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TMCM-1316 stepRocker Servo

Closed Loop Stepper Motor Controller [&] Driver with up to 5.7A/30V with USB/RS485/S[&]D

The TMCM-1316 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 TMCM-1316 features the TRINAMIC controller/driver chain consisting of TMC4361 and TMC5160 in combination with an ARM Cortex-M4™ (MK20DX128VLK7) processor. The Module is intended to be a fully functional development platform.

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) 5,7A


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

stealthChop2™ (no noise)




Board Size

55 x 85mm

Order Code


Firmware Order Option


Related Cable Loom



TMCM-1316 hardware manual (pdf)

TMCM-1316 TMCL firmware manual (pdf)

TMCM-1316 TMCL-LITE firmware manual (pdf)

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TMCM-1316 stepRocker Servo

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