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modules for stepper motors modules trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com hardware version v 1.1 0 hardware manual + + tmcm - 6212 tmcm - 6213 6 - axe s s tepper controller / d river up - to 1.1a rms / 24 v dc encoder / home / stop 4 x analog / digital inputs 4 x digital outputs brake chopper support can, rs485, usb (tmcm - 6212 ) ethercat?, usb (tmcm - 6213 ) + +
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 2 copyright ? 2016, trinamic motion control gmbh & co. kg table of c ontents 1 life support policy ................................ ................................ ................................ ................................ ....................... 3 2 features ................................ ................................ ................................ ................................ ................................ ........... 4 3 order codes ................................ ................................ ................................ ................................ ................................ .... 5 4 mechanical and electrical interfacing ................................ ................................ ................................ ..................... 6 4.1 dimensions and mounting holes ................................ ................................ ................................ ................... 6 4.2 board mounting considerations ................................ ................................ ................................ ...................... 7 5 connectors of tmcm - 6212 and tmcm - 6213 ................................ ................................ ................................ ........... 8 5.1 tmcm - 6212 interface brick ................................ ................................ ................................ ................................ 8 5.1.1 rs485 connector ................................ ................................ ................................ ................................ ............ 9 5.1.2 can connector ................................ ................................ ................................ ................................ ................ 9 5.1.3 usb connector ................................ ................................ ................................ ................................ .............. 10 5.1.4 inputs ................................ ................................ ................................ ................................ .............................. 10 5.1.5 outputs ................................ ................................ ................................ ................................ ........................... 11 5.2 tmcm - 6213 interface brick ................................ ................................ ................................ .............................. 11 5.2.1 ethercat? connector ................................ ................................ ................................ ................................ . 12 5.2.2 usb connector ................................ ................................ ................................ ................................ .............. 12 5.2.3 inputs ................................ ................................ ................................ ................................ .............................. 12 5.2.4 outputs ................................ ................................ ................................ ................................ ........................... 13 5.3 tmcm - 6212 + tmcm - 6213 driver brick ................................ ................................ ................................ .......... 13 5.3.1 motor connector ................................ ................................ ................................ ................................ ........... 14 5.3.2 ref / home connector ................................ ................................ ................................ ................................ 15 5.3.3 encoder connector ................................ ................................ ................................ ................................ ....... 15 5.4 tmcm - 6212 + tmcm - 6213 power supply brick ................................ ................................ ........................... 16 5.4.1 power connector ................................ ................................ ................................ ................................ .......... 17 5.4.2 control connector ................................ ................................ ................................ ................................ ........ 17 5.4.3 resistor connector ................................ ................................ ................................ ................................ ....... 18 5.5 power supply ................................ ................................ ................................ ................................ ...................... 18 5.6 rs485 ................................ ................................ ................................ ................................ ................................ ..... 18 5.7 can ................................ ................................ ................................ ................................ ................................ ........ 20 5.7.1 can adapter ................................ ................................ ................................ ................................ .................. 21 6 motor driver current ................................ ................................ ................................ ................................ .................. 22 7 on board leds ................................ ................................ ................................ ................................ ............................. 23 7.1 power supply brick ................................ ................................ ................................ ................................ ............ 23 7.2 tmcm - 6212 interface brick ................................ ................................ ................................ .............................. 23 7.3 tmcm - 6213 interface brick ................................ ................................ ................................ .............................. 24 8 reset to factory default ................................ ................................ ................................ ................................ ........... 24 9 operational ratings ................................ ................................ ................................ ................................ .................... 25 10 tmcm - 6212 functional description ................................ ................................ ................................ ........................ 26 11 tmcm - 6213 functional description ................................ ................................ ................................ ........................ 27 12 revision history ................................ ................................ ................................ ................................ .......................... 28 12.1 document revision ................................ ................................ ................................ ................................ ............ 28 12.2 hardware revision ................................ ................................ ................................ ................................ ............. 28 13 references ................................ ................................ ................................ ................................ ................................ ..... 28
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 3 copyright ? 2016, trinamic motion control gmbh & co. kg 1 life support policy trinamic motion cont rol 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, an d whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. ? trinamic m ot ion control gmbh & co. kg 2016 information given in th is data sheet is believed to be accurate and reliable. however neither 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 subje ct to change without notice.
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 4 copyright ? 2016, trinamic motion control gmbh & co. kg 2 features the tmcm - 6212 / tmcm - 6213 is a six axe s controller/driver module for 2 - p hase bipolar stepper motors with separate encoder (differential) and home / stop switch inputs for each axis . can, rs485 and usb (micro - usb) int erface s are available on the tmcm - 6212 and ethercat? together with usb (micro - usb) on the tmcm - 6213 for communication . furthermore the modules offer four analog / digital inputs and four digital outputs together with a brake chopper unit (supporting an ext ernal brake resistor) for supply voltage limitation when energy is fe d back in to the supply rail . m ain c haracteristics motion controller ? motion profile calculation in real - time (supporting linear and sixpoint? ramps) ? on the fly alteration of motor parame ters (e.g. position, velocity, acceleration) ? dedicated home + stop sw itch inputs ( internal pull - ups ) ? high performance microcontroller for overall system control and communication protocol handling bipolar stepper motor driver ? up to 256 microsteps per full step ? high - efficient operation, low power dissipation ? dynamic current control ? integrated protection ? stealthchop? for quiet operation and smooth motion ? dcstep? feature for load dependent speed control ? stallguard2 ? feature for stall detection ? coolstep ? featu re for reduced power consumption and heat dissipation interfaces ? tmcm - 6212 : can + rs485 ? tmcm - 6213 : ethercat? ? usb full speed (12mbit/s) device interface (micro - usb) ? differential encoder input per motor axis (6x) ? home, stop_l, stop_r switch inputs with inte rnal pull - ups per motor axis (6x) ? 4 general purpose analog inputs (0..10v ) or digital inputs (accept +24v signals) ? 4 general purpose digital outputs (open - drain) software ? tmcl? remote (direct mode) and standalone operation with mem ory for up to 1024 tmcl commands ? tmcm - 6212 : canopen firmware available ? tmcm - 6213 : coe (canopen over ethercat?) firmware available electrical data ? supply voltage: nom. +12v and +24 v with +10v +35 v supply voltage operating range ? motor current: up to 1.1 a rms (programmable) mech anical data ? board size: 215 mm x 10 0 mm, overall height 21 mm max. ( incl. pcb but, without mating connectors and cables) ? 12 x m3 mounting holes (optional) please see separate tmcm - 6212 / tmcm - 6213 software / firmware documentation for additional informati on r egarding programming and communication protocol .
