PDx-113-57/60-SE TMCM-113-57/60-SE Hardware Manual Version: 1.30 2009-OCT-28 Trinamic Motion Control GmbH & Co KG Sternstraße 67 D – 20 357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60 http://www.trinamic.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) Table of contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features ........................................................................................................................................................................... 4 Order codes .................................................
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 1 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 & Co. KG.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 4 2 Features The PDx-113-57/60-SE is a full mechatronic device consisting of a NEMA 23 (flange size 57mm) or NEMA 24 (flange size 60mm) stepper motor, controller/driver electronics and integrated encoder. The electronics itself is also available without the motor as TMCM-113-57/60-SE module.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 5 3 Order codes The PDx-113-57/60-SE is currently available with two different stepper motor series (NEMA23 / 57mm flange size or) with four stepper motors of different length and holding torque each and two interface options: With NEMA 23 / 57mm flange size motor: Order code PD1-113-57-SE-option PD2-113-57-SE-option PD3-113-57-SE-option PD4-113-57-SE-option Description PANdrive with PANdrive with PANdrive with PANdrive with 0.55Nm 1.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 6 4 Mechanical and electrical interfacing 4.1 Size of PDx-113-57-SE Currently, there is a choice between four NEMA 23 / 57mm bipolar stepper motors with different lengths and different holding torques. 20.6±1 17 Length Connectors 38.1±0.025 6,35-0.013 56.4±1 60 1.6 5 60±0.5 56.4±1 47.14±0.2 6.35-0.013 47.14±0.2 56.4±1 38.1±0.025 60±0.5 PD1 PD2 PD3 PD4 4-ø4.6 Figure 4.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 7 4.2 Size of PDx-113-60-SE Currently, there is a choice between four NEMA 24 / 60mm bipolar stepper motors with different lengths and different holding torques. Length 17 24±1 1.6 Connectors 20±0.5 7.5±0.2 38.1±0.025 8-0.013 60±0.5 69 max 5 9 60±0.5 47.14±0.2 8 38.1±0.025 47.14±0.2 60±0.5 PD1 PD2 PD3 PD4 Length of motor 45.0mm 56.0mm 65.0mm 86.0mm 4-ø4.5 Figure 4.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 8 4.3 Size of electronics (TMCM-113-57/60-SE) The outer shape of the TMCM-113-57/60-SE controller/driver board has been designed in order to fit to the back bell of a NEMA 24/60mm flange size motor (60mmx60mm). Consequently, the module is a little bit larger than the motor when being mounted on a standard NEMA 23/57mm motor (figure 4.3). There are four mounting holes altogether.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 9 4.4 Motor Main characteristics of the four different motors available as part of the PDx-113-57-SE: Specifications Parameter Number of Leads Step Angle Step Angle Accuracy Rated Voltage Rated Phase Current Phase Resistance at 20°C Phase Inductance (typ.) Holding Torque Rotor Inertia Insulation Class Max. applicable voltage Max. radial force (20mm from front flange) Max. axial force Weight Length Temp.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 10 4.5 Connectors The TMCM-113-57/60-SE has four connectors, a 2-pin connector for power supply, a 4-pin serial communication interface connector, an 8-pin input/output connector and a 4-pin motor connector (used to connect the attached motor).
