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Module for Stepper
TMCM-1316 StepRocker Hardware Manual
Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26
The TMCM-1316 StepRocker is a single axis motor controller/driver board for 2-phase bipolar step-
per motors. It features the TRINAMIC controller/driver chain consisting of TMC4361 and TMC5160
in combination with an ARM Cortex-M4™ (MK20DX128VLK7) processor. The module is intended to
be a fully functional development platform.
Applications
• Laboratory Automation
• Manufacturing
• Robotics
Simpli ed 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.
• Factory Automation
• Test & Measurement
• Technology evaluation
Features
• Single axis controller/driver for 2-phase
bipolar stepper motor
• S-shaped ramps + SixPoint™ ramps
+ linear ramps
• Closed-loop operation with external
encoder
• +10. . . 30V DC supply voltage
• Up to 5.7A RMS motor current
• RS485 & USB interface
• Multi-purpose inputs and outputs
• First experiences with stepper
motors
• Hobby applications
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Related Manuals for Trinamic TMCM-1316 StepRocker
Summary of Contents for Trinamic TMCM-1316 StepRocker
- Page 1 TMCM-1316 StepRocker Hardware Manual Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 The TMCM-1316 StepRocker is a single axis motor controller/driver board for 2-phase bipolar step- per motors. It features the TRINAMIC controller/driver chain consisting of TMC4361 and TMC5160 in combination with an ARM Cortex-M4™...
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Page 2: Table Of Contents
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 2 / 25 Contents 1 Features 2 Order Codes 3 Mechanical and Electrical Interfacing 3.1 Size of board .......... -
Page 3: Features
3 / 25 1 Features The TMCM-1316 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. The TMCM-1316 StepRocker features the TRINAMIC controller/driver chain consisting of TMC4361 and TMC5160 in combination with an ARM Cortex-M4™... -
Page 4: Order Codes
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 4 / 25 2 Order Codes The standard version of the TMCM-1316 StepRocker has RS485 and USB interfaces (CAN transceiver not assembled). The module is pre-programmed with TRINAMICs TMCL™ rmware with all available features. -
Page 5: Mechanical And Electrical Interfacing
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 5 / 25 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. -
Page 6: Connectors
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 6 / 25 4 Connectors The TMCM-1316 StepRocker has nine connectors altogehter. There are two screw connectors for power and motor and two interface connectors (micro-USB and RS485). Furthermore, the TMCM-1316 StepRocker... - Page 7 TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 7 / 25 Connector Connector type on-board Mating connector type RS485/CAN Low pro le box header without lock- Low pro le IDC socket connector, 10 ing bar, type 8380, 10 pin, DIN 41651, pin, DIN 41651, 2.54mm pitch...
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Page 8: Power Connector
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 8 / 25 4.1 Power Connector Power Supply Connector Pin Assigment Label Direction Description Power (GND) Common system supply and signal ground 12. . . 30V... -
Page 9: Motor Connector
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 9 / 25 Label Direction Description PHASE_A Encoder input channel A (+5V com- patible, internal pull-up to +5V) OpenDrain_1 Open-drain output (max. 100mA) PHASE_B Encoder input channel B (+5V com-... -
Page 10: Step/Dir Input Connector Pin Assignment
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 10 / 25 Label Direction Description START Input for start signal (master / slave synchronisa- tion) Table 6: STOP_L, STOP_R, HOME and START Connector Pin Assignment 4.5 Step/Dir Input Connector Pin Assignment... -
Page 11: Upgrade The Tmcm-1316 Steprocker For Can Communication
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 11 / 25 Label Direction Description Table 9: RS485/CAN Connector Pin Assignment 4.7.1 Upgrade the TMCM-1316 StepRocker for CAN communication The table above shows the pin con gu- ration for CAN, too. -
Page 12: Microcontroller Programming Interface
Figure 3: TMCM-1316 StepRocker Programming Pads 5 Reset to Factory Default It is possible to reset all settings of the TMCM-1316 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. -
Page 13: Jumper Settings
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 13 / 25 6 Jumper Settings The TMCM-1316 StepRocker offers a number of jumpers for selection of different settings in hardware. Figure 4: Jumper Settings of the TMCM-1316 StepRocker Jumpers of the TMCM-1316 StepRocker... -
Page 14: Leds
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 14 / 25 7 LEDs LED Description Status Label Description Power on This orange LED lights up upon the power supply is available LED1 without pre-de ned functionality... -
Page 15: Communication
8 Communication 8.1 RS485 For remote control and communication with a host system the TMCM-1316 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. -
Page 16: Usb
Figure 7: RS485 Bus Lines with Resistor Network 8.2 USB For remote control and communication with a host system the TMCM-1316 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. - Page 17 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-1316 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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Page 18: Functional Description
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 18 / 25 9 Functional Description The TMCM-1316 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- t option) and comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). -
Page 19: Operational Ratings And Characteristics
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 19 / 25 10 Operational Ratings and Characteristics Never Exceed the absolute maximum ratings! Keep the power supply voltage NOTICE 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. -
Page 20: Abbreviations Used In This Manual
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 20 / 25 11 Abbreviations used in this Manual Abbreviation Description Integrated Development Environment Light Emmitting Diode Root Mean Square value TMCL TRINAMIC Motion Control Language Table 16: Abbreviations used in this Manual ©2021 TRINAMIC Motion Control GmbH &... -
Page 21: Figures Index
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 21 / 25 12 Figures Index Board Dimensions and Positions of TMCM-1316 StepRocker LEDs ..Mounting Holes (all Values in mm) RS485 Bus Structure with Termina-... -
Page 22: Tables Index
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 22 / 25 13 Tables Index TMCM-1316 StepRocker Order Code RS485/CAN Connector Pin Assignment Connector Types and Mating Connec- USB Connector Pin Assignment .. -
Page 23: Supplemental Directives
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 speci c written consent of TRINAMIC Motion Control GmbH & Co. KG. -
Page 24: Collateral Documents & Tools
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 signi cant personal injury or death (safety-Critical Applications) without TRINAMIC’s speci c written consent. -
Page 25: Revision History
TMCM-1316 StepRocker Hardware Manual • Hardware Version V1.20 | Document Revision V1.22 • 2021-MAR-26 25 / 25 15 Revision History 15.1 Hardware Revision Version Date Author Description V1.0 2018-JUN-21 First version. Prototypes only. V1.1 2018-JUL-17 Several corrections. V1.2 2019-MAR-21 Corrections for using StealthChop™ and StallGuard2™/ CoolStep™.
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