TMC5160 driver modules

This page checks the wiring concept and the firmware's TMC5160 interface against the manufacturer documents, records what has been verified on the hardware, and lists what is still open before the motors are driven.

Hardware status (2026-10-11): one BTT TMC5160T Pro (axis A0, motor 17HS19-2504S) is wired to the kit and detected over SPI (IOIN.VERSION = 0x30) by the target firmware through the GUI (460800 bps to the PIC32, 230400 bps to the SmartFusion2). Detection needed SPI 2 MHz in the overlay and CLK tied to GND. Registers, telemetry, Current Limit, the ramp generator and mode changes work on A0, but the shaft does not turn: the module reads SD_MODE=1 (STEP/DIR mode), see finding 10. Currents and ramps come from per-motor profiles (include/motor/motor_profiles.h).

Source	Revision	File
BIGTREETECH TMC5160T Pro V1.0 pinout (module in use)	BTT wiki, checked 2026-10-10; module silkscreen	bttwiki.com
ADI Trinamic TMC5160/TMC5160A datasheet	Rev. 1.18, 2023-03-01	TMC5160A_datasheet_rev1.18.pdf
Microchip Hello FPGA schematics (DVP-100-000518-001)	Rev. 1, dated 02-07-2019 on the schematic	Hello_FPGA_Kit_schematics_rev1.pdf
17HS19-2504S motor datasheet (wire colours)	–	pin 1 BLK A+, 2 GRN A−, 3 RED B+, 4 BLU B−
BIGTREETECH TMC5160 V1.0 schematic (TMC5160.SchDoc), reference module	2019-03-27	BIGTREETECH_TMC5160-V1.0_schematic.pdf
BIGTREETECH TMC5160 V1.0 manual, reference module	V1.0	BIGTREETECH_TMC5160-V1.0_manual.pdf
Direct wiring Hello FPGA Kit → 6× TMC5160	Rev. D draft, 2026-10-07	Wiring_RevD_DirectWiring_EN.pdf
Zephyr adi,tmc51xx and microchip,mpfs-spi drivers	v4.5.0-rc1 (pinned in west.yml)	source in the west workspace

The manufacturer PDFs are kept unchanged in docs/hardware/datasheets/ (see Reference documents). The copyright stays with the manufacturers. No schematic of the TMC5160T Pro is in the repository; where this page needs board-level details (pull resistors, capacitors), it uses the BTT TMC5160 V1.0 schematic as the closest reference and says so.

One BTT TMC5160T Pro axis wired to the Hello FPGA Kit (axis A0 shown; the other axes differ only in the CS line)

Complete stage-1 wiring: Hello FPGA Kit, six TMC5160 modules, stepper motors, servo, and power

The module in use: BIGTREETECH TMC5160T Pro

The modules fitted are the BTT TMC5160T Pro (silkscreen "TMC5160T pro"): TMC5160 with external MOSFETs, R_SENSE 0.075 Ω, 3.1 A RMS / 4.4 A peak, VM 8–56 V. BTT lists "Operating Mode: SPI" and STP/DIR as "Pulse Input" / "Direction Input": the module is made for 3D printer boards (Marlin), i.e. TMC5160 mode 2, SPI for configuration plus STEP/DIR for the steps (SD_MODE = 1). This project needs mode 1, the internal motion controller (SD_MODE = 0); see finding 10.

TMC5160 mode (datasheet ch. 1)	SD_MODE	SPI_MODE	Steps from
1 Motion controller and driver (this project)	0	1	internal ramp generator (XTARGET over SPI)
2 Step and direction driver (BTT "SPI mode")	1	1	STEP/DIR pins; SPI only configures
3 Simple step and direction	1	0	STEP/DIR pins; no SPI

J1 pin	Signal	Connection	J2 pin	Signal	Connection
1	EN	→ GND	1	VM	motor supply (+)
2	CFG1 / SDI	← kit MOSI	2	GND	motor supply (−), common GND
3	CFG2 / SCK	← kit SCK	3	A2	coil A
4	CFG3 / CSN	← kit CSn	4	A1	coil A
5	CFG0 / SDO	→ kit MISO (tristate while CSN is high)	5	B2	coil B
6	CLK	→ GND, short wire (internal 12 MHz clock)	6	B1	coil B
7	STP (= REFL)	→ GND	7	VIO	← kit 3V3 (J9-4)
8	DIR (= REFR)	→ GND	8	GND	common GND

• EN is the pin in the white-marked box. DIAG0, DIAG1, ENCB, ENCA and ENCN (top pads) are not used.
• EN, CLK, STP and DIR must not float. On the BTT TMC5160 V1.0 these pins have no pull resistors, and the TMC5160 has none on CLK; a floating CLK prevented detection during the first test. Tie all four to GND.
• Coil B is in the order B2, B1 (the V1.0 has B1, B2). Wire motors by pin name, not by position.