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 5 copyright ? 2016, trinamic motion control gmbh & co. kg 3 order codes the tmcm - 6212 unit is available with two different firmware options : order code description size of unit tmcm - 6212 - tmcl 6 - ax es controller / driver up - to 1.1 a rms / +24 v , can + rs485 + usb with standard tmcl firmware 215 mm x 10 0 mm x 2 1 mm tmcm - 6212 - canopen 6 - ax es controller / driver up - to 1.1 a rms / +24v, can + rs485 + usb with canopen firmware 215mm x 100mm x 21mm table 3 . 1 : tmcm - 6212 o rder code the tmcm - 6213 unit is ava ilable as: order code description size of unit tmcm - 6213 - coe 6 - ax es controller / driver up - to 1.1 a rms / +24v, ethercat? + usb with canopen over ethercat? table 3 .2: tmcm - 6213 o rder code a cable loom is a vailable, also: order code description g4 - cable cable loom for tmcm - 6210/6211, tmcm - 6212/6213, tmcm - 3212/3213, tmcm - 3214/3215, tmcm - 3312/3313 and tmcm - 3314/3315. contains: - 1 x cable loom for rs48 5 connector (6212 ) - 1x stand ard cat5 cable with 2x rj4 5 for c an / ethercat (6212/6213 ) - 1x rj45 - 2 - dsub_g4_v10 adapter (for can r j45 < - > d - sub translation) (6212 ) - 1 x micro - usb cable (6212/6213 ) - 1x cable loom for inputs connector (6212/6213 ) - 1x cable loom for outputs connector (6212/6213 ) - 6x cable loom for motor connec tor (small) (6212/6213 ) - 3x cable loom for motor connector (big) - 6x cable loom for encoder connector (6212/6213 ) - 6x cable loom for ref / home connector (6212/6213 ) - 1 cable loom for power connector (small) (6212/6213 ) - 1x cable loom for power connector (big) - 1x cable loom for control connector (6212/6213 ) - 1x cable loom for resistor connector (6212/6213 ) please note: there is one cable loom available for a complete family of modules in order to speed - up initial setup of these modules. the family consists of t hese currently planned / available modules: tmcm - 6210/6211, tmcm - 6212/6213, tmcm - 3212/3213, tmcm - 3214/3215, tmcm - 3312/3313 and tmcm - 3314/3315. not all cables are required for all modules C some cable will fit or will be helpful for some modules, only. modu le numbers in parenthesis be hind each cable in the table above indicate whether the particular part of the cable loo m can be used with the tmcm - 6212 and / or tmcm - 6213 .
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 6 copyright ? 2016, trinamic motion control gmbh & co. kg 4 mechanical and electrical interfacing 4.1 dimensions and mounting holes the dimensions of the tmcm - 6212 and tmcm - 6213 contro ller/driver board are approx. 215mm x 100mm x 21 mm. maximum component height (height above pcb level) witho u t mating connectors is around 17mm above pcb level and 2 mm below pcb level. there are 12 mounting holes for m3 screws (3.2 mm diameter) altogether for mounting the pcb . f igure 4 . 1 d imension of tmcm - 6212 / tmcm - 6213 and position of mounting holes please note: tmcm - 6212 and tmcm - 6213 share the same pcb with differen t assembly options regarding the interface section. dimensions, mounting holes and board mounting considerations ( see chapter below ) are the same for both boards.
