Trinamic PANdrive PD-1140 Bedienungsanleitung

MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Hardware Version V1.2

HARDWARE MANUAL

++PD-1140

+ +

UNIQUE FEATURES:

Stepper Motor with

Controller / Driver

0.22 - 0.70 Nm / 24 V DC

sensOstep™Encoder

USB, RS485, and CAN

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 2

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Table of Contents

2Features........................................................................................................................................................................... 3

3Order Codes ................................................................................................................................................................... 5

4Mechanical and Electrical Interfacing..................................................................................................................... 6

4.1 Dimensions ........................................................................................................................................................... 6

4.2 Stepper Motor Specifications ........................................................................................................................... 7

4.3 Connectors of PD-1140....................................................................................................................................... 8

4.3.1 Power and Communication Connector................................................................................................... 9

4.3.1.1 Power Supply ................................................................................................................................................ 9

4.3.1.2 RS485 ............................................................................................................................................................. 10

4.3.1.3 CAN................................................................................................................................................................. 11

4.3.2 Multipurpose I/O Connector..................................................................................................................... 12

4.3.2.1 Digital Inputs IN_1, IN_2, IN_3 .............................................................................................................. 13

4.3.2.2 Analog Input IN_0 ..................................................................................................................................... 14

4.3.2.3 Outputs OUT_0, OUT_1 .............................................................................................................................. 14

4.3.3 Motor Connector.......................................................................................................................................... 15

4.3.4 Mini-USB Connector .................................................................................................................................... 16

5Reset to Factory Defaults......................................................................................................................................... 17

6On-Board LEDs............................................................................................................................................................. 18

7Operational Ratings ................................................................................................................................................... 19

8Torque Curves ............................................................................................................................................................. 20

8.1.1 PD42-1-1140 Torque Curve........................................................................................................................ 20

8.1.2 PD42-2-1140 Torque Curve........................................................................................................................ 20

8.1.3 PD42-3-1140 Torque Curve........................................................................................................................ 21

8.1.4 PD42-4-1140 Torque Curve........................................................................................................................ 21

9Functional Description.............................................................................................................................................. 22

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

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 3

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2Features

The PANdrive™PD-1140 is a full mechatronic solution with state of the art feature set. It is highly

integrated and offers a convenient handling. The PD-1140 includes a stepper motor, controller/driver

electronics, and TRINAMICs sensOstep™encoder. It can be used in many decentralized applications and

has been designed for 0.20… 0.70 Nm max. holding torque and 24V DC nominal supply voltage. With its

high energy efficiency from TRINAMICs coolStep technology cost for power consumption is kept down.

The TMCL™ firmware allows for standalone operation and direct mode.

MAIN CHARACTERISTICS

Motion controller

-Motion profile calculation in real-time

-On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

-High performance microcontroller for overall system control and serial communication protocol

handling

Bipolar stepper motor driver

-Up to 256 microsteps per full step

-High-efficient operation, low power dissipation

-Dynamic current control

-Integrated protection

-stallGuard2 feature for stall detection

-coolStep feature for reduced power consumption and heat dissipation

Encoder

-sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all

operating conditions and positioning supervision

Interfaces

-RS485 2-wire communication interface

-CAN 2.0B communication interface

-USB full speed (12Mbit/s) device interface

-4 multipurpose inputs:

-3x general-purpose digital inputs

(Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input)

-1x dedicated analog input

-2 general purpose outputs

-1x open-drain 1A max.

-1x +5V supply output (can be switched on/off in software)

Software

-TMCL: standalone operation or remote controlled operation,

program memory (non volatile) for up to 2048 TMCL commands, and

PC-based application development software TMCL-IDE available for free.

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.

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 4

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TRINAMICS UNIQUE FEATURES –EASY TO USE WITH TMCL

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. The stallGuard2 measurement value changes linearly over a wide range

of load, velocity, and current settings. At maximum motor load, the value goes to zero or

near to zero. This is the most energy-efficient point of operation for the motor.

