===== Stepper Driver and Motor Connection Guide ===== The completed YAML example will be placed in the Documentation section. ---- ==== Option A: On-board Stepstick Drivers ==== **Common Models:** * A4988 * DRV8825 * TMC2208 * TMC2209
⚠️
Critical: Remove all jumpers from slots when using onboard motors to prevent driver and chip damage!
🔌 Signal Connections
Control Signals:
EN DIR CLK GND
Motor Output (Green Terminal):
1A • 1B • 2A • 2B
⚙️ Microstep Configuration
SPI Jumpers: REMOVE
Enable signal Input to onboard drivers
MS1/MS2: Onboard Jumpers
Set via physical jumpers on board
MS3: YAML File
Configure in software settings
🔋 Power Supply
Motor Power: Vmot-driver
Main motor power supply
Logic Signal: VDD (Optional)
Optional logic level reference
===Example diagram=== {{ :pibot_cnc_laser_series:v496_pro:connect_stepper_drivers:screenshot_-_2025-12-03t035148.795.png?nolink |}} {{https://www.pibot.com/image/catalog/V49PB/A4988(1)(1).png}} ===Example Yaml code=== motor0: limit_neg_pin: NO_PIN limit_pos_pin: NO_PIN limit_all_pin: NO_PIN hard_limits: false pulloff_mm: 1.000 stepstick: step_pin: I2SO.2 direction_pin: I2SO.1 disable_pin: I2SO.0 ms3_pin: I2SO.3:high #####set MS1 MS2 via on-board capnut， #####set ms3 via YAML file :high or :low ---- ==== Option B: External Standard Drivers ==== **Common Models:** * TB6600 * DM420 * DM542 * DM556
⚠️
Important: Insert corresponding slot jumpers to enable signal output through green terminal, and remove all onboard driver configuration jumpers (MS1, MS2, RST, SLP).
🔌 Signal Connections
Control Signals:
EN STP DIR GND
Output via Green Terminal:
EN STP DIR GND
⚙️ Jumper Configuration
Slot Jumpers: INSERT
Enable signal output through green terminal
Onboard Jumpers: REMOVE ALL
MS1, MS2, RST, SLP must be removed
SPI Jumpers: REMOVE
Enable signal Input to onboard drivers
🔋 Power & Configuration
Power Supply: External Port
Drivers powered through their own ports
Microstep Config: Driver Switches
Set on driver itself, not on motherboard
Logic Level: VDD Selectable
Optional logic level signal reference
===Example diagram=== {{ :pibot_cnc_laser_series:v496_pro:connect_stepper_drivers:screenshot_-_2025-12-02t041348.110.png?nolink |}} ===Example Yaml code=== motor0: limit_neg_pin: NO_PIN limit_pos_pin: NO_PIN limit_all_pin: NO_PIN hard_limits: false pulloff_mm: 1.000 standard_stepper: step_pin: I2SO.10 direction_pin: I2SO.9 disable_pin: I2SO.8 ---- ==== Option C: On-board SPI Drivers ==== **Common Models:** * TMC2130
⚠️
Important: Insert corresponding SPI jumpers to enable signal input to onboard drivers, and remove all onboard driver slot jumpers and (MS1, MS2, RST, SLP).
🔌 Signal Connections
Control Signals:
SPI EN DIR CLK GND
Output via Green Terminal:
1A 1B 2A 2B
⚙️ Jumper Configuration
SPI Jumpers: INSERT
Enable signal Input to onboard drivers
Drivers Slot Jumpers: REMOVE
Enable signal Input to onboard drivers
Onboard Jumpers: REMOVE ALL
MS1, MS2, RST, SLP must be removed
🔋 Power & Configuration
Power Supply: Vmot-Driver Onboard
Drivers powered through onboard ports
Microstep Config: SPI via YAML File
Set on YAML File
Logic Level: VDD Select 3.3V
SPI logic level 3.3V reference
===Example diagram=== {{:pibot_cnc_laser_series:v496_pro:connect_stepper_drivers:tmc2130c2.png?nolink|}} OnBoard SPI Drivers use the SPI independent mode, so each driver needs its own cs_pin {{https://www.pibot.com/image/catalog/V49PB/Screenshot%20-%202025-10-08T001202.060.png|}} ===Example Yaml code=== motor1: limit_neg_pin: NO_PIN limit_pos_pin: NO_PIN limit_all_pin: NO_PIN hard_limits: false pulloff_mm: 1.000 tmc_2130: r_sense_ohms: 0.110 run_amps: 1.2 hold_amps: 0.1 microsteps: 16 stallguard: 0 stallguard_debug: false toff_disable: 3 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: CoolStep use_enable: false cs_pin: i2so.11 step_pin: I2SO.10 direction_pin: I2SO.9 disable_pin: I2SO.8 spi_index: -1 ### // for SPI independent mode spi_index: -1 use the $MI CMD FOR TEST ---- ==== Option D: External SPI Drivers ==== **Common Models:** * TMC5160
⚠️
Important: Take off corresponding SPI jumpers to enable signal output to External SPI Drivers via Green Terminal, plug driver slot jumpers.
🔌 Signal Connections
Control Signals:
SPI EN DIR CLK GND
Output via Green Terminal:
EN STP DIR GND
⚙️ Jumper Configuration
SPI Jumpers: PLUG OFF
Enable signal Input to onboard drivers
Drivers Slot Jumpers: PLUG ON
Enable signal Input to onboard drivers
Onboard Jumpers: REMOVE
MS1, MS2, RST, SLP can be removed
🔋 Power & Configuration
Power Supply: External Port
Drivers powered through External ports
Microstep Config: SPI via YAML File
Set on YAML File
Logic Level: VDD Select 3.3V
SPI logic level 3.3V reference
===Example diagram=== {{ :pibot_cnc_laser_series:v496_pro:connect_stepper_drivers:screenshot_-_2025-12-02t040329.768.png?nolink |}} External SPI Drivers use the SPI Daisy Chain mode, so each driver needs only one cs_pin (default: I2SO.3) {{:pibot_cnc_laser_series:v496_pro:connect_stepper_drivers:screenshot_-_2025-12-02t033246.484.png?nolink|}} ===Example Yaml code=== motor0: limit_neg_pin: NO_PIN limit_pos_pin: NO_PIN limit_all_pin: NO_PIN hard_limits: false pulloff_mm: 1.000 tmc_5160: r_sense_ohms: 0.1 run_amps: 1.2 hold_amps: 0.5 microsteps: 16 stallguard: 0 stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: CoolStep homing_mode: CoolStep use_enable: false cs_pin: i2so.3 ######## // for daisy chain i2so.3 No configuration required below. step_pin: I2SO.2 direction_pin: I2SO.1 disable_pin: I2SO.0 spi_index: 1 ---- ====Option E: Regarding Mixed Use====

⚠️ SPI Mode Incompatibility

✓ Compatible Configuration

On-board StepStick drivers can be mixed with standard external drivers.

Important Note for Mixed Setup:

Pay close attention to jumper settings when mixing driver types.

🔄 Jumper Configuration Guide

When Using On-board Drivers:

There should be no jumpers in the driver slots.

When Using External Drivers:

  • Insert the jumpers into the driver slots
  • Step (Stp) and Direction (Dir) signals must be output from the green terminal blocks
----