Trinamic TMCM-1316 StepRocker User manual

Module for Stepper MODULE

TMCM-1316 StepRocker Hardware Manual

Hardware Version V1.20 | Document Revision V1.22 •2021-MAR-26

The TMCM-1316 StepRocker is a single axis motor controller/driver board for 2-phase bipolar step-

per motors. It features the TRINAMIC controller/driver chain consisting of TMC4361 and TMC5160

in combination with an ARM Cortex-M4™(MK20DX128VLK7) processor. The module is intended to

be a fully functional development platform.

Features

•Single axis controller/driver for 2-phase

bipolar stepper motor

•S-shaped ramps + SixPoint™ramps

+ linear ramps

•Closed-loop operation with external

encoder

•+10. . . 30V DC supply voltage

•Up to 5.7A RMS motor current

•RS485 & USB interface

•Multi-purpose inputs and outputs

Applications

•Laboratory Automation

•Manufacturing

•Robotics

•Factory Automation

•Test & Measurement

•Technology evaluation

•First experiences with stepper

motors

•Hobby applications

Simpliﬁed Block Diagram

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Contents

1 Features 3

2 Order Codes 4

3 Mechanical and Electrical Interfacing 5

3.1 Size of board ................................................ 5

4 Connectors 6

4.1 Power Connector ............................................. 8

4.2 I/O Connector (Microcontroller) ..................................... 8

4.3 Motor Connector ............................................. 9

4.4 STOP_L, STOP_R, HOME and START connector pin assignment .................. 9

4.5 Step/Dir Input Connector Pin Assignment ............................... 10

4.6 Step/Dir Output Connector Pin Assignment ............................. 10

4.7 RS485 and CAN Connector ....................................... 10

4.7.1 Upgrade the TMCM-1316 StepRocker for CAN communication ............. 11

4.8 USB Connector .............................................. 11

4.9 Microcontroller Programming Interface ................................ 12

5 Reset to Factory Default 12

6 Jumper Settings 13

7 LEDs 14

8 Communication 15

8.1 RS485 .................................................... 15

8.2 USB ..................................................... 16

8.3 CAN (Retro-ﬁt Option) .......................................... 16

9 Functional Description 18

10 Operational Ratings and Characteristics 19

11 Abbreviations used in this Manual 20

12 Figures Index 21

13 Tables Index 22

14 Supplemental Directives 23

14.1 Producer Information .......................................... 23

14.2 Copyright .................................................. 23

14.3 Trademark Designations and Symbols ................................. 23

14.4 Target User ................................................ 23

14.5 Disclaimer: Life Support Systems .................................... 23

14.6 Disclaimer: Intended Use ........................................ 23

14.7 Collateral Documents & Tools ...................................... 24

15 Revision History 25

15.1 Hardware Revision ............................................ 25

15.2 Document Revision ............................................ 25

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1 Features

The TMCM-1316 StepRocker is a single axis motor controller/driver board for 2-phase bipolar stepper mo-

tors. It supports S-shaped ramps in addition to linear ramps and closed-loop operation together with an

external encoder. The TMCM-1316 StepRocker features the TRINAMIC controller/driver chain consisting

of TMC4361 and TMC5160 in combination with an ARM Cortex-M4™(MK20DX128VLK7) processor. The

module is intended to be a fully functional development platform.

Applications

•Highly compact single axis stepper motor controller/driver board for 2-phase bipolar stepper motors

Electrical data

•Supply voltage: +24V DC (+10.. . +30V DC)

•Motor current: up to 1.1A RMS, 3.4A RMS or 5.7A RMS (can be selected with jumpers)

Mechanical data

•Board size: 85mm x 55mm, height 15mm max. without mating connectors

•4 mounting holes for M3 screws

Interfaces

•RS485 host interface

•USB 2.0 host interface (USB micro-B connector)

•Step/Dir input (TTL level)

•Step/Dir output (+5V TTL level) for synchronisation (master-slave axes)

•3 multi-purpose inputs (can be used for ABN-encoder)

•STOP_L, STOP_R and HOME inputs

•START input for synchronized motion with several axes

•6 multi-purpose I/Os

•2 open-drain outputs

•1 analog input (0. . . 10V)

•MCU programming interface SWD (single wire debug / pads on PCB)

•Retro-ﬁt option: CAN 2.0B communication interface

Features

•TMC4361 stepper motor controller IC for on-the-ﬂy alteration of many motion speciﬁc parameters,

linear, SixPoint™, and S-shaped ramp and closed-loop support

•TMC5160 advanced stepper motor driver IC with StallGuard2™and CoolStep™features. Using the

SpreadCycle™chopper the microstep current sine wave is well formed with smooth zero crossing.

