MODULE
Module for Stepper
TMCM-1110 StepRocker Hardware Manual
Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
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 an ARM Cortex-M4™ (MK20DX128VLK7) 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.
Features
• Single axis controller/driver for 2-phase
bipolar stepper motor
• 2 and 3 axes systems are possible
with additional boards configured
as slaves
• +10. . . 30V DC supply voltage
• Up to 2.8A RMS motor current
• RS485 & USB interface
• Multi-purpose inputs and outputs
Applications
• Laboratory Automation
• Manufacturing
• Robotics
• Factory Automation
• Test & Measurement
• Technology evaluation
Simplified Block Diagram
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com
Read entire documentation.
• First experiences with stepper
motors
• Hobby applications
2 / 26
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
Contents
1 Features
3
2 Order Codes
4
3 Mechanical and Electrical Interfacing
3.1 Size of board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
5
4 Connectors
4.1 Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 I/O Connector (Microcontroller) . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Motor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Reference Switch Connector (TMC429) . . . . . . . . . . . . . . . . . . .
4.5 RS485 and CAN Connector . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1
Upgrade the TMCM-1110 StepRocker for CAN communication
4.6 USB Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7 Step/Dir Input Connector (Motor 0) . . . . . . . . . . . . . . . . . . . . .
4.8 Step/Dir Output Connectors (Motor 1 and Motor 2) . . . . . . . . . . . .
4.9 Microcontroller Programming Interface . . . . . . . . . . . . . . . . . . .
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6
7
7
8
9
9
10
10
10
11
11
5 Reset to Factory Default
12
6 Jumper Settings
13
7 LEDs
14
8 Communication
8.1 RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 CAN (Retro-fit Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
15
16
16
9 Functional Description
18
9.1 Extensions of the TMCM-1110 StepRocker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
10 Operational Ratings and Characteristics
20
11 Abbreviations used in this Manual
21
12 Figures Index
22
13 Tables Index
23
14 Supplemental Directives
14.1 Producer Information . . . . . . . . . .
14.2 Copyright . . . . . . . . . . . . . . . . . .
14.3 Trademark Designations and Symbols .
14.4 Target User . . . . . . . . . . . . . . . .
14.5 Disclaimer: Life Support Systems . . . .
14.6 Disclaimer: Intended Use . . . . . . . .
14.7 Collateral Documents & Tools . . . . . .
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24
24
24
24
24
24
24
25
15 Revision History
26
15.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
15.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
1
3 / 26
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 an ARM Cortex-M4™ (MK20DX128VLK7) processor. The module is intended to be a fully functional
development platform. A TMCM-1110 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.
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
• MCU 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 microstep current sine wave is well formed with smooth zero crossing.
• Up to 256 microsteps per fullstep trough MicroPlyer™ technology
• 2x 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)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
2
4 / 26
Order Codes
The standard version of the TMCM-1110 StepRocker has RS485 and USB interfaces (CAN transceiver not
assembled).
The module is pre-programmed with TRINAMICs TMCL™ firmware with all available features.
TMCM-1110 StepRocker Order Code
Order Code
Description
Size (LxWxH)
TMCM-1110 StepRocker
1-axis bipolar stepper motor controller/driver module with RS485 and USB
85mm x 55mm x 15mm
Table 1: TMCM-1110 StepRocker Order Code
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
3
3.1
5 / 26
Mechanical and Electrical Interfacing
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.
4
4
Ø 3.2
55
4 x M3
screws
4
85
Figure 1: Board Dimensions and Positions of Mounting Holes (all Values in mm)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
4
6 / 26
Connectors
The TMCM-1110 StepRocker has nine connectors altogehter. There are two screw connectors for power
and motor and two interface connectors (mini-USB and RS485). Furthermore, the TMCM-1110 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 connect or disconnect motor during operation! Motor cable and motor 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
Power
GPIO
14
1
1
1
Driver In 0
USB
1
Motor
RS485
1
(CAN
optional)
1
Reference
switches
1
Controller
Out 2
1
Controller
Out 1
Figure 2: TMCM-1110 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-mini female connector
USB-mini male connector
RS485/CAN
Low profile box header without locking bar, type 8380, 10 pin, DIN 41651,
2.54mm pitch
Low profile IDC socket connector, 10
pin, DIN 41651, 2.54mm pitch
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
7 / 26
Connector
Connector type on-board
Mating connector type
GPIO
Multi-pin-connector, 14 pin, 2.54mm
pitch
Female connector with 2.54mm pitch
Ref. switches
Multi-pin-connector, 7pin, 2.54mm
pitch
Female connector with 2.54mm pitch
Driver In
Multi-pin-connector, 3 pin, 2.54mm
pitch
Female connector with 2.54mm pitch
Controller Out 1, 2
Multi-pin-connector, 3 pin, 2.54mm
pitch
Female connector with 2.54mm pitch
Table 2: Connector Types and Mating Connectors of the TMCM-1110 StepRocker
4.1
Power Connector
Power Supply Connector Pin Assigment
Pin
Label
Direction
Description
1
GND
Power (GND)
Common system supply and signal ground
2
10. . . 30V
Power (input)
Power supply voltage
Table 3: Power Supply Connector Pin Assignment
4.2
NOTICE
Do not connect or disconnect motor during operation! Motor cable and motor 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!
