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Related Manuals for Trinamic PANdrive PD-1140
Summary of Contents for Trinamic PANdrive PD-1140
- Page 1 MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1.2 HARDWARE MANUAL PD-1140 Stepper Motor with Controller / Driver 0.22 - 0.70 Nm / 24 V DC sensOstep™ Encoder USB, RS485, and CAN NIQUE EATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com...
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Page 2: Table Of Contents
10 PD-1140 Operational Description ........................... 23 10.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ........ 23 11 Life Support Policy ..............................25 12 Revision History ................................26 12.1 Document Revision ............................26 12.2 Hardware Revision ............................26 13 References ..................................26 www.trinamic.com... -
Page 3: Features
Electrical and mechanical data Supply voltage: +24 V DC nominal (9… 28 V DC) Motor current: up to 2 A RMS / 2.8 A peak (programmable) 0.22… 0.70 Nm max. holding torque (depends on motor) Refer to separate TMCL Firmware Manual, too. www.trinamic.com... - Page 4 PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) TRINAMIC – E TMCL NIQUE EATURES ASY TO SE WITH stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor.
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Page 5: Order Codes
Cable loom for PD-1140: 1x cable for power and communication connector (length 200mm) 1x cable for multipurpose In/Out connector (length 200mm) 1x USB type A connector to mini-USB type B connector cable (length 1.5m) Table 3.2 Cable loom order codes www.trinamic.com... -
Page 6: Mechanical And Electrical Interfacing
NEMA 17/42mm bipolar stepper motors with different lengths and different holding torques. 24±1 22-0.05 42±1 Model Length of motor PD42-1-1140 ±1 mm 33.5 PD42-2-1140 ±1 mm PD42-3-1140 ±1 mm Length 13 max PD42-4-1140 ±1 mm 2xM3 42±1 42±1 42±1 42±1 FRONT VIEW REAR VIEW Figure 4.1 PD-1140 dimensions www.trinamic.com... -
Page 7: Stepper Motor Specifications
Rated phase current RMS RATED Phase resistance at 20°C Ω COIL Phase inductance (typ.) Holding torque 0.22 0.36 0.44 0.70 Insulation class Rotor inertia g cm Weight 0.22 0.24 0.35 Table 4.1: NEMA 17 / 42mm stepper motor technical data www.trinamic.com... -
Page 8: Connectors Of Pd-1140
Contacts: JST SPH-002T-P0.5S Connector (JST PH series, 4pins, 2mm pitch) Wire: 0.22mm , AWG 24 Mini-USB Molex 500075-1517 Any standard mini-USB plug Connector Mini USB Type B vertical receptacle Figure 4.3 Connectors and mating connectors, contacts and applicable wire www.trinamic.com... -
Page 9: Power And Communication Connector
In addition it will limit slew-rate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors may cause stability problems with some switching power supplies. www.trinamic.com... -
Page 10: Rs485
PCs already include these additional resistors (e.g. USB-2-485). Slave Slave node node n - 1 pull-up (1k) RS485+ / RS485A termination resistor (120 Ohm) RS485- / RS485B pull-down (1k) Figure 4.5 Bus lines with resistor network www.trinamic.com... -
Page 11: Can
The bus transceiver used on the TMCM-1140 units (TJA1050T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depends on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes). www.trinamic.com... -
Page 12: Multipurpose I/O Connector
This might be especially interesting in case these inputs are used as STOP_L / STOP_R and HOME switch inputs (alternate function 1) or as encoder input for an external incremental A/B/N encoder with open-collector outputs (pull-ups are not necessary for encoder with push-pull outputs). www.trinamic.com... -
Page 13: Digital Inputs In_1, In_2, In_3
IN_3 (8) General purpose HOME - home switch input, ENC_N - external incremental digital input connected to processor encoder input index zero channel, connected to processor interrupt input Table 4.7 Multipurpose inputs / alternate functions www.trinamic.com... -
