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PANdrive™ for Stepper

PANDRIVE™

PD42-x-1240 Hardware Manual

Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05

The PANdrive™ PD42-1-1240, PD42-2-1240, PD42-3-1240 amd PD42-4-1240 are small and compact

full mechatronic solutions including NEMA17 / 42mm ﬂange size stepper motors, the TMCM-1240

controller / driver electronics and TRINAMIC™ SensOstep™ encoder for step-loss detection.

Features

• Stepper Motor NEMA17 / 42mm

• 0.22 - 0.7Nm

• with controller/driver

• Linear and SixPoint™ ramps

• +10. . . 30V DC supply voltage

• Up to 2A RMS motor current

• RS485, CAN & USB interface

•

integrated SensOstep

™

encoder and

support for external encoder

• S/D interface

• multi-purpose inputs and outputs

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

10… 30V DC

Microcontroller

EEPROM

I/Os

Step

Motor

RS485

MOSFET

Driver

Stage

Energy Efficient

Driver

TMC262

Motion

Controller

Pre-Driver

USB

CAN

DC/DC

Encoder

PD42-x-1240

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (34 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD42-x-1240 Hardware Manual Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 The PANdrive™ PD42-1-1240, PD42-2-1240, PD42-3-1240 amd PD42-4-1240 are small and compact full mechatronic solutions including NEMA17 / 42mm ﬂange size stepper motors, the TMCM-1240 controller / driver electronics and TRINAMIC™ SensOstep™ encoder for step-loss detection. Features • • • • • • • • Stepper Motor NEMA17 / 42mm 0.22 - 0.
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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 Contents 1 Features 4 2 Order Codes 6 3 Mechanical and Electrical Interfacing 8 3.1 Dimensions of PD42-x-1240 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.2 Stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.3 Integrated SensOstep™ encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 3 / 34 16.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 16.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 16.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 17 Revision History 34 17.1 Hardware Revision . . . . . . . . . . . . .
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 1 4 / 34 Features The PANdrive™ PD42-1-1240, PD42-2-1240, PD42-3-1240 amd PD42-4-1240 are small and compact full mechatronic solutions including NEMA17 / 42mm ﬂange size stepper motors, the TMCM-1240 controller / driver electronics and TRINAMIC™ SensOstep™ encoder for step-loss detection. The four PANdrives include stepper motor with different lengths and different holding torques (PD42-1-1240: 0.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 5 / 34 • HOME switch input (shared with analog input) Software • TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands), fully supported by TMCL-IDE (PC based integrated development environment). Please see PD42-x1240 TMCL ﬁrmware manual for more details • CANopen ﬁrmware with CANopen standard protocol stack for the CAN interface.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 2 6 / 34 Order Codes The combination of motor and motor mounted controller/driver electronic is currently available with four 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 26mm Order Code Description Size (LxWxH) PD42-1-1240-TMCL PANdrive™with NEMA17 stepper motor, 0.22Nm max.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 3 8 / 34 Mechanical and Electrical Interfacing All PD42-x-1240 consist of one out of four available NEMA17 / 42mm stepper motors with 2A RMS rated coil current with the same TMCM-1240 controller / driver electronics mounted on its backside and integrated SensOstep™encoder. The PD42-1-1240 uses the QSH4218-34-20-022 stepper motor with 0.
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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 3.2 Stepper motor Main characteristics of the four different motors available as part of the PD42-x-1240 PANdrive™: Speciﬁcations Unit PD42-1-1240 PD42-2-1240 PD42-3-1240 PD42-4-1240 Step angle ° 1.8 1.8 1.8 1.8 Step angle accuracy % +/-5 +/-5 +/-5 +/-5 Ambient temperature °C -20. . . +50 -20. . . +50 -20. . . +50 -20. . . +50 Max.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 10 / 34 3.3 Integrated SensOstep™ encoder The PD42-x-1240 PANdrives offer integrated SensOstep™ encoders based on hall sensor technology. As the name “SensOstep™“ already indicates intended use of this type of compact and highly integrated encoder is step loss detection of motor movements. As soon as the motor has been moved to a new location the position may be veriﬁed using this encoder feedback.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 4 11 / 34 Connectors The PD42-x-1240 offers ﬁve connectors including the motor connector which is used for connecting the motor coils to the electronics. There is one motor and one power supply connector - both with four pins and two interface connectors - one with ﬁve pins for RS485 and CAN and a dedicated micro-USB connector. All other inputs and outputs are concentrated on one 8 pin connector.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 4.1 12 / 34 Power Supply Input Connector The PD42-x-1240 offers one 4pin JST PH series power supply input connector. In addition to main power supply input and related ground connection this connector offers a separate logic supply input with the option to keep the on-board logic alive while the driver stage is switched off.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 Pin Label Direction 3 A1 out Pin 1 of motor coil A 4 A2 out Pin 2 of motor coil A 13 / 34 Description Table 6: Motor Connector Pin Assignment 4.3 NOTICE 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.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 14 / 34 using a standard USB cable, only. Of course, for any motor movement main supply via supply input connector is required. NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are not available at the same time. As soon as USB is physically attached to a host or hub the CAN interface will be switched off.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 Pin Label Direction 8 OUT0 Output (OD) 15 / 34 Description Open-Drain output. Output will be pulled low when activated. Voltages up-to logic supply input level (or main supply input in case separate logic supply is not used) are supported here. Max. continuous pull-down current: 100mA Table 9: I/O Connector Pin Assignment All pins marked light green offer functional isolation towards main supply input.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 16 / 34 5. Switch power supply OFF again (and disconnect USB cable if applicable) 6. Remove short between pads 7. After switching power supply ON again (and / or connecting USB cable) all permanent settings have been restored to factroy defaults Short these two pads Figure 4: Reset to factory default settings ©2018 TRINAMIC Motion Control GmbH & Co.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 17 / 34 7 I/Os The I/O connector (8pin JST PH series) offers one analog input, two non-isolated digital inputs with integrated pull-ups (programmable) and two optically isolated inputs. All inputs can be used for different purposes explained in more detail in the following subsections. 7.1 Analog input IN0 The PD42-x-1240 offers one analog input. The analog input voltage range is approx. 0..+10V.