I/O Connector (Microcontroller)
The TMCM-1110 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.
I/O 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)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
Pin
Label
Direction
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
12
PHASE_B
in
13
OpenDrain_2
out
14
PHASE_Z
in
8 / 26
Description
Open-drain output (max. 100mA)
Encoder input channel B (+5V compatible, internal pull-up to +5V)
Open-drain output (max. 100mA)
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
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 5: Motor Connector Pin Assignment
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
Do not connect or disconnect motor during operation! Motor cable and motor 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
4.4
Reference Switch Connector (TMC429)
Reference Switch Connector Pin Assignment
Pin
Label
Direction
Description
1
GND
Power (GND)
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
Signal and system ground
Table 6: Reference Switch Connector Pin Assignment
4.5
RS485 and CAN Connector
The standard TMCM-1110 StepRocker offers the RS485 interface, only.
RS485/CAN Connector Pin Assignment
Pin
9 / 26
Label
Direction
Description
3
CAN_L
bi-directional
differential CAN bus signal (inverting) - retro-fit option
4
CAN_H
bi-directional
differential CAN bus signal (non-inverting) - retrofit 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)
1
2
8
9
10
Table 7: RS485/CAN Connector Pin Assignment
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
4.5.1
10 / 26
Upgrade the TMCM-1110 StepRocker for CAN communication
The previous table further 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 0.1µ capacitor
with housing 0603 on the TMCM-1110
StepRocker. Afterwards, the TMCM-1110
StepRocker is ready for using the CAN
interface.
CAN transceiver
SN65HVD1050D
Housing: SOIC8
4.6
0.1µF capacitor
Housing: 0603
Because of the pin assignment CAN and
RS485 can be used at the same time.
Please note: it is not necessary to remove
the RS485 transceiver.
USB Connector
A USB interface is available via a mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s)
connections.
USB Connector Pin Assignment
Pin
Label
Direction
Description
1
VBUS
Power (+5V input)
2
D-
bi-directional
USB Data-
3
D+
bi-directional
USB Data+
4
ID
5
GND
+5V supply from the host
Connected to signal and system ground
Power (GND)
Signal and system ground
Table 8: USB Connector Pin Assignment
4.7
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 6).
Step/Dir Input Connector Pin Assignment
Pin
Label
Direction
Description
1
GND
Power (GND)
2
Step In
in
Driver step input signal (+5V compatible)
3
Dir In
in
Driver direction input signal (+5V compatible)
Signal and System ground
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
Pin
Label
Direction
11 / 26
Description
Table 9: Step/Dir Input Connector Pin Assignment
4.8
Step/Dir Output Connectors (Motor 1 and Motor 2)
The TMC429 motion controller on the TMCM-1110 StepRocker is able to control up to three stepper motors. Its Step/Dir outputs (TTL level) for motor 1 and motor 2 are available via 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.
Step/Dir Output Connector Pin Assignment
Pin
Label
Direction
Description
1
GND
Power (GND)
2
Step Out
out
Driver step output signal (+5V compatible)
3
Dir Out
out
Driver direction output signal (+5V compatible)
Signal and System ground
Table 10: Step/Dir Output Connector Pin Assignment
NOTICE
4.9
Note For setting the step pulse length global parameter 86 is used. Adjust this
parameter with the SGP command. Refer to the TMCL Firmware Manual of the
TMCM-1110 StepRocker for further information.
Microcontroller Programming Interface
The programming pads for the microcontroller are located on the bottom side of the module. They are
connected directly to the related processor pins - resp. GND or on-board generated +3V3 supply. These
pins are used for programming of the bootloader and firmware during production + testing of the module.
