Modules

TMCM-6210

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The TMCM-6210 is a sextuple axis stepper motor controller/driver module for sensorless load dependent current control. The device is powered by Trinamic stallGuard2™, coolStep™, spreadCycle™, stealthChop™ and dcStep™ technology and has a sixPoint™ ramp generator. The TMCM-6210 is capable of driving up to 1A of current from each output (with proper heatsinking). It is designed for an operating voltage of 10.5...27V. The device provides a RS485, CAN, USB and 6 encoder interfaces. An integrated protocol processor supplies a high level TMCL/ CANopen communication.

Special Features

  • microPlyer™
  • stallGuard2™
  • coolStep™
  • spreadCycle™
  • stealthChop™
  • short detection

Technical Details

TMCM-6210-CANopen
TMCM-6210-TMCL
Statusactiveactive
Axes66
Motor Supply10.5…27V10.5…27V
Phase Current, RMS0.7A0.7A
Microsteps1…2561…256
a/b/n incremental
CAN
USB
RS485
CANopen
TMCL
trapezoidal
sixPoint™
microPlyer™
stallGuard2™
coolStep™
spreadCycle™
stealthChop™
short detection
Width215mm215mm
Length100mm100mm
Height21mm21mm

Block Diagram / Pinout

Downloads

Documentation

File
Type
Size
Modified
Hardware manual V0.95 1.4 MBMar 9, 2017 3:12 PM
CANopen firmware manual revision V1.03 for firmware V3.20 2.6 MBJul 20, 2017 1:13 PM
TMCL firmware manual revision 1.04 for firmware V1.07 2.5 MBJul 20, 2017 1:13 PM
CANopen firmware manual V1.02 2.6 MBJan 6, 2017 10:14 AM
TMCL firmware manual V1.02 2.5 MBJan 6, 2017 10:11 AM

Drawings

File
Type
Size
Modified
STEP-File V1.1 160 MBJan 19, 2017 4:05 PM

Software

File
Type
Size
Modified
CANopen firmware V3.20 280 KBJul 20, 2017 1:12 PM
TMCL firmware V1.07 110 KBJul 20, 2017 1:12 PM
Firmware CANopen V3.19 110 KBJan 19, 2017 5:11 PM
Firmware TMCL V1.05 110 KBJan 5, 2017 4:47 PM

PCNs

File
Type
Size
Modified
PCN-2017-07-03 - Firmware 3.20 39 KBJul 31, 2017 7:42 AM
PCN-2017-07-01 - Firmware 1.07 41 KBJul 31, 2017 7:42 AM