Trinamic StepRocker TMCM-1111 User manual

Module for Stepper MODULE
TMCM-1111 StepRocker Hardware Manual
Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26
The TMCM-1111 StepRocker is a single axis motor controller/driver board for 2-phase bipolar step-
per motors. It supports S-shaped ramps in addition to linear ramps and closed-loop operation
together with an external encoder.
Features
•Single axis controller/driver for 2-phase
bipolar stepper motor
•S-shaped ramps +linear ramps
•Closed-loop operation with external
encoder
•+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
•First experiences with stepper
motors
•Hobby applications
Simplified Block Diagram
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 2 / 26
Contents
1 Features 3
2 Order Codes 4
3 Mechanical and Electrical Interfacing 5
3.1 Size of board ................................................ 5
4 Connectors 6
4.1 Power Connector ............................................. 8
4.2 I/O Connector (Microcontroller) ..................................... 8
4.3 Motor Connector ............................................. 9
4.4 STOP_L, STOP_R and HOME Switch Connector ............................ 9
4.5 RS485 and CAN Connector ....................................... 10
4.5.1 Upgrade the TMCM-1111 StepRocker for CAN communication ............. 10
4.6 USB Connector .............................................. 11
4.7 Step/Dir Input Connector ........................................ 11
4.8 Step/Dir Output Connector ....................................... 11
4.9 +5V Output Connector .......................................... 12
4.10 Microcontroller Programming Interface ................................ 12
5 Reset to Factory Default 13
6 Jumper Settings 14
7 LEDs 15
8 Communication 16
8.1 RS485 .................................................... 16
8.2 USB ..................................................... 17
8.3 CAN (Retro-fit Option) .......................................... 17
9 Functional Description 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 24
14.1 Producer Information .......................................... 24
14.2 Copyright .................................................. 24
14.3 Trademark Designations and Symbols ................................. 24
14.4 Target User ................................................ 24
14.5 Disclaimer: Life Support Systems .................................... 24
14.6 Disclaimer: Intended Use ........................................ 24
14.7 Collateral Documents & Tools ...................................... 25
15 Revision History 26
15.1 Hardware Revision ............................................ 26
15.2 Document Revision ............................................ 26
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 3 / 26
1 Features
The TMCM-1111 StepRocker is a single axis motor controller/driver board for 2-phase bipolar stepper mo-
tors. It supports S-shaped ramps in addition to linear ramps and closed-loop operation together with an
external encoder.
Applications
•Highly compact single axis stepper motor controller/driver board for 2-phase bipolar stepper motors
•Linear and S-shaped ramps
•Closed-loop operation together with external encoder
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 output (+5V TTL level) for synchronisation (master-slave axes)
•3 multi-purpose inputs (can be used for incremental ABN-encoder)
•STOP_L, STOP_R and HOME switch inputs
•START input / output for synchronized motion with several axes
•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
•TMC4361 stepper motor controller IC for on-the-fly alteration of many motion specific parameters,
linear and S-shaped ramp and closed-loop support
•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.
•support for left and right STOP and HOME switches
•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
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 4 / 26
2 Order Codes
The standard version of the TMCM-1111 StepRocker offers RS485 and USB interfaces (CAN transceiver
not assembled).
The module is pre-programmed with TRINAMICs TMCL™firmware with all available features.
Order Code Description Size (LxWxH)
TMCM-1111 StepRocker 1-axis bipolar stepper motor con-
troller/driver module with optional
closed-loop support and RS485 and
USB interfaces
85mm x 55mm x 15mm
Table 1: TMCM-1111 StepRocker Order Code
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 5 / 26
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.
85
55
4
4
4
Ø 3.2
4 x M3
screws
Figure 1: Board Dimensions and Position of Mounting Holes (all Values in mm)
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 6 / 26
4 Connectors
The TMCM-1111 StepRocker has eight connectors altogehter. There are two screw connectors for power
and motor and two interface connectors (mini-USB and RS485). Furthermore, the TMCM-1111 StepRocker
has one connector for reference and home switches, one step/direction input connector (TTL level) and
one output connector, and the GPIO connector, which can be used e.g. for connecting an ABN-encoder
for closed-loop operation.
NOTICE Start with power supply OFF and do not connect or disconnect motor dur-
ing operation! Motor cable and motor inductivity might lead to voltage spikes
when the motor is (dis)connected while energized. These voltage spikes might ex-
ceed voltage limits of the driver MOSFETs and might permanently damage them.
