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PANdrive™ for Stepper Motors

PANDRIVE™

PD42-1270 Hardware Manual

Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02

PD42-1270 is an easy to use PANdrive

™

smart stepper motor. The module is controlled via a CAN bus in-

terface and comes with two ﬁrmware options – TMCL and CANopen. PD42-1270 features stealthChop

™

for

absolute silent motor control, spreadCycle

™

for high speed stepper motor commutation, a fully integrated

hardware motion controller with sixPoint™ motion ramps, as well as stallGuard2™ and coolStep™.

Features

• PANdrive™ smart motor

• Supply Voltag +6 to +24V DC

• CAN bus interface

• TMCL or CANopen protocol

•

Integrated

sixPoint™

ramp motion

controller

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

Applications

• Lab-Automation

• Manufacturing

• Robotics

• Factory Automation

• CNC

• Laboratory Automation

Simpliﬁed Block Diagram

+6V..+28V DC

ARM

Cortex-M0+

microcontroller

TMCL™

Memory

Step

Motor

CAN

Energy Efficient

Driver

TMC262

Stepper

motor

controller +

driver

TMCM-1270

I2C

SPI

Input

REFL/REFR

PD42-x-1270

ENC_A/ENC_B

/ENABLE

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 Motors PD42-1270 Hardware Manual Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 PD42-1270 is an easy to use PANdrive™ smart stepper motor. The module is controlled via a CAN bus interface and comes with two ﬁrmware options – TMCL and CANopen.
PAGE 2
/ 24 PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 Contents 1 Features 1.1 General Features . . . . . . . . . . 1.2 TRINAMIC’s Unique Features . . . 1.2.1 stealthChop™ . . . . . . . . 1.2.2 spreadCycle™ . . . . . . . . 1.2.3 stallGuard2 . . . . . . . . . 1.2.4 coolStep . . . . . . . . . . . 1.2.5 sixPoint Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PAGE 3
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 1 3 / 24 Features The PANdrive™ PD42-1270 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers convenient handling via CAN interface. The PD42-1270 includes a stepper motor, driver electronics, and a fully featured hardware motion controller. It can be used in many decentralized applications and has been designed for 0.20...0.
PAGE 4
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 1.2 1.2.1 4 / 24 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.
PAGE 5
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 5 / 24 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. This is the most energy-eﬃcient point of operation for the motor. stallGuard2 Load [Nm] Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall.
PAGE 6
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 6 / 24 the acceleration ramps to the torque curves of a stepper motor and uses two different acceleration settings each for the acceleration phase and for the deceleration phase Figure 5: Typical motion proﬁle with TRINAMIC’s sixPoint motion controller ©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 7
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 2 7 / 24 Order Codes Order Code Description Size (LxWxH) PD42-1-1270-TMCL PANdrive, 0.27Nm, 1.0A RMS, +24V DC, CAN Bus interface, TMCL ﬁrmware 42mm x 42mm x 45,5mm PD42-2-1270-TMCL PANdrive, 0.35Nm, 1.0A RMS, +24V DC, CAN Bus interface, TMCL ﬁrmware 42mm x 42mm x 50mm PD42-3-1270-TMCL PANdrive, 0.49Nm, 1.
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PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 3 3.1 8 / 24 Mechanical and Electrical Interfacing PD42-1270 Dimensions The PD42-1270 includes the TMCM-1270 stepper motor controller/driver module (electronics + encapsulating enclosure) and a NEMA17 / 42mm ﬂange size bipolar stepper motor. Currently, there is a choice between three NEMA17 / 42mm ﬂange size stepper motors with different lengths and different holding torques.
PAGE 9
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 Figure 7: PD42-3-1270 mechanical dimensions with motor ©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 10
/ 24 PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 3.3 PD42-1270 Motor Parameters Speciﬁcations Unit PD42-1-1270 PD42-2-1270 PD42-3-1270 Step angle ◦ 1.8 1.8 1.8 Step angle accuracy % ±5 ±5 ±5 Ambient temperature Max. motor temperature Parameter Tamb ◦ C -20...+50 -20...+50 -20...
PAGE 11
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 3.4 11 / 24 PD42-1270 Torque Curves The following diagrams show the torque vs. speed curves for the PD42-1-1270, the PD42-2-1270, and the PD42-3-1270 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, 1/256 microstepping 2. V DD =+24V, ICOILRM S =1A, half stepping 3.
PAGE 12
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 Figure 9: PD42-2-1270 torque vs. speed Figure 10: PD42-3-1270 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 13
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 4 13 / 24 Connectors and LEDs The PD42-1270 offers two connectors - one 10-pin connector for power supply, communication (CAN) and four Inputs and one four pin connector for connecting the motor.
PAGE 14
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 14 / 24 Pin no. Pin name Description 4 CAN_L Differential CAN bus signal (inverting) 5 GND Signal ground connection 6 +5V 5V output, 100mA maximum load, e.g. for end / home switch circuit or external encoder supply 7 HOME (GPI0) General purpose input 0, can be used as HOME switch input, also.
PAGE 15
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 15 / 24 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. Basically, it should be short compared to the length of the bus.
PAGE 16
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 NOTICE 4.4 16 / 24 Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is connected / disconnected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off or disconnect power supply before connecting or disconnecting the motor.
PAGE 17
/ 24 PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 5 Functional Description 5.1 Typical Application Wiring The PD42-1270 driver/controller’s wiring is straightforward as shown in the following ﬁgure. • Power supply must be connected to V+ and GND.
PAGE 18
/ 24 PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 6 6.1 Operational Ratings and Characteristics Absolute Maximum Ratings Parameter Min Max Unit Supply voltage +6 +28 V Working temperature -30 +40 °C Motor coil current / sine wave peak 1.4 A Continuous motor current (RMS) 1.0 A NOTICE 6.2 Stresses above those listed under "‘Absolute Maximum Ratings"’ may cause permanent damage to the device.
PAGE 19
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 6.4 19 / 24 Functional Characteristics Parameter Description / Value Control CAN bus interface and four digital inputs for referencing, incremental encoder, and NOT_ENABLE Communication CAN bus interface for control and conﬁguration, 20. . .
PAGE 20
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 8 20 / 24 Figures Index 1 2 3 4 5 6 Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . spreadCycle principle . . . . . . . . . . stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . Energy Eﬃciency Example with coolStep Typical motion proﬁle with TRINAMIC’s sixPoint motion controller . . . . . . .
PAGE 21
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 9 21 / 24 Tables Index 1 2 3 4 5 6 7 Order codes modules (electronics + enclosure) and PANdrives™ . . . . . . Order codes cable loom . . . . . . . . Length and weight . . . . . . . . . . . PD42-1270 Motor Parameters . . . . Connector and mating connectors . . PD42-1270 Power supply and I/O connector pin assignment . . . . . . . . . Motor connector pinning . . . . . . .
PAGE 22
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 10 22 / 24 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.
PAGE 23
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 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.
PAGE 24
PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02 11 11.1 Revision History Hardware Revision Version Date Author Description 1.00 2016-09-27 TMC Series version. Table 15: Hardware Revision 11.2 Document Revision Version Date Author Description 1.00 2016-06-26 BS Initial release. 1.10 2016-02-20 GE Update for series version V1.0 Table 16: Document Revision ©2017 TRINAMIC Motion Control GmbH & Co.