Table of Contents

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:

⚠️
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

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:

⚠️
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

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:

⚠️
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

OnBoard SPI Drivers use the SPI independent mode, so each driver needs its own cs_pin

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:

⚠️
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

External SPI Drivers use the SPI Daisy Chain mode, so each driver needs only one cs_pin (default: I2SO.3)

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

  • SPI mode is not compatible with other driver modes.
  • On-board SPI drivers and external SPI drivers cannot be mixed.

✓ 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