Hardware Manual PD-1140
Contents
1. Pin Label Direction Description 1 GND Power GND System and signal ground 2 VDD Pawar Supply VDD connected to VDD pin of the power and communication connector Open drain output max 1A 3 UTE Output Integrated freewheeling diode to VDD 5V supply output max 100mA s an STEE Can be switched on off in software Dedicated analog input 5 IN_O Input Input voltage range 0 10V lis j Resolution 12bit 0 4095 e General purpose digital input 24V compatible IN_1 NEL Alternate function 1 left stop switch input 6 STOP L Input Alternate function 2 external incremental ENCA encoder channel A input General purpose digital input 24V compatible PES Alternate function 1 right stop switch input 7 STOP_R Input DIE P JP Alternate function 2 external incremental ENC_B i encoder channel B input General purpose digital input 24V compatible IN_3 TET Alternate function 1 home switch input 8 HOME Input Alternate function 2 external incremental ENC_N encoder index zero channel input Table 4 4 Multipurpose I O connector Note All inputs have resistor based voltage input dividers with protection diodes These resistors also ensure a valid GND level when left unconnected A For all digital inputs IN 1 IN 2 IN 3 a 2k2 pull up resistor to 5V can be activated Then these inputs have a default unconnected logic level of 1 and an external switch to GND can be connected This might be espe2. TMC429 REF input supporting connected to processor encoder left stop functionality in counter input hardware IN 2 7 General purpose STOP R right stop switch input ENC B external incremental digital input connected to processor and encoder input channel B TMC429 REF input supporting connected to processor encoder right stop switch functionality in counter input hardware IN 3 8 General purpose HOME home switch input ENC N external incremental digital input connected to processor encoder input index zero channel connected to processor interrupt input Table 4 5 Multipurpose inputs alternate functions All three digital inputs are connected to the on board processor and digital inputs default can be used as general purpose www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 14 4 3 2 2 Analog Input IN o The eight pin connector of the TMCM 1140 provides one dedicated analog input IN 0 This dedicated analog input offers a full scale input range of 0 10 V with a resolution of the internal analog to digital converter of the microcontroller of 12bit 0 4095 The input is protected against higher voltages up to 24 V using voltage resistor dividers together with limiting diodes against voltages below DV GND and above 3 3 V DC see figure below 3 3V IN_o 22k 10k i F GND GND GND ADC input microcontroller Figure 4 7 General pu
3. 50 20 50 Max motor temperature C 80 80 80 80 Shaft radial play 450g load mm 0 02 0 02 0 02 0 02 Shaft axial play 450g load mm 0 08 0 08 0 08 0 08 Max radial force 20mm from front flange ai eh eb es Max axial force N 10 10 10 10 Rated voltage Veatep V 2 0 2 4 2 4 4 4 Rated phase current Tie RATED A 2 0 2 0 2 0 2 0 Phase resistance at 20 C Reon Q 1 0 1 2 1 4 2 3 Phase inductance typ mH 1 6 2 2 2 1 6 0 Holding torque Nm 0 22 0 36 0 44 0 70 Insulation class B B B B Rotor inertia g cm 35 57 68 102 Weight kg 0 22 0 24 0 35 0 5 Table 4 1 NEMA 17 42mm stepper motor technical data www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 8 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 Multi purpose T O Power and Communication Motor Figure 4 2 Overview connectors Label Connector type Mating connector type Connector housing CVIlux CI01065000 A Contacts CVIlux CI01T011PE0 A Power and crotoeP1VKO LF or Communication Conde tr CVIlux CIO1 series 6 pins 2mm pitch
