TMCM-6214 Hardware Manual • Hardware Version V1.30 | Document Revision V1.10 • 2019-MAR-25
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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.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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