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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 +5V microcontroller +5V...24V +3V3 +5V 2k2 or 10k IN1 IN2 or 22k microcontroller 33pF TMCM-1240 pull-up disabled pull-up enabled Figure 6: Digital inputs IN1 and IN2 7.3 HOME/STOP_L/STOP_R switch inputs The PD42-x-1240 offers two optically isolated inputs which can be used as left (STOP_L) and right (STOP_R) stop switch inputs.
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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 +5V microcontroller +3V3 +5V 2k2 ENC_A, ENC_B or 10k 22k microcontroller 33pF TMCM-1240 pull-up enabled Figure 8: External encoder input 7.5 Step/Direction inputs The PD42-x-1240 may be used as driver with an external motion controller. In this case the Step/Direction output signals of the external motion controller may be connected to the optically isolated Step/Dir inputs of the PD42-x-1240.
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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 8 Communication 8.1 RS485 For remote control and communication with a host system the PD42-x-1240 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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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.
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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 Host c:> Slave Slave Slave node 1 node n-1 node n } termination resistor (120 Ohm) termination resistor (120 Ohm) keep distance as short as possible CAN Figure 13: CAN bus structure with termination resistors 2. BUS TERMINATION: Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 23 / 34 Motor current setting in software (TMCL) Current scaling step (CS) Motor current ICOIL [A] peak Motor current ICOIL [A] RMS 24. . . 31 3 0.406 0.287 32. . . 39 4 0.508 0.359 40. . . 47 5 0.609 0.431 48. . . 55 6 0.711 0.503 56. . . 63 7 0.813 0.575 64. . . 71 8 0.914 0.646 72. . . 79 9 1.016 0.718 80. . . 87 10 1.117 0.790 88. . . 95 11 1.219 0.862 96. . .
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 10 10.1 Torque curves PD42-1-1240 Torque Curve Figure 14: PD42-1-1240 torque vs. velocity 24V / 2A, 256µsteps 10.2 PD42-2-1240 Torque Curve Figure 15: PD42-2-1240 torque vs. velocity 24V / 2A, 256µsteps ©2018 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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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 10.3 PD42-3-1240 Torque Curve Figure 16: PD42-3-1240 torque vs. velocity 24V / 2A, 256µsteps 10.4 PD42-4-1240 Torque Curve Figure 17: PD42-4-1240 torque vs. velocity 24V / 2A, 256µsteps ©2018 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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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 11 26 / 34 Functional Description The PD42-x-1240 is a full mechatronic solution including a 42mm ﬂange (NEMA17) bipolar stepper motor. It includes the controller / driver electronics TMCM-1240 and a choice between four different NEMA 17 / 42mm ﬂange size bipolar hybrid stepper motors with different length and torque. The PD42-x-1240 can be controlled via USB, RS485 or CAN serial interfaces.
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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 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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/ 34 PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 Operational Ratings of the I/Os Symbol Parameter Min fSTEP/DIR Max. frequency for step/direction opto-isolated inputs Typ Max 20 Unit kHz Table 13: Operational ratings of I/Os Operational Ratings of the RS485 Interface Symbol Parameter Min NRS485 Number of nodes connected to single RS485 network fRS485 Max.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 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 16: Abbreviations used in this Manual ©2018 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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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 14 1 2 3 4 5 6 7 8 9 10 11 30 / 34 Figures Index PD42-x-1240 with different NEMA17 / 42mm stepper motors (all dimensions in mm) . . . . . . . . . . . . . . . . . . PD42-x-1240 connectors . . . . . . . . PD42-x-1240 LEDs . . . . . . . . . . . . Reset to factory default settings . . . Analog input IN0 . . . . . . . . . . . . Digital inputs IN1 and IN2 . . . . . . . Stop switch inputs . . . . . . . . . . .
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 15 1 2 3 4 5 6 7 8 9 31 / 34 Tables Index Order Code . . . . . . . . . . . . . . . TMCM-1240 Cable Loom . . . . . . . . NEMA17 / 42mm stepper motor technical data . . . . . . . . . . . . . . . . . Connector Types and Mating Connectors of the PD42-x-1240 . . . . . . . . Power Supply Connector Pin Assignment Motor Connector Pin Assignment . . RS485 + CAN Connector Pin Assignment USB Connector Pin Assignment . . . .
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 16 32 / 34 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 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 33 / 34 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-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05 17 17.1 Revision History Hardware Revision Version Date Author Description V1.0 2017-OCT-30 GE Initial version. V1.1 2017-NOV-28 GE Minor changes: S/D support added. V1.2 2018-DEC-05 GE Driver stage MOSFETs and magnetic encoder IC replaced Table 17: Hardware Revision 17.2 Document Revision Version Date Author Description 1.