MODULES FOR STEPPER MOTORS MODULES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
V 1.04
HARDWARE MANUAL
+ +
TMCM-1110 V1.1
1-axis stepper controller / driver
1A RMS / 2.8A RMS
24V DC
USB, RS485
+ +
UNIQUE FEATURES:
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1 Life support policy ....................................................................................................................................................... 3
2 Features ........................................................................................................................................................................... 4
3 Order codes .................................................................................................................................................................... 5
4 Mechanical and electrical interfacing ..................................................................................................................... 6
4.1 Size of board ......................................................................................................................................................... 6
4.2 Connectors ............................................................................................................................................................. 7
4.2.1 Power connector ............................................................................................................................................ 8
4.2.2 I/O connector to S3FN41F ........................................................................................................................... 8
4.2.3 Motor connector............................................................................................................................................. 8
4.2.4 Reference switch connector to TMC429 .................................................................................................. 9
4.2.5 RS485 and CAN connector .......................................................................................................................... 9
4.2.6 USB connector .............................................................................................................................................. 10
4.2.7 Step/dir input connector (motor 0) ........................................................................................................ 10
4.2.8 Step/dir output connectors (motor 1 and motor 2) .......................................................................... 10
4.2.9 µC programming interface ........................................................................................................................ 11
4.3 Jumper settings .................................................................................................................................................. 12
4.4 LEDs ....................................................................................................................................................................... 13
4.5 Communication .................................................................................................................................................. 13
4.5.1 RS485 ............................................................................................................................................................... 13
4.5.2 USB................................................................................................................................................................... 14
4.5.3 CAN (retro-fit option) .................................................................................................................................. 15
5 Functional description .............................................................................................................................................. 16
5.1 Extensions of the TMCM-1110 stepRocker .................................................................................................. 17
6 Operational ratings .................................................................................................................................................... 18
7 Revision History .......................................................................................................................................................... 19
7.1 Document revision ............................................................................................................................................ 19
7.2 Hardware revision ............................................................................................................................................. 19
8 References..................................................................................................................................................................... 19
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 3
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
1 Life support policy
TRINAMIC Motion Control 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, and whose failure to perform, when properly
used in accordance with instructions provided, can be
reasonably expected to result in personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2011
Information given in this 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 subject to change without notice.
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 4
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
2 Features
The TMCM-1110 stepRocker is a single axis motor controller/driver board for 2-phase bipolar stepper motors. It
features the TRINAMIC controller/driver chain consisting of TMC429 and TMC262 in combination with a Samsung
S3FN41F processor. The Module is intended to be a fully functional development platform. A stepRocker can be
extended to a full 3-axes system using two additional boards, because the TMCM-1110 stepRocker board can be
both, master or slave.
Software wise two different approaches are possible: it is possible to use the stepRocker with the
TrinamicMotionControlLanguage TMCL™. The board comes with the preinstalled firmware. The integrated
development environment TMCL-IDE for PC can be downloaded and used free of charge. It is possible to
remote control the stepRocker or to write and download complete command sequences for standalone use.
The alternative is to write the firmware for the microcontroller using downloadable software tools and motion
control libraries (refer to www.motioncontrol-community.org).
Applications
Highly compact single axis stepper motor controller/driver board for 2-phase bipolar stepper motors
2- and 3-axis systems using additional boards as slaves
Electrical data
Supply voltage: +24V DC (+10… +30V DC)
Motor current: up to 1A RMS or 2.8A 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 (mini-USB connector)
Step/Dir input (TTL level)
Step/Dir outputs (TTL level) for multi axis applications
3 multi-purpose inputs (can be used for ABN-encoder)
2 limit switch inputs per motor
6 multi-purpose I/Os
2 open-drain outputs
µC programming interface SWD (single wire debug / pads on PCB)
Retro-fit option: CAN 2.0B communication interface
Features
TMC429 stepper motor controller IC for on-the-fly alteration of many motion specific parameters
TMC262 advanced stepper motor driver IC with stallGuard2™ and coolStep™ features. Using the spreadCycle
chopper the µstep current sine wave is well formed with smooth zero crossing.
