Hardware

Hardware Overview

Configuration

The main components are as follows;

Components	Manufacturer	Model number
MCU	Microchip	ATSAMD21G18A
Ethernet Controller	Wiznet	W5500
Stepper Driver	STMicroelectronics	PowerSTEP01
DC-DC Converter	ROHM	BD9G341AEFJ

Pin assignments

pin	function	etc
D0	DIPSW8
D1	LIMIT1
D2	DIPSW5
D3	DIPSW7
D4	SD_CS
D5	LIMIT2
D6	PowerSTEP01_MISO
D7	DIPSW3
D8	LIMIT3
D9	DIPSW5
D10	W5500_CS
D11	PowerSTEP01_MOSI
D12	PowerSTEP01_SCK
D13	L
D20/SDA	NC
D21/SCL	NC
D22/MISO	W5500_MISO
D23/MOSI	W5500_MOSI
D24/SCK	W5500_SCK
A0	PowerSTEP01_CS
A1	LIMIT4
A2	PowerSTEP01_RESET
A3	W5500_RESET
A4	SD_DETECT
A5	DIPSW1

Since PowerSTEP01_RESET and W5500_RESET are connected to the reset pins of PowerSTEP01 and W5500 individually, be sure to set pinMode to OUTPUT and then set the state to HIGH.

SPI assignment

Here is a very informative guide to SPI allocation in ATSAMD21.

https://learn.adafruit.com/using-atsamd21-sercom-to-add-more-spi-i2c-serial-ports

W5500

Pin	Function	SERCOM	SERCOM Alt
D22/MISO	MISO	-	SERCOM4.0
D23/MOSI	MOSI	-	SERCOM4.2
D24/SCK	SCK	-	SERCOM4.3

PowerSTEP01

Pin	Function	SERCOM	SERCOM Alt
D6	MISO	-	SERCOM3.2
D11	MOSI	-	SERCOM3.0
D12	SCK	-	SERCOM3.3

PowerSTEP01

Clock

A 16MHz crystal oscillator is connected to the OSCIN of Motor ID 1's PowerSTEP01. From there, OSCOUT and OSCIN are daisy chained in order of ID, so please set each PowerSTEP01 to "External 16MHz input, Inverted output(EXT_16MHZ_OSCOUT_INVERT)". If the internal clock is used, the movement may shift gradually during constant speed operation.

Hardware-unavailable PowerSTEP01 features

STCK

Since it is not wired, Step Clock operation is not possible.

ADCIN

It is not wired and cannot be used. Be sure to disable UVLO_ADC, which generates an alarm based on the value of the ADC input.