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STEPPER_MOTOR_WIRING.md

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Stepper Motor Wiring

Including Conventions with Examples

Creality Stepper motor "42-34" (our example in this document)

Motor Diagram:

Creality_42-34_Stepper_Motor_Specs.jpg

Motor Specifications:

> Step angle: 1.8 degrees
> Steps: 200
> Rated Voltage: 3.3V DC
> Rated Current: 1.5A
> Rated speed: 1-1000rpm
> Rated torque: 0.4NM
> Ambient Temperature: -20 - 50℃
> Length: 34mm
> Weight: 275g
> Coils: 2
> Phase Resistance: 2.2 ohm +- 10% (20 degrees Celsius)
> Phase Inductance: 3.8mH +- 20% (1khz 1V rms)
> Motor Inertia: 57g. cm^2

Motor Coil Internal Wiring (Creality 42-34):

  • NOTE: Second coil leads identified as B and D are sometimes marked as A` and B`

Fig 1.a

PIN (COIL)
                       ****    
  1 (A) ───────)     **    **  
               )    *        * 
               )   *  MOTOR   *
               )    *        * 
  3 (C) ───────)     **    **  
                       ****    
                                
                    ╭╮╭╮╭╮╭╮╭╮
                    │        │  
                    │        │  
                                
                   (B)      (D)
                                
                    4        6

Motor Input Connector Diagram (JST-PH 2.0mm):

  • NOTE: below 'JST-PH' connector (Fig 1.b) is common on stepper motors and correspond to labels in above coil wiring diagram (Fig 1.a)

Fig 1.b

┌────────────────────┐
│                    │
│  1  2  3  4  5  6  │
└───┬─┬────────┬─┬───┘

  (A)   (C)(B)   (D)

Coil Exciting Sequence:

Fig 2.a

           _____________________________    
Direction  | STEP  | A  | B  | C  | D  |  Direction
    ↓      |:-----:|:--:|:--:|:--:|:--:|      ↑
    ↓      |  1    | +  | +  | -  | -  |      ↑
    ↓      |  2    | -  | +  | +  | -  |      ↑
    ↓      |  3    | -  | -  | +  | +  |      ↑
    ↓      |  4    | +  | -  | -  | +  |      ↑
   CW      |_______|____|____|____|____|     CCW

Motor Output Connector (ex: Octopus, SKR):

Fig 1.c

JST-XH  2.54mm connector

       2B  2A  1A  1B
    ┌─────────────────┐
    │                 │
    │  O   O   O   O  │
    │                 │
    └──┬─┬───────┬─┬──┘

PIN   (1) (2) (3) (4)

Motor Input connector (6-pin) - cable side, facing female pins

  • JST-PH 2.0mm connector - specifications

  • NOTE: this is the connector on the wire side (not the connector found on the motor itself)

Fig 2.b

          COIL  #2        COIL  #1
        _____________  ______________

        BLK       BLU  GRN       RED
         │    NC   │    │    NC   │
         │    │    │    │    │    │
         │    │    │    │    │    │
    ┌──┬─┴────┴────┴────┴────┴────┴─┬──┬┐
    │  │                            │  ││
    │  │                            │  ││
    │  │                            │  ││
    │  └────────────────────────────┘  ││
    │                                  ││
    ├───┬─┬──┬─┬──┬─┬──┬─┬──┬─┬──┬─┬───┼│
    │   └─┘  └─┘  └─┘  └─┘  └─┘  └─┘   ││
    │                                  ││
    ├──────────────────────────────────┼│
    └───────────────────────────────────┘

PIN     (6)  (5)  (4)  (3)  (2)  (1)

Motor Control Wiring Diagram (with color-coded wires)

  • 1/2 indicates which motor coil
  • A/B indicates Neg(-) or Pos(+)
  • Wire Color is arbitrary but follows conventions described in linked additional reference1

Fig. 2.c

--------------------------------------------------------------------------------------------
| Controller |  Wire   |  Motor |  Coil     |   Wire   |  Motor   |  Motor  |  Multimeter  |
|  Pinout    |  Color  |  Coil  |  Polarity |   Color  |  Input   |  Coil   |  Continuity  |
|:----------:|:-------:|:------:|:---------:|:--------:|:--------:|:-------:|:------------:|
|            |         |        |           |          |          |         |______________|
|    2B  >---┼---RED---┼-- #2 --┼--- (+) ---┼---RED----┼--- (1) --┼--A---8) |              |
|            |         |        |           |          |          |      (  | 1-3  (BEEP!) |
|    2A  >---┼---BLU---┼-- #2 --┼--- (-) ---╳---GRN----┼--- (3) --┼--?---8) |______________|
|    1A  >---┼---GRN---┼-- #1 --┼--- (-) ---╳---BLU----┼--- (4) --┼--?---8) |              |
|            |         |        |           |          |          |      (  | 4-6  (BEEP!) |
|    1B  >---┼---BLK---┼-- #1 --┼--- (+) ---┼---BLK----┼--- (6) --┼--D---8) |______________|
|            |         |        |           |          |          |         |              |
|____________|_________|________|___________|__________|__________|_________|______________|