Reference module: BIGTREETECH TMC5160 V1.0

The datasheets folder holds the schematic and manual of the older BTT TMC5160 V1.0. It has the same logic header, but:

	BTT TMC5160 V1.0	BTT TMC5160T Pro (in use)
Headers	J3 (logic), J4 (power)	J1 (logic), J2 (power)
Logic header	EN, SDI, SCK, CSN, SDO, CLK, STEP, DIR	same order
Power header	VM, GND, A2, A1, B1, B2, VCC_IO, GND	VM, GND, A2, A1, B2, B1, VIO, GND
VM	8–40 V (FDMC8030 40 V MOSFETs)	8–56 V
RSENSE, current	0.075 Ω, 3.1 A RMS / 4.4 A peak	same (same current table)
VM capacitors	2 × 10 µF + 470 nF	not documented
Extra pads	DIAG0, DIAG1	DIAG0, DIAG1, ENCB, ENCA, ENCN
Mode selection	solder pads, see below	SPI mode by default

If a V1.0 module is used, check its mode pads before wiring:

Pad	Schematic	Connects	Required
SPI	W2	SPI_MODE (22) to VCC_IO. Open = internal pull-down = standalone mode, SPI is off.	Closed
SD	W1	SD_MODE (21) to VCC_IO. Open = 10 kΩ pull-down R5 = internal motion controller.	Open

With SD closed, the chip expects STEP/DIR pulses and the firmware's ramp commands do nothing. With SPI open, the chip does not answer on SPI and the firmware reports the axis as absent.

Motor connection: 17HS19-2504S

17HS19-2504S stepper motor wired to the BTT TMC5160T Pro (axis A0)

Motor connector pin	Wire	Phase (motor datasheet)	Module pin
1	black (BLK)	A+	A1
2	green (GRN)	A−	A2
3	red (RED)	B+	B1
4	blue (BLU)	B−	B2

• Coil A is black/green, coil B is red/blue. Check with an ohmmeter before you connect: each pair reads a few ohms, and between the pairs the meter reads open.
• Wrong direction: swap the two wires of one coil (A1 ↔ A2), or set SMX_AXISn_INVERT to 1 in motor_axes.h (the overlay then sets shaft). Never mix wires of different coils.
• Never plug or unplug the motor while VM is on.
• Rated current 2.5 A. The motor profile M17HS19_2504S sets IRUN 21 (2.1 A RMS, about 85 %) and IHOLD 12 (1.25 A). A lab supply limited to 100 mA is enough for SPI tests only, not for motion.
• The other motors use different colour codes. The rule is always "one coil to A1/A2, the other to B1/B2". The connection order of all six motors is in Motor connection order.

Wire colours of the other motors

Axis	Motor	A+ → A1	A− → A2	B+ → B1	B− → B2	Source
A1a, A1b	23HS2430	red	green	yellow	blue	RATTMMOTOR datasheet
A2	17HS19-1684S-PG5	black	green	red	blue	Seller page (silnikkrokowy.pl)
A3	17HS13-0404S1	black	green	red	blue	StepperOnline standard, not checked against a datasheet
A4	14HS20-1504S	black	green	red	blue	StepperOnline standard, not checked against a datasheet

• 23HS2430: red is A+, not B+. On this motor coil A is red/green and coil B is yellow/blue. Wiring it with the 17HS19 colour code puts red on B1 and splits the coils.
• Before you connect a motor, check the pairs with an ohmmeter: 1.6 Ω per coil on the 23HS2430, about 1.7 Ω on the 17HS19-1684S-PG5, 30 Ω on the 17HS13-0404S1 and 2.8 Ω on the 14HS20-1504S.

