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Summary of Contents for Trinamic PANdrive PD-1021
- Page 1 MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1.2 HARDWARE MANUAL PD-1021 Stepper Motor with Controller / Driver 0.06 - 0.12Nm / 24V sensOstep™ Encoder RS485 Interface NIQUE EATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com...
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Page 2: Table Of Contents
On-board LED ................................16 Operational Ratings ..............................17 Torque Curves ................................18 Functional description .............................. 19 Life Support Policy ..............................20 10 Revision History ................................21 10.1 Document Revision ............................21 10.2 Hardware Revision ............................21 11 References ..................................21 www.trinamic.com... -
Page 3: Features
0.06… 0.12 Nm max. holding torque and 24V DC nominal supply voltage. With its high energy efficiency from TRINAMIC’s coolStep technology cost for power consumption is kept down. The TMCL™ firmware allows for standalone operation and direct mode. - Page 4 PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23) 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
Table 2.3 PD-1021 firmware options A cable loom set is available for this module: Order code Description PD-1021-CABLE Cable loom for PD-1021 1x cable loom for power, communication and I/O connector (length 200mm) Table 2.5 Cable loom order code www.trinamic.com... -
Page 6: Mechanical And Electrical Interfacing
Please also refer to the manuals of the related stepper motors QSH2818-32-07-006 and QSH2818-51-07- 012. 3.1.1 Dimensions of PD28-1-1021 20±1 43 max 15±0.2 22-0.05 30+1 23±0.2 R 2.5 23±0.2 28 25.5 ø M2.5 25.5 deep 4.5 22-0.05 Front view Rear view Figure 3.1 PD28-1-1021 dimensions www.trinamic.com... -
Page 7: Dimensions Of Pd28-3-1021
PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23) 3.1.2 Dimensions of PD28-3-1021 20±1 62 max 15±0.2 22-0.05 30+1 23±0.2 R 2.5 23±0.2 28 25.5 ø M2.5 25.5 deep 4.5 22-0.05 Front view Rear view Figure 3.2 PD28-3-1021 with 2-phase 28mm stepper motor QSH2818-51-07-012 www.trinamic.com... -
Page 8: Motor Characteristics
Maximum Radial Force (20 mm from front flange) Maximum Axial Force Ambient Temperature °C -20…+50 -20…+50 Temp Rise (rated current, 2phase on) °C max. 80 max. 80 Related PANdrive type PD28-1-1021 PD28-3-1021 Table 3.1 NEMA 11 / 28mm technical motor data www.trinamic.com... -
Page 9: Connectors
Contacts JST: SPH-002T-P0.5S Wire: 0.22mm Connector housing CVIlux: CI01045000-A Contacts CVIlux: CI01T011PE0-A CI0104P1VK0-LF Motor CVIlux CI01 series, 4 pins, 2mm Connector housing JST: PHR-4 pitch Contacts JST: SPH-002T-P0.5S Wire: 0.22mm Table 3.2 Connectors and mating connectors, contacts and applicable wire www.trinamic.com... -
Page 10: Power, Communication And I/O Connector
(+24V compatible) Alternate function 2:home switch Open drain output with freewheeling diode (max. 100mA) OUT_1 / IN_3 Output / Input Alternate function 1: digital input (+24V compatible) Alternate function 2: analog input Table 3.3 Power, communication and I/O connector www.trinamic.com... -
Page 11: Motor Connector
This might lead to shorts of electronic contacts / wires on the board and totally erratic behavior of the module! Use compressed air for cleaning the module if necessary. www.trinamic.com... -
Page 12: Power Supply
Please see also chapter 6, operating values. There is no reverse polarity protection! The module will short any reversed supply voltage due to internal diodes of the driver transistors. www.trinamic.com... -
Page 13: Communication
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 3.6 Bus lines with resistor network www.trinamic.com... -
Page 14: Inputs And Outputs
IN_3 can be used as analog input, also. A 12bit analog to digital converter integrated in the microcontroller will convert any analog input voltage between 0 and +6.6V to a digital value between 0 and 4095 then. www.trinamic.com... -
Page 15: Outputs Out_0, Out_1
Please take into account the 20k (2x 10k in series) resistance to ground (transistor not active) of the input voltage divider (figure 4.8) when designing the external “load” circuit. OUT_0 / IN_2 +3.3V OUT_1 / IN_3 microcontroller microcontroller Figure 3.8 General purpose outputs www.trinamic.com... -
Page 16: Reset To Factory Defaults
With standard TMCL firmware the green LED flashes slowly during operation. When there is no valid firmware programmed into the board or during firmware update the green LED is permanently on. Green LED Figure 5.1 On-board LED www.trinamic.com... -
Page 17: Operational Ratings
Measurement range for IN_3 when used as +6.6 IN_analog 3 analogue input Table 6.2 Operational ratings of multipurpose I/Os Symbol Parameter Unit Number of nodes connected to single RS485 RS485 network Table 6.3 Operational ratings of RS485 interface www.trinamic.com... -
Page 18: Torque Curves
Figure 7.1 PD28-1-1021 torque vs. speed 24V / 0.7 A, 256 µsteps PD28-3-1021 - 0.7A RMS Phase Current, 256 uSteps 0,20 0,18 0,16 0,14 0,12 0,10 0,08 0,06 0,04 0,02 0,00 1000 10000 speed[rpm] Figure 7.2 PD28-3-1021 torque vs. velocity 24V / 0.7 A, 256µsteps www.trinamic.com... -
Page 19: Functional Description
TMCM-1021 Figure 8.1: Main parts of PD-1021 The PD-1021 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL). Using predefined TMCL high level commands like move to position a rapid and fast development of motion control applications is guaranteed. -
Page 20: Life Support Policy
PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23) 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 21: Revision History
NEMA11 / 28mm bipolar stepper motor used in PD1 [QSH2818-51-07-012] NEMA11 / 28mm bipolar stepper motor used in PD3 [JST] JST PH connector (2.0mm pitch, disconnectable crimp style) http://www.jst.com [USB-2-485] USB-2-485 interface converter manual [TMC262] TMC262 datasheet TRINAMIC manuals are available on http://www.trinamic.com. www.trinamic.com...
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