IDX (IDX and IDX 7505) Manual STEPPER motor controller/driver modules IDX: 3.5A RMS (5A peak) / 48V IDX 7505: 5.0A RMS (7A peak) / 75V with RS485 and step-/ direction interface Trinamic Motion Control GmbH & Co. KG Sternstraße 67 D – 20357 Hamburg, Germany http://www.trinamic.
IDX Manual (V1.16 / December 3rd, 2008) 2 Table of Contents 1 2 3 Features........................................................................................................................................................................... 4 Life support policy ....................................................................................................................................................... 5 Electrical and Mechanical Interfacing .................................................
IDX Manual (V1.16 / December 3rd, 2008) 3 List of Figures Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 3.1: Pinning of IDX .................................................................................................................................................. 6 3.2: Dimensions ...................................................................................................................................................
IDX Manual (V1.16 / December 3rd, 2008) 4 1 Features The TRINAMIC IDX is a small and rugged step / direction stepper motor driver system with a supply voltage of up to 50V and up to 3.5A RMS motor coil current (up to 75V and up to 5A RMS for IDX 7505). It can be controlled via an RS-485 interface. Up to 256 micro steps are supported for either high accuracy or high speed. An update of the firmware is possible via the serial interface.
IDX Manual (V1.16 / December 3rd, 2008) 2 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. 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 reasonably expected to result in personal injury or death.
IDX Manual (V1.16 / December 3rd, 2008) 6 3 Electrical and Mechanical Interfacing 3.1 Pinning RS485B RS485A RS485B RS485A GPO GPI GND RefB RefA +5V Step Dir Disable Common Controls IDX OB2 OB1 OA2 OA1 GND +VS Power & Motor Figure 3.1: Pinning of IDX Pin OB1, OB2 OA1, OA2 GND +VS Number 1, 2 3, 4 5 6 Function Connections for motor coil B Connections for motor coil A GND, power Positive power supply voltage Table 3.
IDX Manual (V1.16 / December 3rd, 2008) 3.2 7 Dimensions 63.5mm 3mm 18.5mm 29.5mm 34mm 63.5mm Figure 3.2: Dimensions 4.5mm 12mm 6.5mm 4mm 2.5mm 7mm 63.0mm 29.5mm 63.5mm Figure 3.3: Base Plate Dimensions 3.3 Connectors Both connectors are RIA connectors. Power and motor: 6 pin connector RM 5.0 (07_06_RM5) Control: Two 4 pin and one 6 pin connectors RM 3.5, (2x 166_04_RM3.5, 1x 166_06_RM35) Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co.
IDX Manual (V1.16 / December 3rd, 2008) 8 4 Operational Ratings The operational ratings show the intended / the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded. Symbol Parameter Min Typ Max Unit VS Power supply voltage (IDX) 12 ... 48 58.5 V VS Power supply voltage (IDX 7505) 12 ... 75 78.5 V ICOIL Motor coil current for sine wave peak (chopper reg., software adjustable) (IDX) 0.7 … 4.
IDX Manual (V1.16 / December 3rd, 2008) 4.1 9 Practical maximum motor current ratings The IDX 7505 (IDX) uses eight high power 80V (60V) transistors with low internal on resistance of only 15mOhm (24mOhm) to drive the motor. Due to this, power loss is just a few watts at maximum current. In order to avoid EMV problems and to keep electromagnetic emission low, the transistors are switched smoothly on and off with 300ns transitions.
IDX Manual (V1.16 / December 3rd, 2008) 4.2 10 Step, Direction and Disable Inputs The inputs disable, dir and step are electrically isolated from the module. The inputs are related to VCOM. In a typical application, UCOM shall be tied to the positive supply voltage of the master and the inputs are driven by open collector or push / pull outputs. VOPTOFF and VOPTON must not exceed VCOM to avoid reverse polarity for the opto couplers. OFF: VCOM - VIN < 1.0V ON: VCOM - VIN >= 3.5V UCOM 5..
IDX Manual (V1.16 / December 3rd, 2008) 11 5 Getting Started 5.1 Motor Attention: Do not connect or disconnect the motor while power on. Damage to the module may occur. Attention: A too high motor current setting can damage you motor! If in doubt, start with a low current setting and check motor temperature. If the motor heats up very quickly, check all settings. The motor shall never reach a temperature above 100°C under any circumstances.
IDX Manual (V1.16 / December 3rd, 2008) 12 5.1.1.3 Chopper Mode 2 (PHASE) In Table 5.1 and Figure 5.1 examples of maximum power supply voltages regarding current ICOIL and inductivity of your motor are specified. For further information, including a formula and description how to calculate the maximum voltage for your setup, refer to 5.8.2.3 ICOIL (RMS) 5.0 A 4.0 A 3.0 A 2.0 A 1.0 A 0.5 A 0.3 A L (min.) 0.75 mH 0.48 mH 0.24 mH 0.94 mH 0.6 mH 0.3 mH 1.25 mH 0.8 mH 0.4 mH 1.875 mH 1.2 mH 0.6 mH 3.
IDX Manual (V1.16 / December 3rd, 2008) 13 14 12 L /mH 10 8 6 4 2 0 0,3 0,8 1,3 1,8 2,3 2,8 3,3 3,8 4,3 4,8 ICOIL /A 75 V 48 V 24 V Figure 5.1: Maximum voltage regarding motor current and inductivity Any combination of motor coil current and inductivity which is above the curve for maximum supply voltage (VS) is possible to drive the motor in this mode. 2,5 2 L /mH 1,5 1 0,5 0 1 1,5 2 2,5 3 3,5 4 4,5 5 ICOIL /A Check your motor data sheet, please.
IDX Manual (V1.16 / December 3rd, 2008) 5.2 14 Connecting Motor and Power Supply IDX keep distance short C Power supply Figure 5.2: Connecting Motor and Power Supply 5.3 Power Supply Requirements The power supply voltage shall be in the limits as given in the chapter 4 under operational ratings. Please note that there is no protection against reverse polarity or too high voltage. The power supply typically should be within a range which fits the motor requirements, as described in chapter 5.1.1.
IDX Manual (V1.16 / December 3rd, 2008) 15 5.3.1 EMV considerations Due to the small form factor of the unit, it is not completely protected against electromagnetic emissions resulting from switching operation. If your system is subject to CE testing and shows EMV problems, i.e. due to some parts of the housing/cabling not being shielded, provide ferrite filters for the positive power supply line and for the motor outputs near to the unit.
IDX Manual (V1.16 / December 3rd, 2008) 16 5.5.2 Control with terminal program Having installed the hardware, the IDX can be controlled with any terminal program, like HyperTerminal that comes with MS-Windows. Following steps are described for HyperTerminal but are similar for the other terminal programs: 1. Start HyperTerminal 2. A window for a new connection opens. Fill in a name and press OK. 3. Select the appropriate COM-port and press OK. 4. Fill in the values like in Figure 5.5 and confirm with OK.
IDX Manual (V1.16 / December 3rd, 2008) 5.6 17 Functional Description The IDX module has three different modes to control a stepper motor: step-direction, RS485 and stand alone. With the RS485 it is possible to change parameters and save them to the EEPROM of the module to have all options in any mode. Therefore there are different settings like microstep resolution possible in step-direction mode also. TMCM-IDX RS-485 Step/Dir 12..
IDX Manual (V1.16 / December 3rd, 2008) 18 5.8.1 RS485 Commands For RS485 commands write the address byte (default is A) first, followed by an command from the following list. A small command letter provides the actual setting. All values are ASCII. Command A, a C, c E G, g L, l M, m O, o P Q R S T, t U, u V, v W X Y, y Z, z Function Description Acceleration Acceleration: v = 28.96 * a Motor current in percentage of maximum Set Motor current Current (0..100% * IDX max. current). Refer 5.8.1.
IDX Manual (V1.16 / December 3rd, 2008) 19 Examples: 1. Set chopper mode to SPI Mode: AM 0 ENTER 2. Read out the actual mode Am ENTER 5.8.1.1 Examples for test move Different accelerations and velocities AA 500, AV 50000, AV –50000 try other AA 100…8000, AV 0…400000 Max. current – test of torque AA 500, AV 50000, AC 255 test torque manually AC 50 test torque Read and set position AR, AP 0, AR, AA 500, AV 50000, AR 5.8.1.2 Motor Current (C) The motor current can be set by the user.
IDX Manual (V1.16 / December 3rd, 2008) 20 In the other two modes the failure analysis consists of only one bit: 1: short circuit or overtemperature 0: no failure 5.8.1.4 StallGuard (G) The StallGuard feature is available in the default mode 0 (SPI) only. It is a sensorless load measurement and stall-detection. Overload is indicated before steps are lost. The command letter ‘g’ provides the actual StallGuard value of the motor so easy calibration is possible.
