User manual
PD-1140 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 7
www.trinamic.com
1. Connect power supply and choose your interface
a) Connect CAN or RS485 and power supply
CAN interface will be de-activated in case USB is connected due to internal sharing of hardware
resources.
Pin
Label
Description
1
GND
System and signal ground
2
VDD
VDD (+9V…+28V)
3
RS485+
RS485 interface, diff. signal (non-inverting)
4
RS485-
RS485 interface, diff. signal (inverting)
5
CAN_H
CAN interface, diff. signal (non-inverting)
6
CAN_L
CAN interface, diff. signal (inverting)
b) Connect USB interface (as alternative to CAN and RS485; use a normal USB cable)
Download and install the file TMCM-1140.inf (www.trinamic.com).
Pin
Label
Description
1
VBUS
+5V power
2
D-
Data –
3
D+
Data +
4
ID
ground
5
GND
ground
2. Connect In/Out connector
If you like to work with the GPIOs or switches, use the In/Out connector.
Pin
Label
Description
1
GND
System and signal ground
2
VDD
VDD, connected to VDD pin of the power and communication connector
3
OUT_1
Open-drain output (max. 1A)
Integrated freewheeling diode to VDD
4
OUT_0
+5V supply output (max. 100mA)
Can be switched on/off in software
5
AIN_0
Dedicated analog input,
Input voltage range: 0..+10V
Resolution: 12bit (0..4095)
6
IN_0,
STOP_L,
ENC_A
General purpose digital input (+24V compatible)
Alternate function 1: left stop switch input
Alternate function 2: external incremental encoder channel A input
7
IN_1,
STOP_R,
ENC_B
General purpose digital input (+24V compatible)
Alternate function 1: right stop switch input
Alternate function 2: external incremental encoder channel B input
8
IN_2,
HOME,
ENC_N
General purpose digital input (+24V compatible)
Alternate function 1: home switch input
Alternate function 2: external incremental encoder index / zero channel input
3. Switch ON the power supply
Turn power ON. The green LED for power lights up and the motor is powered but in standstill
now.
If this does not occur, switch power OFF and check your connections as well as the power
supply.