Trinamic TMCM-0960-MotionPy V21 Manuale utente

MicroPython SBC for Test, Dev, and Lab Automation MICROPYTHON SBC

TMCM-0960-MotionPy V21

Hardware Version V2.1 | Document Revision V3.00 •2021-07-01

The TMCM-0960-MotionPy V21 board is a single board computer running MicroPython. It comes

with several communication interface options like CAN, RS485, UART, and SPI. It oﬀers two stan-

dard PMOD connectors and separate GPIO headers. With a wide supply voltage range of +6...+36V

and industrial ﬁeld bus interfaces it is the engineers’ swiss-army-knife for small automation appli-

cations.

Features

•Board supply voltage: +6V to +36V

•CAN, RS485, UART

•2x standard SPI/PMOD interfaces and

connectors

•GPIO connectors and headers

•CAD design ﬁles available for down-

load on www.trinamic.com

•Software projects available on Github:

www.github.com

Applications

•Test Setups

•Prototype Testing

•Tabletop bring-up

•Drives

•Robotics

•Automation

Simpliﬁed Block Diagram

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Read entire documentation.

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Contents

1 Order Codes 2

2 Getting Started 3

3 Connectors 4

3.1 Power Supply and Communication Interface Connector ...................... 5

3.2 PMOD Connectors ............................................ 6

3.3 GPIO Connectors ............................................. 8

3.4 Evaluation Board LEDs and Switches .................................. 10

3.5 Safe Mode ................................................. 11

3.6 Reset to Factory Default ......................................... 11

4 Evaluation Board Design Files 12

5 Software and Firmware Information 12

6 Revision History 13

6.1 Document Revision ............................................ 13

1 Order Codes

Order Code Description Size

TMCM-0960-MotionPy V21 MicroPython controller board, +6V to +36V sup-

ply, USB, CAN, RS485, UART, GPIO, SPI, 2x PMOD,

SD-Card, incl. 8-pin JST-EH cable

85mm x 55mm

Table 1: TMCM-0960-MotionPy V21 Order Codes

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2 Getting Started

You need

•TMCM-0960-MotionPy V21 board

•Regulated Power Supply for nominal +24

VDC to connect to +VCC input

•USB-C cable

•SD-Card (optional)

•Useful links:

–Getting started video Trinamic’s

Swiss Army Knife for Engineers

Running MicroPython

–Getting started application notes

–Software projects on Github

Precautions

•Do not mix up signals or short-circuit pins.

•Do not exceed the maximum rated supply

supply voltage!

•Start with power supply oﬀ! Connect ca-

bles ﬁrst. Then switch on your supply.

Figure 1: TMCM-0960-MotionPy V21 top view

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3 Connectors

The top view of the TMCM-0960-MotionPy V21 shows the main connector in red with power input (+VCC)

and the three communication interfaces UART, RS485, and CAN. USB connector in yellow. The GPIO signal

pin headers are marked pink and green. The SWD pin header is marked light blue). The PMOD connectors

are marked dark blue. The real time clock power source (+Vbat) 2-pin header is marked dark green.

Figure 2: Connectors of TMCM-0960-MotionPy V21

Each connector has the signal names marked in the silkscreen of the board next to the respective connec-

tor pins. The pin numbers (pin 1) are also labeled.

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3.1 Power Supply and Communication Interface Connector

Connector Types and Mating Connectors

Connector Connector type on-board Mating connector type

Power/Comms JST B8B-PH-K-S

(JST PH series, 8pins, 2mm pitch)

Connector housing: JST PHR-8

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

USB-C USB-C female connector USB-C male connector

Table 2: Connector Types and Mating Connectors of the TMCM-0960-MotionPy V21

Figure 3: Power / communication connector of TMCM-0960-MotionPy V21

Power/Communication Connector Pin Assignment

Pin no. Pin name Level Description

1 GND Power (GND) Supply and signal ground connection

2 +Vcc Supply Supply voltage input (+6V to +36V DC)

3 RS232_TX RS232 level Serial comm. transmitting signal

4 RS232_RX RS232 level Serial comm. receiving signal

5 RS485+ RS485 level Bidirectional diﬀ. RS485 bus signal (non-inverting)

6 RS485- RS485 level Bidirectional diﬀ. RS485 bus signal (inverting)

7 CAN_H CAN level Bidirectional diﬀ. CAN bus signal (non-inverting)

8 CAN_L CAN level Bidirectional diﬀ. CAN bus signal (inverting)

Table 3: TMCM-0960-MotionPy V21 Power supply and Communication Interface connector pin assignment

NOTICE Always keep the power supply voltage below the upper limit of +36V! Oth-

erwise the driver electronics will be seriously damaged. Especially, when the se-

lected operating voltage is near the upper limit a regulated power supply is highly

recommended.

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3.2 PMOD Connectors

The TMCM-0960-MotionPy V21 oﬀers two separate PMOD interfaces with two independent SPI channels.

For exact PMOD pinout, please refer to the documentation of your speciﬁc PMOD board. General internal

signals are as follows.

