MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrive Hardware Version V1.1 HARDWARE MANUAL + + PD-1160 Stepper Motor with Controller / Driver 0.55 - 3.1 Nm / 48 V sensOstep™ Encoder USB, RS485, and CAN Step/Dir Interface + UNIQUE FEATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) Table of Contents 1 2 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing .................................
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 3 1 Features The PANdrive™ PD-1160 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD-1160 includes a stepper motor, controller/driver electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and has been designed for 0.55… 3.1Nm max. holding torque and 24 or 48 V DC nominal supply voltage.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 4 TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the 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 goes to zero or near to zero.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 2 5 Order Codes The PD-1160 is currently available with two different stepper motor series (NEMA23 / 57mm flange size or NEMA24 / 60mm flange size): With NEMA 23 / 57mm flange size motor: The length of the PANdrives is specified without the length of the axis. For the overall length of the product please add 24mm. Order code PD57-1-1160 PD57-2-1160 Description PANdrive with 0.55Nm max./holding torque PANdrive with 1.01Nm max.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 3 6 Mechanical and Electrical Interfacing 3.1 PD57-1160 and PD60-1160 Dimensions 3.1.1 PD57-1160 Dimensions The PD57-1160 includes the TMCM-1160 stepper motor controller/driver module, the magnetic encoder based on sensOstep technology and a NEMA23 bipolar stepper motor. Currently, there is a choice between two NEMA 23/57mm bipolar stepper motors with different lengths and different holding torques. Length 17 4.5 24±1 20±0.5 R 0.5 38.1±0.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 7 3.1.2 PD60-1160 Dimensions Currently, there is a choice between two NEMA 24/60mm bipolar stepper motors with different lengths and different holding torques. Length 17 4.5 24±1 1.6 20±0.5 7.5±0.2 38.1±0.025 8-0.013 60 60±0.5 5 9 60 47.14±0.2 8 38.1±0.025 47.14±0.2 60 4-ø4.5 Model PD60-3-1160 Length (mm) 65 PD60-4-1160 86 Figure 3.2 Dimensions of PD60-1160 www.trinamic.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 8 3.2 Connectors of PD-1160 The PD-1160 offers seven connectors including the motor connector which is used for attaching the motor coils to the electronics. In addition to the power connector there are two connectors for serial communication (mini-USB connector and 5pin connector for RS485 and CAN) and three connectors for Step/Direction, multipurpose input/output signals, and for an external encoder.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 9 3.2.1 Power Connector This PANdrive offers separate power supply inputs for digital logic (pin 2) and driver/power stage (pin 1). Both supply inputs use common ground connections (pin 4). This way, power supply for the driver stage may be switched off while still maintaining position and status information when keeping digital logic supply active.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 10 Do not connect or disconnect motor during operation! Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always disconnect power supply before connecting / disconnecting the motor.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 11 3.2.2.1 RS485 For remote control and communication with a host system the PD-1160 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. That is, the connection between each node and the bus itself should be as short as possible.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 12 3.2.2.2 CAN For remote control and communication with a host system the PD-1160 provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken into account when setting up a CAN network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 13 3.2.3 Multipurpose I/O Connector A 2mm pitch 8-pin JST B8B-PH-K connector is used for connecting general purpose inputs, home and stop switches and outputs to the unit: Pin Label 1 OUT_0 2 OUT_1 3 IN_0 4 IN_1 5 STOP_L 6 STOP_R 7 HOME 8 GND 1 8 Description General purpose output, open drain (max. 1A) Integrated freewheeling diode connected to +VLogic General purpose output, open drain (max.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 14 3.2.3.2 General Purpose Inputs IN_0 and IN_1 The eight pin connector of the PD-1160 provides two general purpose inputs which may be used as either digital or analog inputs. GENERAL PURPOSE INPUTS AS ANALOG INPUTS As analog input they offer a full scale input range of 0… +10 V with a resolution of the internal analog-todigital converter of the microcontroller of 12bit (0… 4095).
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 15 3.2.4 Step/Direction Connector A 2mm pitch 4-pin JST B4B-PH-K connector is used for step and direction input signals. This is an option in case the on-board controller is used for configuration of the driver stage, only. The Step/Direction input is optically isolated and will allow direct control of the driver stage.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 16 3.2.5 Encoder Connector The module supports an external incremental a/b/n encoder via this connector. The external encoder may be used in addition or as an alternative to the internal / on-board sensOstep encoder.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 3.2.6 17 Motor Connector Both motor coil windings (bipolar stepper motor) are connected to the motor connector. Pin 1 2 3 4 1 4 Label OA1 OA2 OB1 OB2 Description Motor coil A Motor coil A Motor coil B Motor coil B Figure 3.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 18 3.2.7 Mini-USB Connector A 5-pin standard mini-USB connector is available on board. This module supports USB 2.0 full-speed (12Mbit/s) connections. Please note: On-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other supply is connected.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 4 19 Jumpers Most settings of the board are done through the software. Nevertheless, two jumpers are available for configuration. CAN bus termination RS485 bus termination Figure 4.1 RS485 and CAN bus termination 4.1 RS485 Bus Termination The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface. When this jumper is closed, the resistor will be placed between the two differential bus lines RS485+ and RS485-. 4.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 5 20 Reset to Factory Defaults It is possible to reset the PD-1160 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost. For this procedure two pads on the bottom side of the board have to be shortened (see Figure 5.1). Short these two pads. PERFORM THE FOLLOWING STEPS: 1. 2. 3. 4. 5. 6. 7.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 6 21 On-board LEDs The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the firmware version. With standard TMCL firmware the green LED should be flashing during operation and the red LED should be off. When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 7 22 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values.