Ready for dcStep™
Up to 256 microsteps per fullstep trough mircoPlyer technology
2 x end switch for all three axes.
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)
Please note that the TMCM-1110 stepRocker can be used with a special TMCL™ firmware version with its source
codes in order to provide new developments, too. Here is your platform for individual TMCL™ extensions:
www.motioncontrol-community.org or www.steprocker.com.
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 5
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
3 Order codes
The standard version of the stepRocker has RS485 interface and USB interface.
The module is pre-programmed with TRINAMICs TMCL™ Firmware with all available features. For developing
one’s own firmware please refer to www.steprocker.com or www.motioncontrol-community.org.
Order code
Description
Size of unit [mm3]
TMCM-1110 stepRocker
The stepRocker is a 1-axes bipolar stepper motor
controller/driver module with RS485 and USB
85 x 55 x 15
Table 3.1: TMCM-1110 order codes
Order code
Description
CABLE-USB-MINI
USB-mini cable
Table 3.4: Related product
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 6
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4 Mechanical and electrical interfacing
4.1 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.
85
55
4
4
4
Ø 3.2
4 x M3
screws
Figure 4.1: Board dimensions and position of mounting holes (all values in mm).
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 7
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2 Connectors
The TMCM-1110 stepRocker has nine connectors altogether. There are two screw connectors for power and
motor and two interface connectors (mini-USB and RS485). Further, the stepRocker has one connector for
reference switches for all three motors, the driver input connector (TTL level) for motor 0, two controller output
connectors (TTL level) for motors 1 and 2 and the GPIO connector, which can be used e.g. for connecting an
ABN-encoder.
Start with power supply OFF and do not disconnect the motor while the board is powered as this can
destroy the transistors!
Power
Motor
Reference
switches
Controller
Out 1
Controller
Out 2
GPIO
Driver
In
USB
RS485
(CAN
optional)
1
1
14
1
1
1
1
1
1
Figure 4.2: TMCM-1110 stepRocker connectors
CONNECTORS OF TMCM-1110 STEPROCKER
Label
Connector type
Mating connector type
Power
RIA 220-02, 2 pol., 5.08mm pitch,
shrouded header
RIA 249-02, screw type terminal block,
pluggable, centerline 5.08mm pitch
Motor
RIA 183-04, 4 pol., 3.5mm pitch,
shrouded header
RIA 169-04, screw type terminal block,
pluggable, centerline 3.5mm pitch
USB
USB-mini female connector
USB-mini male connector
RS485/CAN
Low profile box header without locking
bar, type 8380, 10 pol., DIN 41651,
2.54mm pitch
Low profile IDC socket connector, 10pol.,
DIN41651, 2.54mm pitch
GPIO
Multi-pin-connector, 14 pol., 2.54mm
pitch
Female connector with 2.54mm pitch
Ref. switches
Multi-pin-connector, 7 pol., 2.54mm pitch
Female connector with 2.54mm pitch
Driver In
Multi-pin-connector, 3 pol., 2.54mm pitch
Female connector with 2.54mm pitch
Controller Out 1, 2
Multi-pin-connector, 3 pol., 2.54mm pitch
Female connector with 2.54mm pitch
Table 4.1: Connectors and mating connectors
Because of the characteristic of the TMCM-1110 stepRocker as development platform TRINAMIC offers its
internal circuit diagram here: www.steprocker.com or www.motioncontrol-community.org. Please refer to the
diagram in order to get further information about the pin assignments of µC, TMC429, and TMC262.
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 8
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.1 Power connector
Take care of the polarity, wrong polarity can destroy the board!
Pin
Label
Direction
Description
1
GND
Power (GND)
Common system supply and signal ground
2
10… 30V
Power (input)
Power supply voltage.