4. Connector housing JST PHR 6 Contacts JST SPH 002T P0 5S Wire 0 22mm Connector housing CVIlux CI01085000 A Contacts CVIlux CIO1TO11PEO A Multipurpose CI0108P1VKO LF or I O Connector CVIlux C101 series 8 pins 2mm pitch Connector housing JST PHR 8 Contacts JST SPH 002T P0 5S Wire 0 22mm Connector housing CVIlux CI01045000 A Contacts CVIlux CIO1TO11PEO A Motor CIO104P1VKO LF or Connector CVIlux CIO1 series 4 pins 2mm pitch Connector housing JST PHR 4 Contacts JST SPH 002T P0 5S Wire 0 22mm Mini USB Molex 500075 1517 SC Connector Mini USB Type B vertical receptacle Any standard amin USB pug Table 4 2 Connectors and mating connectors contacts and applicable wire WWW trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 9 4 3 1 Power and Communication Connector A CVIlux CI0106P1VKO LF 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 Pin Label Direction Description 1 GND Power GND System and signal ground d VDD Power Supply VDD 9V 28V 3 RS485 Bidirectional RS485 interface diff signal non inverting 4 RS485 Bidirectional RS485 interface diff signal inverting 5 CAN_H Bi
5. 1 OB2 Output Pin 2 of motor coil B 2 OB1 Output Pin 1 of motor coil B 3 OA2 Output Pin 2 of motor coil A 4 OA1 Output Pin 1 of motor coil A Table 4 5 Motor connector Example for connecting the QSH4218 NEMA 17 42mm stepper motors TMCM 1140 QS4218 Motor E green e Motor connector pin Cable color Coil Description A 1 Red B Motor coil B pin 1 Bl black 2 Blue B Motor coil B pin 2 g 3 Green A Motor coil A pin 2 ea 4 Black A Motor coil A pin 1 5 9 a E E CAUTION Keep the electronics free of metal particles The integrated sensOstep encoder uses a magnet at the end of the motor axis in order to monitor position The magnet naturally attracts especially tiny metal particles These particles might be held on the top side of the PCB and even worse start moving in accordance with the rotating magnetic field as soon as the motor starts moving 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 PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 16 4 3 4 Mini USB Connector A 5pin mini USB connector is available on board for serial communication as alternative to the CAN and RS485 interface This module supports USB 2 0 Full Speed 12Mbit s connections CAN interface will be de activated as soon as USB is conn
6. 16MHz oscillator TMCM 1140 V12 2012 APR 12 Further cost optimization incl different sensor IC with 10bit max resolution Table 12 2 Hardware revision 13 References PD 1140 TMCL TMC262 TMC429 TMCL IDE PD 1140 TMCL Firmware Manual TMC262 Datasheet TMC429 Datasheet TMCL IDE User Manual Please refer to www trinamic com www trinamic com
7. is not available in case USB is connected For proper operation the following items should be taken into account when setting up a CAN 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 termination resistor 120 Ohm termination resistor 120 Ohm keep distance as short as possible Figure 4 5 CAN bus structure 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 NUMBER OF NODES The bus transceiver used on the TMCM 1140 units TJA1050T supports at least 110 nodes under optimum conditions Practically achievable number of nodes per CAN bus highly depends on bus length longer bus gt less nodes and communication speed higher speed gt less nodes www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 12 4 3 2 Multipurpose I O Connector An 8pin CVIlux CI0108P1VKO LF 2mm pitch single row and outputs connector is available for all multipurpose inputs
8. per fullstep usf Hz sf Hz ffI z Qusrs with fsf fullstep frequency The change in the pulse rate per time unit pulse frequency change per second the acceleration a is given by 2 Fork doux 2 pulse divrramp div 29 This results in acceleration in fullsteps of a af with af acceleration in fullsteps PASIS www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 24 EXAMPLE Signal value 1 am 16 MHz velocity 1000 a_max 1000 pulse div 1 ramp div 1 usrs 6 _ 16 MHz 1000 i 122070 31 Hz 2 2048 32 122070 31 AfUk 1907 34Hz 2 T 16Mhz 1000 119 21 MHz gitl 29 S MHz 119 21 af ses 1 863 M A CALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e g 72 fullsteps per rotation RPS Ssf _ 1907 34 649 fullsteps per rotation 72 RPM Ssf 60 1907 34 60 589 46 fullsteps per rotation 72 www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 25 11 Life Support Policy TRINAMIC Motion Control GmbH amp 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 amp Co KG Life support systems are equipment intended to support or sustain life and whose failure to perform when properly used in accordance with instructions provided can be re