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 7 copyright ? 2016, trinamic motion control gmbh & co. kg 4.2 board mounting considerations the tmcm - 6212 / tmcm - 6213 offer 12 metal plated mounting hole s. one hole (lower right) is connected to on - board system ground ( connected to power supply input ground) via 1m (500vdc) || 1nf (1kv). the same combination or resistor and capacitor is used for connecting the rj45 shield ground (connector enclosure) to po wer supply input ground (see figure 4.1). figure 4.2 tmcm - 6212 / tmcm - 6213 mounting hole connections all other mounting holes are electrically isolated. please note that not all holes have to be used for mounting the pcb. at l east the mounting holes in all four corners and two in the middle (6 altogether) should be used to ensure adequate support of the pcb when inserting / removing connectors in order to avoid significant bending of the pcb. in any case: please remove / attac h mating connectors carefully C supporting the pcb if necessary! n . c . n . c . n . c . n . c . n . c . n . c . n . c . n . c . n . c . n . c . n . c . 1 m 1 n f 1 m 1 m 1 n f 1 n f
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 8 copyright ? 2016, trinamic motion control gmbh & co. kg 5 connectors of tmcm - 6212 and tmcm - 621 3 the tmcm - 6212 and tmcm - 6213 are two members of a new family of modules with a modular architecture composed of so called bricks. the tmcm - 6212 and tmcm - 6213 consist of one interface brick, three dual - axes stepper motor controller / driver bricks and one supply brick. with the tmcm - 6212 the interface brick offers can and rs485 interfaces while with th e tmcm - 6213 the ethercat? option is assembled inst ead. all other bricks are the same for both modules. figure 5.1 differe nt bricks used for the tmcm - 6212 / tmcm - 6213 5.1 tmcm - 6212 interface brick the interface brick of the tmcm - 6 212 offers rs485, can and usb interfaces for commu nication, four general purpose analog inputs (which can be used as digital inputs as well) and four open - drain outputs. figure 5.2 tmcm - 6212 interface brick i n t e r f a c e b r i c k d r i v e r b r i c k d r i v e r b r i c k d r i v e r b r i c k s u p p l y b r i c k m o t o r 0 m o t o r 1 m o t o r 2 m o t o r 4 m o t o r 3 m o t o r 5 1 3 3 1 1 4 5 8 1 5 6 1 0 r s 4 8 5 ( 2 x ) r s 4 8 5 - 3 r s 4 8 5 + g n d 1 2 c a n ( 2 x ) g n d 3 c a n _ l c a n _ h 1 2 n . c . 6 n . c . n . c . 4 5 n . c . 8 n . c . 7 o u t p u t s o u t 3 o u t 2 3 4 o u t 1 o u t 0 1 2 + 2 4 v + 2 4 v 7 8 + 2 4 v + 2 4 v 5 6 i n p u t s a i n 2 a i n 1 3 4 a i n 0 + 2 4 v 1 2 g n d g n d 8 9 g n d g n d 6 7 a i n 3 5 g n d 1 0 u s b ( m i c r o u s b ) 1 8 1 8
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 9 copyright ? 2016, trinamic motion control gmbh & co. kg connector and mating connector overview: label connector type mati ng connector type rs485 molex microfit?, molex microfit?, molex microfit?, molex microfit?, molex microfit?, molex microfit?, table 5 . 1 tmcm - 6212 interface brick: c onnectors and mating connectors 5.1.1 rs485 connector there are two rs485 connectors on the board with the same pin assignment C pins directly connected to each other . the second connector may be used for attachi ng a bus termination resistor to the rs485 bus (there is no termination resistor on - board) or for further distribution of the rs485 bus signals to other rs485 communication nodes while maintaining a proper bus structure. a three pin molex microfit? connec tor (molex part no. 4 3650 0315) is used for rs485 connection. mating connector housing e.g. molex 43645 - 0300 , contacts molex 43030 - 0007 . please note that there are alternativ e options available from molex for both, housing and contacts. pin label direction description 1 gnd power supply and signal ground 2 rs485+ bi - directional rs485 interface, diff. signal (non - inverting) 3 rs485 - bi - directional rs485 interface, diff signal (inverting) table 5 .1 : interface brick: rs485 c onnector 5.1.2 can connector there are two can connectors on the board with the same pin assignment C pins directly connected to each other. the second one may be used for attaching a bus termination resistor to the rs485 bus (there is no termination resistor on - board) or for further distribution of the can bus signals to other can nodes while maintaining a proper bus structure. a standard rj45 plug connector is used for can communication. standard cat cables (e.g. cat 5, non - crossing) might be used for connectio n. pin assignment of the rj45 is based on the cia 303 - 1 recommendation. pin label direction description 1 can_h bi - directional can interface, diff signal (non - inverting) 2 can_l bi - directional can interface, diff signal (i nverting) 3 gnd power supply and signal ground 4 n.c. 5 n.c. 6 n.c. 7 n.c. 8 n.c. table 5.2 interface brick: can connector 1 3 1 8
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 10 copyright ? 2016, trinamic motion control gmbh & co. kg 5.1.3 usb connector the tmcm - 6212 / tmcm - 6213 offers a m icro usb connector (type b, device interface) for communicat ion. the usb interface supports usb high speed communication (12mbit/s). with usb attached the digital logic part of th e tmcm - 6212 / tmcm - 6213 will be supplied via usb (usb powered mode) if there is no main supply available. this mode may be used for firmw are - updates, tmcl - program download or parameter settings etc. (requires usb connection, only). please note that in usb stand - alone mode (main board supply available) the board might still draw current from the usb supply C depending on the voltage level of the usb +5v and the on - board generated +5v. 5.1.4 inputs the tmcm - 6212 / tmcm - 6213 offer four analog inputs (nom. 0..10v range) which may be used as digital inputs, also (+24v tolerant) . the four inputs are available via one 10 pin molex microfit? connector (m olex part no. 4 30451012 ). mating connector housing e.g. molex 43025 - 10 00, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direct ion description 1 +24v power output connected to power supply input (+24v digital supply input on power control connector). max. output current (together with all +24v out on output connector: 500ma / polyfuse protected) 2 ain0 input analog input chann el 0 (nom. 0..10v) 3 ain1 input analog input channel 1 (nom. 0..10v) 4 ain2 input analog input channel 2 (nom. 0..10v) 5 ain3 input analog input channel 3 (nom. 0..10v) 6 gnd power supply and signal ground 7 gnd power supply and signal ground 8 gnd power supply and signal ground 9 gnd power supply and signal ground 10 gnd power supply and signal ground table 5.3: interface brick: input connector 1 5 6 1 0