Table 4.2: Power connector
4.2.2 I/O connector to S3FN41F
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)
4
PWMU_0
in/out
General purpose I/O (+5V compatible)
5
PWMD_1
in/out
General purpose I/O (+5V compatible)
6
PWMU_1
in/out
General purpose I/O (+5V compatible)
7
PWMD_2
in/out
General purpose I/O (+5V compatible)
8
PWMU_2
in/out
General purpose I/O (+5V compatible)
9
AIN_0
in
Analog input (can be used as home switch)
input voltage range: 0… +10V,
resolution: 12bit (0… 4095)
10
PHASE_A
in
General purpose I/O or encoder input channel A (+5V
compatible, internal pull-up to +5V)
11
OpenDrain_1
out
Open-drain output (max. 100mA)
12
PHASE_B
in
General purpose I/O or encoder input channel B (+5V
compatible, internal pull-up to +5V)
13
OpenDrain_2
out
Open-drain output (max. 100mA)
14
PHASE_Z
in
General purpose I/O or encoder input zero channel (+5V
compatible, internal pull-up to +5V)
Table 4.3: I/O connector S3FN41F
I/Os can be used with TMCL™ forthcoming. Please ask TRINAMIC to meet your needs.
4.2.3 Motor connector
The motor is connected at the motor connector, one phase (phase A) between A1 and A2 and the second phase
(phase B) between B1 and B2.
Do not connect or disconnect the motor while the board is powered as this can destroy the transistors!
Pin
Label
Direction
Description
1
A1
out
Pin 1 of motor coil A
2
A2
out
Pin 2 of motor coil A
3
B1
out
Pin 1 of motor coil B
4
B2
out
Pin 2 of motor coil B
Table 4.5: Motor connector
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 9
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.4 Reference switch connector to TMC429
Pin
Label
Direction
Description
1
GND
Power (GND)
Signal and system ground
2
L1
in
Input for left reference/limit switch of motor 0
3
R1
in
Input for right reference/limit switch of motor 0
4
L2
in
Input for left reference/limit switch of motor 1
5
R2
in
Input for right reference/limit switch of motor 1
6
L3
in
Input for left reference/limit switch of motor 2
7
R3
in
Input for right reference/limit switch of motor 2
Table 4.6: Reference switch connector
4.2.5 RS485 and CAN connector
The standard TMCM-1110 stepRocker uses the RS485 interface pins, only.
Pin
Label
Direction
Description
1
2
3
CAN_L
bi-directional
Differential CAN bus signal (inverting) - retro-fit option
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)
8
9
10
Table 4.7: RS485/CAN connector
4.2.5.1 Prepare the stepRocker for CAN
CAN transceiver
SN65HVD1050D
Housing: SOIC8
0.1µF capacitor
Housing: 0603
The table above shows the pin configuration for CAN,
too. Before starting with CAN it is necessary to solder a
SN65HVD1050D CAN transceiver with housing SOIC8 and
a 0.1µF capacitor with housing 0603 on the TMCM-1110
stepRocker. Now, the stepRocker is ready for using the
CAN interface.
Because of the pin assignment CAN and RS485 can be
used at the same time.
It is not necessary to remove the RS485 transceiver.
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 10
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.6 USB connector
Please note, that the USB interface is forthcoming available. Please use the RS485 interface till then.
A USB interface is available via a mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s)
connections.
On-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other supply is
connected. This can be used to set parameters / download TMCL™ programs or to perform firmware updates
with the module connected via USB, only.
Pin
Label
Direction
Description
1
VBUS
Power
(+5V input)
+5V supply from host
2
D-
bi-directional
USB Data - 3 D+
bi-directional
USB Data +
4
ID
Connected to signal and system ground
5
GND
Power (GND)
Signal and system ground
Table 4.9: USB connector
4.2.7 Step/dir input connector (motor 0)
The TMCM-1110 stepRocker is equipped with a step/dir input connector for motor 0. Via this connector an
external motion controller can be used together with the on-board driver electronics. For selecting an external
motion controller instead of the on-board TMC429 motion controller two jumpers have to be set (please refer
to chapter 4.3).