9. 0 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 3 Cable loom order codes www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 4 Mechanical 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 22 VI 42 1 FRONT VIEW Figure 4 1 PD 1140 dimensions www trinamic com Model Length of motor PD42 1 1140 33 541 mm PD42 2 1140 38 1 mm PD42 3 1140 4741 mm PD42 4 1140 6041 mm 34 42 1 REAR VIEW 7 4221 PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 7 4 2 Stepper Motor Specifications MAIN CHARACTERISTICS OF FOUR DIFFERENT MOTORS AVAILABLE AS PART OF THE PD 1140 QSH4218 Specifications Parameter Units 34 20 022 38 20 036 47 20 044 60 20 070 Step angle n 1 8 1 8 1 8 1 8 Step angle accuracy o 5 5 5 5 Ambient temperature eC 20 50 20 50 20
10. MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1 2 HARDWARE MANUAL sie PD 1140 Stepper Motor with Controller Driver 0 22 0 70 Nm 24V DC sensOstep Encoder USB RS485 and CAN UNIQUE FEATURES amp as coolStep stallGuard2 A TRINAMIC Motion Control GmbH amp Co KG Hamburg Germany www trinamic com MOTION CONTROL PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 2 Table of Contents 2 ReEGtURES is os Aino RI SE EEN 3 r c Order Codes oot eu e ease e te bote Los Le cos a Leto abd esr s La Es aad 5 A Mechanical and Electrical Intertacng EEN 6 41 DITMENSIONS ELEISON 6 4 2 Stepper Motor Specifications iiie deele 7 4 3 Connectors of PD T140 ioi ce ER Det teas Ert a eed ote idee ERR 8 4 3 1 Power and Communication Connector tenete tnt ttn te tnter 9 4311 Power Supply esca tes eot ee 9 UM MEE VUL M 10 43 13 E 11 Ze Multipurpose VO ConfiectOrcz s eee ertet vertere etes cie eter Reese na ere ede nando 12 43 21 Digital Inputs INCI IN 2 Neben egen deed idt desde abend ad etuer irt deeds 13 4 3 2 2 Analog Input IN D 14 Lac oc Outputs OUIZ0 OUT Rc 14 4 3 3 Motor Coriniectors Eeer 15 4 3 4 MiniUSB Connectors ee e hei elie AE 16 5 Reset to Factory Defaults oeste c erede este glace eit taedet aleve eie utu ete nee 17 6 On Board hd c 18 iy Operati
11. asonably expected to result in personal injury or death TRINAMIC Motion Control GmbH amp Co KG 2013 Information given in this data sheet is believed to be accurate and reliable However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use Specifications are subject to change without notice All trademarks used are property of their respective owners www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 26 12 Revision History 12 1 Document Revision Version Date Author Description GE Goran Eggers SD Sonja Dwersteg 0 90 2011 DEC 22 GE Initial version 0 91 2012 MAY 02 GE Updated for TMCM 1140 V11 pcb version First complete version including the following chapters 1 00 2012 JUN 26 SD Reset to factory defaults LEDs Torque curves 1 01 2012 JUL 30 SD Internal circuit of inputs corrected Names of inputs changed AIN O INO INO IN 1 IN 1 IN2 1 02 2013 MAR 26 SD IN2 IN3 Names of outputs changed OUT OUT 0 QUT 0 OUT 1 1 03 2013JUL 23 SD Connector types updated Chapter 4 3 1 1 updated Table 12 1 Document revision 12 2Hardware Revision Version Date Description TMCM 1040 V10 2011 MAR 08 Initial version TMCM 1140 V11 2011 JUL 19 Optimization of multipurpose I O circuits Clock generation and distribution changed
12. cially interesting in case these inputs are used as STOP L STOP R and HOME switch inputs alternate function 1 or as encoder input for an external incremental A B N encoder with open collector outputs pull ups are not necessary for encoder with push pull outputs WWW trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 13 4 3 2 1 Digital Inputs IN 1 IN 2 IN 3 The eight pin connector of the TMCM 1140 provides three multipurpose digital inputs IN 1 IN 2 and IN 3 All three inputs accept up to 24V input signals They are protected against these higher voltages using voltage resistor dividers together with limiting diodes against voltages below OV GND and above 3 3V DC see figure below 5V GND GND GND common switch for all three digital inputs microcontroller all Figure 4 6 General purpose inputs simplified input circuit and TMC429 IN_O IN_1 Refer to the PD 1140 TMCL Firmware Manual SIO command for further information about switching the pull up resistors for all digital inputs on off The three digital inputs have alternate functionality depending on following functions are available configuration in software The n Default function Alternate function 1 Alternate function 2 IN 1 6 General purpose STOP L left stop switch input ENC A external incremental digital input connected to processor and encoder input channel A
