Trinamic TMCM-1110 HARDWARE MANUAL

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.

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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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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 7

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

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

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.

Use firmware version V1.03 or higher with CAN interface!

It is not necessary to remove the RS485 transceiver.

3.2.4 Reference Switch Connector to TMC429

Table 3.6: Reference switch connector

3.2.5 RS485 and CAN Connector

The standard TMCM-1110 stepRocker uses the RS485 interface pins, only.

Table 3.7: RS485/CAN connector

3.2.5.1 Prepare the stepRocker for CAN

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 8

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

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)

Controller OUT 2 Controller OUT 1

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)

3.2.6 USB Connector

A USB interface is available via a mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s)
connections.

Table 3.9: USB connector

3.2.7 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 3.3).

Table 3.1: Step/dir input connector

3.2.8 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.

ATTENTION

Labels of the Step/Dir output connectors on the PCB are interchanged:

- Step/Dir Out 1 is used for axis 2.

- Step/Dir Out 2 is used for axis 1.

Table 3.2: Step/Dir Out connectors

NOTE

For setting the step pulse length global parameter 86 is used (available with firmware version 1.03 and
higher). Adjust this parameter with the SGP command. Refer to the TMCL Firmware Manual of the stepRocker
for further information.

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 9

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

GND

+5V

nRST

VPP

PHASEA

F SDAT

SWDIO

SWDCLK

1

3.2.9 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

Table 3.3: Programming pads

Figure 3.2: Programming pads

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 10

Select
motor
current

Select
motor
current

Select
motion
controller

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

3.3 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.

Figure 3.3: Jumper of TMCM-1110 stepRocker

TMCM-1110 STEPROCKER JUMPERS

Table 3.4: Jumpers of TMCM-1110 stepRocker

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 11

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.

3.4 LEDs

LEDS OF THE TMCM-1110 STEPROCKER

Table 3.5: LEDs

Figure 3.4: LEDs of the stepRocker

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 12

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

node

n - 1

node

n

Slave Slave

termination

resistor

(120 Ohm)

+5V

GND

pull-up (1k)

pull-down (1k)

RS485- / RS485B

RS485+ / RS485A

3.5 Communication

3.5.1 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.

Figure 3.5: 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).

Figure 3.6: RS485 bus lines with resistor network

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 13

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

3.5.2 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.

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.

3.5.3 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 3.2.5.1).

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.

Figure 3.7: 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.

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 14

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

4 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

Figure 4.1: TMCM-1110 stepRocker block diagram

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 15

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

4.1 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.

Figure 4.2: TMCM-1110 stepRocker extension

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 16

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

Symbol

Parameter

Min

Typ

Max

Unit

N

RS485

Number of nodes connected to
single RS485 network

256

5 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.

Table 5.1: General operational ratings of the module

Table 5.2: Operational ratings of RS485 interface

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 17

6 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 2012

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.

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TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 18

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

1.05

2011-DEC-21

SD

- Chapter 3.2.8 corrected: labels of Step/Dir Out 1 and

Step/Dir Out 2 on PCB are interchanged.

- Information about USB interface corrected (3.2.6)

1.06

2011-DEC-22

SD

I/O connector information updated (3.2.2).

1.07

2012-JAN-03

SD

Minor changes

1.08

2012-APR-04

SD

- Chapter 3.2.8 completed

- Hint added in chapter 3.2.5.1

Version

Date

Description

TMCM-1110 V1.1

2011-SEP-02

Minor changes from version 1.0 to version 1.1

7 Revision History

7.1 Document Revision

Figure 7.1: Document revision

7.2 Hardware Revision

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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