Pin
Label
Direction
Description
1
GND
Power (GND)
Signal and System ground
2
Step In
in
Driver step input signal (+5V compatible)
3
Dir In
in
Driver direction input signal (+5V compatible)
Table 4.1: Step/dir input connector
4.2.8 Step/dir output connectors (motor 1 and motor 2)
The TMC429 motion controller on the stepRocker is able to control up to three stepper motors. Its Step/Dir
outputs (TTL level) for motor 1 and motor 2 are leaded through to connectors Step/Dir Out 1 and Step/Dir Out 2.
The TMCM-1110 stepRocker can be extended to a complete motion controller/driver system for all three motors.
Pin
Label
Direction
Description
1
GND
Power (GND)
Signal and System ground
2
Step Out
out
Driver step output signal (+5V compatible)
3
Dir Out
out
Driver direction output signal (+5V compatible)
Table 4.2: Step/dir output connectors
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 11
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.2.9 µC programming interface
The programming pads of the interface are on the backside of the module. There are possibilities for
programming in two different modes: debug mode and serial writing mode. The selection of the programming
mode depends on the chosen adapter. Further, it is possible to use the programming pads of the µC interface
by soldering adequate contacts directly on the programming pads.
Please refer to the datasheet of the S3FN41F microcontroller for further information.
http://www.samsung.com/global/system/business/semiconductor/product/2011/6/21/024872um_s3fn41f_rev10.pdf
PROGRAMMING PADS
Pin
Label
Description
1
GND
Module and signal ground
2
+5V
+5V DC supply
3
nRST
Hardware reset input
4
VPP
Connected to pin 14 of the processor (MODE0). VPP is used for mode setting
ether to debug mode or to flash serial writing mode.
Mode 1
Mode 0
Mode setting
0 0 User normal/debug mode.
(Used pins: SWDIO and SWDCLK.)
0 1 User flash serial writing mode.
(Used pins: F_SDAT and PHASEA.)
The user program mode for flash memory programming and sector erasing
uses the internal high voltage generator, which is necessary for flash memory
programming and sector erasing. In other words, the flash memory controller
has an internal high voltage pumping circuit. Therefore, high voltage to VPP
pin is not needed. To program the data into the flash ROM or sector erase in
this mode, control registers should be used.
5
PHASEA
Function: F_CLK – serial clock.
Write speed: max 250kHz
Read speed: max 3MHz
6
F_SDAT
Serial Data pin (output for reading, input for writing)
Input and push-pull output port can be assigned.
7
SWDIO
Select/Serial Wire Data I/O. Internal pull-up
8
SWDCLK
Serial wire clock
Table 4.3: Programming pads
GND
+5V
nRST
VPP
PHASEA
F SDAT
SWDIO
SWDCLK
1
Figure 4.2: Programming pads
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 12
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.3 Jumper settings
The TMCM-1110 stepRocker offers possibilities for settings by jumper. Here, three adjustments are mentioned.
Select motion controller and select motor current are basic. Jumpers on the GPIO connector are optional.
Select
motor
current
Select
motor
current
Select
motion
controller
Figure 4.3: Jumper of TMCM-1110 stepRocker
TMCM-1110 STEPROCKER JUMPERS
Jumper
Label
Description
Select motor current
1A/2.8A
Jumper plugged motor current up to 2.8A RMS
Jumper unplugged motor current up to 1A RMS
Select motion controller
1-2 External
2-3 TMC429
Set jumpers to select motion controller TMC429 (on the module)
or external, which have to be connected to Step/dir.
Jumper pins
Result
1, 2
External motion controller selected. LEDs
POSCOMP and interrupts are without
statement
2, 3
TMC429 selected
Table 4.4: Jumpers of TMCM-1110 stepRocker
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 13
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
4.4 LEDs
LEDS OF THE TMCM-1110 STEPROCKER
Status
Label
Description
Power on
POWER
This orange LED lights up upon the power supply is working.
