4.2 Connect Stepper Drivers

Six PH2.0 axis outputs: EN / STP / DIR / GND

The V5.77 Carrier has no on-board StepStick or SPI-driver sockets. X, Y, Z, A, B, and C are logic-level outputs for external drivers. Never connect a motor directly to these headers.

A. Identify the Axis Connector

Signal	Purpose	YAML source
EN	Driver enable	I2SO output
STP	Step / pulse	I2SO output
DIR	Direction	I2SO output
GND	Signal reference	Controller ground

B. Choose the Logic Voltage

Item 12 selects the high level for all I2SO motor and reserved outputs: 5 V (left, default) or 3.3 V (right). Use the voltage accepted by the driver's step/direction inputs. Change this jumper only with power off.

C. Connect the Driver Inputs

Power off the controller and the driver supply.
Connect the selected axis STP, DIR, EN, and GND to the matching logic inputs documented by the driver manufacturer.
For PUL+/PUL-, DIR+/DIR-, ENA+/ENA- optocoupled drivers, determine whether the driver expects common-anode or common-cathode wiring. Use an interface/line driver if its required current or voltage is not compatible with 3.3/5 V logic.
Wire motor phases and motor power only on the external driver side.

D. Configuration and First Motion

Set the correct I2SO step, direction, and disable pins for each axis in your machine YAML.
Set steps/mm from motor steps, microstepping, and mechanics; do not keep the test value blindly.
Start with low acceleration and a short jog. Verify direction before coupling the axis to the machine.
If enable polarity is reversed, correct the pin modifier in YAML; do not move wires while powered.

Acceptance check: the correct driver enables, a short positive/negative jog moves only the intended axis, direction is correct, and the driver remains cool and fault-free.

Next: 4.3 Connect External Relay →