Page 14: Analog Input In_0
(relais etc.) above supply voltage (see figure below). Note: OUT_0 offers a freewheeling diode connected to VDD supply voltage. Therefore, this output should never be connected to any voltage above supply voltage level of the module. microcontroller Figure 4.9 General purpose output OUT_0 www.trinamic.com... -
Page 15: Motor Connector
Example for connecting the QSH4218 NEMA 17 / 42mm stepper motors: green TMCM-1140 QS4218 Motor Motor connector pin Cable color Coil Description Motor coil B pin 1 black Blue Motor coil B pin 2 Green Motor coil A pin 2 Black Motor coil A pin 1 www.trinamic.com... -
Page 16: Mini-Usb Connector
Please note that the module might draw current from the USB +5V bus supply even in USB self powered operation depending on the voltage level of this supply. Motor movements are not possible in this operation mode. Therefore, connect the power connector and change to USB self powered operation mode. www.trinamic.com... -
Page 17: Reset To Factory Defaults
Wait until the on-board red and green LEDs start flashing fast (this might take a while) Power-off board (disconnect USB cable) Remove short between pads After switching on power-supply / connecting USB cable all permanent settings have been restored to factory defaults Short these two pads Figure 5.1 Reset to factory default settings www.trinamic.com... -
Page 18: On-Board Leds
LEDs are permanently on. TMCL F EHAVIOR OF S WITH TANDARD IRMWARE Status Label Description Heartbeat This green LED flashes slowly during operation. Error Error This red LED lights up if an error occurs. Green LED Red LED Figure 6.1 On-board LEDs www.trinamic.com... -
Page 19: Operational Ratings
Input voltage for IN_1, IN_2, IN_3 (digital +VDD IN_1/2/3 inputs) Low level voltage for IN_1, IN_2 and IN_3 IN_L 1/2/3 High level voltage for IN_1, IN_2 and IN_3 +VDD IN_H 1/2/3 Measurement range for analog input IN_0 IN_0 Table 7.2 Operational ratings of multipurpose I/Os www.trinamic.com... -
Page 20: Torque Curves
Figure 8.1 PD42-1-1140 torque vs. velocity 24V / 2A, 256µsteps 8.1.2 PD42-2-1140 Torque Curve PD42-2-1140 - 2A RMS Phase Current, 256 uSteps 0,45 0,40 0,35 0,30 0,25 0,20 0,15 0,10 0,05 0,00 1000 10000 speed[rpm] Figure 8.2 PD42-2-1140 torque vs. velocity 24V / 2A, 256µsteps www.trinamic.com... -
Page 21: Pd42-3-1140 Torque Curve
Figure 8.3 PD42-3-1140 torque vs. velocity 24V / 2A, 256µsteps 8.1.4 PD42-4-1140 Torque Curve PD42-4-1140 - 2A RMS Phase Current, 256 uSteps 0,80 0,70 0,60 0,50 0,40 0,30 0,20 0,10 0,00 1000 10000 speed[rpm] Figure 8.4 PD42-4-1140 torque vs. velocity 24V / 2A, 256µsteps www.trinamic.com... -
Page 22: Functional Description
PD-1140 Memory Power Step Energy Efficient Driver MOSFET RS485 Driver TMC262 Driver µC TMC262 with Stage TMC429 coolStep™ Motor I/Os Motion Controller OUT_0 Stop switches sensOstep™ 9… 28V DC DC/DC Encoder TMCM-1140 Figure 9.1 Main parts of the PD-1140 www.trinamic.com... -
Page 23: Pd-1140 Operational Description
The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a) is given by pulse ramp This results in acceleration in fullsteps of: with af: acceleration in fullsteps usrs www.trinamic.com... - Page 24 1907 1000 ALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e.g. 72 fullsteps per rotation. 1907 fullsteps rotation 1907 1589 fullsteps rotation www.trinamic.com...
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Page 25: Life Support Policy
PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 11 Life Support Policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. -
Page 26: Revision History
TMCM-1140_V12 2012-APR-12 Further cost optimization incl. different sensor IC with 10bit max. resolution Table 12.2 Hardware revision 13 References [PD-1140 TMCL] PD-1140 TMCL Firmware Manual [TMC262] TMC262 Datasheet [TMC429] TMC429 Datasheet [TMCL-IDE] TMCL-IDE User Manual Please refer to www.trinamic.com. www.trinamic.com...
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