Programming Pads
Pin
Label
Description
1
GND
Module and signal ground
2
+3V3
+3V3 DC supply - generated on-board
3
nRST
Hardware reset input
4
SWDIO
5
SWDCLK
Serial wire data I/O
Serial wire clock
Table 11: Programming Pads on Bottom of the PCB
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
SWDCLK
12 / 26
+3V3
SWDIO
nRST
GND
1
Figure 3: TMCM-1110 StepRocker Programming Pads
5
Reset to Factory Default
It is possible to reset all settings of the TMCM-1110 StepRocker to factory default without establishing
a working communication connection. This might be helpful in case communication parameters of the
preferred interface have been set to unknown values or got lost. To do this the following steps have to
be performed:
1. Switch the supply power off and also disconnect the USB cable if connected.
2. Short the SWDIO pad with the SWDCLK pad (on the bottom side of the PCB, see figure 3).
3. Switch the supply power on again.
4. LED1 and LED2 are now flashing fast.
5. Switch the supply power off.
6. Remove the short between the two pads.
7. Switch the supply power on and wait until LED1 flashes normally again. The TMCM-1110 StepRocker
now runs with factory default settings.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMCM-1110 StepRocker Hardware Manual • Hardware Version V2.30 | Document Revision V1.13 • 2021-MAR-25
6
13 / 26
Jumper Settings
The TMCM-1110 StepRocker offers a number of jumpers for selection of different settings in hardware.
Select
motion
controller
Select
motor
current
Select
motor
current
Figure 4: Jumper Settings of the TMCM-1110 StepRocker
Jumpers of the TMCM-1110 StepRocker
Jumper
Label
Select motor current
1A/2.8A
Jumper plugged: motor current up to 2.8A RMS,
Jumper unplugged: motor current up to 1A RMS
2-3 TMC429
Set jumpers to select motion controller TMC429
(on the module)
1-2 External
Set jumpers to select external motion controller.
Step/Dir Signals from external motion controller
have to be connected to Step/Dir In
Select motion controller
Description
Table 12: Jumpers of the TMCM-1110 StepRocker
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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14 / 26
LEDs
LED Description
Status
Label
Description
Power on
POWER
This orange LED lights up upon the power
supply is available
LED1 without pre-defined functionality
LED1
This yellow LED can be used customer specific. This LED is connected to PTA5 (pin 31)
of the MK20DX128VLK7 microcontroller.
LED2 without pre-defined functionality
LED2
This yellow LED can be used customer specific. This LED is connected to PTE5 (pin 6)
of the MK20DX128VLK7 microcontroller.
POSCOMP output used
POSCOMP
This yellow LED lights up if the POSCOMP
output of the TMC429 is used. POSCOMP 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 lights up upon stalling conditions. The LED is connected to the SG_TST
pin of the TMC262.
Table 13: LED Description
Figure 5: TMCM-1110 StepRocker LEDs
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Communication
8.1
RS485
For remote control and communication with a host system the TMCM-1110 StepRocker 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.
Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
RS485
termination
resistor
(120 Ohm)
keep distance as
short as possible
Figure 6: RS485 Bus Structure with Termination Resistors
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 StepRocker does not
intergate 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 stadard (EIA-485) allows up to 32 nodes to be connected to a single
bus. The bus transceiver used on the TMCM-1110 StepRocker 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 to GND resp. +5V. 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).
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Slave
Slave
node
n- 1
node
n
16 / 26
+5V
pull-up (680R)
RS485+ / RS485A
termination
resistor
(120 Ohm)
RS485- / RS485B
pull-down (680R)
GND
Figure 7: RS485 Bus Lines with Resistor Network
8.2
USB
For remote control and communication with a host system the TMCM-1110 StepRocker provides a USB
2.0 full-speed (12Mbit/s) interface (mini-USB connector). As soon as a USB-Host is connected the module
will accept commands via USB. The TMCM-1110 StepRocker supports USB self powered operation (External power supplied via the power supply connector) and USB bus powered operation, also (no external
power is supplied via the 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. Of course,
any motor movement will not be possible in this mode. 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 other connection / additional power supply is required.
8.3
CAN (Retro-fit Option)
For remote control and communciation with a host system the TMCM-1110 StepRocker can be equipped
with a CAN bus interface. Please note, that it is necessary to add CAN transceiver and filter capacitor first
for the standard TMCM-1110 StepRocker version (see 4.5.1).
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.
Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
CAN
termination
resistor
(120 Ohm)
keep distance as
short as possible
Figure 8: CAN Bus Structure with Termination Resistors
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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 StepRocker 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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18 / 26
Functional Description
The TMCM-1110 StepRocker is a highly integrated single axis controller/driver module for stepper motors.
It can be controlled via RS485 or USB serial interfaces (CAN retro-fit option) and 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 usually untouched throughout the whole lifetime, the firmware ca be updated by
the user.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation, are perfomrmed
on-board. Full remote control of the device with feedback is possible. The firmware of the module can be
updated via any of the serial interfaces.
The TMCM-1110 StepRocker module contains the following main components:
• Microcontroller (ARM Cortex-M4™, MK20DX128VLK7), responsible for overall control and 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 MOSFET driver
stage (4x N+P power MOSFETs for bipolar stepper motor) for motor 0
• RS485 and USB transceivers
• On-board voltage regulators (+5V and +3V3) required for supply of all on-board digital circuits
Figure 9: TMCM-1110 StepRocker Block Diagram
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9.1
19 / 26
Extensions of the TMCM-1110 StepRocker
The TMCM-1110 StepRocker can be extended for multi-axes systems with up-to 3 axes. The module itself
can be configured as master or slave. An example for a three axes system is shown below. The TMCM1110 StepRocker at the top is configured as master while the other two are configured as slave. In addition
to jumper setting it is necessary to switch both slave controller to driver-only operation (SAP 254, 0, 1 see TMCL firmware manual, also). Only the motion controller on the master will be used. Therefore, all
motion control related commands have to be issued to the master. In contrast, driver related commands
(e.g. current settings, microstep resolution) have to be issued to each board separately (or stored on each
board as TMCL program).
GPI /O
USB
TMCL™
Master / Motor 0
S/D OUT
3 x REF- IN
USB / RS485
only initialization
and
parameterization
USB / RS485
only initialization
and
parameterization
S/D IN
Motor 1
S/D IN
Motor 2
Figure 10: 3-Axes System using three TMCM-1110 StepRocker modules in Master/Slave Configuration
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10
Operational Ratings and Characteristics
NOTICE
Never Exceed the absolute maximum ratings! Keep the power supply voltage
below the upper limit of +30V! Otherwise the board electronics will seriously be
damaged! Especially, when the selected operating voltage is near the upper limit
a regulated power supply is highly recommended.
General Operational Ratings
Symbol
VPower
Parameter
Power supply voltage
Min
Typ
Max
Unit
10
12. . . 24
30
V
VUSB
Power supply via USB connector
5
V
IUSB
Current withdrawn from USB supply when USB
bus powered (no other supply connected)
70
mA
ICOIL
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
TENV
Environmental temperature at rated current (no
forced cooling reaquired)
-25
60
°C
Table 14: General Operational Ratings of the Module
Operational Ratings of the RS485 Interface
Symbol
NRS485
Parameter
Min
Number of nodes connected to single RS485 network
Table 15: Operational Ratings of the RS485 Interface
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Typ
Max
256
Unit
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11
Abbreviations used in this Manual
Abbreviation
Description
IDE
Integrated Development Environment
LED
Light Emmitting Diode
RMS
Root Mean Square value
TMCL
TRINAMIC Motion Control Language
Table 16: Abbreviations used in this Manual
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Figures Index
1
Board Dimensions and Positions of
Mounting Holes (all Values in mm) . .
5
2
TMCM-1110 StepRocker Connectors .
6
3
TMCM-1110 StepRocker Programming Pads . . . . . . . . . . . . . . . .
12
4
Jumper Settings of the TMCM-1110
StepRocker . . . . . . . . . . . . . . . .
13
5
TMCM-1110 StepRocker LEDs . . . . .
14
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6
7
8
9
10
RS485 Bus Structure with Termination Resistors . . . . . . . . . . . . . .
RS485 Bus Lines with Resistor Network
CAN Bus Structure with Termination
Resistors . . . . . . . . . . . . . . . . .
TMCM-1110 StepRocker Block Diagram
3-Axes System using three TMCM1110 StepRocker modules in Master/Slave Configuration . . . . . . . .
15
16
16
18
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1
2
3
4
5
6
7
8
9
23 / 26
Tables Index
TMCM-1110 StepRocker Order Code .
4
Connector Types and Mating Connectors of the TMCM-1110 StepRocker .
7
Power Supply Connector Pin Assignment . . . . . . . . . . . . . . . . . . .
7
I/O Connector Pin Assignment . . . .
8
Motor Connector Pin Assignment . .