Therefore, always switch off / disconnect power supply or at least disable driver
stage before connecting / disconnecting motor.
PowerGPIO Step/Dir In
1
1
14 1
Motor
1
USB
RS485
(CAN
optional)
STOP_L,
STOP_R,
HOME
Step/Dir
OUT
11
1
+5V Out
Figure 2: TMCM-1111 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,
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 lock-
ing 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
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 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
STOP_L, STOP_R, HOME Multi-pin-connector, 5pin, 2.54mm
pitch
Female connector with 2.54mm pitch
Step/Dir In Multi-pin-connector, 3 pin, 2.54mm
pitch
Female connector with 2.54mm pitch
Step/Dir Out Multi-pin-connector, 3 pin, 2.54mm
pitch
Female connector with 2.54mm pitch
+5V out Two-pin-connector, 2.54mm pitch Female connector with 2.54mm pitch
Table 2: Connector Types and Mating Connectors of the TMCM-1111 StepRocker
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 8 / 26
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
NOTICE Do not connect or disconnect motor during operation! Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
NOTICE Take care of polarity, wrong polarity can destroy the board!
4.2 I/O Connector (Microcontroller)
The TMCM-1111 offers an on-board ARM Cortex-M4™microcontroller with +3V3 powered IOs and +5V
tolerant inputs. In order to be compatible with the original TMCM-1110 StepRocker, +5V output level-
shifters/buffers have been integrated on-board. This way, all general purpose IO pins configured as out-
puts will deliver +5V TTL signals.
Closed-loop operation with the TMCM-1111 StepRocker requires an external encoder. The incremental
ABN output signals of this encoder (either +5V TTL or open drain) have to be connected to the encoder
input channels A, B and zero (pin 10, 12 and 14) of this I/O connector. The encoder channel inputs are
connected to the on-board motion controller TMC4361 for closed loop support.
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)
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)
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 9 / 26
Pin Label Direction Description
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)
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
NOTICE Do not connect or disconnect motor during operation! Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
4.4 STOP_L, STOP_R and HOME Switch Connector
STOP_L, STOP_R and HOME Switch Connector Pin Assignment
Pin Label Direction Description
1 GND Power (GND) Signal and system ground
2 L in Input for left limit switch (STOP_L)
3 R in Input for right limit switch (STOP_R)
4 H in Input for home switch (HOME)
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 10 / 26
Pin Label Direction Description
5 ST in/out Input or Output (programmable) for START signal
of motion controller in order to synchronize mo-
tion of more than one module
Table 6: STOP_L, STOP_R and HOME Switch Connector Pin Assignment
4.5 RS485 and CAN Connector
The standard TMCM-1111 StepRocker offers the RS485 interface, only.
RS485/CAN Connector Pin Assignment
Pin Label Direction Description
1
2
3 CAN_L bi-directional differential CAN bus signal (inverting) - retro-fit op-
tion
4 CAN_H bi-directional differential CAN bus signal (non-inverting) - retro-
fit option
5 GND Power (GND) Signal and system ground
6 RS485+ bi-directional differential RS485 bus signal (non-inverting)
7 RS485- bi-directional differential RS485 bus signal (inverting)
8
9
10
Table 7: RS485/CAN Connector Pin Assignment
4.5.1 Upgrade the TMCM-1111 StepRocker for CAN communication
CAN transceiver
SN65HVD1050D
Housing: SOIC8 0.1µF capacitor
Housing: 0603
The table above shows the pin configura-
tion for CAN, too. Before starting with CAN
it is necessary to solder a SN65HVD1050D
CAN transceiver with housing SOIC8 and
a 0.1µcapacitor with housing 0603 on
the TMCM-1111 StepRocker. Afterwards,
the module is ready for using the CAN
interface.
CAN and RS485 can be assembled at the
same time. It is not necessary to remove
the RS485 transceiver.
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4.6 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) +5V supply from the 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 8: USB Connector Pin Assignment
4.7 Step/Dir Input Connector
The TMCM-1111 StepRocker is equipped with a step/dir input connector. Via this connector the on-
board motion controller can be synchronized to an external master (e.g. adding closed-loop functionality).
Please refer to firmware manual for options and more details.