Design assumptions compared with the sources

Item	Project assumption (Rev. D)	Manufacturer documents	Result
Operating mode	Motion controller, SD_MODE=0, SPI_MODE=1	TMC5160T Pro: "Operating Mode: SPI" (BTT wiki) = SPI + STEP/DIR, mode 2; the wiki documents no SD/SPI selection. V1.0 schematic: jumpers W1 (SD_MODE) and W2 (SPI_MODE)	Not met on A0 (2026-10-11): IOIN reads SD_MODE=1, the module runs SPI + STEP/DIR. SPI works (detection), but the internal ramp generator does not drive the motor. See finding 10
Module	Pin names from the Watterott SilentStepStick	BTT TMC5160T Pro: J1/J2, VIO, coil B order B2, B1	Wiring page updated
Logic level	3.3 V from kit J9-4 to VIO	VCC_IO (VIO) 3.00–5.25 V; all digital pins use this level	OK; verified on hardware
Logic supply	TMC5160 logic is powered from VM	VCC_IO "does not supply internal logic"; VCC comes from 5VOUT, which comes from VSA = VM	OK; see power-up order below
Motor supply	24 V	TMC5160T Pro 8–56 V (V1.0: 8–40 V); chip 10–55 V for full specification	OK
Bulk capacitance	Not specified	Datasheet: at least 100 µF per ampere of coil current near the power stage; the V1.0 has only 2 × 10 µF ceramics; the T Pro values are not documented	Add an electrolytic per module (≥ 330 µF / 50 V low-ESR for the 3 A axes, ≥ 220 µF for the others)
Motor current	1.0–3.0 A	0.075 Ω sense resistor: 3.06 A RMS full scale (3.1 A RMS / 4.4 A peak per BTT)	OK; all motors are below the module limit. The 3 A NEMA23 axes run near it (IRUN 26 = 2.6 A): keep a heatsink and airflow on those modules
EN	→ GND	DRV_ENN, no pull resistor; low = power stage enabled. CHOPCONF.TOFF is 0 after reset, so the bridges stay off until the firmware enables them	OK; must not float
CLK	→ GND, internal clock	"Tie to GND using short wire for internal clock"; internal oscillator 12.0 MHz typ. (11.5–12.5 MHz); no pull-down on CLK	OK; must not float. Overlay fixed to 12 MHz
STEP, DIR	→ GND, stops disabled	In motion-controller mode these are the left/right reference inputs	OK
ENCN_DCO (pin 26)	–	"With SD_MODE=0, pull to GND or VCC_IO if not used"; not connected on the BTT V1.0; ENCN is a free pad on the T Pro	Low risk: only matters if the encoder interface is enabled (it is not)
SPI	Mode 3, ≤ 2 MHz, shared MISO	Mode 3, 40-bit datagrams; fSCK ≤ 4 MHz with the internal clock; SDO tristate while CSN high	OK; overlay fixed to 2 MHz (1.79 MHz SCK), verified on hardware
CS mapping	IO10, IO8, IO7, IO6, IO5, IO4 → SS0–SS5	Kit balls M10, R10, T7, T8, P10, R9 match the schematic	OK

Kit pins checked against the Hello FPGA schematic

Signal	Header	Arduino	Ball	Schematic net
SCK	J7-6	IO13	R13	MSIO118NB4_R13_ARD_SCK/IO13
MOSI	J7-4	IO11	R11	MSIO115NB4_R11_ARD_PWM_MOSI/IO11
MISO	J7-5	IO12	T11	MSIO115PB4_T11_ARD_MISO/IO12
CS0 → A0	J7-3	IO10	M10	MSIO114NB4_M10_ARD_PWM_SS_IO10
CS1 → A1a	J7-1	IO8	R10	MSIO113NB4_R10_ARD_IO8
CS2 → A1b	J8-8	IO7	T7	MSIO110PB4_T7_ARD_IO7
CS3 → A2	J8-7	IO6	T8	MSIO110NB4_T8_ARD_PWM_IO6
CS4 → A3	J8-6	IO5	P10	MSIO109PB4_P10_ARD_PWM_IO5
CS5 → A4	J8-5	IO4	R9	MSIO106NB4_R9_ARD_IO4
Servo PWM	J8-4	IO3	N7	MSIO104NB4_N7_ARD_INT1_PWM_IO3
3.3 V	J9-4	3V3	–	3P3V (MCP1727 LDO, 1.5 A, from USB 5 V)
GND	J9-6, J9-7, J7-7	GND	–	GND

The MSS SPI_0 and MMUART_0 pads are wired to the PIC32 (SPI_0 on J12–J14/K12; the host UART on H12/H13, UART_TX_SF2/UART_RX_SF2). The Libero design therefore routes SPI_0 through the fabric to the Arduino pins, as assumed. The J2 ICSP header shares R11, T11, R13 and RESET but is not fitted.

