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PANdrive™ for Stepper

PANDRIVE™

PD20-1-1210 Hardware Manual

Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03

The PANdrive™ PD20-1-1210 is currently our smallest and most compact full mechatronic solution

including a NEMA8 / 20mm ﬂange size stepper motor and the TMCM-1210 controller / driver elec-

tronics supporting linear and 6-point ramps and RS485 serial interface.

Features

• Stepper Motor NEMA8 / 20mm

• 0.0175Nm holding torque

• with controller/driver

• Linear and sixPoint™ ramps

• +6. . . 30V DC supply voltage

• Up to 0.6A RMS motor current

• RS485 interface

•

integrated simple hall-sensor based

encoder

• 1x multi-purpose input

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

typ

V DC

Microcontroller

EEPROM

Step

Motor

485

Energy Efficient

Driver

TMC

262

Motion

Controller

Driver

1210

Input

Encoder

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (24 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD20-1-1210 Hardware Manual Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 The PANdrive™ PD20-1-1210 is currently our smallest and most compact full mechatronic solution including a NEMA8 / 20mm ﬂange size stepper motor and the TMCM-1210 controller / driver electronics supporting linear and 6-point ramps and RS485 serial interface. Features • • • • • • • • Stepper Motor NEMA8 / 20mm 0.
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/ 24 PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 Contents 1 Features 3 2 Order Codes 4 3 Mechanical and Electrical Interfacing 3.1 Dimensions of PD20-1-1210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 5 6 4 Connectors 4.1 Power, RS485 and HOME connector . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 1 3 / 24 Features The PANdrive™ PD20-1-1210 is currently our smallest and most compact full mechatronic solution including a NEMA8 / 20mm ﬂange size stepper motor, the TMCM-1210 controller / driver electronics and hall sensor based encoder. It can be controlled via RS485 and offers one digital input for easy homing / initial search for reference position.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 2 4 / 24 Order Codes The combination of motor and motor mounted controller/driver electronic is currently available: The length of the PANdrives is speciﬁed without the length of the axis. For the overall length of the product please add 15mm Order Code Description Size (LxWxH) PD20-1-1210 PANdrive™with NEMA8 stepper motor, 0.0175Nm max. TMCM-1210 electronics, 0.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 3 5 / 24 Mechanical and Electrical Interfacing The PD20-1-1210 consists of the QSH2018-33-06-002 NEMA8 / 20mm stepper motor with 0.6A RMS rated coil current and 17.5mNm holding torque, the TMCM-1210 controller / driver electronic for up-to 0.6A RMS motor coil current mounted on the backside of the motor and an integrated hall sensor based magnetic encoder.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 3.2 Stepper motor Main characteristics of the motor available as part of the PANdrive™: Speciﬁcations Unit PD20-1-1210 Step angle ° 1.8 Step angle accuracy % +/-5 Ambient temperature °C -20. . . +50 Max. motor temperature °C 80 Shaft radial play (450g load) mm 0.02 Shaft axial play (450g load) mm 0.08 Max radial force (20mm from front ﬂange) N 20 Max axial force N 2 Rated voltage V 3.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 4 7 / 24 Connectors The PD20-1-1210 offers two connectors including the motor connector which is used for connecting the motor coils to the electronics. The other ﬁve pin connector combines power supply input, RS485 2-wire communication interface and one digital input which can be used as general purpose digital input but, also as end or reference switch input for the motin controller.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 4.1 8 / 24 Power, RS485 and HOME connector The PD20-1-1210 offers one 5pin JST PH series combined connector for power supply input, RS485 2-wire serial communication and one digital input. The digital input might be used either as general purpose input or as stop switch (STOP_L or STOP_R) or HOME switch input.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 NOTICE 9 / 24 Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off / disconnect power supply or at least disable driver stage before connecting / disconnecting motor.