StealthChop2™can be selected for quiet operation and smooth movements.

•Up to 256 microsteps per fullstep trough MicroPlyer™technology

•EEPROM

Software

•TMCL™remote (direct mode) and standalone operation (memory for up to 1024 TMCL™commands)

•Fully supported by TMCL-IDE (PC based integrated development environment)

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2 Order Codes

The standard version of the TMCM-1316 StepRocker has RS485 and USB interfaces (CAN transceiver not

assembled).

The module is pre-programmed with TRINAMICs TMCL™ﬁrmware with all available features.

TMCM-1316 StepRocker Order Code

Order Code Description Size (LxWxH)

TMCM-1316 StepRocker 1-axis bipolar stepper motor controller/-

driver module with RS485 and USB, 5.7A

RMS, +24V

85mm x 55mm x 15mm

Table 1: TMCM-1316 StepRocker Order Code

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3 Mechanical and Electrical Interfacing

3.1 Size of board

The board with the controller/driver electronics has an overall size of 85mm x 55mm x 15mm without

mating connectors. It oﬀers four mounting holes for M3 screws (3.2mm diameter). All four mounting

holes are connected to the ground plane (signal and supply ground) of the module.

Ø 3.2

4 x M3

screws

Figure 1: Board Dimensions and Positions of Mounting Holes (all Values in mm)

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4 Connectors

The TMCM-1316 StepRocker has nine connectors altogehter. There are two screw connectors for power

and motor and two interface connectors (micro-USB and RS485). Furthermore, the TMCM-1316 StepRocker

has one connector for reference and home switches and synchronisation signal (START), one step/direc-

tion input connector (TTL level) and one output connector and the GPIO connector, which can be used

e.g. for connecting an ABN-encoder.

NOTICE Start with power supply OFF and do not connect or disconnect motor dur-

ing operation! Motor cable and motor inductivity might lead to voltage spikes

when the motor is (dis)connected while energized. These voltage spikes might ex-

ceed voltage limits of the driver MOSFETs and might permanently damage them.

Therefore, always switch oﬀ / disconnect power supply or at least disable driver

stage before connecting / disconnecting motor.

(CAN

optional)

RS485

Power

USB

GPIO

Motor

+5V Output

Step/Dir

Out

Step/Dir

STOP_L,

STOP_R,

HOME,

START

Figure 2: TMCM-1316 StepRocker Connectors

Connector Types and Mating Connectors

Connector Connector type on-board Mating connector type

Power RIA 220-02, 2 pin, 5.08mm pitch,

shrouded header

RIA 249-02, screw type terminal

block, pluggable, centerline 5.08mm

pitch

Motor RIA 183-04, 4 pin, 3.5mm pitch,

schrouded header

RIA 169-04, screw type terminal

block, pluggable, centerline 3.5mm

pitch

USB USB-micro-B female connector USB-micro male connector

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Connector Connector type on-board Mating connector type

RS485/CAN Low proﬁle box header without lock-

ing bar, type 8380, 10 pin, DIN 41651,

2.54mm pitch

Low proﬁle IDC socket connector, 10

pin, DIN 41651, 2.54mm pitch

GPIO Header, double row, 14 pin, 2.54mm

pitch

Female connector with 2.54mm pitch

STOP_L, STOP_R,

HOME, START

Header, 5 pin, 2.54mm pitch Female connector with 2.54mm pitch

Step/Dir In Header, 3 pin, 2.54mm pitch Female connector with 2.54mm pitch

Step/Dir Out Header, 3 pin, 2.54mm pitch Female connector with 2.54mm pitch

+5V output Header, 2 pin, 2.54mm pitch Female connector with 2.54mm pitch

Table 2: Connector Types and Mating Connectors of the TMCM-1316 StepRocker

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4.1 Power Connector

Power Supply Connector Pin Assigment

Pin Label Direction Description

1 GND Power (GND) Common system supply and signal ground

2 12. . . 30V Power (input) Power supply voltage

Table 3: Power Supply Connector Pin Assignment

NOTICE Do not connect or disconnect motor during operation! Motor cable and mo-

tor inductivity might lead to voltage spikes when the motor is (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 disable driver stage before connecting /

disconnecting motor.