LED1
without defined function
LED1
This yellow LED is applicable and can be used customer specific.
The LED is connected to pin 59 of the S3FN41F microcontroller.
LED2
without defined function
LED2
This yellow LED is applicable and can be used customer specific.
The LED is connected to pin 58 of the S3FN41F microcontroller.
POSCOMP output used
POSCOMP
This yellow LED lights up if the POSCOMP output of the TMC429 is
used. POSCMP is available for triggering when moving over a
programmable position.
Interrupt detected
Interrupt
This orange LED lights up upon interrupts. The LED is connected
to the nIND_SDO_C pin of the TMC429.
stallGuard2™ detected
stallGuard2
This red LED light up upon stalling conditions. The LED is
connected to the SG_TST pin of the TMC262.
Table 4.5: LEDs
Figure 4.4: LEDs of the stepRocker
4.5 Communication
4.5.1 RS485
For remote control and communication with a host system the TMCM-1110 provides a two wire RS485 bus
interface. For proper operation the following items should be taken into account when setting 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 the length of the bus.
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 14
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
c:>
node
1
node
n
- 1
node
n
Host
Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 4.5: RS485 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-1110 does not integrate 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 used on the TMCM-1110 units (SN65HVD3082ED) has just 1/8th of the standard bus
load and allows a maximum of 256 units to be connected to a single RS485 bus.
4. 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 as well defined logic levels. In contrast to the termination resistors
this network is normally required just once per bus. Certain RS485 interface converters available for PCs
already include these additional resistors (e.g. USB-2-485).
node
n - 1
node
n
Slave Slave
termination
resistor
(120 Ohm)
+5V
GND
pull-up (1k)
pull-down (1k)
RS485- / RS485B
RS485+ / RS485A
Figure 4.6: RS485 bus lines with resistor network
4.5.2 USB
For remote control and communication with a host system the TMCM-1110 stepRocker provides a USB 2.0 fullspeed (12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module will accept
commands via USB. The TMCM-1110 support USB self powered operation (when an external power is supplied
via the power supply connector) and USB bus powered operation, also (no external power supply via power
supply connector). During USB bus powered operation, only the core digital circuit parts will be operational.
That is, the microcontroller itself and also the EEPROM. Motor movements will not be possible. This mode has
been implemented in order to enable configuration / parameter setting / read-out, firmware updates etc. by just
connecting a USB cable between the module and a host PC. No additional cabling / external devices as e.g.
power supply etc. are required in that case.
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 15
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Please note that the module might draw current from the USB +5V bus supply even in USB self powered
operation depending on the voltage level of this supply.
4.5.3 CAN (retro-fit option)
For remote control and communication with a host system the TMCM-1110 stepRocker can be equipped with a
CAN bus interface. Please note, that it is necessary to prepare the board with a CAN transceiver and the
according capacitor first (chapter 4.2.5.1).
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 connection
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.
c:>
node
1
node
n
- 1
node
n
Host
Slave Slave Slave
CAN
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 4.7: CAN 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-1110 does not integrate any
termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be
added externally.
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 16
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5 Functional description
The TMCM-1110 stepRocker is a highly integrated 1-axes controller/driver module. The TMCM-1110 can be
controlled via RS485 or USB serial interfaces (CAN retro-fit option).
The TMCM-1110 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion
Control Language (TMCL™). Using predefined TMCL™ high level commands like move to position a rapid and
fast development of motion control applications is guaranteed. Whereas the boot loader is installed during
production and testing at TRINAMIC and remains normally untouched throughout the whole lifetime, the
firmware can be updated by the user.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are performed on
board. Full remote control of device with feedback is possible. The firmware of the module can be updated via
any of the serial interfaces.
In case, you prefer developing your own TMCL™ commands for the stepRocker refer to www.steprocker.com.