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 5 10 / 24 On-Board LED The board offers one LED in order to indicate board status. The function of this LED dependends on the ﬁrmware version. With standard TMCL ﬁrmware the green LED should be ﬂashing slowly during operation. When there is no valid ﬁrmware programmed into the board or during ﬁrmware update the green LED will be permanently switched on.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 11 / 24 7 I/Os The PD20-1-1210 offers one digital input which is part of the power supply input, RS485 serial interface and digital input connector. 7.1 Digital input IN0 The PD20-1-1210 offers one digital input IN0 which accept signals between 0 and 30V with voltages above approx. 4.6V recognized as logical ’1’ and below 2V as logical ’0’.
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/ 24 PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 8 Communication 8.1 RS485 For remote control and communication with a host system the PD20-1-1210 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible.
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/ 24 PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 Motor current setting in software (TMCL) Motor current ICOIL [A] peak Motor current ICOIL [A] RMS 0. . . 7 0.06 0.04 8. . . 15 0.08 0.06 16. . . 23 0.10 0.07 24. . . 31 0.13 0.09 32. . . 39 0.15 0.11 40. . . 47 0.18 0.13 48. . . 55 0.21 0.15 56. . . 63 0.24 0.17 64. . . 71 0.26 0.19 72. . . 79 0.29 0.21 80. . . 87 0.32 0.23 88. . . 95 0.35 0.25 96. . . 103 0.38 0.27 104. .
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 15 / 24 In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see PD20-1-1210 ﬁrmware manual). ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 10 10.1 Torque curves PD20-1-1210 Torque Curve Figure 9: PD20-1-1210 torque vs. velocity 24V / 0.6A RMS ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 17
PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 11 17 / 24 Functional Description The PD20-1-1210 is a full mechatronic solution including a 20mm ﬂange (NEMA8) bipolar stepper motor and the TMCM-1210 controller / driver electronics. The PD20-1-1210 can be controlled via RS485 serial interfaces. There is one general purpose digital inputs which can be used, also as STOP_L / STOP_R or HOME switch input (for reference movements, as end switches etc.
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/ 24 PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 12 Operational Ratings and Characteristics NOTICE Never Exceed the absolute maximum ratings! Keep the power supply voltage below the upper limit of +30V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 13 Abbreviations used in this Manual Abbreviation Description IDE Integrated Development Environment LED Light Emmitting Diode RMS Root Mean Square value TMCL TRINAMIC Motion Control Language Table 12: Abbreviations used in this Manual ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 20
PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 14 1 2 3 4 5 6 20 / 24 Figures Index PD20-1-1210 with NEMA8 / 20mm stepper motors (all dimensions in mm) PD20-1-1210 connectors . . . . . . . . PD20-1-1210 LED . . . . . . . . . . . . . Reset to factory default settings . . . . Digital input IN0 - simpliﬁed schematic extract . . . . . . . . . . . . . . . . . . . RS485 bus structure with termination resistors . . . . . . . . . . . . . . . . . .
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 15 1 2 3 4 5 6 8 21 / 24 Tables Index Order Code . . . . . . . . . . . . . . TMCM-1210 Cable Loom . . . . . . . NEMA8 / 20mm stepper motor technical data . . . . . . . . . . . . . Connector Types and Mating Connectors of the PD20-1-1210 . . Power, RS485 and HOME Connector pin assignment . . . . . . . . . . . . Motor Connector Pin Assignment . Available motor current settings . . . . . . 4 4 . . 6 . . 7 . .
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 16 22 / 24 Supplemental Directives 16.1 Producer Information 16.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 23 / 24 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
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PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03 17 17.1 24 / 24 Revision History Hardware Revision Version Date Author Description TMCM-1210_V10 2014-DEC-17 GE Initial version. TMCM-1210_V11 2015-JUN-25 GE Several corrections, added features and circuit optimization PD20-1-1210 2019-MAR-12 GE PANdrive based on TMCM-1210_V11 and NEMA8 / 20mm ﬂange size stepper motor Table 13: Hardware Revision 17.