MODULE FOR STEPPER MOTORS MODULE
Hardware Version V1.1
HARDWARE MANUAL
+ +
1-axis stepper
controller / driver module
1A RMS / 2.8A RMS
24V DC
USB, RS485
+ +
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 2
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 4
3 Mechanical and Electrical Interfacing ..................................................................................................................... 4
3.1 Size of Board ......................................................................................................................................................... 4
3.2 Connectors ............................................................................................................................................................. 5
3.2.1 Power Connector ........................................................................................................................................... 6
3.2.2 I/O Connector to S3FN41F .......................................................................................................................... 6
3.2.3 Motor Connector ............................................................................................................................................ 6
3.2.4 Reference Switch Connector to TMC429 ................................................................................................. 7
3.2.5 RS485 and CAN Connector .......................................................................................................................... 7
3.2.6 USB Connector ................................................................................................................................................ 8
3.2.7 Step/Dir Input Connector (Motor 0) ......................................................................................................... 8
3.2.8 Step/Dir Output Connectors (Motor 1 and Motor 2)............................................................................ 8
3.2.9 µC Programming Interface ......................................................................................................................... 9
3.3 Jumper Settings .................................................................................................................................................. 10
3.4 LEDs ....................................................................................................................................................................... 11
3.5 Communication .................................................................................................................................................. 12
3.5.1 RS485 ............................................................................................................................................................... 12
3.5.2 USB................................................................................................................................................................... 13
3.5.3 CAN (Retro-fit Option) ................................................................................................................................. 13
4 Functional Description .............................................................................................................................................. 14
4.1 Extensions of the TMCM-1110 stepRocker .................................................................................................. 15
5 Operational Ratings ................................................................................................................................................... 16
6 Life Support Policy ..................................................................................................................................................... 17
7 Revision History .......................................................................................................................................................... 18
7.1 Document Revision ........................................................................................................................................... 18
7.2 Hardware Revision ............................................................................................................................................ 18
8 References..................................................................................................................................................................... 18
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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 3
1 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.
www.trinamic.com
TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 4
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
Order code
Description
CABLE-USB-MINI
USB-mini cable
85
55
4
4
4
Ø 3.2
4 x M3
screws
2 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.
Table 2.1: TMCM-1110 order codes
Table 2.4: Related product
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.
Figure 3.1: Board dimensions and position of mounting holes (all values in mm).
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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 5
Power
Motor
Reference
switches
Controller
Out 2
Controller
Out 1
GPIO Driver In 0
USB
RS485
(CAN
optional)
1
1
14
1
1 11
1
1
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
3.2 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!
Figure 3.2: TMCM-1110 stepRocker connectors
CONNECTORS OF TMCM-1110 STEPROCKER
Table 3.1: 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.
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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 6
Pin
Label
Direction
Description
1
GND
Power (GND)
Common system supply and signal ground
2
10… 30V
Power (input)
Power supply voltage.
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 (can be used as home switch)
input voltage range: 0… +10V,
resolution: 12bit (0… 4095)
10
PHASE_A
in
Encoder input channel A
(+5V compatible, internal pull-up to +5V)
11
OpenDrain_1
out
Open-drain output (max. 100mA)
12
PHASE_B
in
Encoder input channel B
(+5V compatible, 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)
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
3.2.1 Power Connector
Take care of the polarity, wrong polarity can destroy the board!
Table 3.2: Power connector
3.2.2 I/O Connector to S3FN41F
Table 3.3: I/O connector S3FN41F
3.2.3 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!
Table 3.5: Motor connector
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