The TMCL™ boot loader on the board can be used for downloading new TMCL™ programs including such
personal extensions, too.
The TMCM-1110 module contains the following main components:
˗ ARM Cortex-MO processor Core S3FN41F microcontroller with built-in up to 256 Kbytes program flash
memory and up to 32 Kbytes SRAM. Processor is equipped with crystal (more precision for USB
communication).
˗ TMC429 highly integrated 3 axes stepper motor controller. Step-/direction outputs for motor 0 connected
to TMC262.
˗ TMC262 advanced stepper motor driver IC with stallGuard2™ and coolStep™ with integrated MOSFET
driver transistors (4x power MOSFETs for 2-phase bipolar stepper option) for motor 0.
˗ RS485 and USB transceivers.
˗ On-board switching and linear voltage regulators for supply of on-board digital circuits
10… 30V DC
µC
S3FN41F
EEPROM
CAN
assembly
option
USB
4
Inputs
1x analogue
3x with pull-ups
progammable
Motion
Controller
TMC429
3x 2 reference
switches
+5V
6
GPIOs
RS485
+5V
SPI
SPI
SPI
Step/Dir
OUT 1 (Master)
Step/Dir
OUT 2 (Master)
Power
Driver
TMC262
Step/Dir
Step/Dir
MOSFET
Driver Stage
4 x Mosfet
Step/Dir
IN 0 (Slave)
1A RMS/
2.8A RMS
Motor 0
Step/Dir
Figure 5.1: TMCM-1110 stepRocker block diagram
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 17
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.1 Extensions of the TMCM-1110 stepRocker
The TMCM-1110 stepRocker provides the possibility for extension to full 3-axis systems. The stepRocker itself can
be used as master or slave. An example for extensions is shown below.
USB
Master / Motor 0
Motor 1
Motor 2
S/D OUT
S/D IN
S/D IN
3 x REF-IN
GPI /O
USB / RS485
only initialization
and
parameterization
TMCL™
only initialization
and
parameterization
USB / RS485
Figure 5.2: TMCM-1110 stepRocker extension
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 18
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
6 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
V
Power
Power supply voltage
10
12… 24
30
V
V
USB
Power supply via USB connector
5
V
I
USB
Current withdrawn from USB supply when
USB bus powered (no other supply connected)
85 mA
I
COIL
Motor coil current for sine wave peak
(chopper regulated, adjustable via software)
0
1500 or
4000
mA
IMC
Continuous motor current (RMS)
0
1000 or
2800
mA
T
ENV
Environment temperature at rated current (no
forced cooling required)
-25
tbd
80
°C
Table 6.1: General operational ratings of the module
Symbol
Parameter
Min
Typ
Max
Unit
N
RS485
Number of nodes connected to
single RS485 network
256
Table 6.2: Operational ratings of RS485 interface
TMCM-1110 stepRocker Hardware Manual (V1.04 / 2011-OCT-31) 19
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
7 Revision History
7.1 Document revision
Version
Date
Author
SD – Sonja Dwersteg
GG – Guido Gandolfo
Description
1.00
2011-OCT-01
SD
First version
1.01
2011-OCT-04
GG
Minor changes
1.02
2011-OCT-05
SD
Minor changes
1.03
2011-OCT-27
SD
Minor changes
1.04
2011-OCT-31
SD
Minor changes
Figure 7.1: Document revision
7.2 Hardware revision
Version
Date
Description
TMCM-1110 V1.1
2011-SEP-02
Minor changes from version 1.0 to version 1.1
Figure 7.2: Hardware revision
8 References
[USB-2-485] USB-2-485 interface converter
manual available on http://www.trinamic.com
[TMC262] TMC262 datasheet
manual available on http://www.trinamic.com.
[TMC429] TMC429 datasheet
manual available on http://www.trinamic.com.
[S3FN41F] S3FN41F processor
manual available on www.samsung.com
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