4.2 Connect External Stepper Drivers

Hardware Connection · Six EN / STP / DIR / GND signal groups for compatible external drivers

ℹ️

What this page covers: V4.7B sends logic-level Enable, Step and Direction signals to an external driver. The external driver supplies motor phase current and connects to the motor.

⚠️

Never connect a stepper motor directly to X/Y/Z/A/B/C. V4.7B has no on-board StepStick sockets. Always power off the controller and every driver before changing signal, motor or power wiring.

PiBot V4.7B
EN · STP · DIR · GND

➜

External Driver
PUL · DIR · ENA

➜

Stepper Motor
A+ · A− · B+ · B−

1

Understand One V4.7B Driver Connector

ENSTPDIRGND

V4.7B signal	External-driver function	Check in the driver manual
EN	Enable	ENA polarity and whether Enable may be left unused
STP	Pulse / Step / CLK	Input voltage and minimum pulse width
DIR	Direction	Input voltage, polarity and setup time
GND	Logic reference	Common-negative/common-cathode compatibility

Complete 2.6 Test Motor Signal LEDs before connecting any driver.
Use one driver first. Add the remaining axes only after the first short jog works correctly.

EXAMPLE A

Standard TB / DM External Driver

2

Connect a 5 V-Compatible Common-Negative Input

The following diagram applies to common TB6600, DM420, DM542, DM556 and similar drivers when their optocoupler inputs accept the V4.7B logic level and are wired with a common negative.

PiBot V4.7B connection to TB6600 DM420 DM542 DM556 external stepper driver

V4.7B EN/STP/DIR/GND to a standard common-negative external driver. Click for the full-size diagram.

V4.7B	Driver terminal shown
EN	ENA+ / EN+(5–24 V)
STP	PUL+ / PULSE+
DIR	DIR+
GND	ENA−, PUL− and DIR− common

⚠️

Driver terminal names and input circuits vary. If your driver requires common-anode/common-positive wiring, differential line signals or a higher input current, do not copy this diagram blindly; follow that driver’s manual or use a suitable interface.

3

Wire Driver Power and Motor Phases

Connect the motor supply to the external driver’s own power terminals, with the polarity and voltage required by that driver.
Identify the motor’s two winding pairs with its datasheet or an ohmmeter.
Connect one winding to A+/A− and the other to B+/B−.
Never plug or unplug a motor while the driver is powered.
Set phase current and microstepping before the first powered movement; begin with conservative current and acceleration.

EXAMPLE B

PiBot SilentStep Driver Modules

4

Use the PiBot EN / STP / DIR / GND Interface

The PiBot SilentStep modules can use the same four-signal groups through their matching cable interface. The example below shows X, Y1, Y2 and Z connections.

PiBot V4.7B connected to four PiBot SilentStep TMC5160 driver modules

V4.7B connected to PiBot SilentStep modules. Verify the driver-module revision, logic-voltage selector, current DIP settings and power range before use.

Keep power off while connecting the four-wire signal cables.
Match EN, STP(CLK), DIR and GND at both ends.
Set the driver logic-voltage selector as required by the PiBot interface and your module revision.
Start at a low current setting, then set the correct motor current from the motor and driver specifications.
Supply each driver within its documented motor-power range and confirm the total power-supply capacity.

5

Understand the Supplied XYYZA Test Mapping

X connectorSoftware X

Y connectorSoftware Y · motor 0

Z connectorSoftware Y · motor 1

A connectorSoftware Z

B connectorSoftware A

C connectorDiagnostic outputs in test YAML

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This mapping exists for the checklist and the example diagrams. In a real machine YAML, all six connector groups may be reassigned as needed. Replace the test steps/mm, direction, travel, acceleration, homing and limit settings before machine operation.

6

First Powered Movement

Leave the motor mechanically uncoupled where practical.
Set a low current, low acceleration and short jog distance.
Power the controller and one external driver.
Jog the intended axis in the positive and negative directions.
If direction is reversed, correct the machine YAML or motor wiring only while power is off.
Confirm no unexpected axis moves and no connector, wire, motor or driver heats abnormally.
Repeat one driver at a time.

✓

Commissioning Check

Only the intended external driver enables and moves.
Positive and negative directions are correct.
Motor current and microstepping match the machine requirements.
Signal cables are separate from motor and mains wiring where practical.
No driver, connector or wire heats abnormally during the low-speed test.

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