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PANdrive™ for Stepper

PANDRIVE™

PD42-x-1241 Hardware Manual

Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02

The PANdrive™ PD42-3-1241 and PD42-4-1241 are small and compact full mechatronic solution in-

cluding a NEMA17 / 42mm ﬂange size stepper motor, the TMCM-1241 controller / driver electronics

and TRINAMIC™ sensOstep™ encoder for step-loss detection.

Features

• Stepper Motor NEMA17 / 42mm

• 0.4Nm or 0.8Nm holding torque

•

motor optimized for speed (>5k rpm

possible @24V supply)

• with controller/driver

• Linear and sixPoint™ ramps

• +10. . . 30V DC supply voltage

• Up to 3A 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

…

V DC

Microcontroller

EEPROM

Step

Motor

485

MOSFET

Driver

Stage

Energy Efficient

Driver

TMC

262

Motion

Controller

Pre

Driver

USB

CAN

Encoder

1241

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (32 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD42-x-1241 Hardware Manual Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 The PANdrive™ PD42-3-1241 and PD42-4-1241 are small and compact full mechatronic solution including a NEMA17 / 42mm ﬂange size stepper motor, the TMCM-1241 controller / driver electronics and TRINAMIC™ sensOstep™ encoder for step-loss detection. Features • Stepper Motor NEMA17 / 42mm • 0.4Nm or 0.
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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 Contents 1 Features 4 2 Order Codes 6 3 Mechanical and Electrical Interfacing 3.1 Dimensions of PD42-x-1241 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Integrated sensOstep™ encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 3 / 32 16.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 17 Revision History 32 17.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 17.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 ©2019 TRINAMIC Motion Control GmbH & Co.
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 1 4 / 32 Features The PANdrive™ PD42-3-1241 and PD42-4-1241 are small and compact full mechatronic solution including a NEMA17 / 42mm ﬂange size stepper motor of different length and torque, the TMCM-1241 controller / driver electronics and TRINAMIC sensOstep™ encoder for step-loss detection.
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 5 / 32 • 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-x1241 TMCL ﬁrmware manual for more details • CANopen ﬁrmware with CANopen standard protocol stack for the CAN interface.
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 2 6 / 32 Order Codes The combination of motor and motor mounted controller/driver electronic is currently available: 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) PD42-3-1241-TMCL PANdrive™with NEMA17 stepper motor, 0.4Nm max.
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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 3 Mechanical and Electrical Interfacing The PD42-3-1241 consists of the QSH4218-47-28-040 NEMA17 / 42mm stepper motor with 2.8A RMS rated coil current and 0.4Nm holding torque. The PD42-4-1241 consists of the QSH4218-80-30-060 NEMA17 / 42mm stepper motor with 3A RMS rated coil current and 0.8Nm holding torque.
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 3.2 Stepper motor Main characteristics of the motor available as part of the PANdrive™: Speciﬁcations Unit PD42-3-1241 PD42-4-1241 Step angle ° 1.8 1.8 Step angle accuracy % +/-5 +/-5 Ambient temperature °C -20. . . +50 -20. . . +50 Max. motor temperature °C 80 80 Shaft radial play (450g load) mm 0.02 0.02 Shaft axial play (450g load) mm 0.08 0.
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 9 / 32 3.3 Integrated sensOstep™ encoder The PD42-x-1241 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-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 4 10 / 32 Connectors The PD42-x-1241 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-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 4.1 11 / 32 Power Supply Input Connector The PD42-x-1241 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-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 Pin Label Direction 3 A1 out Pin 1 of motor coil A 4 A2 out Pin 2 of motor coil A 12 / 32 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-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 13 / 32 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-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 Pin Label Direction 8 OUT0 Output (OD) 14 / 32 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-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 15 / 32 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 5: Reset to factory default settings ©2019 TRINAMIC Motion Control GmbH & Co.
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 16 / 32 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-1241 offers one analog input. The analog input voltage range is approx. 0..+10V.