Load

[Nm]

stallGuard2

Initial stallGuard2

(SG) value: 100%

Max. load

stallGuard2 (SG) value: 0

Maximum load reached.

Motor close to stall.

Motor stalls

Figure 2.1 stallGuard2 load measurement SG as a function of load

coolStep™coolStep is a load-adaptive automatic current scaling based on the load measurement via

stallGuard2 adapting the required current to the load. Energy consumption can be

reduced by as much as 75%. coolStep allows substantial energy savings, especially for

motors which see varying loads or operate at a high duty cycle. Because a stepper motor

application needs to work with a torque reserve of 30% to 50%, even a constant-load

application allows significant energy savings because coolStep automatically enables

torque reserve when required. Reducing power consumption keeps the system cooler,

increases motor life, and allows reducing cost.

0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

0 50 100 150 200 250 300 350

Efficiency

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50% torque reserve

Figure 2.2 Energy efficiency example with coolStep

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 5

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3Order Codes

The PD-1140 is currently available with four NEMA 17 stepper motors.

The length of the PANdrives is specified without the length of the axis. For the overall length of the

product please add 24 mm.

Order code

Description

Size (mm3)

PD42-1-1140-option

PANdrive 0.22Nm max. holding torque

42 x 42 x 46.5

PD42-2-1140-option

PANdrive 0.36Nm max. holding torque

42 x 42 x 51

PD42-3-1140-option

PANdrive 0.44Nm max. holding torque

42 x 42 x 60

PD42-4-1140-option

PANdrive 0.70Nm max. holding torque

42 x 42 x 73

Table 3.1 PD-1140 order codes

The following options are available:

Firmware option

Description

Order code example:

-TMCL

Module pre-programmed with TMCL firmware

PD42-1-1140-TMCL

Table 3.2 PD-1140 firmware options

A cable loom set is available for this module:

Order code

Description

PD-1140-CABLE

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

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 6

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4Mechanical and Electrical Interfacing

4.1 Dimensions

The PD-1140 includes the TMCM-1140 stepper motor controller/driver module, the magnetic encoder based

on sensOstep technology and a NEMA17 bipolar stepper motor. Currently, there is a choice between four

NEMA 17/42mm bipolar stepper motors with different lengths and different holding torques.

Length

42±1

22-0.05

24±1

4.5

13 max

42±1

2xM3

42±1

FRONT VIEW REAR VIEW

Figure 4.1 PD-1140 dimensions

Model

Length of motor

PD42-1-1140

33.5±1 mm

PD42-2-1140

38±1 mm

PD42-3-1140

47±1 mm

PD42-4-1140

60±1 mm

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 7

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4.2 Stepper Motor Specifications

MAIN CHARACTERISTICS OF FOUR DIFFERENT MOTORS AVAILABLE AS PART OF THE PD-1140

Specifications

Parameter

Units

QSH4218

-34-20-022

-38-20-036

-47-20-044

-60-20-070

Step angle

1.8

Step angle accuracy

+/-5

Ambient temperature

°C

-20 … +50

Max. motor temperature

°C

Shaft radial play (450g load)

0.02

Shaft axial play (450g load)

0.08

Max radial force

(20mm from front flange)

Max axial force

Rated voltage

VRATED

2.0

2.4

4.4

Rated phase current

IRMS RATED

2.0

Phase resistance at 20°C

RCOIL

Ω

1.0

1.2

1.4

2.3

Phase inductance (typ.)

1.6

2.2

2.1

6.0

Holding torque

0.22

0.36

0.44

0.70

Insulation class

Rotor inertia

g cm2

102

Weight

0.22

0.24

0.35

0.5

Table 4.1: NEMA 17 / 42mm stepper motor technical data

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 8

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4.3 Connectors of PD-1140

The controller/driver board of the PD-1140 offers four connectors including the motor connector which is

used for attaching the motor coils to the electronics. The power and communication connector is used

for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four

multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface.