SCK, MOSI, MISO, CS0, 3V3 and GND were confirmed on the hardware on 2026-10-10 (axis A0 detected). The servo pin (N7) works since 2026-10-11 (the servo follows Goal Position). CS1–CS5 are not tested yet.

The host link runs USB → MCP2221A → PIC32 (UART2) → PIC32 (UART4) → SF2. The PC side runs at 460800 bps, the PIC32 → SmartFusion2 side at 230400 bps (works on the hardware, 2026-10-10, GUI talking to the target firmware; Microchip's own Hello FPGA demo uses the same rate on this path). The PIC32 forwards data only after the host has sent &. See Host link.

Motor current settings

With GLOBALSCALER = 0 (full scale, the reset value) and R_SENSE = 0.075 Ω:

I_RMS = (CS + 1) / 32 × 0.325 V / 0.075 Ω / √2 = (CS + 1) × 0.0958 A

These values are set in the motor profiles (motor_profiles.h):

Axis	Motor profile	Rated	IRUN	IHOLD
A0 J1 base	M17HS19_2504S	2.5 A	21 → 2.11 A	12 → 1.25 A
A1a, A1b J2 shoulder	M23HS2430	3.0 A	26 → 2.59 A	15 → 1.53 A
A2 J3 elbow	M17HS19_1684S_PG5	1.68 A	14 → 1.44 A	8 → 0.86 A
A3 J4 forearm roll	M17HS13_0404S1	0.4 A	3 → 0.38 A	1 → 0.19 A
A4 J5 wrist	M14HS20_1504S	1.5 A	12 → 1.24 A	7 → 0.77 A

IRUN is about 85 % of the rated current, IHOLD about 50 %. The 0.4 A 17HS13-0404S1 is the exception: the nearest steps are CS 2 (0.29 A, 72 %) and CS 3 (0.38 A, 96 %), and the profile uses CS 3. With such small CS values the current resolution is coarse (the datasheet recommends CS ≥ 16); a lower GLOBALSCALER on that module would fix it but is not implemented. Raise IRUN only if an axis loses steps and the motor stays below about 80 °C.

Motor profiles and axis assignment

The motor data lives in two headers in apps/SmartManipulator_Controller/include/motor/:

• motor_profiles.h: one block of MOTOR_<KEY>_<FIELD> macros per motor type: name, NEMA frame, rated current, holding torque, full steps, MAX_RPM (default Velocity Limit, a bench value: 120 rpm for NEMA17/14, 60 rpm for NEMA23), IRUN/IHOLD/IHOLDDELAY and the six-point ramp (VSTART, A1, V1, AMAX, VMAX, DMAX, D1, VSTOP).
• motor_axes.h: which profile drives which axis (SMX_AXISn_MOTOR, n = 0…5 = DYNAMIXEL ID 1…6), direction (SMX_AXISn_INVERT, adds shaft;) and the gear ratio (SMX_AXISn_GEAR_NUM / _DEN), plus the common microstep setting (SMX_MICROSTEPS = 16).

The board overlay includes motor_axes.h and takes every per-axis property from it; main.c computes the position scale (full steps × microsteps × NUM / DEN) and reports the frame and rated current in Model Information. The GUI reads the same headers, so Detect motors shows the motor name and warns when a module reports a different motor than the project expects.

To move a motor to another joint, change SMX_AXISn_MOTOR and rebuild with west build -p (pristine, because the overlay changes). To add a motor type, copy a profile block and keep the macro format (#define MOTOR_KEY_FIELD value): the GUI parses it.

Ramp units with the 12 MHz internal clock and 16 microsteps (3200 µsteps per motor revolution):

Register	Unit	1 rev/s or 1 rev/s²
VSTART, V1, VMAX, VSTOP	0.715 µsteps/s	4474
A1, AMAX, DMAX, D1	65.5 µsteps/s²	49

The profiles use VMAX 4474 (1 rev/s) and AMAX 98 (2 rev/s²) for the NEMA17/14 motors and VMAX 2237, AMAX 49 for the NEMA23 shoulder. V1 = 0 disables the A1/D1 phase; D1 must still be ≥ 1, and VSTOP must be ≥ VSTART.