IDX Manual (V1.16 / December 3rd, 2008) 21 5.8.1.6 Output setting (O) The bit settings are as follows: Bit 0 1 Description 0: GPO is inactive (LED off) 1: GPO is active (LED on) 1: Output is changed at end of reference run Table 5.7: Output adjustment Figure 5.7: GPO wiring scheme 5.8.1.7 I/Os Readout (Q) Command: AQ ENTER Bit Port 7 0 6 0 5 0 4 GPI 3 REF_B 2 REF_A Table 5.8: I/Os Readout 5.8.1.8 Baud Rate (U) The parameter ‘U’ changes the baud rate of the module for RS485 communication.
IDX Manual (V1.16 / December 3rd, 2008) 22 5.8.1.9 Velocity Mode (V) The velocity mode allows rotation of the motor without external signals. In order to rotate the motor, please set an acceleration value different from zero. The velocity is given by the following equation, when parameter “AV n” is used: v[microsteps / s] n 0.149157 [microsteps / s] v[steps / s] n 0.149157 [steps / s] Microstep resolution v[rotations / s] n 0.
IDX Manual (V1.16 / December 3rd, 2008) 23 5.8.1.11 Microstep Resolution (Z) The microstep resolution can be set by the user. It depends on the maximum resolution witch differs in the three different chopper modes (see 5.8.2). The maximum resolution is set by the parameter ‘Z’. Parameter Z 0 1 2 3 4 max resolution 1/2 max 1/4 max 1/8 max 1/16 max SPI 64 *) 32 **) 16 8 4 Microstep resolution PWM Phase (default) 64 256 32 128 16 64 8 32 4 16 Table 5.
IDX Manual (V1.16 / December 3rd, 2008) 24 5.8.2.2 Chopper Mode 1 (PWM) This mode is identical to the chopper mode 0 (SPI) mode, but it increases the microstep resolution at low velocities / stand still. 2 VN VS VN 22...25 VN ICOIL , MAX R MOTOR 5.8.2.3 Chopper Mode 2 (PHASE) This mode uses a different chopper scheme, which provides a very high microstep resolution and smooth motor operation. However motor dynamics and maximum velocity are quite limited.
IDX Manual (V1.16 / December 3rd, 2008) 25 5.8.2.4 Chopper mode 3 (Phase and SPI) This mode combines the modes 2 (Phase) and 0 (SPI) in order to provide highest accuracy at lower velocities and also the possibility for faster movements. Through the switching between modes some microsteps may be lost. Microstep resolution must not be higher than 64. It is set according to Phase mode, so possible values for Z (microstep resolution) are 2, 3 or 4.
IDX Manual (V1.16 / December 3rd, 2008) 5.9 26 Step / Direction Additional Parameters can be set by RS485 i.e. to set a maximum velocity or microsteps per round. The Step-Direction controls are as follows: Motor Velocity Control Step frequency Acceleration Increase of Step frequency Rotate right Direction open wired or connected to VCOM Rotate left Direction connected to Ground Table 5.
IDX Manual (V1.16 / December 3rd, 2008) 27 5.9.2 Step Description: The Step signal controls the velocity and acceleration of the motor. The velocity depends on the frequency, the acceleration on the change of the frequency. One step impulse represents one microstep. Calculation of rotations per second (refer to 5.8.1.11): Step input frequency v[rotations / s] [rotations / s] Fullsteps Microstep resolution Frequency: The maximum Step input frequency is 350 kHz, aligned to the Direction signal.
IDX Manual (V1.16 / December 3rd, 2008) 28 5.11 Firmware Update For Firmware update start the program TMCM013boot.exe contained in the IDX-Folder of your TMCTechLibCD or at www.trinamic.com: Figure 5.11: Firmware update tool 1. 2. 3. 4. Choose your RS485 connection. Select your Module ID (default is A). Load the new firmware file (e.g. IDX_V1.08.hex), to download from www.trinamic.com. Start the update process. At the end of the update process check your firmware version with command “AX”.
IDX Manual (V1.16 / December 3rd, 2008) 29 5.12 Option: Pseudo DC-Motor mode (not supported by software yet) The velocity of the motor in this mode is changed through a constant voltage at the General Purpose input. The operational voltage is 7...48V. This option may be available in a future firmware version. 5.12.1 Setting up the module It is advised to connect an external voltage divider to the GPI pin, as depicted. Figure 5.
IDX Manual (V1.16 / December 3rd, 2008) 30 6 Revision History 6.1 Documentation Revision Version Comment/Date Author Description 1.00 First Release Full functionality for Firmware V1.05 1.01 Limit switch Added limit switch to documentation 1.02 Additions StallGuard added with RS485 command ‘G’, formerly used for output setting (LED) now command ‘O’. Switched default mode to SPI. 1.04 Updates Added / modified some details 1.05 Updates RS485 connection documentation revised 1.
