User manual

ManualsBrandsTRINAMIC ManualsDrive EngineeringStepper motor drive 12 Vdc, 24 Vdc, 48 Vdc, 75 Vdc 7.5 A

IDX Manual (V1.16 / December 3

, 2008) 2

Table of Contents

1 Features........................................................................................................................................................................... 4

2 Life support policy ....................................................................................................................................................... 5

3 Electrical and Mechanical Interfacing ..................................................................................................................... 6

3.1 Pinning ................................................................................................................................................................... 6

3.2 Dimensions ........................................................................................................................................................... 7

3.3 Connectors ............................................................................................................................................................ 7

4 Operational Ratings ..................................................................................................................................................... 8

4.1 Practical maximum motor current ratings ................................................................................................... 9

4.2 Step, Direction and Disable Inputs ............................................................................................................. 10

5 Getting Started ............................................................................................................................................................ 11

5.1 Motor .................................................................................................................................................................... 11

5.1.1 Motor Choice ............................................................................................................................................ 11

5.1.1.1 Motor velocity ............................................................................................................................. 11

5.1.1.2 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM) ..................................................... 11

5.1.1.3 Chopper Mode 2 (PHASE) ......................................................................................................... 12

5.2 Connecting Motor and Power Supply ......................................................................................................... 14

5.3 Power Supply Requirements ......................................................................................................................... 14

5.3.1 EMV considerations ................................................................................................................................ 15

5.4 Connections for Step / Direction- Mode ..................................................................................................... 15

5.5 Connections for RS485 Interface .................................................................................................................. 15

5.5.1 Interface installation ............................................................................................................................. 15

5.5.2 Control with terminal program .......................................................................................................... 16

5.6 Functional Description ..................................................................................................................................... 17

5.7 Disable Function ............................................................................................................................................... 17

5.8 RS485 Control Interface .................................................................................................................................. 17

5.8.1 RS485 Commands ................................................................................................................................... 18

5.8.1.1 Examples for test move ........................................................................................................... 19

5.8.1.2 Motor Current (C) ....................................................................................................................... 19

5.8.1.3 Failure Readout (E) .................................................................................................................... 19

5.8.1.4 StallGuard (G) .............................................................................................................................. 20

5.8.1.5 Limit Switch (L) ........................................................................................................................... 20

5.8.1.6 Output setting (O) ...................................................................................................................... 21

5.8.1.7 I/Os Readout (Q) ......................................................................................................................... 21

5.8.1.8 Baud Rate (U) .............................................................................................................................. 21

5.8.1.9 Velocity Mode (V) ....................................................................................................................... 22

5.8.1.10 Store Parameters to EEPROM (W) .......................................................................................... 22

5.8.1.11 Microstep Resolution (Z) .......................................................................................................... 23

5.8.2 Chopper Modes ....................................................................................................................................... 23

5.8.2.1 Chopper Mode 0 (SPI) / Default Mode ................................................................................. 23

5.8.2.2 Chopper Mode 1 (PWM) ........................................................................................................... 24

5.8.2.3 Chopper Mode 2 (PHASE) ......................................................................................................... 24

5.8.2.4 Chopper mode 3 (Phase and SPI) ......................................................................................... 25

5.8.2.5 Chopper mode 4 (PWM and SPI) .......................................................................................... 25

5.9 Step / Direction.................................................................................................................................................. 26

5.9.1 Direction .................................................................................................................................................... 26

5.9.2 Step ............................................................................................................................................................ 27

5.10 Reset to factory default ................................................................................................................................... 27

5.11 Firmware Update ............................................................................................................................................... 28

5.12 Option: Pseudo DC-Motor mode (not supported by software yet) .................................................... 29

5.12.1 Setting up the module ......................................................................................................................... 29

5.12.2 Parameterizing with RS485 .................................................................................................................. 29

5.12.3 Motion Control ........................................................................................................................................ 29

6 Revision History .......................................................................................................................................................... 30

6.1 Documentation Revision ................................................................................................................................. 30

6.2 Firmware Revision ............................................................................................................................................ 30