Firmware interface review

Scope: boards/m2s_hello_fpga_kit_m2s010.overlay, src/motor_tmc5160.c, and the Zephyr drivers they use (adi,tmc51xx, microchip,mpfs-spi). The code was analysed first; the SPI path and detection were then confirmed on the hardware (2026-10-10), and the register mapping and ramp generator on axis A0 (2026-10-11). The motor has not turned yet (finding 10).

What is correct

• Datagrams: 40 bits, MSB first, address byte with bit 7 = write. A read sends the address twice and takes the data from the second reply, as the datasheet requires (the first reply carries the previous request's data).
• SPI mode 3: the driver and motor_tmc5160.c request CPOL | CPHA; the MSS SPI driver maps them to SPO/SPH.
• Chip select: each spi_transceive is one 5-byte packet with hardware slave select SS0–SS5 (reg = <0>…<5>); SS is released after the packet, so the TMC5160 latches each datagram on the rising CSN edge.
• Detection: tmc_read_version() reads IOIN and checks VERSION (bits 31…24) = 0x30, the value for the TMC5160 and TMC5160A.
• Power-on safety: CHOPCONF.TOFF = 0 after reset, so with EN tied to GND the bridges stay off until Torque ON calls stepper_enable().
• Ramp limits: VSTOP (20 in every profile) ≥ VSTART (10). Profile Acceleration 0 selects the profile's AMAX, so D1 is never 0 in positioning mode; VMAX and AMAX are cut to their register limits before they are written.

Findings

#	Severity	Finding	Fix	Status
1	Critical	SPI clock. The MSS SPI driver searches CLK_GEN only from 1 to 15, so it cannot reach rates below PCLK/30 = 1.67 MHz. For the old overlay value of 1 MHz it kept CLK_GEN = 0, and the bus ran at 50 MHz / 2 = 25 MHz (TMC5160 limit: 4 MHz).	Set spi-max-frequency = <2000000>: CLK_GEN = 13, SCK = 50 MHz / 28 = 1.79 MHz. Any value from 1.67 to 4 MHz works; never below 1.67 MHz.	Fixed, verified on hardware
2	Critical	Clock frequency. The overlay had 16 MHz; with CLK on GND the chip runs on its internal 12 MHz. Every speed and acceleration conversion is about 33 % off.	clock-frequency = <12000000>.	Fixed in overlay
3	Critical	Stop on stall is always on. The pinned driver writes SW_MODE.sg_stop = 1 at init and re-enables it from a work item, whatever activate-stallguard2 says. Above the TCOOLTHRS speed (old demo value 100, about 140 rpm motor speed) an untuned StallGuard2 can stop the motor, and the axis stays stopped until sg_stop is cleared. The firmware never clears it.	Set tcoolthrs = <0> (disables stop on stall and CoolStep), or clear SW_MODE in motor_tmc5160.c after init.	Fixed in overlay
4	High	Motor power switched on after the kit. TMC5160 logic runs from VM. If VM comes later, or drops, the chip restarts with reset values: the overlay settings (MRES, currents, ramp, GCONF, SW_MODE) are lost. A PING re-detects the driver, but nothing is configured again.	motor_tmc5160.c reads GSTAT before every command; after GSTAT.reset it writes the configuration again, reports Torque OFF and Hardware Error bit 0 (input voltage), and refuses the pending move. The position restarts at 0.	Fixed in motor_tmc5160.c (tmc_check_reset())
5	High	Currents were demo values (IRUN 2, IHOLD 1).	Per-axis values from the motor profiles (table above).	Fixed (motor_profiles.h)
6	High	Shoulder direction. The wiring requires shaft=1 on A1b; the overlay does not set shaft on tmc5160_axis2.	Set SMX_AXIS2_INVERT to 1 in motor_axes.h after the mechanics confirm the motors face each other.	Open
7	Medium	Chopper off time. stepper_enable() sets CHOPCONF bits 3…0 to 1111b (TOFF = 15). That works, but gives a low chopper frequency (audible noise, more ripple); the datasheet example uses TOFF = 3.	After enable, write CHOPCONF = 0x000100C3 with the axis' MRES bits (TOFF = 3, HSTRT = 4, HEND = 1, TBL = 2), or patch the driver.	Fixed in motor_tmc5160.c (tmc_enable())
8	Medium	MSS SPI driver. mss_spi_disable_ints() inverts its mask and clears every CONTROL bit except the interrupt enables after each transfer; the next transfer rewrites them. The SCK idle level between transactions is therefore not guaranteed (it may be low instead of high). The unused speed variable is the source of the known build warning.	Works because CSN is high between packets. Confirm SCK/CSN timing with a logic analyser during bring-up; report upstream.	Open
9	Low	tmc_read_version() bypasses the driver's register lock. At boot the driver's StallGuard work item can read the same chip between the two datagrams of a probe.	Effect: one wrong probe at boot at most. Probe again after init, or read through the driver.	Open
10	Critical	Module in STEP/DIR mode. On axis A0 IOIN = 0x30000040: SD_MODE=1. With SD_MODE high the TMC5160 takes its steps from the STEP/DIR pins (tied to GND here), not from the internal ramp generator. Measured during a move: XACTUAL and VACTUAL change, but the microstep counter MSCNT stays constant, DRV_STATUS.stst = 1 and CS_ACTUAL = IHOLD. The shaft only holds; Present Position changes without motion.	Pull SD_MODE low: on the BTT TMC5160 V1.0 open solder jumper W1 (SD) and keep W2 (SPI) closed; on the T Pro find the equivalent SD/SPI selection (not documented in the sources here). Check with tools/dxl_test_gui/tmc_diag.py: it must report SD_MODE=0, and MSCNT must change during --move.	Open (hardware)

