Data Sheet

ManualsBrandsTrinamic ManualsStepper Motors (Built-In Control)30-0104 PD3-109-57-RS V2 Stepper Motor With Integrated Controller

PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 2

Contents

1 Life support policy ....................................................................................................................................................... 4

2 Features........................................................................................................................................................................... 5

3 Order codes .................................................................................................................................................................... 7

4 Electrical and mechanical interfacing ..................................................................................................................... 8

4.1 Dimensions ........................................................................................................................................................... 8

4.1.1 Dimensions of PCB .................................................................................................................................. 8

4.1.2 Dimensions of PDx-109-57 V2 ............................................................................................................... 9

4.2 Connectors .......................................................................................................................................................... 11

4.2.1 Connector 1: Power supply, RS485, and GPI1/2 ............................................................................ 12

4.2.2 Connector 2: RS232 and additional I/O ........................................................................................... 12

4.2.3 Connectors 3 and 4: Motor .................................................................................................................. 13

5 Operational ratings .................................................................................................................................................... 14

5.1 GPI1, GPI2, and disable inputs ..................................................................................................................... 15

6 Functional description .............................................................................................................................................. 16

6.1 System architecture .......................................................................................................................................... 16

6.1.1 Microcontroller (µC) ............................................................................................................................... 16

6.1.2 TMCL™ EEPROM....................................................................................................................................... 16

6.1.3 TMC428 motion controller ................................................................................................................... 16

6.1.4 TMC249 motor driver ............................................................................................................................. 17

6.2 Power supply requirements........................................................................................................................... 17

6.3 Disable ................................................................................................................................................................. 17

6.4 Communication interfaces RS232 and RS485 ........................................................................................... 18

6.5 Motor current setting ....................................................................................................................................... 18

6.6 Microstep resolution ........................................................................................................................................ 19

6.7 Reference switches ........................................................................................................................................... 19

6.8 stallGuard™ - sensorless motor stall detection ...................................................................................... 19

6.9 Environment temperature considerations ................................................................................................. 19

6.10 State indication LEDs ....................................................................................................................................... 20

6.11 Firmware update ............................................................................................................................................... 20

6.12 Resetting the module ...................................................................................................................................... 21

7 Putting the PDx-109-57 into operation ................................................................................................................ 22

8 TMCM-109 operational description ........................................................................................................................ 23

8.1 Calculation: Velocity and acceleration vs. microstep- and fullstep frequency ................................ 23

9 Software ........................................................................................................................................................................ 25

10 Revision history .......................................................................................................................................................... 26

10.1 Document revision ........................................................................................................................................... 26

10.2 Firmware revision ............................................................................................................................................. 26

11 References .................................................................................................................................................................... 27