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 11 copyright ? 2016, trinamic motion control gmbh & co. kg 5.1.5 outputs the tmcm - 6212 / tmc m - 6213 offer four digital outputs (open - drain). the four outputs are available via one 8 pin molex microfit? c onnector (molex part no. 43045 - 08 12). mating conn ector housing e.g. molex 43025 - 08 00, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and c ontacts. pin label direction description 1 aout0 output open - drain output 2 aout1 output open - drain output 3 aout2 output open - drain output 4 aout3 output open - drain output 5 +24v power output connected to power sup ply input (+24v digital supply input on power control connector). max. output current together with +24v power output on input connector: 500ma / polyfuse protected) 6 +24v power output connected to power supply input (+24v digital supply input on power control connector). max. output current together with +24v power output on input connector: 500ma / polyfuse protected) 7 +24v power output connected to power supply input (+24v digital supply input on power control connector). max. output current togeth er with +24v power output on input connector: 500ma / polyfuse protected) 8 +24v power output connected to power supply input (+24v digital supply input on power control connector). max. output current together with +24v power output on input connector: 500ma / polyfuse protected) table 5.4: interface brick: output connector 5.2 tmcm - 6213 interface brick the interface brick of the tmcm - 6213 offers ethercat? and usb interfaces for communication, four general purpose analog inputs (which can be used as digital inputs as well) and four open - drain outputs. figure 5.3 tmcm - 6213 interface brick 1 4 5 8 1 4 5 8 1 5 6 1 0 o u t p u t s o u t 3 o u t 2 3 4 o u t 1 o u t 0 1 2 + 2 4 v + 2 4 v 7 8 + 2 4 v + 2 4 v 5 6 i n p u t s a i n 2 a i n 1 3 4 a i n 0 + 2 4 v 1 2 g n d g n d 8 9 g n d g n d 6 7 a i n 3 5 g n d 1 0 u s b ( m i c r o u s b ) e t h e r c a t ( 2 x ) r x + 3 t x - t x + 1 2 r x - 6 4 5 8 7 1 8 1 8 l i n k i n l i n k o u t
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 12 copyright ? 2016, trinamic motion control gmbh & co. kg connector and mating connector overview: label connector type mating connector type ethercat? molex microfit?, molex microfit?, rofit?, molex microfit?, table 5 . 5: tmcm - 6213 interface brick: c onnectors and mating connectors 5.2.1 ethercat? connector there are two ethercat? connectors on the board C one for li nk in (towards / coming from ethercat? master) and one for link out (for connecting further slaves) connection. a standard rj45 plug connector (as used for 10/100mbit/s ethernet) is used for ethercat? co mmunication. standard cat cable suitable for 100mbit /s ethernet (e.g. cat 5 / 5e etc.) m ight be used for connection . the phys used on the tmcm - 6213 support auto mdi - x C therefore, tx and rx signals on the connector might be exchanged C e.g. cables with straight - through pin - assignment can be used. pin label direction description 1 tx+ output transmit data output, differential, non - inverting 2 tx - output transmit data output, differential, inverting 3 rx+ input receive data input, differential, non - inverting 4 5 6 rx - input receive data input, differential, inverting 7 8 table 5.6: tmcm - 6213 interface brick: ethercat? connector 5.2.2 usb connector the tmcm - 6212 / tmcm - 6213 offers a micro usb connector (type b, device interface) for communication. the usb int erface supports usb high speed communication (12mbit/s). with usb attached the dig ital logic part of the tmcm - 6212 / tmcm - 6213 will be supplied via usb (usb powered mode) if there is no main supply available. this mode may be used for firmware - updates, tmc l - program download or parameter settings etc. (requires usb connection, only). please note that in usb stand - alone mode (main board supply available) the board might still draw current from the usb supply C depending on the voltage level of the usb +5v and the on - board generated +5v. 5.2.3 inputs the tmcm - 6212 / tmcm - 6213 offer four analog inputs (nom. 0..10v range) which may be used as digital inputs, also (+24v tolerant). the four inputs are available via one 10 pin molex microfit? connector (molex part no. 43 0451012). mating connector housing e.g. molex 43025 - 1000, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. 1 8
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 13 copyright ? 2016, trinamic motion control gmbh & co. kg pin label direction description 1 +24v power output connected to power supply input (+24v digital supply input on power control connector). max. output current (together with all +24v out on output connector: 500ma / polyfuse protected) 2 ain0 input analog input channel 0 (nom. 0..10 v) 3 ain1 input analog input channel 1 (nom. 0..10v) 4 ain2 input analog input channel 2 (nom. 0..10v) 5 ain3 input analog input channel 3 (nom. 0..10v) 6 gnd power supply and signal ground 7 gnd power supply and signal ground 8 gnd power sup ply and signal ground 9 gnd power supply and signal ground 10 gnd power supply and signal ground table 5.7 : interface brick: input connector 5.2.4 outputs the tmcm - 6212 / tmcm - 6213 offer four digital outputs (open - drain). the four outputs are available via one 8 pin molex microfit? connector (molex part no. 43045 - 0812). mating connector housing e.g. molex 43025 - 0800, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direction description 1 out0 output open - drain output channel 0 2 out1 output open - drain output channel 1 3 out2 output open - drain output channel 2 4 out3 output open - drain output channel 3 5 +24v power output conn ected to power supply input (+24v digital supply input on power control connector). max. output current together with +24v power output on input connector: 500ma / polyfuse protected) 6 +24v power output connected to power supply input (+24v digital supp ly input on power control connector). max. output current together with +24v power output on input connector: 500ma / polyfuse protected) 7 +24v power output connected to power supply input (+24v digital supply input on power control connector). max. out put current together with +24v power output on input connector: 500ma / polyfuse protected) 8 +24v power output connected to power supply input (+24v digital supply input on power control connector). max. output current together with +24v power output on input connector: 500ma / polyfuse protected) table 5.8 : interface brick: output connector 5.3 tmcm - 6212 + tmcm - 6213 driver brick t he driver brick of the tmcm - 6212 and tmcm - 6213 offers two outputs for bipol ar stepper motors with up - to 1.1 a rms / 1.5 a peak mot or current (programmable), separate home + refl and ref r inputs and encoder inputs (for incremental abn encoders with differential signals) for each motor axes. please note that due to sharing of hardware resources either refl and refr inputs or encoder in puts are available at a given point in time and may be used. the tmcm - 6212 and tmcm - 6213 offer three such driver bricks, supporting 6 stepper motors altogether. 1 5 6 1 0 1 4 5 8
