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- Page 1 PDx-113-57/60-SE TMCM-113-57/60-SE Hardware Manual Version: 1.30 2009-OCT-28 Trinamic Motion Control GmbH & Co KG Sternstraße 67 D – 20 357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60 http://www.trinamic.com...
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Page 2: Table Of Contents
PD1-113-60-SE ..............................19 PD2-113-60-SE ..............................20 PD3-113-60-SE ..............................20 PD4-113-60-SE ..............................21 Operational ratings ..............................22 Revision history ................................24 Document revision ............................24 Hardware revision ............................. 24 10 References..................................24 Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 3: Life Support Policy
Specifications are subject to change without notice. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 4: Features
program memory (non volatile) for up-to 2048 TMCL commands PC-based application development software TMCL-IDE available for free Please see separate TMCL firmware manual for additional information [TMCL]. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 5: Order Codes
For cost critical applications and applications with reduced requirements with regard to position feedback both versions - with and without motor - are also available without sensOstep™ encoder as PDx-113-57/60 and TMCM-113-57/60 on request. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 6: Mechanical And Electrical Interfacing
Length Connectors 38.1±0.025 6,35-0.013 56.4±1 60±0.5 56.4±1 47.14±0.2 Length of motor 41mm 6.35-0.013 51mm 47.14±0.2 56mm 56.4±1 76mm 38.1±0.025 60±0.5 4-ø4.6 Figure 4.1: Dimensions of PDx-113-57-SE (all values in mm) Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 7: Size Of Pdx-113-60-Se
Connectors 20±0.5 7.5±0.2 38.1±0.025 8-0.013 60±0.5 69 max 60±0.5 47.14±0.2 Length of motor 45.0mm 47.14±0.2 56.0mm 60±0.5 65.0mm 38.1±0.025 86.0mm 4-ø4.5 Figure 4.2: Dimensions of PDx-113-60-SE (all values in mm) Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 8: Size Of Electronics (Tmcm-113-57/60-Se)
There are four mounting holes altogether. They have been designed in order to fit to the latest NEMA 23/57mm [QSH5718] and NEMA 24/60mm [QSH6018] stepper motors available from TRINAMIC. Two mounting holes at opposite corners of the board have been positioned in order to be able to attach it to the back bell of the NEMA 23/57mm stepper motors and the other two for mounting it to the NEMA 24/60mm stepper motors. -
Page 9: Motor
Insulation Class Weight 0.77 Ambient Temperature ˚C -20 … +50 -20 … +50 -20 … +50 -20 … +50 Table 4.2: NEMA 24 / 60mm technical motor data Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 10: Connectors
RS232_TxD or RS485B / RS485- Supply and system ground Power supply input Supply and system ground Motor coil B Motor coil B Motor coil A Motor coil A Figure 4.4: TMCM-113-57/60-SE connectors Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 11: Power Connector
Mating connector from JST: PHR-8 (housing) and SPH-002T-P0.5S (crimp contact for AWG #30 to 24/0.05mm to 0.22mm wires). A mating connector together with a cable loom is available as part of the TMCM-113-CABLE cable loom set. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 12: Motor Connector
When connecting to a master e.g. PC using the RS232 interface please keep in mind that the RS232 transmit signal wire of the master has to be connected to the RS232 receive signal wire of the board and vice versa. Connection between PC and PDx-113-57/60-SE: Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 13: Rs485
Host Slave Slave Slave c:> node node node n - 1 termination termination resistor resistor (120 Ohm) (120 Ohm) RS485 keep distance as short as possible Figure 4.7: Bus structure Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... - Page 14 Slave Slave node node n - 1 pull-up (1k) RS485+ / RS485A termination resistor (120 Ohm) RS485- / RS485B pull-down (1k) Figure 4.9: Resistor network to avoid floating bus lines Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG...
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Page 15: Reference Switch Inputs
0 and +24V. The voltage divider resistors act as pull-down resistors, also. Both inputs accept digital and analogue signals (depending on software configuration). IN_0 IN_1 Figure 4.11: General purpose inputs IN_o, IN_1 Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 16: General Purpose Outputs
- should not be higher than the supply voltage of the module + approx. 0.5V. OUT_0 OUT_1 BC847 BC847 Figure 4.12: General purpose outputs OUT_0, OUT_1 Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 17: Functional Description
The PD-113-57/60-SE 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“ or „constant rotation“ a rapid and fast development of motion control applications is guaranteed. -
Page 18: Firmware
Currently, the standard TMCL firmware is available for both interface options and is supplied as default firmware. Please refer to the TMCL firmware manual for this unit for more details [TMCL]. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 19: Torque Curves
(please see TMCL firmware manual, axis parameter 211). 7.1 PD1-113-60-SE The PD1-113-60-SE is the most compact version of this PANdrive version with the shortest NEMA 24 / 60mm stepper motor. Figure 7.1: PD1-113-60-SE torque curve Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 20: Pd2-113-60-Se
Figure 7.2: PD2-113-60-SE torque curve 7.3 PD3-113-60-SE For applications where more torque is required than available with the PD2-113-60-SE, the PD3-113-60-SE might be an option. Figure 7.3: PD3-113-60-SE torque curve Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 21: Pd4-113-60-Se
For applications where more torque is required than available with the PD3-113-60-SE, the PD4-113-60-SE might be an option. The PD4-113-60-SE is the version with highest holding torque and the longest stepper motor available for this PANdrive series. Figure 7.4: PD4-113-60-SE torque curve Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... -
Page 22: Operational Ratings
/ or the motor current is reduced or in case the TMCM-113-57/60-SE electronic module is mounted separately from the motor. Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG... - Page 23 *) limited to module supply voltage + 0.5V due to integrated freewheeling diode between general purpose output and module supply voltage Symbol Parameter Type Unit Number of nodes connected to RS485 single RS485 network Table 8.3: Operational ratings of the PS485 interface Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG...
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Page 24: Revision History
PDx-113-57/60-SE TMCL firmware manual (see http://www.trinamic.com) [QSH5718] 57mm stepper motor reference manual (see http://www.trinamic.com) [QSH6018] 60mm stepper motor reference manual (see http://www.trinamic.com) [USB-2-485] USB-2-485 interface converter reference manual (see http://www.trinamic.com) Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG...
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