TRINAMIC TMCM-0960-MOtionPy V21 Board User Manual
- June 10, 2024
- TRINAMIC
Table of Contents
TMCM-0960-MOtionPy V21 Board
User Manual
TMCM-0960-MOtionPy V21 Board
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 standard 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
applications. Applications
- Test Setups
- Prototype Testing
- Tabletop bring-up
- Drives
- Robotics
- Automation
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 download onwww.trinamic.com
- Software projects available on Github: www.github.com
Simplified Block Diagram
Order Codes
| Order Code | Description | Size |
|---|---|---|
| TMCM-0960-MotionPy V21 | MicroPython controller board, +6V to +36V supply, 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
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 videoTrinamic’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 cables first. Then switch on your supply.
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 connector pins. The pin numbers (pin 1) are also labeled.
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, Spins, 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
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! Otherwise
the driver electronics will be seriously damaged. Especially, when the
selected operating voltage is near the upper limit a regulated power supply is
highly recommended.
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.
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 (PBO)
5| SPI1_MISO| +3.3 VDC| Chip select SPI bus 0 MISO
6| GP02| +3.3 VDC| GPIO chip 0 pin 2 (PC13)
7| SPH_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
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| SPH_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
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.
Please check the online
available design files and schematic data for additional information on the
connectors’ 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
10-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| BOOTO| +3.3 VDC| MCU BOOTO 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
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 pint Supply for Real-Time Clock (RTC)
Table 9: RTC Vbat Header (dark green) Pin Assignment
3.4 Evaluation Board LEDs and Switches
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
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 pint Supply for Real-Time Clock (RTC)
Table 11: TMCM-0960-MotionPy V21 LEDs
3.5 Safe Mode
To enter safe mode, do the following steps:
- Connect the board with USB, so it powers up.
- Hold down the USR switch (SWDIO switch).
- While still holding down USR, press and release the NRST switch.
- The LEDs will then cycle red to blue to ridable and back again.
- Keep holding down USR until only the red LED is lit, and then let go of the USR switch.
- The red LED should fiat quickly 4 times, and then turn off.
- You are now in safe mode.
In safe mode, the boot.py and main. py files are not executed, and so the
MotionPy board boots up with default settings. This means you now have access
to the file system (the USB drive should appear), and you can edit boot.py and
main.py to fix any problems. Entering safe mode is temporary, and does not
make any changes to the files on the board.
3.6 Reset to Factory Default
The SWD connector can also be used to reset the Evaluation board to factory
default settings. This is useful for example when the RS485 and/or CAN bit
rate and ID settings of the board are not known. Do the following things to
perform a reset to factory default settings:
- Switch off the supply power.
- Link together the pins CLK and DIO of the 1x4pin Header (Red) (using a jumper).
- Switch on the supply power.
- Wait until the MCU status and error LED ash alternating.
- Switch off the supply power.
- Remove the link between the CLK and the DIO pin.
- Switch on again. The module now runs with factory default settings.
4 Evaluation Board Design Files
All design files for the base board are available for free. We offer the original ECAD les, Gerber data, the BOM, and PDF copies.
- For the TMCM-0960-MotionPy V21 the ECAD files are in Ki CAD format.
The files are available on Tinamid’s website at https://www.trinamic.com/.
Note
If files are missing on the website or something is wrong please send us a
note.
Software and Firmware Information
Example firmware projects are available on Github: https://github.com/trinamic/PyTrinamicMicro.
Revision History
6.1 Document Revision
| Version | Date | Author | Description |
|---|---|---|---|
| 1.00 | 2020-10-29 | HH, LK, SK | Initial release version. |
| 2.00 | 2021-05-18 | LK | Updated for board version 2.0 |
| 2.10 | 2021-05-25 | SK | initial bugfix of some values and typos |
| 3.00 | 2021-07-01 | SK | Updated for board version 2.1. Maximum supply voltage at |
+VCC changed to +36V.c
Table 12: Document Revision
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