PD-1160 V1.1 Hardware Manual (Rev. 1.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 8 24 Torque Curves TRINAMIC offers the TMCM-1160 in combination with two different stepper motor series: QSH5718 and QSH6018. The following paragraphs will show you the curves of each PANdrive. 8.1 Curves of PD57-1160 8.1.1 PD57-1-1160 Torque Curves TMCM-1160 – QSH5718-41-28-055 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS]; 256 Microsteps TMCM-1160 – QSH5718-41-28-055 – Torque versus Velocity VS = 24V; Icoil = 2.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) TMCM-1160 – QSH5718-41-28-055 – Torque versus Velocity VS = 48V; Icoil = 2.8A [RMS]; 256 Microsteps TMCM-1160 – QSH5718-41-28-055 – Torque versus Velocity VS = 48V; Icoil = 2.8A [RMS]; 256 Microsteps Figure 8.2 Torque curves PD57-1-1160, VS = 48 V DC www.trinamic.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 8.1.2 PD57-2-1160 Torque Curves TMCM-1160 – QSH5718-51-28-101 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS]; 256 Microsteps TMCM-1160 – QSH5718-51-28-101 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS]; 256 Microsteps Figure 8.3 Torque curves PD57-2-1160, VS = 24 V DC www.trinamic.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) TMCM-1160 – QSH5718-51-28-101 – Torque versus Velocity VS = 48V; Icoil = 2.8A [RMS]; 256 Microsteps TMCM-1160 – QSH5718-51-28-101 – Torque versus Velocity VS = 48V; Icoil = 2.8A [RMS]; 256 Microsteps Figure 8.4 Torque curves PD57-2-1160, VS = 48 V DC www.trinamic.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 8.2 Curves of PD60-1160 8.2.1 PD60-3-1160 Torque Curves TMCM-1160 – QSH6018-65-28-210 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS] Figure 8.5 Torque curves PD60-3-1160, VS = 24 V DC TMCM-1160 – QSH6018-65-28-210 – Torque versus Velocity VS = 48V; Icoil = 2.8A [RMS] Figure 8.6 Torque curves PD60-3-1160, VS = 48 V DC www.trinamic.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 8.2.2 PD60-4-1160 Torque Curves TMCM-1160 – QSH6018-86-28-310 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS] Figure 8.7 Torque curves PD60-4-1160, VS = 24 V DC TMCM-1160 – QSH6018-86-28-310 – Torque versus Velocity VS = 48V; Icoil = 2.8A [RMS]; Fullsteps Figure 8.8 Torque curves PD60-4-1160, VS = 48 V DC www.trinamic.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 9 30 Functional Description The PD-1160 is a highly integrated mechatronic device which can be controlled via several serial interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are performed on board. Common supply voltages are +12VDC / +24VDC / +48VDC. The PANdrive is designed for both: direct mode and standalone operation. Full remote control of device with feedback is possible.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 31 10 PD-1160 Operational Description 10.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency The values of the parameters sent to the TMC429 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC429 parameters as shown in this section.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) EXAMPLE: Signal f_CLK velocity a_max pulse_div ramp_div usrs msf 16 MHz 1000 122070.31 Hz 21 2048 32 122070.31 fsf [ Hz ] a value 16 MHz 1000 1000 1 1 6 26 (16Mhz ) 2 1000 11 29 2 1907.34 Hz 119.21 MHz s MHz s 1.863 MHz 6 s 2 119.21 af CALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e.g. 72 fullsteps per rotation. RPS RPM fsf 1907.34 26.49 fullsteps per rotation 72 fsf 60 1907.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 11 Life Support Policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 34 12 Revision History 12.1 Document Revision Version Date Author Description GE - Göran Eggers SD - Sonja Dwersteg 0.91 2012-MAY-03 GE 1.00 2012-JUN-12 SD 1.01 1.02 2012-JUL-30 2013-JUL-23 SD SD Initial version First complete version including the following chapters: Reset to factory defaults, LEDs General purpose inputs corrected. Chapter 3.2.1 updated. Table 12.1 Document revision 12.
