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PANdrive™ for Stepper

PANDRIVE™

PD57/60-x-1076 Hardware Manual

Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03

The PD57/60-1076 is an easy to use PANdrive™ smart stepper motor. The module is controlled via

a step and direction interface. One conﬁguration pin selects the current control mode between

stealthChop™ for absolute silent motor control and spreadCycle™ for high speed. A TTL UART

interface allows for more advanced conﬁguration, for example of the stallGuard2™ and coolStep™

features, and permanent parameter storage via TMCL™-IDE.

Features

• Supply Voltage +10. . . +30V DC

• Up to 3A RMS motor current

• Step and direction interface

• microPlyer™ to 256 µ-steps

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

• UART conﬁguration interface

Applications

• Lab-Automation

• Manufacturing

• Robotics

• Factory Automation

• CNC

Simpliﬁed Block Diagram

µC

TMCL

Memory

Step

Motor

cDriver

with

stealthChop

UART

STEP/DIR

CHOP

9...24V

SPI

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (25 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD57/60-x-1076 Hardware Manual Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 The PD57/60-1076 is an easy to use PANdrive™ smart stepper motor. The module is controlled via a step and direction interface. One conﬁguration pin selects the current control mode between stealthChop™ for absolute silent motor control and spreadCycle™ for high speed.
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/ 25 PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 Contents 1 Features 1.1 General Features . . . . . . . 1.2 TRINAMIC’s Unique Features 1.2.1 stealthChop™ . . . . . 1.2.2 spreadCycle™ . . . . . 1.3 stallGuard2 . . . . . . . . . . . 1.4 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 1 3 / 25 Features The PANdrive™ PD57/60-x-1076 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD57/60-x-1076 includes a stepper motor and driver electronics. It can be used in many decentralized applications and has been designed for 0.55. . . 3.1 Nm max. holding torque and 24V DC nominal supply voltage.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 1.2 1.2.1 4 / 25 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.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 1.3 5 / 25 stallGuard2 stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor 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 reaches zero or is near zero.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 2 6 / 25 Order Codes Order Code Description Size (LxWxH) PD57-1-1076 PANdrive, 0.55Nm, 3A RMS, +24V DC, TTL UART interface, S/D interface, Enable, Mode Select 60mm x 60mm x 54mm PD57-2-1076 PANdrive, 1.01Nm, 3A RMS, +24V DC, TTL UART interface, S/D interface, Enable, Mode Select 60mm x 60mm x 64mm PD60-3-1076 PANdrive, 2.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 3 3.1 7 / 25 Mechanical and Electrical Interfacing PD57/60-x-1076 Dimensions and Weight The PD57/60-x-1076 includes the TMCM-1076 stepper motor driver module and a NEMA23 or NEMA24 bipolar stepper motor. Depending on the motor size the length varies.
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/ 25 PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 3.2 PD57/60-x-1076 Motor Parameters Speciﬁcations Unit PD57-1-1076 PD57-2-1076 PD60-3-1076 PD60-4-1076 Step angle ° 1.8 1.8 1.8 1.8 Step angle accuracy % +/-5 +/-5 +/-5 +/-5 Ambient temperature °C -20. . . +50 -20. . . +50 -20. . . +50 -20. . . +50 Max. motor temperature °C 80 80 80 80 Shaft radial play (450g load) mm 0.02 0.02 0.02 0.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 3.3 9 / 25 PD57/60-x-1076 Torque Curves The following diagrams show the torque vs. speed curves for the PD57-1-1076, the PD57-2-1076, the PD60-3-1076 and the PD60-4-1076 with spreadCycle chopper mode selected, 24V supply voltage and rated motor current (2.8A RMS / 4A peak). Figure 6: PD57-1-1076 torque vs. velocity 24V / 2.8A, 256µsteps Figure 7: PD57-2-1076 torque vs. velocity 24V / 2.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 Figure 8: PD60-3-1076 torque vs. velocity 24V / 2.8A, 256µsteps Figure 9: PD60-4-1076 torque vs. velocity 24V / 2.8A, 256µsteps ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 11
