MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1.1 HARDWARE MANUAL + + TMCM-1180 PD86-1180 1-Axis Stepper Controller / Driver 5.5A RMS/ 24 or 48V DC USB, RS232, RS485, and CAN + TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) Table of Contents 2 3 4 Features ........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 4 Mechanical and Electrical Interfacing .........................
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 2 3 Features The PD86-1180 is a full mechatronic solution with state of the arte feature set. It is highly integrated and offers a convenient handling. The PD86-1180 consists of a NEMA 34 (flange size 86mm) stepper motor, controller/driver electronics and integrated encoder. The TMCM-1180 is an intelligent stepper motor controller/driver module featuring the new outstanding coolStep™ technology for sensorless load dependent current control.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 3 4 Order Codes Cables are not included. Add the appropriate cable loom to your order if required. Order code TMCM-1180 (-option) PD86-3-1180 (-option) Description TMCM-1180 with coolStep, sensOstep PD86-3-1180 with coolStep, sensOstep, 7.0 Nm Table 3.1 PANdrive or module order codes Option -TMCL -CANopen Firmware TMCL firmware CANopen firmware Table 3.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 4 5 Mechanical and Electrical Interfacing 4.1 TMCM-1180 Dimensions and Mounting Holes The dimensions of the controller/driver board (TMCM-1180) are approx. 86mm x 86mm in order to fit to the back side of the 86mm stepper motor. The TMCM-1180 is 21.5mm high without matching connectors. There are four mounting holes for M4 screws. 85.9 4.55 67.45 8 2 8 2 R5.9 M4 TMCM-1180 85.9 81.35 72 67.45 18.45 13.9 4.55 13.9 18.45 72 81.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 6 4.2 PD86-1180 Dimensions and Motor Specifications The PD86-1180 includes the TMCM-1180 stepper motor controller/driver electronic module, a magnetic encoder based on sensOstep technology and an 86mm flange size bipolar hybrid stepper motor. 4.2.1 Dimensions of PD86-3-1180 96 4.1 22.5 max 1.4 17 1.1 25 73.02±0.05 12.7 11.6 85.85 31.75±1 1.52 8.38 69.5±0.2 85.9 73.02±0.05 11.6 12.7 4 x ø 5.5 400 min. Figure 4.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 4.2.2 Motor Specifications of QSH8618-96-55-700 Specifications Units Wiring Rated Voltage V Rated Phase Current (nominal) A Phase Resistance at 20°C Ω Phase Inductance (typ.) mH Holding Torque (typ.) Nm Detent Torque Nm Rotor Inertia gcm2 Weight (Mass) Kg Insulation Class Insulation Resistance Ω Dialectic Strength (for one VAC minute) Connection Wires N° Max applicable Voltage V Step Angle ° Step angle Accuracy % Flange Size (max.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 8 4.2.3 Torque Figure of QSH8618-96-55-700 The torque figure details the motor torque characteristics for full step operation in order to allow simple comparison. For full step operation there are always a number of resonance points (with less torque) which are not depicted. These will be minimized by microstep operation. Testing conditions: 48V; 5,5A Torque 6 Full step [Nm] 5 4 3 2 1 0 100 1000 Figure 4.3 QSH8618-96-55-700 speed vs.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 9 4.3 Connectors of TMCM-1180 The controller/driver board of the PD86-1180 offers eight connectors including the motor connector which is used internally for attaching the motor coils to the electronics. In addition to the power connector there are two connectors for serial communication (one for mini-USB and one for RS232/RS485/CAN) and two connectors for additional input and output signals.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) Label Connector type 10 Mating connector type Connector housing CVIlux: CI01065000-A Contacts CVIlux: CI01T011PE0-A CI0106P1VK0-LF CVIlux CI01 series, 6 pins, 2mm pitch Inputs or Connector housing JST: PHR-6 Contacts JST: SPH-002T-P0.5S Wire: 0.22mm2 Connector housing CVIlux: CI01045000-A Contacts CVIlux: CI01T011PE0-A CI0104P1VK0-LF CVIlux CI01 series, 4 pins, 2mm pitch Outputs or Connector housing JST: PHR-4 Contacts JST: SPH-002T-P0.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) HINTS FOR POWER SUPPLY - keep power supply cables as short as possible use large diameters for power supply cables CAUTION! Add external power supply capacitors! It is recommended to connect an electrolytic capacitor of significant size (e.g. 4700 µF / 63 V) to the power supply lines next to the PD-1180 especially if the distance to the power supply is large (i.e.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 12 4.3.2 Serial Communication Connector A 2mm pitch 8 pin connector is used for serial communication. With this connector the module supports RS232, RS485 and CAN communication.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 13 4.3.4 Output Connector A 2mm pitch 4 pin connector is used for connecting the two general purpose outputs and the driver stage hardware shutdown input pin to the unit.