13. directional CAN interface diff signal non inverting 6 CAN_L Bidirectional CAN interface diff signal inverting Table 4 3 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 40yF 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 CAUTION Add external power supply capacitors It is recommended to connect an electrolytic capacitor of significant size e g 470pF 35V to the power supply lines next to the PD 1140 Rule of thumb for size of electrolytic capacitor c 1000 X ISUPPLY 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 Do not connect or disconnect motor during operation Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected connected while energized These voltage spikes might exceed voltage limits of the
14. driver MOSFETs and might permanently damage them Therefore always disconnect power supply before connecting disconnecting the motor Keep the power supply voltage below the upper limit of 28V Otherwise the driver electronics will seriously be damaged Especially when the selected operating voltage is near the upper limit a regulated power supply is highly recommended Please see also chapter 7 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 PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 10 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 Slave Slave termination resistor 120 Ohm termination resistor 120 Ohm RS485 keep distance as short as possible Figure 4 3 Bus structure BUS TERMINATION Especially for longer busses and or multiple nodes connected to the bus and or high communication speeds the bus should be properly t
15. e Curve PD42 4 1140 2A RMS Phase Current 256 uSteps 10000 0 50 torque Nm 0 40 0 30 0 20 10 100 1000 speed rpm Figure 8 4 PD42 4 1140 torque vs velocity 24V 2A 256yusteps www trinamic com 10000 PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 22 9 Functional Description The PD 1140 is a highly integrated mechatronic device which can be controlled via several serial interfaces Communication traffic is kept low since all time critical operations e g ramp calculations are performed on board Nominal supply voltage of the unit is 24V DC The PANdrive is designed for both direct mode and standalone operation Full remote control of device with feedback is possible The firmware of the module can be updated via any of the serial interfaces In Figure 9 1 the main parts of the PD 1140 are shown the microprocessor which runs the TMCL operating system connected to TMCL memory the motion controller which calculates ramps and speed profiles internally by hardware the power driver with stallGuard2 and its energy efficient coolStep feature the MOSFET driver stage the QSH stepper motor and the sensOstep encoder with resolutions of 10bit 1024 steps per revolution PD 1140 USB Power RS485 Driver MOSFET K 23 TMC262 Dri
16. ected due to internal sharing of hardware resources Pin Label Direction Description 1 VBUS Power 5V supply from host supply input EA d D Bidirectional USB Data 3 D Bidirectional USB Data 4 JID Power GND Connected to signal and system ground 5 GND Power GND Connected to signal and system ground Table 4 6 Connector for USB For remote control and communication with a host system the TMCM 1140 provides a USB 2 0 full speed 12Mbit s interface mini USB connector As soon as a USB Host is connected the module will accept commands via USB USB Bus POWERED OPERATION MODE The TMCM 1140 supports both USB self powered operation when an external power is supplied via the power supply connector and USB bus powered operation no external power supply via power supply connector On board digital core logic will be powered via USB in case no other supply is connected USB bus powered operation The digital core logic comprehends the microcontroller itself and also the EEPROM The USB bus powered operation mode has been implemented to enable configuration parameter settings read outs firmware updates etc by just connecting an USB cable between module and host PC No additional cabling or external devices e g power supply are required Please note that the module might draw current from the USB 5V bus supply even in USB self powered operation depending on the voltage level of this supp
