User Manual

TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 3
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2 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. This allows energy efficient motor
operation. With the advanced stallGuard2™ feature the load of the motor can be detected with high
resolution. The module is designed to be mounted directly on an 86mm flange QMot stepper motor.
MAIN CHARACTERISTICS
Electrical data
- Supply voltage: +24V DC or +48V DC nominal
- Motor current: up to 5.5A RMS (programmable)
PANdrive motor
- Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current
- Holding torque: 7Nm
Encoder
- Integrated sensOstep magnetic encoder (max. 256 increments per rotation) e.g. for step-loss detection
under all operating conditions and positioning
Integrated motion controller
- Motion profile calculation in real-time (TMC428/429 motion controller)
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2 feature for stall detection
- coolStep feature for reduced power consumption and heat dissipation
Interfaces
- inputs for stop switches (left and right) and home switch
- general purpose inputs and 2 general purpose outputs
- USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces
Safety features
- Shutdown input. The driver will be disabled in hardware as long as this pin is left open or shorted to
ground
- Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched off
externally while supply for digital logic and therefore digital logic remains active
Software
- Available with TMCL™ or CANopen
- Standalone TMCL operation or remote controlled operation
- Program memory (non volatile) for up to 2048 TMCL commands
- PC-based application development software TMCL-IDE available for free
- CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported
Please see separate TMCL and CANopen Firmware Manuals for additional information