Step/Dir Input Connector Pin Assignment
Pin Label Direction Description
1 GND Power (GND) Signal and System ground
2 Step In in Motion Controller step input signal (+5V compatible)
3 Dir In in Motion Controller direction input signal (+5V compati-
ble)
Table 9: Step/Dir Input Connector Pin Assignment
4.8 Step/Dir Output Connector
Step-/Dir output signals from the on-board motion controller maybe connected to an external driver stage
(e.g. with different voltage and / or current rating) or used for synchronisation of two or more axes (e.g.
when connected to Step-/Dir Input of another StepRocker).
Step/Dir Output Connector Pin Assignment
Pin Label Direction Description
1 GND Power (GND) Signal and System ground
2 Step Out out Motion Controller step output signal (+5V compatible)
3 Dir Out out Motion controller direction output signal (+5V compati-
ble)
Table 10: Step/Dir Output Connector Pin Assignment
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 12 / 26
4.9 +5V Output Connector
In contrast to the earlier generation StepRocker family (TMCM-1110) the TMCM-1111 StepRocker inte-
grates a switching DC/DC converter for generation of +5V digital supply on-board. This +5V are available
also externally via the +5V Out Connector - delivering up-to 100mA e.g. for supply of an external encoder
or home/end switch electronics.
+5V Output Connector Pin Assignment
Pin Label Direction Description
1 GND Power (GND) Signal and System ground
2 +5V out out +5V supply output. Can deliver up-to
100mA for external circuits e.g. en-
coder
Table 11: +5V Output Connector Pin Assignment
4.10 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 Serial wire data I/O
5 SWDCLK Serial wire clock
Table 12: Programming Pads on Bottom of PCB
SWDCLK
nRST
+3V3
GND 1 SWDIO
Figure 3: TMCM-1111 StepRocker Programming Pads
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 13 / 26
5 Reset to Factory Default
It is possible to reset all settings of the TMCM-1111 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-1111 StepRocker
now runs with factory default settings.
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 14 / 26
6 Jumper Settings
The TMCM-1111 StepRocker offers two jumpers for selection of programmable motor current range.
Select
motor
current
Select
motor
current
Figure 4: Jumper Settings of TMCM-1111 StepRocker
Jumpers of the TMCM-1111 StepRocker
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
Table 13: Jumpers of the TMCM-1111 StepRocker
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 15 / 26
7 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 spe-
cific. 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 spe-
cific. This LED is connected to PTE5 (pin 6)
of the MK20DX128VLK7 microcontroller.
POSCOMP output used POSCOMP This yellow LED lights up if the TAR-
GET_REACHED output of the TMC4361 is ac-
tivated.
Interrupt detected Interrupt This orange LED lights up upon interrupts.
The LED is connected to the INTR pin of the
TMC4361.
StallGuard2™detected stallGuard2 This red LED lights up upon stalling condi-
tions. The LED is connected to the SG_TST
pin of the TMC262.
Table 14: LED Description
Figure 5: TMCM-1111 StepRocker LEDs
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 16 / 26
8 Communication
8.1 RS485
For remote control and communication with a host system the TMCM-1111 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.
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 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-1111 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 stadard (EIA-485) allows up to 32 nodes to be connected to a single bus.
The bus transceiver used on the TMCM-1111 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 communi-
cation 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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node
n- 1
node
n
Slave Slave
termination
resistor
(120 Ohm)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
RS485+ / RS485A
Figure 7: RS485 bus lines with resistor network
8.2 USB
For remote control and communication with a host system the TMCM-1111 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-1111 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 cir-
cuit 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 config-
uration / 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-1111 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-1111 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.
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 8: CAN bus structure with termination resistors
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 18 / 26
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-1111 does not integrate
any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to
be added externally.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 19 / 26
9 Functional Description
The TMCM-1111 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 can 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-1111 StepRocker contains the following main components:
•Microcontroller (ARM Cortex-M4™, MK20DX128VLK7), responsible for overall control and communi-
cation
•TMC4361 highly integrated advanced stepper motor controller. Supports linear and S-shaped ramps.
Together with an external encoder closed-loop operation is supported.
•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-1111 StepRocker 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

TMCM-1111 StepRocker Hardware Manual •Hardware Version V1.10 | Document Revision V1.02 •2021-MAR-26 20 / 26
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 Parameter Min Typ Max Unit
VPower Power supply voltage 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 15: General operational ratings of the module
Operational Ratings of the RS485 Interface
Symbol Parameter Min Typ Max Unit
NRS485 Number of nodes connected to single RS485 network 256
Table 16: Operational ratings of the RS485 interface
©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