Trinamic TMCM-0960-MotionPy V21 Manuel utilisateur
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
©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.
TMCM-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 2 / 13
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
©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-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 3 / 13
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
©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-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 4 / 13
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.
©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-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 5 / 13
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.
©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-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 6 / 13
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
©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-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 7 / 13
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
©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-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 8 / 13
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
©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-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 9 / 13
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
©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-0960-MotionPy V21 •Hardware Version V2.1 | Document Revision V3.00 •2021-07-01 10 / 13
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
©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
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