Legend: X   cross wiring
        8)  motor coil

TMC2209 Schematic and Motor Wiring Reference

  • TMC2209 Pinout Labels and Functions 2

      | PIN | Num |   Function    | SKR MINI E3 v3 (PIN) | MOTOR | INPUT | Multimeter  |
  |:---:|:---:|:-------------:|:--------------------:|:-----:|:-----:|:-----------:|
  | OB2 | 1   | Coil B #2 (-) |  2B ──────────────── | A     | PIN 1 |  ---B       |
  |     |     |               |                      |   NC  |       |     E       |
  | OA2 | 21  | Coil A #2 (-) |  1B ──┐  ┌────────── | C     | PIN 3 |     E  ---B |
  | OA1 | 24  | Coil A #1 (+) |  1A ─┐└──│────────── | B     | PIN 4 |  ---P     E |
  |     |     |               |      └─────┐         |   NC  |       |           E |
  | OB1 | 26  | Coil B #1 (+) |  2A ─────┘ └──────── | D     | PIN 6 |        ---P |

    NOTE: above "motor" referrs to 'LDO-42STH40-1684MAC'

  • example motor coil wiring diagram with TMC2209 pin labels TMC2209_motor_wiring_with_TMC_labels.png

  • Below illustrates how the JST-XH pinouts on the SKR board are tied to the TMC driver chip. We can trace (bypassing BTT confusing pinout labels) the physical wire connection from driver chip to the motor coils by comparing the motor wiring datasheet[^LDO] to TMC2209 Datasheet2. BTT_SKR_Mini_E3_v3_TMC2209_schematic.png

Together, they

'TMC2209 pinout schematic' and

TMC2209_driver_schematic.png

LDO motors are slightly different:

...but much better documented

Examples:

Notice the connector to coil wiring differences (ACBD vs. ABCD) for motors 42STH38-1684MAC vs. 42STH47-1684MAC

Klipper Notes:

Explanation

When testing continuity on motor input pins, you will find continuity between each of the pos/neg pins for each of the coils.
This way you can verify your wiring from the controller's pinout is mostly correct, at least for each of the coils.
Consult your motor's specifications for exactly what polarity is expected.

If your motor is moving the wrong direction

It actually does matter which coil is which and what the polarity of the coils are. However, if they're wrong, the motor just turns the wrong way, 
Switching the polarity of either (one) coil, like swapping motor input pins 1/4 (RED/BLUE)  or 3/6 (GREEN/BLACK)
Motor direction can also be reversed in the firmware, so keep this in mind before possibly destroying your cable or connector.

TMC Driver Specs

  • BigTreeTech EZ Driver Specs: [EZ2208]4, EZ22095, EZ21306, EZ51607

    Product EZ 5160 Pro EZ 5160 RGB EZ 2130 EZ 2209 EZ 2208 EZ 2226 EZ 6609
    Driver TMC5160-TA TMC5160-TA TMC2130-LA TMC2209-LA TMC2208-LA TMC2226-SA GC6609
    Voltage 8-48V 8-48V 12-24V 12-24V 12-24V 12-24V 12-24V
    Max Current 2.5A 4.7A 2A(QFN) 2A 2A 2A 2A
    RMS Current 1.6A 3A 0.9A 1.3A 1.2A 1.3A 1.2A
    Mode SPI SPI SPI UART UART UART UART
    Resistance 0.075 Ω 0.05 Ω 0.11 Ω 0.11 Ω 0.11 Ω 0.11 Ω 0.11 Ω
    StealthChop ✔ ✔ ✔ ✔ ✔ ✔
    SpreadCycle ✔ ✔ ✔ ✔ ✔ ✔
    StallGuard ✔ ✔ ✔ ✔ ✔

Additional References

Footnotes

  1. Explanation of stepper motor wiring ↩

  2. Analog Devices Technical Documentation - TMC2209 Datasheet rev1.08 ↩ ↩2 ↩3

  3. BTT_E3_SKR_MINI_V3.0_SCH.pdf ↩

  4. BTT Driver EZ2209 ↩

  5. BTT Driver EZ2209 ↩

  6. BTT Driver EZ2130 ↩

  7. BTT Driver EZ5160 Pro ↩