8
Reference Switch Connector Pin Assignment . . . . . . . . . . . . . . . . .
9
RS485/CAN Connector Pin Assignment 9
USB Connector Pin Assignment . . . . 10
Step/Dir Input Connector Pin Assignment . . . . . . . . . . . . . . . . . . . 11
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10
11
12
13
14
15
16
17
18
Step/Dir Output Connector Pin Assignment . . . . . . . . . . . . . . . . .
Programming Pads on Bottom of the
PCB . . . . . . . . . . . . . . . . . . . .
Jumpers of the TMCM-1110 StepRocker
LED Description . . . . . . . . . . . . .
General Operational Ratings of the
Module . . . . . . . . . . . . . . . . . .
Operational Ratings of the RS485 Interface . . . . . . . . . . . . . . . . . .
Abbreviations used in this Manual . .
Hardware Revision . . . . . . . . . . .
Document Revision . . . . . . . . . . .
11
11
13
14
20
20
21
26
26
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Supplemental Directives
14.1
Producer Information
14.2
Copyright
TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos,
trademarks, and resources. © Copyright 2021 TRINAMIC. All rights reserved. Electronically published by
TRINAMIC, Germany.
Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available productrelated documentation.
14.3
Trademark Designations and Symbols
Trademark designations and symbols used in this documentation indicate that a product or feature is
owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose
products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation.
This Hardware Manual is a non-commercial publication that seeks to provide concise scientific and technical user information to the target user. Thus, trademark designations and symbols are only entered in
the Short Spec of this document that introduces the product at a quick glance. The trademark designation
/symbol is also entered when the product or feature name occurs for the first time in the document. All
trademarks and brand names used are property of their respective owners.
14.4
Target User
The documentation provided here, is for programmers and engineers only, who are equipped with the
necessary skills and have been trained to work with this type of product.
The Target User knows how to responsibly make use of this product without causing harm to himself or
others, and without causing damage to systems or devices, in which the user incorporates the product.
14.5
Disclaimer: Life Support Systems
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.
Information given in this document is believed to be accurate and reliable. However, no 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.
14.6
Disclaimer: Intended Use
The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose
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25 / 26
or of any other nature are made hereunder with respect to information/specification or the products to
which information refers and no guarantee with respect to compliance to the intended use is given.
In particular, this also applies to the stated possible applications or areas of applications of the product.
TRINAMIC products are not designed for and must not be used in connection with any applications where
the failure of such products would reasonably be expected to result in significant personal injury or death
(safety-Critical Applications) without TRINAMIC’s specific written consent.
TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC
conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing
or handling of the product and/or any other use of the product.
14.7
Collateral Documents & Tools
This product documentation is related and/or associated with additional tool kits, firmware and other
items, as provided on the product page at: www.trinamic.com.
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15
15.1
26 / 26
Revision History
Hardware Revision
Version
Date
Author
Description
V1.3
2013-NOV-26
GE
Series version with Samsung Cortex-M0 processor
V2.2
2016-SEP-26
GE
Processor changed to Cortex-M4 microcontroller
V2.3
2017-AUG-02
GE
Minor changes: silksreen corrected, plating added to mounting
holes and resistor values of input divider adapted in order to improve compatibility with version V1.3
Table 17: Hardware Revision
15.2
Document Revision
Version
Date
Author
Description
1.00
2011-OCT-01
GE
First version
1.01
2011-OCT-04
GE
Minor changes
1.02
2011-OCT-05
GE
Minor changes
1.03
2011-OCT-27
GE
Minor changes
1.04
2011-OCT-31
GE
Minor changes
1.05
2011-DEC-21
GE
Chapter 3.2.8 corrected: labels of Step/Dir Out 1 and Step/Dir Out 2
on PCB are exchanged. Information about USB interface corrected
(3.2.6)
1.06
2011-DEC-22
GE
I/O connector information updated (3.2.2)
1.07
2012-JAN-03
GE
Minor changes
1.08
2012-APR-04
GE
Chapter 3.2.8 completed, Hint added in chapter 3.2.5.1
1.09
2017-MAY-29
GE
Major update: document format changed and update covering hardware version V2.2 (with new microcontroller)
1.10
2017-SEP-06
GE
Minor update: adapted to hardware revision V2.3
1.11
2017-OCT-10
OK
New product picture on first page.
1.12
2019-APR-03
GE
Layout correction in chapter 4.5.1.
1.13
2021-MAR-26
OK
Added reset to factory default.
Table 18: Document Revision
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