Figure 4: PMOD connectors of TMCM-0960-MotionPy V21

PMOD Header 1 (dark blue) Pin Assignment

Pin no. Pin name Level Description

1 CS01 +3.3 VDC Chip select SPI bus 0 channel 1 (PA4)

2 CS02 +3.3 VDC Chip select SPI bus 0 channel 2 (PC6)

3 SPI1_MOSI +3.3 VDC Chip select SPI bus 0 MOSI

4 GP01 +3.3 VDC GPIO chip 0 pin 1 (PB0)

5 SPI1_MISO +3.3 VDC Chip select SPI bus 0 MISO

6 GP02 +3.3 VDC GPIO chip 0 pin 2 (PC13)

7 SPI1_SCK +3.3 VDC Chip select SPI bus 0 SCK

8 GP03 +3.3 VDC GPIO chip 0 pin 3 (PC5)

9 GND Ground Common system supply and signal ground

10 GND Ground Common system supply and signal ground

11 +3.3V +3.3 VDC System supply

12 +3.3V +3.3 VDC System supply

Table 4: PMOD Header 1 (dark blue) Pin Assignment

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PMOD Header 2 (dark blue) Pin Assignment

Pin no. Pin name Level Description

1 CS11 +3.3 VDC Chip select SPI bus 1 channel 1 (PB12)

2 CS12 +3.3 VDC Chip select SPI bus 1 channel 2 (PC2)

3 SPI1_MOSI +3.3 VDC Chip select SPI bus 1 MOSI

4 GP11 +3.3 VDC GPIO chip 1 pin 1 (PC4)

5 SPI1_MISO +3.3 VDC Chip select SPI bus 1 MISO

6 GP12 +3.3 VDC GPIO chip 1 pin 2 (PC7)

7 SPI1_SCK +3.3 VDC Chip select SPI bus 1 SCK

8 GP13 +3.3 VDC GPIO chip 1 pin 3 (PC3)

9 GND Ground Common system supply and signal ground

10 GND Ground Common system supply and signal ground

11 +3.3V +3.3 VDC System supply

12 +3.3V +3.3 VDC System supply

Table 5: PMOD Header 2 (dark blue) Pin Assignment

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3.3 GPIO Connectors

The TMCM-0960-MotionPy V21 oﬀers three separated input/output headers, directly connected to the

MCU (STM32F405RGT6). They are located on the right side of the board.

Figure 5: GPIO connectors of TMCM-0960-MotionPy V21

Please check the online available design ﬁles and schematic data for additional information on the con-

nectors’ signal connections and pinning.

3-Pin GPIO Header (pink) Pin Assignment

Pin no. Pin name Level Description

1 PB7 +3.3 VDC GPIO Port B Pin 8

2 PB6 +3.3 VDC GPIO Port B Pin 9

3 GND Ground Common system supply and signal ground

Table 6: 3-Pin GPIO Header (pink) Pin Assignment

SWDIO-Pin Header (light blue) Pin Assignment

Pin no. Pin name Level Description

1 +3.3V +3.3 VDC Common on-board +3.3V supply level

2 SWDIO +3.3 VDC Software programmable GPIO (Green LED)

3 SWDCLK +3.3 VDC Software programmable CLK (Red LED)

4 GND Power (GND) Common system supply and signal ground

Table 7: SWDIO-Pin Header (light blue) Pin Assignment

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IO-Pin Header (green) Pin Assignment

Pin no. Pin name Level Description

1 GND Power (GND) Common system supply and signal ground

2 NRST +3.3 VDC MCU NRST pin7 - MCU Reset signal

(Activated through button SW101)

3 BOOT0 +3.3 VDC MCU BOOT0 pin60 - MCU Boot signal (Pull-down)

4 +3.3V +3.3 VDC Common on-board +3.3V supply level

Table 8: IO-Pin Header (green) Pin Assignment

Figure 6: VBAT connector of TMCM-0960-MotionPy V21

RTC Vbat Header (dark green) Pin Assignment

Pin no. Pin name Level Description

1 GND Power (GND) Common system supply and signal ground

2 +Vbat +1.65...+3.3 VDC MCU VBAT pin1

Supply for Real-Time Clock (RTC)

Table 9: RTC Vbat Header (dark green) Pin Assignment

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3.4 Evaluation Board LEDs and Switches

Figure 7: Switches and LEDs of TMCM-0960-MotionPy V21

Switches

Switch Description

SWDIO Software deﬁned; special function - USR Switch (chapter 2.4)

NRST Board reset

S1PC3 Software deﬁned; connected to MCU

S2PC2 Software deﬁned; connected to MCU

Table 10: TMCM-0960-MotionPy V21 Switches

LED Description

LEDR2 White LED - Software deﬁned; connected to MCU

LEDG2 Blue LED - Software deﬁned; connected to MCU

SWDCLK Green LED - Software deﬁned; connected to SWD Header (light

blue) pin 3 and MCU

SWDIO Red LED - Software deﬁned; connected to SWD Header (light

blue) pin 2 and MCU

Table 11: TMCM-0960-MotionPy V21 LEDs

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