Findings 1–3 are fixed in the board overlay (SMX_TMC5160_SPI_HZ 2 MHz, SMX_TMC5160_CLOCK_HZ 12 MHz, SMX_TMC5160_TCOOLTHRS 0). Finding 1 was the cause of the failed first detection: with the old 1 MHz setting the bus ran at 25 MHz.

Bring-up checklist

#	Step	Status
1	Module in SPI motion-controller mode: SPI pad closed, SD pad open (SD_MODE = 0). Check with tmc_diag.py (SD_MODE=0).	Open on A0: reads SD_MODE=1 (finding 10)
2	EN, CLK, STP, DIR to GND (short wires); VIO to J9-4 (3.3 V).	Done on A0
3	Overlay: SPI 2 MHz, clock 12 MHz, TCOOLTHRS 0.	Done
4	24 V (or a current-limited lab supply for the SPI test) on first, then the kit (USB). Detect motors in the GUI: each module reports TMC5160.	Done on A0 (12 V / 100 mA)
5	Electrolytic capacitor at VM/GND of every module.	Open
6	Per-axis irun/ihold and ramps from the motor profiles (done); SMX_AXIS2_INVERT for A1b; pristine build.	Partly done
7	Motor wired as in Motor connection, with VM off.	Open
8	One axis at a time on the 24 V supply: Torque ON, short moves at low speed, check direction and temperature.	Open

Reference documents

File	Publisher	Use it for
TMC5160A_datasheet_rev1.18.pdf	Analog Devices (Trinamic)	Register map, SPI datagrams and timing, current scaling, StallGuard2/CoolStep, power-up behaviour, external component rules
BIGTREETECH_TMC5160-V1.0_schematic.pdf	BIGTREETECH	Reference module: headers J3/J4, SPI and SD pads (W2, W1), sense resistors, missing pull resistors
BIGTREETECH_TMC5160-V1.0_manual.pdf	BIGTREETECH	Reference module: supply range (8–40 V), current limits (3.1 A RMS, 4.4 A peak), EN pad marking, handling precautions
BTT TMC5160T Pro V1.0 wiki	BIGTREETECH	Module in use: pinout J1/J2, VM 8–56 V, RSENSE 0.075 Ω
Hello_FPGA_Kit_schematics_rev1.pdf	Microchip	Arduino header nets and balls, 3.3 V supply, PIC32/MCP2221A host link, MSS pads wired to the PIC32
Wiring_RevD_DirectWiring_EN.pdf	project (bavariamatic)	Stage-1 wiring concept, motor list, power and servo
Handsontec_MG996R_user_guide.pdf	Handsontec	Gripper servo MG996R: supply 4.8–7.2 V, currents, 1–2 ms / 20 ms signal, pinout; see Gripper servo

When a module or kit revision changes, replace the PDF, update the revision in the sources table and re-check the tables on this page and on Hello FPGA Kit wiring.