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 14 copyright ? 2016, trinamic motion control gmbh & co. kg figure 5 . 4 tmcm - 6212 + tmcm - 6213 driver brick label connector ty pe mating connector type motor molex micro fit jr.?, fit jr.?, molex microfit?, molex microfit?, molex microfit?, molex microfit?, table 5 . 9 tmcm - 6212 and tmcm - 6213 driver brick: c onnectors and mating connectors 5.3.1 motor connector as there are two bipolar stepper motors supported per single driver brick there are also two motor connectors per brick . each motor (with two coils a + b and four connecting wires) can be connected via one 4 pin molex microfit? connector (molex part no. 43045 - 0412). mati ng connector housing e.g. molex 43025 - 0400, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direction description 1 oa1 output m otor coil a 2 ob1 output motor coil b 3 oa2 output motor coil a 4 ob2 output motor coil b table 5.10 : driver brick: motor connector caution do not connect or disconnect motor during operation! motor cable and motor inductivity might lead to volta ge spikes when the motor is disconnected / connected while energized. these voltage spikes might exceed voltage limits of the driver mosfets and might permanently damage them . therefore, always switch off and / or disconnect power supply before connecting / disconnecting the motor. 1 2 3 4 1 4 5 8 1 3 4 6 m o t o r o b 1 o a 1 1 2 o b 2 o a 2 3 4 e n c o d e r e n c _ n + e n c _ b + 3 4 e n c _ a + g n d 1 2 e n c _ n - e n c _ b - 7 8 e n c _ a - + 5 v _ o u t 5 6 r e f / h o m e h o m e 3 r e f l g n d 1 2 g n d 6 r e f r + 5 v _ o u t 4 5 4 3 2 1 8 5 4 1 m o t o r e n c o d e r 4 2 3 1 r e f / h o m e 1 3 2 4
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 15 copyright ? 2016, trinamic motion control gmbh & co. kg 5.3.2 ref / home connector there are two ref / home connectors per single driver brick C one for each motor axis. home, refl and / or refr switches may be connected via one 6 pin molex microfit? connector (molex part no. 43045 - 0612). mating connector housing e.g. molex 43025 - 0600, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. pin label direction description 1 gnd pow er supply and signal ground 2 refl input ref left / left stop switch input. internal pull - up (5k6) to +5v. external switch to ground may be connected or up - to +5v push - pull signal. 3 home input home switch input. internal pull - up (5k6) to +5v. external switch to ground may be connected or up - to +5v push - pull signal. 4 +5v_out power output connected to the on - board +5v auxiliary dc/dc converter. all +5v_out power supply outputs together on the 6 ref / home and 6 encoder c onnectors may draw up - to 1a (e. g. 100ma per encoder and up - to 20ma per ref / home switch). 5 refr input ref right / right stop switch input. internal pull - up (5k6) to +5v. external switch to ground may be connected or up - to +5v push - pull signal. 6 gnd power supply and signal ground table 5.11 : driver brick: ref / home connector 5.3.3 encoder connector there are two encoder connectors per single driver brick C one for each motor axis. incremental a/b/n encoders with differential encoder sign als are supported. the tmcm - 6212 / tmcm - 6213 offe r on - board differential line receivers (am26lv32 or equivalent) with 120r termination resistor per differential signal pair. differential encoder signals may be connected v ia one 8 pin molex microfit? c onnector (molex part no. 43045 - 08 12). mating conn ector housing e.g. molex 43025 - 08 00, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, mating housing and contacts. 1 3 4 6
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 16 copyright ? 2016, trinamic motion control gmbh & co. kg pin label direction description 1 gnd power supply and s ignal ground 2 enc_a+ input differential input of encoder channel a, non - inverting input 3 enc_b+ input differential input of encoder channel b, non - inverting input 4 enc_n+ input differential input of encoder null / zero channel, non - inverting input 5 +5v_out power output connected to the on - board +5v auxiliary dc/dc converter. all +5v_out power supply outputs together on the 6 ref / home and 6 encoder connectors may draw up - to 1a (e.g. 100ma per encoder and up - to 20ma per ref / home switch). 6 e nc_a - input differential input of encoder channel a, inverting input 7 enc_b - input differential input of encoder channel b, inverting input 8 enc_n - input differential input of encoder null / zero channel, inverting input table 5.12 : driver brick: en coder connector 5.4 tmcm - 6212 + tmcm - 621 3 power supply brick the pow er supply brick of the tmcm - 6212 and tmcm - 6213 offers one main supply input via the power connector, separate logic supply input as an option and a hardware driver stage enable input on the co ntrol connector and connection for an external brake connector with the on - board brake chopper circuit. figure 5.5 : tmcm - 6212 + tmcm - 6213 power supply brick connector and mating connector overview: label connector type mating connector type power molex minifit jr.?, molex minifit jr.?, molex microfit?, molex microfit?, molex microfit?, molex microfit?, table 5 . 13 tmcm - 6212 and tmcm - 6213 power supply brick: c onnectors and mating connectors 1 4 5 8 1 4 2 1 2 c o n t r o l + 2 4 v _ l o g i c e n a b l e 1 2 g n d + 2 4 v _ l o g i c 3 4 p o w e r + 2 4 v g n d 1 2 r e s i s t o r r e s i s t o r + 2 4 v 1 2 1
