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Connectors and pinout

The connectors. The motor coils go to A+, A−, B+, B−; the supply to DC+ and DC−.
Figure 3.1: The connectors. The motor coils go to A+, A−, B+, B−; the supply to DC+ and DC−.
Connector Pins Type Cable
Motor A+, A−, B+, B− solder pads the motor's own leads, see Wiring the stepper
Power, two of them DC+, DC− JST XH, 2 pins Power cable; the second connector feeds the next driver
CAN, two of them CAN L, CAN H JST ZH, 2 pins CAN cable; the second connector feeds the next driver
UART 3.3 V, TX, RX, GND JST SH, 4 pins UART cable
Thermistor NTC, NTC JST SH, 2 pins the 100 kΩ NTC from the shop or any 100 kΩ NTC
JTAG 3.3 V, GND, SWCLK, SWDIO pads, 1.27 mm pitch Programming adapter, pressed onto the pads; the order is marked in Installing the bootloader
ADDITIONAL2 signal, GND pads your sensor; the HALL homing mode reads this pin
STEP / DIR STEP, DIR, GND, 24 V header hardware only: the firmware does not support a step/dir interface

Polarity and orientation

DC+ to the positive supply, DC− to the negative; a cable the wrong way round destroys the driver. The daisy-chain cables have an orientation too: see Power and the CAN daisy chain.

Note

  • UART is TX to RX and RX to TX between the driver and the adapter.
  • The UART port and the ADDITIONAL2 pin are 3.3 V. 5 V on either destroys the board.
  • The thermistor pin has a 54.9 kΩ pull-down; the firmware's temperature table is for a 100 kΩ NTC.
  • The CAN termination switch is next to the CAN connectors; ON connects the 120 Ω resistor.

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