17. ent for OUT_1 100 mA Vin wer Input voltage for IN 1 IN 2 IN 3 digital 0 VDD V inputs Vina v2 Low level voltage for IN 1 IN 2 and IN 3 0 11 V Vin Hers High level voltage for IN 1 IN 2 and IN 3 3 4 VDD V Vino Measurement range for analog input IN_O 0 10 V Table 7 2 Operational ratings of multipurpose I Os www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 20 8 Torque Curves 8 11 PD42 1 1140 Torque Curve PD42 1 1140 2A RMS Phase Current 256 uSteps 0 30 0 25 0 20 0 15 torque Nm 0 10 0 05 0 00 10 100 1000 speed rpm Figure 8 1 PD42 1 1140 torque vs velocity 24V 2A 256yusteps 8 1 2 PD42 2 1140 Torque Curve PD42 2 1140 2A RMS Phase Current 256 uSteps 10000 torque Nm o N oa 10 100 1000 speed rpm Figure 8 2 PD42 2 1140 torque vs velocity 24V 2A 256yusteps www trinamic com 10000 PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 21 8 13 PD42 3 1140 Torque Curve PD42 3 1140 2A RMS Phase Current 256 uSteps torque Nm 10 100 1000 speed rpm Figure 8 3 PD42 3 1140 torque vs velocity 24V 2A 256yusteps 8 14 PD42 4 1140 Torqu
18. eration and the red LED should be off When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE Status Label Description Heartbeat Run This green LED flashes slowly during operation Error Error This red LED lights up if an error occurs Green LED Red LED Figure 6 1 On board LEDs www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 19 1 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values In no case shall the maximum values be exceeded Symbol Parameter Min Typ Max Unit VDD Power supply voltage for operation 9 12 24 28 V Icon peak Motor coil current for sine wave peak 0 2 8 A chopper regulated adjustable via software Teon Rms Continuous motor current RMS 0 2 0 A Top Power supply current lt lt Loon 1 4 Lon A Ten Environment temperature at rated current no Tbd 50 C forced cooling required Table 7 1 General operational ratings of module OPERATIONAL RATINGS OF MULTIPURPOSE I Os Symbol Parameter Min Typ Max Unit Vout o Voltage at open drain output OUT_O 0 VDD V Touto Output sink current of open drain output 1 A OUT_O Vour i Voltage at output OUT 1 when switched on 5 V Tour 1 Output source curr
19. erminated 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 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 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 Slave Slave pull up 1k RS485 RS485A termination resistor RS485 RS485B 120 Ohm pull down 2k GND Figure 4 4 Bus lines with resistor network www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 11 4 3 1 3 CAN For remote control and communication with a host system the TMCM 1140 provides a CAN bus interface Please note that the CAN interface
20. ly Motor movements are not possible in this operation mode Therefore connect the power connector and change to USB self powered operation mode www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 17 5 Reset to Factory Defaults It is possible to reset the PD 1140 to factory default settings without establishing a communication link This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost For this procedure two pads on the bottom side of the board have to be shortened Please perform the following steps Power supply off and USB cable disconnected Short two pads as marked in Figure 5 1 Power up board power via USB is sufficient for this purpose 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 Sey See ES 7459352590 Short these two pads Figure 5 1 Reset to factory default settings www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 18 6 On Board LEDs The board offers two LEDs in order to indicate board status The function of both LEDs is dependent on the firmware version With standard TMCL firmware the green LED should be flashing slowly during op
21. mechanical data Supply voltage 24 V DC nominal 9 28 V DO 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 www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 4 TRINAMICSs 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 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 savi
