpose outputs (protected).
Two STO inputs are available together with an intergated power supply switch for the driver sup-
ply.
Features
• 6-axes controller/driver for 2-phase
bipolar stepper motors
• Linear and SixPoint™ ramps
• +9. . . 30V DC supply voltage
• Up to 1.9A RMS motor current
• RS485, CAN, RS232 & USB interfaces
• 3x A/B/N encoder inputs
• multi-purpose inputs and outputs
(protected)
• STO with integrated power switch
for the driver supply
Applications
• Laboratory Automation
• Manufacturing
• Semiconductor Handling
• Robotics
• Factory Automation
• Test & Measurement
• Life Science
• Biotechnology
• Liquid Handling
Simplified Block Diagram
TMCM-6214
CAN
24VDC
TMCL™
Memory
SPI
ARM
Cortex M3™
Microcontroller
RS485
USB
GPIO
Stepper
Motor
TMC5161
Stepper
Motor
TMC5161
E
RS232
SPI
SPI
3x
3x
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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