User manual

TMCM-1110 stepRocker Hardware Manual (Ref. 1.08 / 2012-APR-04) 3

www.trinamic.com

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: