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TMCM-1111 stepRocker Servo

Closed Loop Stepper Motor Controller [&] Driver with up to 2.8A/30V with USB/RS485/S[&]D

The TMCM-1111 stepRocker Servo is a single axis motor controller/driver board for 2-phase bipolar stepper motors. It supports S-shaped ramps in addition to linear ramps and closed-loop operation together with an external encoder.

The driver part offers highest smoothness and precision due to a high microstep resolution and the patented spreadCycle™ chopper scheme for optimized current-zero crossing and -sine wave form. The integrated sensorless load detection stallGuard2™ and the load dependent current control coolStep™ make this board unique. This features make it the first time possible to drive a stepper motor energy efficient!

The integrated ramp- and pulse generating positioning motion controller can be attached via USB or RS485. Up to 3 driver can be controlled simultaneously. A 3-axis application can easily be build by connecting two external drivers (e.g. additional stepRocker Servo) via step [&] direction signals.

It is possible to use the stepRocker Servo with the Trinamic Motion Control Language TMCL™. The board comes with the preinstalled firmware. The integrated development environment TMCL-IDE for PC can be downloaded and used free of charge. It is possible to remote control the stepRocker Servo or to write and download complete command sequences for stand-alone use.

For the first steps only a power supply, a stepper motor and a PC are necessary.

Technical Data

Technical Data:

Motor Type

Stepper, 2-phase, bipolar

Motor mountable


Supply Voltage


Max. phase current (RMS) 2,8A


USB, RS485

S/D Driver Interface

1x IN, 2x OUT

Microstep Resolution


Motion Controller


Acceleration Ramp

S-Shaped, linear

ABN Encoder Interface


sensOstep™ Encoder resolution


End- [&] Ref.-Switch IN

2x STOP, 1x HOME

General Purpose IN (digital)

(3x TTL)

General Purpose OUT (digital)

2x OD, 100mA

General Purpose IN/OUT (digital):

6x TTL

General Purpose IN (analog)

1x 0...10V, 12bit





spreadCycle™ Chopper


microPlyer™ (interpolation)

16 to 256

stealthChop™ (no noise)




Board Size

55 x 85mm

Order Code


Firmware Order Option


Related Cable Loom



TMCM-1111 hardware manual (pdf)

TMCM-1111 TMCL firmware manual (pdf)

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TMCM-1111 stepRocker Servo

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