User Manual

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 30
Copyright © 2012-2018, TRINAMIC Motion Control GmbH & Co. KG
12 Revision history
12.1 Document revision
Version
Date
Author
Description
0.90
2011-DEC-22
GE
Initial version
0.91
2012-MAY-02
GE
Updated for TMCM-1140_V11 pcb version
1.00
2012-JUN-26
SD
First complete version including the following chapters:
- Reset to factory defaults
- LEDs
- Torque curves
1.01
2012-JUL-30
SD
Internal circuit of inputs corrected.
1.02
2013-MAR-26
SD
Names of inputs changed:
AIN_0 IN_0
IN_0 IN_1
IN_1 IN_2
IN_2 IN_3
Names of outputs changed:
OUT_1 = OUT_0
OUT_0 = OUT_1
1.03
2018-JAN-25
GE
Major update:
- Integration of updated and new chapters from TMCM-1140
hardware manual
- Note on sensOstep™ encoder accuracy added
- More Details + tolerances added to motor shaft drawing
Figure 12.1: Document revision
12.2 Hardware revision
Please note: all current PD42-1-1140, PD42-2-1140, PD42-2-1140 and PD42-4-1140 PANdrives™ use controller
driver electronics TMCM-1140 V1.3. Previous versions used TMCM-1140 V1.2. All other TMCM-1140 hardware
versions listed below have been used for prototypes, only. The following list includes changes in hardware for
the TMCM-1140 controller / driver electronics since initial hardware (prototype) version V1.0:
Version
Date
Description
TMCM-1040_V10*)
2011-MAR-08
Initial version
TMCM-1140_V11*)
2011-JUL-19
- Optimization of multipurpose I/O circuits
- Clock generation and distribution changed (16MHz
oscillator)
TMCM-1140_V12**)
2012-APR-12
- Further cost optimization incl. different sensor IC with
10bit max. resolution
TMCM-1140_V13**)
2013-AUG-22
- Stepper motor driver MOSFETs: The MOSFETs of the driver
stage have been replaced. The new MOSFETs offer less
heat dissipation than the previously used ones. Apart
from that the performance and settings including driver
output current and output waveform are essentially the
same.
- General purpose outputs OUT_0 / OUT_1: The MOSFETs
used for switching these outputs on / off have been
replaced. The new MOSFETs offer less heat dissipation
than the previous / currently used ones. Apart from that
the functionality and ratings are essentially the same.
- RS485 transceiver: the RS485 transceiver has been
replaced with the SN65HVD1781 transceiver offering better