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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 +5V microcontroller +5V...24V +3V3 +5V 2k2 or 10k IN1 IN2 or 22k microcontroller 33pF TMCM-1241 pull-up disabled pull-up enabled Figure 7: Digital inputs IN1 and IN2 7.3 HOME/STOP_L/STOP_R switch inputs The PD42-x-1241 offers two optically isolated inputs which can be used as left (STOP_L) and right (STOP_R) stop switch inputs.
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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 +5V microcontroller +3V3 +5V 2k2 ENC_A, ENC_B or 10k 22k microcontroller 33pF TMCM-1241 pull-up enabled Figure 9: External encoder input 7.5 Step/Direction inputs The PD42-x-1241 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-1241.
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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 8 Communication 8.1 RS485 For remote control and communication with a host system the PD42-x-1241 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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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.
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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 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 14: 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.
PAGE 22
PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 22 / 32 Motor current setting in software (TMCL) Current scaling step (CS) Motor current ICOIL [A] peak Motor current ICOIL [A] RMS 24. . . 31 3 0.542 0.383 32. . . 39 4 0.677 0.479 40. . . 47 5 0.813 0.575 48. . . 55 6 0.948 0.670 56. . . 63 7 1.083 0.766 64. . . 71 8 1.219 0.862 72. . . 79 9 1.354 0.958 80. . . 87 10 1.490 1.053 88. . . 95 11 1.625 1.149 96. . .
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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 10 10.1 Torque curves PD42-3-1241 Torque Curve PD42-3-1241 24V, 2.8A RMS 45 40 35 Torque [Ncm] 30 25 20 15 10 5 0 0 500 1000 1500 2000 Velocity [rpm] Figure 15: PD42-3-1241 torque vs. velocity 24V / 2.8A RMS, 256µsteps 10.2 PD42-4-1241 Torque Curve Figure 16: PD42-4-1241 torque vs. velocity 24V / 3A RMS, 256µsteps ©2019 TRINAMIC Motion Control GmbH & Co.
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 11 24 / 32 Functional Description The PD42-x-1241 is a full mechatronic solution including a 42mm ﬂange (NEMA17) bipolar stepper motor. It includes the controller / driver electronics TMCM-1241 and a choice between four different NEMA 17 / 42mm ﬂange size bipolar hybrid stepper motors with different length and torque. The PD42-x-1241 can be controlled via USB, RS485 or CAN serial interfaces.
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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 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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/ 32 PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 Operational Ratings of the I/Os Symbol Parameter Min Typ Max Unit 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-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 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 ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 28
PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 14 1 2 3 4 5 6 7 8 9 10 28 / 32 Figures Index PD42-3-1241 with NEMA17 / 42mm stepper motors (all dimensions in mm) PD42-4-1241 with NEMA17 / 42mm stepper motors (all dimensions in mm) PD42-x-1241 connectors . . . . . . . . PD42-x-1241 LEDs . . . . . . . . . . . . Reset to factory default settings . . . Analog input IN0 . . . . . . . . . . . . Digital inputs IN1 and IN2 . . . . . . . Stop switch inputs . . . . . .
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 15 1 2 3 4 5 6 7 8 9 29 / 32 Tables Index Order Code . . . . . . . . . . . . . . . PD-1241 Cable Loom . . . . . . . . . . NEMA17 / 42mm stepper motor technical data . . . . . . . . . . . . . . . . . Connector Types and Mating Connectors of the PD42-x-1241 . . . . . . . . Power Supply Connector Pin Assignment Motor Connector Pin Assignment . . RS485 + CAN Connector Pin Assignment USB Connector Pin Assignment . . .
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 16 30 / 32 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 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 31 / 32 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-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02 17 17.1 Revision History Hardware Revision Version Date Author Description V1.0 2018-MAR-27 GE Initial version. Table 17: Hardware Revision 17.2 Document Revision Version Date Author Description 1.00 2018-MAY-07 GE Initial version based on TMCM-1241 hardware manual 1.10 2018-MAY-11 GE Torque curve added 1.20 2018-MAY-17 GE PD42-4-1241 added 1.21 2018-JUL-17 SK Fixed Order Codes 1.