NOTICE Take care of polarity, wrong polarity can destroy the board!

4.2 I/O Connector (Microcontroller)

The TMCM-1316 StepRocker oﬀers an on-board ARM Cortex-M4™microcontroller with +3V3 powered IOs

and +5V tolerant inputs. In order to be compatible with previous generations of the module, +5V output

level-shifters/buﬀers have been integrated on-board. This way, all general purpose IO pins conﬁgured as

outputs will deliver +5V TTL signals.

GPIO Connector Pin Assignment

Pin Label Direction Description

1 GND Power (GND) Supply and signal ground

2 GND Power (GND) Supply and signal ground

3 PWMD_0 in/out General purpose I/O (+5V compatible,

default: input)

4 PWMU_0 in/out General purpose I/O (+5V compatible,

default: output)

5 PWMD_1 in/out General purpose I/O (+5V compatible,

default: input)

6 PWMU_1 in/out General purpose I/O (+5V compatible,

default: output)

7 PWMD_2 in/out General purpose I/O (+5V compatible,

default: input)

8 PWMU_2 in/out General purpose I/O (+5V compatible,

default: output)

9 AIN_0 in Analog input

Input voltage range: 0. . . +10V

Resolution: 12bit (0. . . 4095)

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Pin Label Direction Description

10 PHASE_A in Encoder input channel A (+5V com-

patible, internal pull-up to +5V)

11 OpenDrain_1 out Open-drain output (max. 100mA)

12 PHASE_B in Encoder input channel B (+5V com-

patible, internal pull-up to +5V)

13 OpenDrain_2 out Open-drain output (max. 100mA)

14 PHASE_Z in Encoder input zero channel (+5V

compatible, internal pull-up to +5V)

Table 4: I/O Connector Pin Assignment

4.3 Motor Connector

The motor has to be connected to the motor connector, one phase (phase A) between A1 and A2 and the

second phase (phase B) between B1 and B2.

Motor Connector Pin Assignment

Pin Label Direction Description

1 B1 out Pin 1 of motor coil B

2 B2 out Pin 2 of motor coil B

3 A1 out Pin 1 of motor coil A

4 A2 out Pin 2 of motor coil A

Table 5: Motor Connector Pin Assignment

NOTICE Do not connect or disconnect motor during operation! Motor cable and mo-

tor inductivity might lead to voltage spikes when the motor is (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 disable driver stage before connecting /

disconnecting motor.

4.4 STOP_L, STOP_R, HOME and START connector pin assignment

STOP_L, STOP_R, HOME and START connector pin assignment

Pin Label Direction Description

1 GND Power (GND) Signal and system ground

2 STOP_L in Input for left stop/limit switch

3 STOP_R in Input for right stop/limit switch

4 HOME in Input for home/reference switch

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Pin Label Direction Description

5 START in Input for start signal (master / slave synchronisa-

tion)

Table 6: STOP_L, STOP_R, HOME and START Connector Pin Assignment

4.5 Step/Dir Input Connector Pin Assignment

Step/Dir Input connector pin assignment

Pin Label Direction Description

1 GND Power (GND) Signal and system ground

2 STEP_IN in Input for step pulse signal

3 DIR_IN in Input for direction signal

Table 7: Step/Dir Input Connector Pin Assignment

4.6 Step/Dir Output Connector Pin Assignment

Step/Dir Output connector pin assignment

Pin Label Direction Description

1 GND Power (GND) Signal and system ground

2 STEP_OUT in Output for step pulse signal

3 DIR_OUT in Output for direction signal

Table 8: Step/Dir Output Connector Pin Assignment

4.7 RS485 and CAN Connector

The standard TMCM-1316 StepRocker oﬀers the RS485 interface only.

RS485/CAN Connector Pin Assignment

Pin Label Direction Description

3 CAN_L bi-directional diﬀerential CAN bus signal (inverting) - retro-ﬁt op-

tion

4 CAN_H bi-directional diﬀerential CAN bus signal (non-inverting) - retro-

ﬁt option

5 GND Power (GND) Signal and system ground

6 RS485+ bi-directional diﬀerential RS485 bus signal (non-inverting)

7 RS485- bi-directional diﬀerential RS485 bus signal (inverting)

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