USB

Motor

Multi-purpose

I/O

Power and

Communication

Figure 4.2 Overview connectors

Label

Connector type

Mating connector type

Power and

Communication

Connector

JST B6B-PH-K-S

(JST PH series, 6pins, 2mm pitch)

Connector housing: JST PHR-6

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

Multipurpose

I/O Connector

JST B8B-PH-K-S

(JST PH series, 8pins, 2mm pitch)

Connector housing: JST PHR-8

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

Motor

Connector

JST B4B-PH-K-S

(JST PH series, 4pins, 2mm pitch)

Connector housing: JST PHR-4

Contacts: JST SPH-002T-P0.5S

Wire: 0.22mm2, AWG 24

Mini-USB

Connector

Molex 500075-1517

Mini USB Type B vertical receptacle

Any standard mini-USB plug

Figure 4.3 Connectors and mating connectors, contacts and applicable wire

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 9

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4.3.1 Power and Communication Connector

A 6pin JST PH-series 2mm pitch single row connector is used for power supply, RS485 and CAN serial

communication. Please note the additional power supply information in chapter 4.3.1.1.

Note: CAN interface will be de-activated in case USB is connected due to internal sharing of hardware

resources.

Label

Direction

Description

GND

Power (GND)

System and signal ground

VDD

Power (Supply)

VDD (+9V…+28V)

RS485+

Bidirectional

RS485 interface, diff. signal (non-inverting)

RS485-

Bidirectional

RS485 interface, diff. signal (inverting)

CAN_H

Bidirectional

CAN interface, diff. signal (non-inverting)

CAN_L

Bidirectional

CAN interface, diff. signal (inverting)

Table 4.1 Connector for power supply and interfaces

4.3.1.1 Power Supply

For proper operation care has to be taken with regard to power supply concept and design. Due to space

restrictions the TMCM-1140 includes about 40µF/35V of supply filter capacitors. These are ceramic

capacitors which have been selected for high reliability and long life time. The module includes a 28V

suppressor diode for over-voltage protection. There is no reverse polarity protection. The module will

short any reversed supply voltage due to the suppressor diode (uni-directional version) and the internal

diodes of the driver transistors.

It is important that the power supply voltage is kept below the upper limit of 28V (please see also

chapter 6, operating values). Otherwise the driver electronics might be seriously damaged! Especially,

when the selected operating voltage is near the upper limit a regulated power supply is highly

recommended.

It is recommended to connect an electrolytic capacitor of significant size (e.g. 470µF/35V) to the power

supply lines next to the PD42-1140!

In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any voltage

spikes which might otherwise occur from a combination of high inductance power supply wires and the

ceramic capacitors. 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.

PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 10

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4.3.1.2 RS485

For remote control and communication with a host system the TMCM-1140 provides a two wire RS485

bus interface. For proper operation the following items should be taken into account when setting up an

RS485 network:

1. BUS STRUCTURE:

The network topology should follow a bus structure as closely as possible. That is, the

connection between each node and the bus itself should be as short as possible. Basically, it

should be short compared to the length of the bus.

c:> node

node

n- 1

node

Host Slave Slave Slave

RS485

termination

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as

short as possible

Figure 4.4 Bus structure

2. BUS TERMINATION:

Especially for longer busses and/or multiple nodes connected to the bus and/or high

communication speeds, the bus should be properly terminated at both ends. The TMCM-1140

does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both

ends of the bus have to be added externally.

3. NUMBER OF NODES:

The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a

single bus. The bus transceiver used on the PD-1140 units (SN65HVD3082ED) has just 1/8th of the

standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus.

4. NO FLOATING BUS LINES:

Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is

transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to

communication errors. In order to ensure valid signals on the bus it is recommended to use a

resistor network connecting both bus lines to well defined logic levels. In contrast to the

termination resistors this network is normally required just once per bus. Certain RS485 interface

converters available for PCs already include these additional resistors (e.g. USB-2-485).

node

n- 1

node

Slave Slave

termination

resistor

(120 Ohm)

+5V

GND

pull-up (1k)

pull-down (1k)

RS485- / RS485B

RS485+ / RS485A

Figure 4.5 Bus lines with resistor network

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