MODULE ModuleforStepper TMCM-6214HardwareManual HardwareVersionV1.30 DocumentRevisionV1.102019-MAR-25 TheTMCM-6214isa6-axesmotorcontroller/driverboardfor2-phasebipolarsteppermotorswith up-to1.9ARMSmotorcurrentand+24Vsupply.Themotioncontrollerssupport6-pointrampsin additiontolinearrampsinhardware. 3encoderinputsforincrementala/b/nencodersarein- cluded. ForcommunicationeitherCAN,RS485,RS232orUSBmaybeselected. Inaddition,there are6generalpurposedigitalinputs,2analoginputsand8generalpurposeoutputs(protected). TwoSTOinputsareavailabletogetherwithanintergatedpowersupplyswitchforthedriversup- ply. Features 6-axescontroller/driverfor2-phase bipolarsteppermotors LinearandSixPointramps +9...30VDCsupplyvoltage Upto1.9ARMSmotorcurrent RS485,CAN,RS232&USBinterfaces 3xA/B/Nencoderinputs multi-purposeinputsandoutputs (protected) STOwithintegratedpowerswitch forthedriversupply Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram TMCL Memory 3x SPI Stepper SPI TMC5161 GPIO Motor RS232 ARM Cortex M3 USB Microcontroller RS485 3x Stepper SPI CAN TMC5161 E Motor 24VDC TMCM-6214 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.TMCM-6214HardwareManualHardwareVersionV1.30 DocumentRevisionV1.102019-MAR-25 2/27 Contents 1 Features 3 2 OrderCodes 5 3 MechanicalandElectrical Interfacing 6 3.1 Sizeofboard . 6 3.2 Boardmountingconsiderations 6 4 Connectors 7 4.1 PowerSupplyInputConnector . 9 4.2 STOInputConnector 9 4.3 RS485Connector . 9 4.4 CANConnector 10 4.5 RS232Connector . 10 4.6 MotorConnector . 10 4.7 Stopswitchconnector 11 4.8 Encoderconnector 11 4.9 I/Oconnector . 12 4.10 USBConnector 12 5 On-BoardLEDs 13 6 Communication 14 6.1 RS485 . 14 6.2 CAN 15 7 Motordrivercurrent 17 8 FunctionalDescription 19 9 OperationalRatingsandCharacteristics 20 10 AbbreviationsusedinthisManual 22 11 Figures Index 23 12 Tables Index 24 13 SupplementalDirectives 25 13.1 ProducerInformation 25 13.2 Copyright . 25 13.3 TrademarkDesignationsandSymbols 25 13.4 TargetUser 25 13.5 Disclaimer:LifeSupportSystems . 25 13.6 Disclaimer: IntendedUse 25 13.7 CollateralDocuments&Tools . 26 14 RevisionHistory 27 14.1 HardwareRevision 27 14.2 DocumentRevision . 27 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com