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PANdrive™ for Stepper Motors

PANDRIVE™

PD42-1070 Hardware Manual

Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02

PD42-1070 is an easy to use PANdrive™ smart stepper motor. The module is controlled via a step

and direction interface. One conﬁguration pin selects the current control mode between stealth-

Chop™ for absolute silent motor control and spreadCycle™ for high speed. A TTL UART interface

allows for more advanced conﬁguration, for example of the stallGuard2™ and coolStep™ features,

and permanent parameter storage via TMCL™-IDE.

Features

• Supply Voltage +9 to +24V DC

• Step and direction interface

• microPlyer™ to 256 µ-steps

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

• UART conﬁguration interface

Applications

• Lab-Automation

• Manufacturing

• Robotics

• Factory Automation

• CNC

• Laboratory Automation

Simpliﬁed Block Diagram

µC

TMCL

Memory

Step

Motor

cDriver

with

stealthChop

UART

STEP/DIR

CHOP

9...24V

SPI

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (25 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper Motors PD42-1070 Hardware Manual Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 PD42-1070 is an easy to use PANdrive™ smart stepper motor. The module is controlled via a step and direction interface. One conﬁguration pin selects the current control mode between stealthChop™ for absolute silent motor control and spreadCycle™ for high speed.
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/ 25 PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 Contents 1 Features 1.1 General Features . . . . . . . 1.2 TRINAMIC’s Unique Features 1.2.1 stealthChop™ . . . . . 1.2.2 spreadCycle™ . . . . . 1.3 stallGuard2 . . . . . . . . . . . 1.4 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 1 3 / 25 Features The PANdrive™ PD42-1070 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD42-1070 includes a stepper motor and driver electronics. It can be used in many decentralized applications and has been designed for 0.20...0.47 Nm max. holding torque and 24V DC nominal supply voltage.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 1.2 1.2.1 4 / 25 TRINAMIC’s Unique Features stealthChop™ stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 1.3 5 / 25 stallGuard2 stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor 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 reaches zero or is near zero.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 2 6 / 25 Order Codes Order Code Description Size (LxWxH) PD42-2-1070 PANdrive, 0.35Nm, 1.0A RMS, +24V DC, TTL UART interface, S/D interface, Enable, Mode Select 42mm x 42mm x 50mm Controller/Driver Module without motor, +24V DC, TTL UART interface, S/D interface, Enable, Mode Select 42mm x 42mm x 12mm PD42-1-1070 PD42-3-1070 TMCM-1070 PANdrive, 0.27Nm, 1.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 3 3.1 7 / 25 Mechanical and Electrical Interfacing PD42-1070 Dimensions and Weight The PD42-1070 includes the TMCM-1070 stepper motor driver module and a NEMA17 bipolar stepper motor. Depending on the motor size the lengt varies.
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/ 25 PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 3.2 PD42-1070 Motor Parameters Speciﬁcations Parameter Step angle ◦ Step angle accuracy % Ambient temperature Max. motor temperature Shaft radial play (450g load) Tamb ◦ Tmotormax ◦ Shaft axial play (450g load) C C mm mm Max radial force (20mm from front ﬂange) N Max axial force Rated voltage Unit PD-1-1070 PD-2-1070 PD-3-1070 ±5 -20...+50 ±5 80 -20...
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 3.3 PD42-1070 Torque Curves 9 / 25 The following diagrams show the torque vs. speed curves for the PD42-1-1070, the PD42-2-1070, and the PD42-3-1070 at three different typical conditions. All measurements have been done in spreadCycle chopper mode. The measurement conditions are: 1. V DD =+24V, ICOILRM S =1A, 1/16 microstep with interpolation to 1/256 microstep 2. V DD =+24V, ICOILRM S =1A, half stepping 3.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 Figure 7: PD42-2-1070 torque vs. speed Figure 8: PD42-3-1070 torque vs. speed ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Read entire documentation.
PAGE 11
PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 4 11 / 25 Connectors and LEDs Figure 9: PD42-1070 connectors (pin 1 highlighted in red) 4.1 Motor Connector Pin no.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 12 / 25 4.2 I/O Connector Pin no.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 4.3 13 / 25 TTL UART Connection To connect via the TTL UART interface to a host PC, we suggest using a USB serial converter from TTL-UART (5V) to USB interface. Communication with the host PC, for example when using TRINAMIC’s TMCL-IDE, is done via the Virtual COM port installed by the converter driver. More information on the TMCL-IDE and the latest release can be found here: www.trinamic.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 5 14 / 25 Functional Description 5.1 Typical Application Wiring Wire the PD42-1070 as shown in the following ﬁgures. • Connect the the power supply to V+ and GND. • Connect the Step and Direction signals to your motion controller. • At power up time, the EN input must be low (= driver stage disabled)! • Optional: Connect UART to a TTL UART interface with 5V logic levels.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 15 / 25 Figure 11: Inputs with common anode input with 3.3V to 5V The typical voltage at COMM input is 5V. Nevertheless, 3.3V or voltages higher than 5V can also be used as long as the current is through the optocouplers’ emitter is between 5mA to 20mA. For 3.3V operation the controller must be carefully selected with respect to its I/O ports, its actual output voltage, and the series resistor of the I/O ports.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 16 / 25 Figure 12: Inputs with common anode input with >5V to 24V The series resistors in the PD42-1070 are 270mOhms. For operation with voltages higher than 5V an additional external resistor Rexternal is required per input to limit the current. See Table 8 as reference for additional external resistor values. COMM Voltage (V) Value of Rexternal (Ω) 5 - 3.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 5.4 17 / 25 Thermal Behavior The default conﬁguration parameters of the PD42-1070 are set to the speciﬁed maximum current of 1A rms / 1.4A peak, which is the maximum motor phase current speciﬁed for the stepper motor options given in Table 4. Typically, at this nominal current setting the stepper motor and the driver electronics will get hot.
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/ 25 PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 6 6.1 Operational Ratings and Characteristics Absolute Maximum Ratings Parameter Min Max Unit Working temperature -30 +40 °C Supply voltage +9 Motor coil current / sine wave peak +28 1.4 Continuous motor current (RMS) NOTICE 1.0 V A A Avoid exceeding the absolute maximum rating under all circumstances.
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/ 25 PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 TTL UART high level voltage VT T L H TTL UART output voltage VT T L_OU T 3.25 5 5 V V Table 11: Operational ratings of optically isolated inputs and TTL UART interface 6.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 8 1 2 3 4 5 6 Figures Index Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . 4 spreadCycle principle . . . . . . . . . . 4 stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . 5 Energy Eﬃciency Example with coolStep 5 PD42-1070 mechanical dimensions with motor . . . . . . . . . . . . . . . . 7 PD42-1-1070 torque vs. speed . .
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 9 1 2 3 4 5 6 7 8 Tables Index Order codes modules . . . . . . . . Order codes cable loom . . . . . . . PD42-x-1070 length and weight . . . PD42-1070 Motor Parameters . . . Motor connector pinning . . . . . . I/O connector pinning . . . . . . . . LED state description . . . . . . . . . Additional resistor reference values . . . . . . . . 6 6 7 8 11 12 13 16 ©2017 TRINAMIC Motion Control GmbH & Co.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 10 23 / 25 Supplemental Directives 10.1 Producer Information 10.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2017 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 24 / 25 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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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02 11 11.1 Revision History Hardware Revision Version 1.00 Date 26.06.2016 Author BS Description Initial release. Table 15: Hardware Revision 11.2 Document Revision Version 1.00 Date 26.06.2016 Author BS Description Initial release. Table 16: Document Revision ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.