MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1.2 HARDWARE MANUAL + + PD-1021 Stepper Motor with Controller / Driver 0.06 - 0.12Nm / 24V sensOstep™ Encoder RS485 Interface + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) Table of Contents 1 2 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing ......................................
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 1 3 Features The PANdrive™ PD-1021 is a full mechatronic extremely small and compact solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD-1021 includes a stepper motor, controller/driver electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and has been designed for 0.06… 0.12 Nm max. holding torque and 24V DC nominal supply voltage.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 4 TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value goes to zero or near to zero.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 2 5 Order Codes The combination of motor and motor mounted controller/driver electronic is currently available with two stepper motors (different length and holding torque). The length of the PANdrives™ is specified without the length of the axis. For the overall length of the product please add 21 mm. Order code PD28-1-1021-option PD28-3-1021-option Description PANdrive 0.06Nm max. holding torque*) PANdrive 0.12Nm max.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 3 6 Mechanical and Electrical Interfacing The PD-1021 consists of a 28mm / NEMA 11 stepper motor with controller/driver electronics mounted to the back of the motor. Note: In order to make proper use of the integrated sensOstep encoder (the sensor IC is placed on the bottom of the pcb) the electronics should not be removed/moved relative to the motor.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 7 3.1.2 Dimensions of PD28-3-1021 20±1 62 max 15±0.2 4.5 22-0.05 28 30+1 5 2 51 28 28 26 23 23±0.2 R 2.5 23±0.2 28 M2.5 deep 4.5 5 25.5 R2 28 ø2.6 25.5 2.5 22-0.05 Front view Rear view Figure 3.2 PD28-3-1021 with 2-phase 28mm stepper motor QSH2818-51-07-012 www.trinamic.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 8 3.2 Motor Characteristics Main characteristics of the two different motors available as part of the PD-1021: Specifications Rated Voltage Rated Phase Current Phase Resistance at 20°C Phase Inductance (typ.) Parameter Units VRATED IRMS_RATED RCOIL Holding Torque (typ.) Detent Torque Rotor Inertia Weight (Mass) Insulation Class Insulation Resistance Dialectic Strength (for one minute) Connection Wires Step Angle Step angle Accuracy (max.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 9 3.3 Connectors The PD-1021 has two connectors, an 8-pin power and input/output connector and a 4-pin motor connector (used to connect the attached motor). Power / Communication / IOs 1 1 Motor Figure 3.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 10 3.3.1 Power, Communication and I/O Connector An 8-pin JST PH-series 2mm pitch single row connector is used for power supply, RS485 serial communication and additional multi-purpose inputs and outputs. Pin 1 2 3 4 Label GND VDD RS485+ RS485- Direction Power (GND) Power (Supply) Bidirectional Bidirectional 5 IN_0 Input 6 IN_1 Input 7 OUT_0 / IN_2 Output / Input Description GND VDD (+9V…+28V) RS485 interface, diff.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 11 3.4 Power Supply For proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the PD-1021 includes just about 20µF/35V of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. The module includes a 28V suppressor diode for over-voltage protection. There is no reverse polarity protection.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 12 3.5 Communication 3.5.1 RS485 For remote control and communication with a host system the PD-1021 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. That is, the connection between each node and the bus itself should be as short as possible.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 13 3.6 Inputs and Outputs 3.6.1 Digital Inputs IN_0, IN_1, IN_2, IN_3 The eight pin connector of the PD-1021 provides four general purpose inputs IN_0, IN_1, IN_2 and IN_3. The first two inputs have dedicated connector pins while the other two share pins with two general purpose outputs. All four inputs are protected using voltage resistor dividers together with limiting diodes against voltages below 0V (GND) and above +3.3V DC (see figure below).
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 14 3.6.2 Outputs OUT_0, OUT_1 The eight pin connector of the PD-1021 provides two general purpose outputs. These two outputs are open-drain outputs and can sink up to 100mA each. The outputs of the N-channel MOSFET transistors are connected to freewheeling diodes each for protection against voltage spikes especially from inductive loads (relais etc.). Both outputs OUT_0 and OUT_1 share pins with two of the four inputs (IN_2 resp. IN_3).
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 4 15 Reset to Factory Defaults It is possible to reset the PD-1021 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost. For this procedure two pads on the bottom side of the board have to be shortened (see Figure 4.1). Please perform the following steps: 1. 2. 3. 4. 5. 6. 7.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 6 16 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 7 17 Torque Curves The following figures show the curve of each PANdrive. PD21-1-1021 - 0.7A RMS Phase Current, 256 uSteps 0,10 0,09 torque[Nm] 0,08 0,07 0,06 0,05 0,04 0,03 0,02 0,01 0,00 10 100 1000 10000 speed[rpm] Figure 7.1 PD28-1-1021 torque vs. speed 24V / 0.7 A, 256 µsteps PD28-3-1021 - 0.7A RMS Phase Current, 256 uSteps 0,20 0,18 torque[Nm] 0,16 0,14 0,12 0,10 0,08 0,06 0,04 0,02 0,00 10 100 1000 speed[rpm] Figure 7.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 8 18 Functional description The PD-1021 is a highly integrated mechatronic device which can be controlled via RS485 serial interface. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are performed on board. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both: direct mode and standalone operation. Full remote control of device with feedback is possible.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 9 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.
PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 20 10 Revision History 10.1 Document Revision Version 0.90 0.91 Date 2011-AUG-02 2011-AUG-25 Author GE SD 0.92 2011-NOV-10 GE 1.00 2012-JUN-20 SD Description Initial version Information about left, right, and home switch added. Minor changes Motor connector corrected and motor connection added General purpose output circuit extended Hardware revision list updated Rule of thumb for capacitor added.