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 4 11 / 25 Connectors and LEDs Power + I/O 1 9 4 LED 1 Motor Figure 10: PD57/60-x-1076 connectors 4.1 Motor Connector Pin no.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 4.2 12 / 25 Power + I/O Connector Pin no.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 4.3 13 / 25 TTL UART Connection To connect via the TTL UART interface to a host PC, we suggest using a USB serial converter from TTL-UART (5V) to USB interface. Communication with the host PC, for example when using TRINAMIC’s TMCL-IDE, is done via the Virtual COM port installed by the converter driver. More information on the TMCL-IDE and the latest release can be found here: www.trinamic.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 5 14 / 25 Functional Description 5.1 Typical Application Wiring Wire the PD57/60-x-1076 as shown in the following ﬁgures. • Connect the the power supply to V+ and GND. • Connect the Step and Direction signals to your motion controller. • At power up time, the EN input must be low (= driver stage disabled)! • Optional: Connect UART to a TTL UART interface with 5V logic levels.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 TMCM-1076 / PD-x-1076 3.3V to +6V 15 / 25 +5V COMM STEP 270 Ω A1 A2 DIR B1 270 Ω Driver & Controller User MCU EN 270 Ω CHOP 270 Ω B2 M GND Figure 12: Inputs with common anode input with 3.3V to 5V The typical voltage at COMM input is 5V. Nevertheless, 3.3V or voltages higher than 5V can also be used as long as the current is through the optocouplers’ emitter is between 5mA to 20mA. For 3.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 TMCM-1076 / PD-x-1076 16 / 25 +5V >5V to +24V COMM Rexternal 270 Ω A1 STEP A2 GND Rexternal B1 270 Ω Driver & Controller DIR GND Rexternal 270 Ω GND Rexternal 270 Ω B2 M EN CHOP GND GND Figure 13: Inputs with common anode input with >5V to 24V The series resistors in the PD57/60-x-1076 are 270mOhms.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 5.4 17 / 25 Thermal Behavior The default conﬁguration parameters of the PD57/60-x-1076 are set to the speciﬁed maximum current of 3A RMS / 4.2A peak, which is the maximum motor phase current speciﬁed for the stepper motor options given in Table 4. Typically, at this nominal current setting the stepper motor and the driver electronics will get hot.
PAGE 18
/ 25 PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 6 6.1 Operational Ratings and Characteristics Absolute Maximum Ratings Parameter Min Max Unit Supply voltage +10 +30 V Working temperature -30 +40 °C Motor coil current / sine wave peak 4.2 A Continuous motor current (RMS) 3 A NOTICE Avoid exceeding the absolute maximum rating under all circumstances.
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/ 25 PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 TTL UART high level voltage VT T L H TTL UART output voltage VT T L_OU T 3.25 5 5 V V Table 11: Operational ratings of optically isolated inputs and TTL UART interface 6.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 8 21 / 25 Figures Index 1 2 3 4 5 6 7 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 PD57/60-x-1076 mechanical dimensions with motor . . . . . . . . . . . . PD57-1-1076 torque vs.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 9 22 / 25 Tables Index 1 2 3 4 5 6 7 8 Order codes PANdrives . . . . . . . . . Order codes cable loom . . . . . . . . PD57/60-x-1076 length and weight . . NEMA23 / 57mm and NEMA24 / 60mm stepper motor technical data . Motor connector pinning . . . . . . . Power + I/O connector pinning . . . . LED state description . . . . . . . . . . Additional resistor reference values .
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 10 23 / 25 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 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 24 / 25 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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PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 11 11.1 25 / 25 Revision History Hardware Revision Version Date Author Description 1.00 2018-FEB-28 GE First prototype version. 1.10 2018-APR-09 GE Pull-ups for opto-isolator changed to lower values (to be compatible with TMCM-1070). Table 15: Hardware Revision 11.2 Document Revision Version Date Author Description 1.00 2018-MAR-26 GE First release. 1.