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 17 copyright ? 2016, trinamic motion control gmbh & co. kg 5.4.1 power connector a two pin molex minif it jr. ? connector (molex part no. 39 - 28 - 1023 ) is available for power supply connection. mating connector housing e.g. molex 39 - 01 - 2020 , contacts molex 39 - 00 - 0039 . please note that there are alternative options available from molex for both, housing and con tacts. pin label direction description 1 gnd power supply and signal ground 2 +24v power supply input power supply input. +12v +24v +/ table 5.14 : power supply brick: power connector caution always keep the power supply voltage (+ 24v) below the upper limit of 35 v! otherwise the driver electronics will be seriously damaged. especially, when the selected operating voltage i s near the upper limit a regulated power supply is highly recommended. always keep the logic power supply voltage (+24v_logic) above or equal to the main power supply ! otherwise the on - board electronics (diode connection between +24v main power supply in put and +24v logic supply input) might be seriously damaged. 5.4.2 control connector a four pin molex microfit? connector (molex part no. 436500415) is used for the driver stage enable signal and option al separate logic supply input. mating connector housing e. g. molex 43645 - 0400, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, housing and contacts. pin label direction description 1 gnd power supply and signal ground 2 +24 v_logic power supply input separate logic supply input. may be used in order to keep digital / logic part alive while driver stage is not supplied (power supply input via power connector either switched off or disconnected). 3 +24v_logic power supply inp ut same as pin 2. 4 enable input driver stage enable input (logic high). maybe connected to pin 3 / +24v_logic in order to enable driver. table 5.1 5 : power supply brick: control connector caution always keep the digital logic power supply voltage (+2 4v_logic ) below the upper limit of 35 v! otherwise the on - board electronics might be seriously damaged. especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. always keep the logic power sup ply voltage (+24v_logic) above or equal to the main power supply (on the power supply connector) ! otherwise the on - board electronics (diode connection between +24v main power supply input and +24v logic supply input) might be seriously damaged. 1 2 1 4
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 18 copyright ? 2016, trinamic motion control gmbh & co. kg 5.4.3 resistor connector the tmcm - 6212 and tmcm - 62 13 offer a brake chopper in hardware for limiting supply voltage in case energy is fed back from motor / driver stage into the supply rail. a two pin molex microfit? connector (molex part no. 43650 - 0215) is used for conn ecting an external brake resistor . mating connector housing e.g. molex 43645 - 0200, contacts molex 43030 - 0007. please note that there are alternative options available from molex for both, housing and contacts. pin label direct ion description 1 +24v power supply input connected to power supply input of power connector. 2 resistor output brake chopper output. an external power resistor should be connected between pin 1 and pin 2 of this connector. t a ble 5.1 6 : power supply br ick: resistor connector 5.5 power supply for proper operation care has to be taken with regard to power supply concept and design. t he tmcm - 6212 / tmcm - 6213 includes about 30 00 f/50 v of supply filter capacitors. in addition, t he module includes a 33 v suppresso r diode for over - voltage protection. nevertheless, it is important to make sure that supply voltage will not rise beyond the upper limit of +35 v! please note: d uring motor deceleration the driver stage might feedback energy from the motor into the supply r ail and supply voltage might increase. in order to limit the supply voltage a brake chopper circuit has been included on the board. when activated in software and t ogether with an external power resistor this circuit will limit the supply voltage . caution always keep the power supply voltage (+24v ) below the upper limit of 35 v! otherwise the on - board electronics might be seriously damaged. especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommend ed. in addition, the on - board brake chopper may be used together with an external power resistor connected to the resistor connector in order to limit supply voltage. always keep the digital logic power supply voltage (+24v_lo gic) below the upper limit of 35 v! otherwise the on - board electronics might be seriously damaged. especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. always keep the logic power supply voltage (+24v_logic) above or equal to the main power supply (on the power supply connector) ! otherwise the on - board electronics (diode connection between +24v main power supply input and +24v logic supply input) might be seriously damaged. there is limited reverse polarity protectio n , only ! the module will short a ny reversed supply voltage . 5.6 rs485 for remote control and communication with a host system the tmcm - 62 12 provides a two wire rs485 bus interface. for proper operation the following items should be taken into account when se tting 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 th e length of the bus. t he tmcm - 62 12 offers two connectors which are connected directly to each other and the on - board rs485 transceiver. using both connectors for passing through the bus will help with keeping a proper bus topology. 1 2
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 19 copyright ? 2016, trinamic motion control gmbh & co. kg figure 5 .3 : bus structure 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 - 62 12 does not integr ate 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 standard (eia - 485) allows up to 32 nodes to be connected to a single bus. the bus transceiver s used on the tmcm - 6212 units ( sn65hvd1781d) have a significantly reduced bus load and allow a maximum of 255 units to be connected to a single rs485 bus using tmcl firmware . please note: usually it cannot be expected to get reliable communicati on 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 - 62 12 hardware is 1mbit/s. factory default is 9600 bit/s. please see separate firmware manual s for information regarding other possible commu nication speeds below the upper limit in hardware . 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): figure 4.4 : bus lines with resistor (bias) network on one side, only or add resistor (bias) network at both ends of the bus (like profibus? termination): c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e r s 4 8 5 t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 1 2 0 r ) + 5 v g n d p u l l - u p ( 6 8 0 r ) p u l l - d o w n ( 6 8 0 r ) r s 4 8 5 - / r s 4 8 5 b t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) r s 4 8 5 + / r s 4 8 5 a