22. ngs because coolStep automatically enables torque reserve when required Reducing power consumption keeps the system cooler increases motor life and allows reducing cost 0 9 Efficiency with coolStep 0 8 H Efficiency with 50 torque reserve 0 7 0 6 0 5 Efficiency 0 4 0 3 0 2 0 1 0 T T T T T T 0 50 100 150 200 250 300 350 Velocity RPM Figure 2 2 Energy efficiency example with coolStep www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 5 3 Order 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 mm 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 42x51 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 114
23. onal Ratings nni etd bene e ee GE EE 19 8 Torque C rves une nn a RR e RR RO OI MEM RIS 20 811 PDA2 1 1140 Torque Curve ete nn Wiens RR ban ecce nao ete re aee Pe RES ue Eua dus 20 8 14 27 PD42 2 1140 Torque e 20 8 3 pD42 3 1140 Torque Curve ed eed dele ete e Eee Ret Pepe dle dete ie uds 21 8 1 5 PD4 2 4 1140 Torque une 21 9 Functional DeSCription E E 22 10 PD 1140 Operational Description ENEE 23 10 1 Calculation Velocity and Acceleration vs Microstep and Fullstep Frequency 23 TT Life Support Policy eec tete beendet de eec dete uie dese ee etes tec s 25 12 gt REVISION HISEOLD ic rt eet aide Minas a eode ibi e ec I dient 26 lel Document RevisIORn uice eet AE er aee RR nete in E hdd nete P diese abide etna 26 122 Hardware Revision iuis oui nu e Seet 26 13 References ER EIC T G 26 www trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 3 2 Features 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 coolSte
24. p 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 RS 485 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
25. rpose inputs simplified input circuit 4 3 2 3 Outputs OUT 0 OUT 1 The eight pin connector of the TMCM 1140 offers two general purpose outputs OUT 0 and OUT 1 OUT 0 is an open drain output capable of switching up to 1A The output of the N channel MOSFET transistors is connected to a freewheeling diode for protection against voltage spikes especially from inductive loads relais etc above supply voltage see figure below Note OUT O0 offers a freewheeling diode connected to VDD supply voltage Therefore this output should never be connected to any voltage above supply voltage level of the module VDD microcontroller Figure 4 8 General purpose output OUT 0 GND WWW trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 15 In contrast OUT 1 is able to supply 5V 100mA max to an external load An integrated P channel MOSFET allows to switch on off this 5V supply in software see figure below This output might be used in order to supply 5V to an external encoder circuit 5V microcontroller OUT 0 T 100pF 10k GND GND Figure 4 9 General purpose output OUT 1 4 3 3 Motor Connector As motor connector a 4pin CVIlux CIO104P1VKO LF 2mm pitch single row connector is available The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics Pin Label Direction Description Gi
26. ver SE with Stage TMC429 m I Os lt 5 Motion scorer Controller OUT 0 l lt i j Switches 9 28V DC TMCM 1140 Figure 9 1 Main parts of the PD 1140 WWW trinamic com PD 1140 V1 2 Hardware Manual Rev 1 03 2013 JUL 23 23 10 PD 1140 Operational Description 10 1Calculation Velocity and Acceleration vs Microstep and Fullstep Frequency The values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity But these values can be calculated from the TMC429 parameters as shown in this section PARAMETERS OF TMC429 Signal Description Range fax clock frequency 16 MHz velocity 0 2047 a max maximum acceleration 0 2047 divider for the velocity The higher the value is the less is pulse div the maximum velocity 0 13 default value 0 divider for the acceleration The higher the value is the ramp div less is the maximum acceleration 0 13 default value 0 Usrs microstep resolution microsteps per fullstep 2 0 8 Table 10 1 TMC429 velocity parameters MICROSTEP FREQUENCY The microstep frequency of the stepper motor is calculated with fcrgl Hz velocity usf Hz 2 Pulse_div 9048 32 with usf microstep frequency FULLSTEP FREQUENCY To calculate the fullstep frequency from the microstep frequency the microstep frequency must be divided by the number of microsteps
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