MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrive Hardware Version V1.0 HARDWARE MANUAL + + PD-1161 Stepper motor with controller/driver 0.55… 3.1Nm / 24V DC sensOstep™ encoder USB, RS485, and RS232 + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) Table of Contents 1 2 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing .................................
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 3 1 Features The PANdrive™ PD-1161 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD-1161 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 24V DC nominal supply voltage.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 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-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 5 2 Order Codes The PD-1161 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 PD57-1-1161 PD57-2-1161 Description PANdrive with 0.55Nm max./holding torque PANdrive with 1.01Nm max.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 6 3 Mechanical and Electrical Interfacing 3.1 PD-1161 and PD-1161 Dimensions 3.1.1 PD57-1161 Dimensions The PD57-1161 includes the TMCM-1161 stepper motor controller/driver module, the magnetic encoder based on sensOstep technology and a NEMA23 bipolar stepper motor. Currently, there is a choice between four NEMA 23/57mm bipolar stepper motors with different lengths and different holding torques. Length 24±1 17 6 20±0.5 R 0.5 38.1±0.025 6,35-0.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 7 3.1.2 PD60-1161 Dimensions Currently, there is a choice between four NEMA 24/60mm bipolar stepper motors with different lengths and different holding torques. Length 17 24±1 6 1.6 20±0.5 7.5±0.2 38.1±0.025 8-0.013 60±0.5 5 60 9 60 47.14±0.2 8 38.1±0.025 47.14±0.2 60 4-ø4.5 Figure 3.2 Dimensions of PD60-1161 www.trinamic.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 8 3.2 Connectors of PD-1161 The controller/driver board for the PD-1161 offers four connectors including the motor connector which is used for attaching the motor coils to the electronics. There are two connectors for serial communication (one for USB and one for RS232/RS485) and one connector for I/O signals and switches. 1 Interface 1 USB In/Out 1 Motor 1 Figure 3.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 9 3.2.1 Interface and Power Supply Connector Pin 1 2 3 4 5 6 Label GND VCC RS485A+ RS485BRS232_TxD RS232_RxD Description Module and signal ground 10… 30V DC power supply / nom. 24V DC RS485 non-inverted bus signal RS485 inverted bus signal RS232 transmit data from module RS232 receive data to module Table 3.1 Connector for power supply and interfaces 3.2.1.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 10 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. The PD-1161 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 3.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 11 3.2.3 In/Out Connector Pin 1 2 3 4 5 Label GND VCC OUT_0 OUT_1 AIN_0 6 STOP_L/ STEP/ IN_1 7 STOP_R/ DIR/ IN_2 8 HOME/ ENABLE/ IN_3 Description Module ground (system and signal ground) 10… 30V DC power supply / nom. 24V DC General purpose output, open collector General purpose output, open collector Analog input, 0… 10V (analog to digital converter range) Digital input, +24V compatible, programmable internal pull-up.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 12 PU 1kO +5V / pull-up ON 0V / pull-up OFF IN_1/2/3 22kO 10kO AIN_0 +3.3V IN_1/2/3 GND GND Figure 3.5 Internal circuit of AIN_0 1nF 10kO 100nF GND 10kO AIN_0 GND GND Figure 3.6 Internal circuit of IN_1/2/3 3.2.3.1 Limit Switches The PD-1161 can be configured so that a motor has a left and a right limit switch. The motor stops when the traveler has reached one of the limit switches.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 13 4 Reset to Factory Defaults It is possible to reset the PD-1161 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 4.12). Please perform the following steps: 1. 2. 3. 4. 5. 6. 7.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 14 5 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 slowly 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-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 15 6 Operational Ratings The operational ratings shown below should be used as design values. In no case should the maximum values been exceeded during operation.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 16 7 Torque Curves TRINAMIC offers the TMCM-1161 in combination with two different stepper motor series: QSH5718 and QSH6018. The following paragraphes will show you the curves of each PANdrive. 7.1 Curves of PD57-1161 7.1.1 PD57-1-1161 Torque Curves TMCM-1161 – QSH5718-41-28-055 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS]; 256 Microsteps TMCM-1161 – QSH5718-41-28-055 – Torque versus Velocity VS = 24V; Icoil = 2.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 7.1.2 PD57-2-1161 Torque Curves TMCM-1161 – QSH5718-51-28-101 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS]; 256 Microsteps TMCM-1161 – QSH5718-51-28-101 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS]; 256 Microsteps Figure 7.2 PD57-2-1161 torque vs. velocity 24V / 2.8A, 256µsteps www.trinamic.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 7.2 Curves of PD60-1161 7.2.1 PD60-3-1161 Torque Curves TMCM-1161 – QSH6018-65-28-210 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS] Figure 7.3: PD60-3-1161 torque vs. velocity 24V / 2.8A 7.2.2 PD60-4-1161 Torque Curves TMCM-1161 – QSH6018-86-28-310 – Torque versus Velocity VS = 24V; Icoil = 2.8A [RMS] Figure 7.4: PD60-4-1161 torque vs. velocity 24V / 2.8A www.trinamic.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 19 8 Functional Description The PD-1161 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. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both: direct mode and standalone operation. Full remote control of device with feedback is possible.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 20 9 PD-1161 Operational Description 9.1 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. PARAMETERS OF TMC429 Signal Description fCLK clock-frequency velocity a_max maximum acceleration divider for the velocity.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) Example: Signal f_CLK velocity a_max pulse_div ramp_div usrs msf value 16 MHz 1000 1000 1 1 6 16 MHz 1000 122070.31 Hz 21 2048 32 fsf [ Hz] 122070.31 1907.34 Hz 26 (16Mhz ) 2 1000 MHz a 119.21 11 29 2 s af MHz s 1.863 MHz 6 2 s 119.21 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 1907.34 60 1589.
PD-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 10 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-1161 V1.0 Hardware Manual (Ref. 1.12 / 2012-MAR-13) 11 Revision History 11.1 Document Revision Version Date Author Description GE - Göran Eggers SD - Sonja Dwersteg 1.00 1.10 1.11 1.12 2011-JUN-30 2011-AUG-22 2012-FEB-25 2012-03-13 SD GE SD SD Initial version Updates for hardware version TMCM-1161_V10 First complete version Torque curves corrected Table 11.1 Document revision 11.
