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

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14 Revision History

14.1 Hardware Revision

Version Date

Author Description

V1.0

2018-SEP-04

Initial version.

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 is 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

Terms of delivery and rights to technical change reserved.

Download newest version at

www.trinamic.com

Содержание TMCM-6214

Страница 1: ...witch 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 int...

Страница 2: ...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 Inde...

Страница 3: ...ration 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 t...

Страница 4: ...ors 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...

Страница 5: ...pply 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 ot...

Страница 6: ...ly 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 connectio...

Страница 7: ...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 d...

Страница 8: ...ts 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 seri...

Страница 9: ...e 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 L...

Страница 10: ...al 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...

Страница 11: ...P_L in Stop left switch input Interal pull up to 5V 4 STOP_R in Stop right switch input Internal pull up to 5V Table 10 Stop switch connector pin assignment 4 8 Encoder connector The TMCM 6214 offers...

Страница 12: ...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 US...

Страница 13: ...e red LED should be off When there is no valid rmware programmed into the board or during rmware update the red and green LEDs are permanently switched on During reset to factory default values the gr...

Страница 14: ...the TMCM 6214 units SN65HVD1781D offers a signi cantly 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 rmware Ple...

Страница 15: ...igure 6 RS485 bus lines with Pro bus 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 in...

Страница 16: ...uld 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 TERM...

Страница 17: ...parate TMCM 6214 rmware manual for further information Motor current IRMS A Resulting motor current based on motor current setting Motor Current Setting Motor current setting in software TMCL Current...

Страница 18: ...6 200 207 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 sett...

Страница 19: ...calculation are perfomrmed on board Full remote control of the device with feedback is possible The rmware of the module can be updated via any of the serial interfaces As an alternative CANopen rmwa...

Страница 20: ...t rated current no forced cooling reaquired 30 40 C Table 15 General operational ratings of the module Operational Ratings of the I Os Symbol Parameter Min Typ Max Unit VOUT0 OUT7 Voltage at open drai...

Страница 21: ...Typ Max Unit NRS485 Number of nodes connected to single RS485 network 256 fRS485 Max speed for RS485 network 1Mbit s Table 18 Operational ratings of the RS485 interface Operational Ratings of the RS23...

Страница 22: ...escription 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 2019 TRINAMIC Mo...

Страница 23: ...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 Pro bus recommended line termination 15 7 CAN bus structu...

Страница 24: ...nnector 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 Operationa...

Страница 25: ...e rst 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 eq...

Страница 26: ...MIC s speci c written consent TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ ments or in automotive applications unless speci cally designated...

Страница 27: ...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...

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