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 20 copyright ? 2016, trinamic motion control gmbh & co. kg figure 4.5 : bus lines w ith resistor (bias) network at both ends certain rs485 interface converters available for pcs already include these additional resistors (e.g. usb - 2 - 485 with bias network at one end of the bus ). 5.7 can for remote control and communication with a host system the tmcm - 6212 provides a can bus interface. 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 conne ction 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. the tmcm - 6212 offers two connectors (rj45) which are connected directly to each other and the on - board can transceiv er. using both connectors for passing through the bus will help with keeping a proper bus topology. figure 5 . 6 : can b us structure 2. bus termination : especially for longer busses and/or multiple nodes connecte d to the bus and/or high communication speeds, the bus should be properly te rminated at both ends . the tmcm - 6212 does not integrate any termination resistor. therefore, 120 ohm termination resistor s at both ends of the bus have to be added externally. n o d e n - 1 n o d e n s l a v e s l a v e t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) + 5 v g n d p u l l - u p ( 3 9 0 r ) p u l l - d o w n ( 3 9 0 r ) r s 4 8 5 - / r s 4 8 5 b r s 4 8 5 + / r s 4 8 5 a t e r m i n a t i o n r e s i s t o r ( 2 2 0 r ) + 5 v g n d p u l l - u p ( 3 9 0 r ) p u l l - d o w n ( 3 9 0 r ) c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e c a n t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) t e r m i n a t i o n r e s i s t o r ( 1 2 0 o h m ) } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 21 copyright ? 2016, trinamic motion control gmbh & co. kg 5.7.1 ca n adapter as part of the cable loom for the tmcm - 6212 (g4 - cable) an adapter pcb is vailable ( rj45 - 2 - dsub_g4_v10 ) for making can bus connection via standard d - sub connectors instead of the rj45 available on the tmcm - 6212 . a standard e.g. cat5 ethernet cable might be used to connect the rj45 c onnector on the tmcm - 6212 with the rj45 connector on the adapter pcb. the d - sub connector on the adapter pcb might then be used to connect further slaves or the master with can d - sub connectors. please make sure to maint ain a proper bus structure while using the adapter pcb. figure 5.6: rj45 - 2 - dsub pcb top view figure 5.7: rj45 - 2 - dsub schematic / connector pin assignment
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 22 copyright ? 2016, trinamic motion control gmbh & co. kg 6 motor driver current the stepper motor dr iver section of the tmcm - 6212 + tmcm - 6213 operate s cur rent controlled. the driver current may be programmed in software with 256 effective scaling steps in hardware up - to 1.1 a rms / 1 .5 a peak max. motor coil current . motor current measured for one phase with max. current settings (100% e.g. sap 6, 0, 255 ) and 256 microsteps: ch1 (yellow): motor current [50 mv / a] motor c urrent setting in software (tmc ) in tmcl axis parameter 6 (motor run current) and 7 (motor standby current) can be used for motor current setting : sap 6, 0 , // set run curre nt sap 7, 0 , // set standby current for numbers between 0 (minimum) a nd 255 (maximum) are supported . motor curr ent is scaled linearly up - to 1.1 a rms / 1 .5 a peak. ( read - out value with gap instead of sap . p lease see separate tmcm - 6212 / tmcm - 6213 firmware / software manual for further information)
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 23 copyright ? 2016, trinamic motion control gmbh & co. kg 7 on board leds there are a number of leds on - board indicating status. 7.1 power supply brick with the tmcm - 6212 and tmcm - 6213 two leds are available on the power supply brick part. figure 7.1 : leds on power supply brick led description +5v supply +5v available from on - board dc/dc converter for supply of on - board digital circuit +5v auxiliary supply +5v auxiliary supply available (can be switched on/off in software) . +5 v_out on ref/home and encoder connector. 7.2 tmcm - 6212 interface brick with the tmcm - 6212 there are two leds (one green and one red) available. both are connected to the on - board microcontroller and function is firmware dependent. with tmcl firmware the gree n led is flashing slowly during operation. during firmware updates both leds are switched on. figure 7.2: leds on tmcm - 6212 interface brick + 5 v a u x i l l i a r y s u p p l y + 5 v s u p p l y l e d ( g r e e n ) l e d ( r e d )
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 24 copyright ? 2016, trinamic motion control gmbh & co. kg 7.3 tmcm - 6213 interface brick with the tmcm - 6213 there are five leds available. two leds a re connected to the processor and three to the ethercat? slave controller (esc). in addition, one led (error) is connected to both, the microcontroller and the esc. figure 7.3: leds on tmcm - 6213 interface brick led description ethercat? link in ethercat? link out C C 8 reset to factory default for reset to fac t ory default values please follow instructions below: 1. switch off power supply. 2. short two pads of programming connector pad - array (see figu re 8.1) . 3. switch on power supply (on - board led should be flashing fast / faster than during normal operation). 4. switch off power supply. 5. remove short circuit. figure 8 . 1 reset to factory defaults (bottom view of pcb - interfa ce brick end ) l e d ( g r e e n ) e t h e r c a t l i n k i n e t h e r c a t l i n k o u t e t h e r c a t r u n e r r o r
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 25 copyright ? 2016, trinamic motion control gmbh & co. kg 9 operational ratings the operational ratings show the intended or the characteristic ranges and should be used as design values. in no case shall the maximum values be exceeded. symbol parameter min typ max unit +24 v po wer supply voltage i nput 11 24 35 v +24v_logic power supply voltage for on - board digital / logic (if supplied separately) same as +24v supply input v i peak motor coil current for sine wave peak (chopper regulated, adjustable via software) 1 .5 a i rms continuous motor cu rrent ( rms ) 1.1 a i +24 v power supply current for driver << 6 x i rms a t env environmental temperature at 6x 1.1 a rms motor current ( no forced cooling) - 30 **) +4 0 ***) c table 9 . 1 : general operational ratings of the modul e * * ) limited by test equipment. operation dow n to - 40c can be expected. test included cold start at this temperature. * * *) test set - up / procedure: module placed inside climate chamber (binder mk53) with approx. 53l volume. m otor placed outside chamb er moving slowly with motor current set to m aximum supported by module (6x 1 . 1 a rms). test dur ation: 24h. communication tested at beginning and end of test. symbol parameter min typ max unit v ref l/r_home input voltage for stop / home switch inputs re fl / refr and home 0 5.5 v v ref l/r_home_l low level voltage for stop / home switch inputs refl / refr and home 0 1.1 v v ref l/r_home_h high level voltage for stop / home switch inputs refl / ref r and home 3.3 v v out 03 t out0out out 0 3 output sink current for out0out3 ain 0 3 ain3 table 9 . 2 operati onal ratings of i/os *) please note: when using the +24v available at the output connector max. current is limited to 500ma for all outputs together due to on - board fuse (polyfuse) **) nominal upper input voltage which can be measured without saturation of the adc . max. voltage at max. adc v alue will be around 10.56v.