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 11 4.5.1 Power connector A 2-pin Molex 6410 series connector is used for power supply. 2 Pin Label 1 1 2 GND VDD Description Module ground (power supply and signal ground) Power supply input, nom. +24V DC (+7 .. +28.5V DC) Table 4.3: Connector for power A mating connector together with a cable loom is available as part of the TMCM-113-CABLE cable loom set. 4.5.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 12 4.5.4 Motor connector A 4-pin Molex 7395 series connector is used for connecting the motor. Pin 4 1 Label Direction Description 1 A+ Output 2-phase stepper motor phase A 2 A- Output 2-phase stepper motor phase A 3 B+ Output 2-phase stepper motor phase B 4 B- Output 2-phase stepper motor phase B Table 4.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) PC (D-SUB 9pin) Pin 2 PDx-113-57/60-SE (Serial communication connector) Label RS232_RxD 3 RS232_TxD 5 GND 13 Pin 3 RS232_TxD 2 RS232_RxD 1, 4 Label GND Table 4.7: RS232 Connection PC <-> PDx-113-57/60-SE 4.6.2 RS485 RS485 can be used for serial bus communication.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 2. 14 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 PDx-11357/60-SE-485 integrates a 120 Ohm termination resistor that can be placed between both RS485 bus wires by setting a jumper: Set jumper for RS485 bus termination Figure 4.8: Bus termination 3.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 15 4.7 Reference switch inputs There are 2 reference/stop switch inputs (STOPL / STOPR). Both inputs offer an internal pull-up resistor (1k) and accept voltages between 0 and +5V. +5V +5V 1k STOPL 1k STOPR 10k 10k 1nF 1nF GND GND Figure 4.10: Reference/stop switch inputs STOPL, STOPR 4.8 General purpose inputs There are 2 general purpose inputs (IN_0 / IN_1).
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 16 4.9 General purpose outputs There are 2 general purpose outputs (OUT_0 / OUT_1). Both outputs are open collector outputs and can drive loads up-to 100mA. Especially for inductive loads a freewheeling diode to supply voltage (VDD) has been included. This is also the reason why the external voltage at the general purpose outputs - when the outputs are switched off - should not be higher than the supply voltage of the module + approx. 0.5V.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 17 5 Functional description The PD-113-57/60-SE is a full mechatronic solution including a 57 or 60 mm flange motor (NEMA23/NEMA24). It combines a convenient controller electronic and a sensOstep™ encoder with a range of different motor types and can be controlled via RS-232 or RS485 interface. The chopSync™ feature allows high velocity operation avoiding resonances.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 18 6 Firmware Currently, the standard TMCL firmware is available for both interface options and is supplied as default firmware. Please refer to the TMCL firmware manual for this unit for more details [TMCL]. Copyright © 2009, TRINAMIC Motion Control GmbH & Co.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 19 7 Torque curves The following torque curves have been measured using the PANdrive PDx-113-60-SE with all four stepper motors available as part of this unit. The four different stepper motors all offer the same max. coil current but, differ with respect to holding torque, motor length, coil resistance and inductivity – to name a few.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 20 7.2 PD2-113-60-SE For applications where more torque is required than available with the PD1-113-60-SE, the PD2-113-60-SE might be an option. Figure 7.2: PD2-113-60-SE torque curve 7.3 PD3-113-60-SE For applications where more torque is required than available with the PD2-113-60-SE, the PD3-113-60-SE might be an option. Figure 7.3: PD3-113-60-SE torque curve Copyright © 2009, TRINAMIC Motion Control GmbH & Co.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 21 7.4 PD4-113-60-SE For applications where more torque is required than available with the PD3-113-60-SE, the PD4-113-60-SE might be an option. The PD4-113-60-SE is the version with highest holding torque and the longest stepper motor available for this PANdrive series. Figure 7.4: PD4-113-60-SE torque curve Copyright © 2009, TRINAMIC Motion Control GmbH & Co.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 22 8 Operational ratings The operational ratings shown below should be used as design values. In no case should the maximum values be exceeded during operation. Symbol Parameter Min Type Max Unit 24 28.5 V VDD Power supply voltage for operation 7 ICOIL_peak Motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 4 *) A ICOIL_RMS Continuous motor current (RMS) 0 2.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) Symbol Parameter Min 23 Type Max Unit VSTOPL/R Input voltage for STOPL/R 0 5 V VSTOPL/R_L Low level voltage for STOPL/R 0 1.2 V VSTOPL/R_H High level voltage for STOPL/R (internal 1k pull-up) 1.
PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 9 Revision history 9.1 Document revision Version 1.00 1.10 1.20 1.30 Date 2008-OCT-20 2008-DEC-19 2009-MAY-13 2009-OCT-28 Author GE SD SD GE Description Initial version Dimensions of the PANdrives and functional description added PD3-113-57-SE and PD4-113-57-SE added New hardware version and torque curves added Table 9.1: Document revision 9.2 Hardware revision Version 1.00 1.10 1.20 1.