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 14 4.3.5 Input Connector A 2mm pitch 6 pin connector is used for connecting general purpose inputs, home and stop switches to the unit. Mating connector housing: PHR-6 Mating connector contacts: SPH-002T-P0.5S 6 1 Pin 1 2 Label IN_0 IN_1 3 STOP_L 4 STOP_R 5 HOME 6 GND Table 4.5 Input / Stop / Home switch connector +24V GPI Figure 4.7 Possible circuit for GPI IN_0/1 22kO +3.3V GND GND 100nF 10kO IN_0/1 GND Figure 4.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 15 4.3.5.1 Left and Right Limit Switches The TMCM-1180 can be configured so that a motor has a left and a right limit switch (Figure 4.9). The motor stops when the traveler has reached one of the limit switches. REF _ R _x REF _ L _x motor right stop switch left stop switch traveler Figure 4.9 Left and right limit switches 4.3.5.2 Triple Switch Configuration It is possible to program a tolerance range around the reference switch position.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 16 4.3.6 Step/Direction Connector A 2mm pitch 4 pin connector is used for connecting the Step/Dir interface. 1 4 Pin 1 2 3 4 Label OC_COM OC_EN OC_STEP OC_DIR Description Common supply / opto-coupler (+5V .. +24V) Enable signal Step signal Direction signal Table 4.6 Step/Dir connector C 4k75 EN +3.3V Iconst = 8mA K E GND Iconst = 8mA 4k75 OC_EN 4k75 A OC_COM DIR OC_DIR OC_STEP STEP GND Figure 4.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 17 4.3.7 Encoder Connector A 2mm pitch 5 pin connector is used for connecting the Encoder. Mating connector housing: PHR-5 Mating connector contacts: SPH-002T-P0.5S 1 Pin 1 2 3 4 5 5 Label ENC_A ENC_B ENC_N GND +5V_output Description Encoder A-channel Encoder B-channel Encoder N-channel Power and signal ground +5V output for encoder power supply (max. 100mA) Table 4.7 Encoder connector +5V +5V +5V GND GND GND 2k2 2k2 2k2 0.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 18 4.3.8 Motor Connector and Specifications A 3.96mm pitch 4 pin connector is used for motor connection. Both motor coil windings (bipolar stepper motor) are connected to this connector. Mating connector housing: VHR-4N Mating connector contacts: BVH-21T-P1.1 1 4 Table 4.8 Connector for motor www.trinamic.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 5 19 Jumpers Most settings of the board are done through the software. Nevertheless, a few jumpers are available for configuration. CAN bus termination RS485 bus termination Figure 5.1 RS485 and CAN bus termination 5.1 RS485 Bus Termination The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 6 20 Operational Ratings The operational ratings shown below should be used as design values. In no case should the maximum values been exceeded during operation.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 7 21 Functional Description In figure 7.1 the main parts of the PD86-1180 are shown. The PANdrive mainly consists of the µC (connected to the EEPROM TMCL memory), the TMC428/429 motion controller, the TMC262A-PC power driver with its energy efficient coolStep feature, the external MOSFET driver stage, the QSH8618 stepper motor, and the integrated sensOstep encoder. Alternatively it is possible to connect an external encoder.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 22 7.1.4 Stepper Motor Driver The TMC262A-PC is an energy efficient high current high precision microstepping driver IC for bipolar stepper motors. This driver on the TMCM-1180 module is a special version of the TMC262 power driver for PANdrives with QSH8618 motors.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 8 23 TMCM-1180 Operational Description 8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency The values of the parameters sent to the TMC428/429 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC428/429-parameters as shown in this section.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) EXAMPLE Signal f_CLK velocity a_max pulse_div ramp_div usrs msf 16 MHz 1000 122070.31 Hz 21 2048 32 fsf [ Hz] a value 16 MHz 1000 1000 1 1 6 122070.31 1907.34 Hz 26 (16Mhz ) 2 1000 MHz 119.21 11 29 s 2 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 9 25 TMCL TMCL, the TRINAMIC Motion Control Language, is described in separate documentations, which refer to the specific products (e.g. TMCM-1180 TMCL Firmware Manual). The manuals are provided on www.trinamic.com. Please refer to these source for updated data sheets and application notes. 10 CANopen The TMCM-1180 module should also be used with the CANopen protocol in future versions.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 27 12 Revision History 12.1 Document Revision Version Date Author GE – Göran Eggers SD – Sonja Dwersteg Description Initial version New hardware included New engineering detail drawings. Functional and operational descriptions added. New front page, minor changes Minor changes Order codes new, minor changes Changes related to the design. Connector description updated. Chapter 4.3.1 updated. 0.90 0.91 2009-AUG-04 2009-NOV-11 GE GE 1.