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 26 copyright ? 2016, trinamic motion control gmbh & co. kg 10 tmcm - 6212 functional description the tmcm - 6212 is a highly integrated controller/ driver module for 6 stepper motor axes which can be controlled via several serial interfaces (can, rs485 and usb C depending on firmware). comm unication traffic is kept low sin ce all time critical operations ( e.g. ramp calculati ons) are performed on board. the n ominal supply voltage of the unit is 12v or 24v dc . the module is designed for both, standalone operation and direct mode. full remote co ntrol of device with feedback is possible. the firmware of t he module can be updated via one of the serial interfaces (depending on module and firmware type) . in figure 10 . 1 the main parts of the tmcm - 6212 are shown: - microcontrol ler , responsible for overall control - executes the firmware ( either tmcl or canopen incl. the communication stack ) - 6 motion controller and driver (based on tmc 5130 ) with calculation of ramps and speed profiles internally in hardware (supporting linear and sixpoint? ramps) - interface for an external (e.g. optical) incremental a/b/n encoder (differential rs422 signals) for each axis - interface for home / refl / refr reference switches for each axis (either encoder interface or reference switches can be selecte d in software) - 4 general purpose analog / digital inputs - 4 general purpose digital (open - drain) outputs - three serial communication interfaces: can, rs485 and usb (micro - usb - connector) figure 10 . 1 main parts of the tmcm - 6212 c ( a r m ) c a n u s b r s 4 8 5 i n p u t s o u t p u t s 9 . . 3 5 v d c d c e e p r o m i 2 c s p i t m c m - 6 2 1 2 t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r e a / b / n e n c o d e r a / b / n e n c o d e r a / b / n e n c o d e r a / b / n e n c o d e r a / b / n e n c o d e r
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 27 copyright ? 2016, trinamic motion control gmbh & co. kg 11 tmcm - 6213 functional description the tmcm - 6213 is a highly integrated controller/ driver module for 6 stepper motor axes which offers an ethercat? interface in addition to usb for communication. the n ominal supply voltage of the unit is 12v or 24v dc . full remote control of the device with feedback is possible using the canopen over ethercat? (coe) firmware . the firmware of t he module can be updated via one of the serial interfaces. in figure 10 . 1 the ma in parts of the tmcm - 6213 are shown: - microcontroller, responsible for overall control - executes the firmware ( canopen over ethercat, coe ) - 6 axes motion controller and driver (based on tmc 5130 ) with calculation of ramps and speed profiles internally in har dware (supporting linear and sixpoint? ramps) - interface for an external (e.g. optical) incremental a/b/n encoder (differential rs422 signals) for each axis - interface for home / refl / refr reference switches for each axis (either encoder interface or refe rence switches can be selected in software) - 4 general purpose analog / digital inputs - 4 general purpose digital (open - drain) outputs - ethercat? and usb interfaces for communication figure 11 . 1 main parts of the tmcm - 6213 c ( a r m ) u s b i n p u t s o u t p u t s e e p r o m i 2 c s p i t m c 8 4 6 0 ( e t h e r c a t s l a v e c o n t r o l l e r ) s p i p h y p h y e t h e r c a t t m t m c m - 6 2 1 3 1 1 . . 3 5 v d c d c t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r a / b / n e n c o d e r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r e t m c 5 1 3 0 + 5 v + 5 v + 5 v h o m e , r e f l , r e f r e a / b / n e n c o d e r a / b / n e n c o d e r a / b / n e n c o d e r a / b / n e n c o d e r a / b / n e n c o d e r
tmcm - 6212, tmcm - 6213 hardware manual (v0.99 / 2016 - mar - 22) 28 copyright ? 2016, trinamic motion control gmbh & co. kg 12 revision history 12.1 document revision version date author description 0.90 2016 - mar - 22 ge initial version based on tmcm - 6210 / tmcm - 6213 v0.92 hardware manual table 12 . 1 : document revis ion 12.2 hardware revision version date description tmcm - 6212_v10 2016 - jan - 18 initial version tmcm - 6212_v11 2016 - feb - 17 minor i mprovements with regard to thermal design C version with ethercat? rcat? derived from tmcm table 12 . 2 : hardware revision 13 references [molex] molex connector http://www.molex.com [tmc 5130 ] tmc 5130 datasheet m anual available on http://www.trinamic.com . [tmcl - ide] tmcl - ide user manual manual available on http://www.tri namic.com .

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