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Summary of Contents for Trinamic PANdrive PD-111-56
- Page 1 PANdrive PD-111-56 TMCM-111-56 56mm / NEMA-23 Stepper Motor Mechatronic Module TMCM-110-42 Electronics Manual Version: 1.22 October 30 , 2007 Trinamic Motion Control GmbH & Co. KG Sternstraße 67 D - 20357 Hamburg, Germany http://www.trinamic.com...
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Page 2: Table Of Contents
TMCM-111 Operational Description ........................17 Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency ......17 Software ..................................18 Revision History ................................. 19 Documentation Revision ..........................19 Firmware Revision............................19 10 References..................................19 Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... - Page 3 Table 5.1: Motor Current Examples..........................14 Table 5.2: Continuous current restrictions ........................15 Table 7.1: TMC428 Velocity parameters ........................17 Table 9.1: Documentation Revisions ..........................19 Table 9.2: Firmware Revisions ............................19 Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG...
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Page 4: Features
TMCM-111-56 Manual 1 Features The PANdrive PD-111-56 is a full mechatronic solution including a 56mm flange motor. It is based on the TMCM-111-56 electronics. The TMCM-111-56 is an intelligent stepper motor controller and driver module to be mounted directly on a 56mm flange motor (mechanical adaptation required). This triple-PCB module converts the motor into a compact mechatronic device with bus oriented or stand-alone control. -
Page 5: Life Support Policy
Specifications subject to change without notice. Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 6: Electrical And Mechanical Interfacing
64,00 4,50 Eight sinked M3 holes for 38,50 mount on NEMA23 motors Diameter: 55mm on mounting plate 51,00 All dimensions in millimeters Figure 3.1: Mounting holes / dimensions of TMCM-111-56 Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 7: Pd-111-56 Motor Information
0.308 0.20 0.06 inch 57.15 47.22 38.1 5.08 5.588 3.00 6.86 76.96 7.823 5.08 1.52 Table 3.1: PD-111-56 motor dimensions converted from inch to mm Figure 3.3: PD-111-56 motor torque Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 8: Connectors
Use this screw connector to connect the power and motor. The pin assignment of this connector is as follows: Function +15..36V Table 3.2: ConnectorX1 – Power supply / motor connector Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 9: Connector X2: Additional I/O
RS485 A (+) / CAN High RS485 B (-) / CAN Low Step/Direction Step (High) Step/Direction Step (Low) Step/Direction Direction (High) Step/Direction Direction (Low) Table 3.4: Connector X3 – Interfaces Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 10: Connector X4: Iic Interface
The 6-way (2x3) header on the module is the connector for an Atmel ISP programmer which can be used to program the CPU directly. This is to be done by Trinamic only. The ISP connector is not to be used by the user. -
Page 11: Operational Ratings
24V supply. No forced cooling required. Environment temperature at 4A RMS °C or 50% duty cycle (5A run / 2A standby) with 24V supply. No forced cooling required. Table 4.1: Operational Ratings Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 12: Functional Description
On this module, the Atmel ATmega32 is used to run the TMCL operating system and to control the TMC428. The CPU has 32Kbyte flash memory and a 1Kbyte EEPROM. The microcontroller runs the TMCL (Trinamic Motion Control Language) operating system which makes it possible to execute TMCL commands that are sent to the module from the host via the interface. -
Page 13: Tmc249 Motor Driver
Please see chapter 3.3.3 for the pin assignments of the interfaces. To use the TMCL IDE with CAN interface either the Trinamic CANnes card or the Trinamic USB2X interface is needed. To use the IIC interface with the TMCL IDE the Trinamic USB2X interface is needed. -
Page 14: Stallguard™ - Sensorless Motor Stall Detection
The motor current can be set in a range of 0 to 7.0A, using the TMCL software. 255 corresponds to the module’s maximum I setting. COIL Setting COIL,PP COIL,RMS 7.1A 5.0A 6.2A 4.4A 5.0A 3.5A 3.7A 2.7A 2.5A 1.7A 1.2A 0.9A 0.6A 0.4A Table 5.1: Motor Current Examples Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 15: Continuous Current Restrictions
85°C *) back bell Table 5.2: Continuous current restrictions *) max. motor operating temperature is 85°C. Limit motor current if the motor temperature is higher than 85°C (reduce duty cycle). Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 16: Putting The Tmcm-111 Into Operation
On the basis of a small example it is shown step by step how the TMCM-111-56 is set into operation. Users who are already familiar with TMCL and other Trinamic modules may skip this chapter. Example: The following application is to be implemented on the TMCM-111-56 module using the TMCL-IDE Software development environment. -
Page 17: Tmcm-111 Operational Description
The change in the pulse rate per time unit (microstep frequency change per second – the acceleration a) is given by ⋅ pulse ramp This results in an acceleration in fullsteps of: af = with af: acceleration in fullsteps usrs Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG... -
Page 18: Software
Windows which allows easy development of TMCL applications. All the manuals are provided on the TMC TechLib CD and on the web site of TRINAMIC Motion Control GmbH & Co. KG (http://www.trinamic.com). Also the latest versions of the firmware (TMCL operating system) and PC software (TMCL IDE) can be found there. -
Page 19: Revision History
PD-111-56 motor data added Table 9.1: Documentation Revisions 9.2 Firmware Revision Version Comment Description 3.24 Initial Release Please refer to TMCL documentation Table 9.2: Firmware Revisions 10 References [TMCL] TMCL manual (see http://www.trinamic.com) Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG...
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