Modules

The TMCM-6213 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-6213 is capable of driving up to 1.6A of current from each output (with proper heatsinking). It is designed for an operating voltage of 11...35V. The device provides a USB, EtherCAT and 6 encoder interfaces. An integrated protocol processor supplies a high level CANopen over EtherCAT communication.

Special Features

  • dcStep™
  • microPlyer™
  • coolStep™
  • spreadCycle™
  • stallGuard2™
  • stealthChop™

Technical Details

TMCM-6213
Statusactive
Axes6
Motor Supply11…35V
Phase Current, RMS1.1A
Microsteps1…256
EtherCAT™ yes
USB yes
CoE yes
sixPoint™ yes
dcStep™ yes
microPlyer™ yes
coolStep™ yes
spreadCycle™ yes
stallGuard2™ yes
stealthChop™ yes
Width215mm
Length100mm

Block Diagram / Pinout

Downloads

Documentation

FileTypeSizeModified
Hardware Manual V0.91 pdf1.5 MBMar 9, 2017 3:12 PM
Firmware Manual V1.02 pdf2.5 MBDec 19, 2016 1:57 PM

Software

FileTypeSizeModified
Firmware CoE V1.01 zip190 KBJan 19, 2017 5:11 PM