aadiyemul

Hardware

Connection Diagram

Code (Arduino IDE)

/*
  Author: Aadi Yemul
  Date: September 15, 2025
  Location: Redmond, WA
  Purpose:
    Demonstrate interfacing the TMC2209 stepper driver with an Arduino UNO.
    The code moves a NEMA 17 (or similar stepper motor) forward and backward 
    by generating step pulses on the STEP pin, while controlling the direction 
    with the DIR pin. The EN pin is used to enable/disable the driver.

  */

// ---------------- Pin Definitions ----------------
#define EN_PIN 8     // Enable pin: LOW = driver enabled, HIGH = driver disabled
#define STEP_PIN 9   // Step pin: motor moves one step on each rising edge
#define DIR_PIN 10   // Direction pin: sets rotation direction (LOW = one way, HIGH = opposite)

// ---------------- Motion Parameters ----------------
int noOfSteps = 500;           // Number of steps to move in each direction
int microSecondsDelay = 1000;  // Delay between step pulses (controls speed)

// ---------------- Setup ----------------
void setup() {
  // Configure pins as outputs
  pinMode(EN_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);

  // Initialize driver state
  digitalWrite(EN_PIN, LOW);   // Enable the driver (active LOW)
  digitalWrite(DIR_PIN, LOW);  // Set initial direction
}

// ---------------- Main Loop ----------------
void loop() {
  // Rotate motor in one direction
  digitalWrite(DIR_PIN, LOW);   // Set direction to LOW
  moveSteps(noOfSteps);

  // Rotate motor in the opposite direction
  digitalWrite(DIR_PIN, HIGH);  // Set direction to HIGH
  moveSteps(noOfSteps);
}

// ---------------- Function Definitions ----------------
/*
  moveSteps(steps):
  Generates 'steps' number of step pulses on STEP_PIN.
  Each step pulse consists of a HIGH followed by a LOW state,
  with a configurable delay between pulses.
*/
void moveSteps(int steps) {
  for (int i = 0; i < steps; i++) {
    digitalWrite(STEP_PIN, HIGH);   // Rising edge: triggers step
    delayMicroseconds(microSecondsDelay);
    digitalWrite(STEP_PIN, LOW);    // Falling edge: completes step
    delayMicroseconds(microSecondsDelay);
  }
}

Nema 17 Stepper Motor Specifications

Electrical Specification
Manufacturer Part Number: 17HE15-1504S
Motor Type: Bipolar Stepper
Step Angle: 1.8 deg
Holding Torque: 42Ncm (59.49oz.in)
Rated Current/phase: 1.50A
Phase Resistance: 2.3 ohms
Inductance: 4.00mH ± 20% (1KHz)
Physical Specification
Frame Size: 42 x 42mm
Body Length: 38mm
Shaft Diameter: Φ5mm
Shaft Length: 23.5mm
D-cut Length: 20mm
Number of Leads: 4
Lead Length: 1000mm
Weight: 280g
Connection
A+: Black, A-: Blue, B+: Green, B-: Red

TMC2209

pd – pin with pull-down resistor (to GND)