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Related Manuals for Trinamic PANdrive PD-1161 Series
Summary of Contents for Trinamic PANdrive PD-1161 Series
- Page 1 MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrive Hardware Version V1.0 HARDWARE MANUAL PD-1161 Stepper Motor with Controller/Driver 0.55… 3.1Nm / 24V DC sensOstep™ Encoder USB, RS485, and RS232 NIQUE EATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com...
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Page 2: Table Of Contents
PD-1161 Operational Description ........................... 21 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ........ 21 10 Life Support Policy ..............................23 11 Revision History ................................24 11.1 Document Revision ............................24 11.2 Hardware Revision ............................24 12 References ..................................24 www.trinamic.com... -
Page 3: Features
0.55… 3.1Nm 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. TMCL™ firmware allows for standalone operation and direct mode. - Page 4 PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 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
Order code Description TMCM-1161-CABLE Cable loom for PD-1161: 1x cable for interface connector 1x cable for In/Out connector 1x cable for motor connector 1x USB type A connector to mini-USB type B connector cable Table 2.3 Cable loom order codes www.trinamic.com... -
Page 6: Mechanical And Electrical Interfacing
NEMA 23/57mm bipolar stepper motors with different lengths and different holding torques. Length 24±1 20±0.5 R 0.5 38.1±0.025 6,35-0.013 56.4±1 56.4±1 47.14±0.2 6.35-0.013 47.14±0.2 56.4±1 Model Length (mm) 38.1±0.025 PD57-1-1161 PD57-2-1161 4-ø4.6 Fgure 3.1 Dimensions of PD57-1161 www.trinamic.com... -
Page 7: Pd60-1161 Dimensions
Currently, there is a choice between four NEMA 24/60mm bipolar stepper motors with different lengths and different holding torques. Length 24±1 20±0.5 7.5±0.2 38.1±0.025 8-0.013 60±0.5 47.14±0.2 47.14±0.2 Model Length (mm) 38.1±0.025 PD60-3-1161 PD60-4-1161 4-ø4.5 Figure 3.2 Dimensions of PD60-1161 www.trinamic.com... -
Page 8: Connectors Of Pd-1161
JST EHR-4, female crimp connector housing; Motor header, vertical crimp contacts JST SEH-001T-P0.6 JST B8B-EH-A, 2.5mm pitch connector JST EHR-8, female crimp connector housing; In/Out header, vertical crimp contacts JST SEH-001T-P0.6 Mini-USB type B vertical female Mini-USB type B, male www.trinamic.com... -
Page 9: Interface And Power Supply Connector
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 10 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: RS485 bus lines with resistor network www.trinamic.com...
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Page 11: Usb Connector
PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23) 3.2.2 USB Connector Label Description VBUS +5V power Data – Data + not connected ground Table 3.2 Mini USB connector www.trinamic.com... -
Page 12: In/Out Connector
* It is possible to enable / disables pull-ups (1k to 5+V) in software for all three digital inputs. Pull-ups are always enabled / disabled for all three together / at the same time. +24V OUT_0 OUT_1 OUT_0 OUT_1 Figure 3.4 Internal circuit of OUT_0/1 www.trinamic.com... -
Page 13: 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 14: 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 4.1 Reset to factory default settings www.trinamic.com... -
Page 15: 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. Red LED Green LED Figure 5.1 on-board LEDs www.trinamic.com... -
Page 16: Operational Ratings
OUT_0/1 Full scale input voltage range for analog input IN_0 IN_0 Table 6.2 Operational ratings of general purpose I/Os Symbol Parameter Unit Number of nodes connected to single RS485 RS485 network Table 6.4 Operational ratings of the RS485 interface www.trinamic.com... -
Page 17: Torque Curves
PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23) 7 Torque Curves TRINAMIC offers the TMCM-1161 in combination with two different stepper motor series: QSH5718 and QSH6018. The following paragraphes will show you the curves of each PANdrive. 7.1 Curves of PD57-1161 7.1.1... -
Page 18: Pd57-2-1161 Torque Curves
TMCM-1161 – QSH5718-51-28-101 – Torque versus Velocity = 24V; I = 2.8A [RMS]; 256 Microsteps coil TMCM-1161 – QSH5718-51-28-101 – Torque versus Velocity = 24V; I = 2.8A [RMS]; 256 Microsteps coil Figure 7.2 PD57-2-1161 torque vs. velocity 24V / 2.8A, 256µsteps www.trinamic.com... -
Page 19: Curves Of Pd60-1161
= 2.8A [RMS] coil Figure 7.3: PD60-3-1161 torque vs. velocity 24V / 2.8A 7.2.2 PD60-4-1161 Torque Curves TMCM-1161 – QSH6018-86-28-310 – Torque versus Velocity = 24V; I = 2.8A [RMS] coil Figure 7.4: PD60-4-1161 torque vs. velocity 24V / 2.8A www.trinamic.com... -
Page 20: Functional Description
3 general purpose inputs Figure 8.1 Main parts of the PD-1161 The PD-1161 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCM). Using predefined TMCL high level commands like move to position a rapid and fast development of motion control applications is guaranteed. -
Page 21: Pd-1161 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 22 1907 1000 Calculation 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 23: Life Support Policy
PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23) 10 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 &... -
Page 24: Revision History
Stop switches connected to REF1+3 of TMC429 New encoder IC with 10bit resolution (max.) Table 11.2 Hardware revision 12 References [PD-1161 TMCL] PD-1161 TMCL Firmware Manual [TMCL-IDE] TMCL-IDE User Manual [QSH5718] QSH5718 Manual [QSH6018] QSH6018 Manual Please refer to www.trinamic.com. www.trinamic.com...
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