MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrives V 1.01 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 (V1.01 / 2011-MAR-21) Table of contents 1 2 3 4 Life support policy ....................................................................................................................................................... 3 Features ........................................................................................................................................................................... 4 Order codes .....................................................
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 1 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 (V1.01 / 2011-MAR-21) 4 2 Features The PD86-1180 is a full mechatronic device consisting of a NEMA 34 (flange size 86mm) stepper motor, controller/driver electronics and integrated encoder. Applications Powerful single-axis stepper motor solutions Encoder feedback for high reliability operation 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 5 3 Order codes Order code TMCM-1180-TMCL TMCM-1180-CANopen PD86-3-1180-TMCL PD86-3-1180-CANopen TMCM-1180-Cable Related Motor: QSH8618-96-55-700 Description TMCM-1180 with coolStep™, sensOstep™, TMCL™ Firmware TMCM-1180 with coolStep™, sensOstep™, CANopen Firmware (under development) PD86-3-1180 with coolStep™, sensOstep™, TMCL™ Firmware, 7.0 Nm PD86-3-1180 with coolStep™, sensOstep™, CANopen Firmware, 7.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 6 4 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 81.35 Figure 4.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 7 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 (V1.01 / 2011-MAR-21) 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 (V1.01 / 2011-MAR-21) 9 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 10 4.3 Connectors of TMCM-1180 The controller/driver board for 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 min-USB and one for RS232/RS485/CAN) and two connectors for additional input and output signals.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 11 4.3.1 Power connector This module offers separate power supply inputs for digital logic (connector pin 2) and driver/power stage (connector pin 1). Both supply inputs use common ground connections (connector pin 3 and 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 12 4.3.2 Serial communication connector A 2mm pitch 8 pin JST B8B-PH-K connector is used for serial communication. With this connector the module supports RS232, RS485 and CAN communication. Mating connector housing: PHR-8 Mating connector contacts: SPH-002T-P0.5S.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 13 4.3.4 Output connector A 2mm pitch 4 pin JST B4B-PH-K connector is used for connecting the two general purpose outputs and the driver stage hardware shutdown input pin to the unit. Attention: In order to enable the motor driver stage connect /Shutdown (pin 2) to +ULogic (pin 1)! Mating connector housing: PHR-4 Mating connector contacts: SPH-002T-P0.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 14 4.3.5 Input connector A 2mm pitch 6 pin JST B6B-PH-K 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 16 4.3.6 Step/Direction connector A 2mm pitch 4 pin JST B4B-PH-K connector is used for connecting the Step/Dir interface. Mating connector housing: PHR-4 Mating connector contacts: SPH-002T-P0.5S 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 4.5: Step/Dir connector C 4k75 EN +3.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 17 4.3.7 Encoder connector A 2mm pitch 5 pin JST B5B-PH-K 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 18 4.3.8 Motor connector and specifications A 3.96mm pitch 4 pin JST B4P-VH 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 Pin Label Description 1 2 3 4 OA1 OA2 OB1 OB2 Motor Motor Motor Motor Table 4.7: Connector for motor Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 19 5 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. When this jumper is closed, the resistor will be placed between the two differential bus lines RS485+ and RS485-.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 20 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.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 21 7 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 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 (V1.01 / 2011-MAR-21) 22 7.1.2 EEPROM To store TMCL™ programs for stand-alone operation the TMCM-1180 module is equipped with a 16kByte EEPROM attached to the microcontroller. The EEPROM can store TMCL™ programs consisting of up to 2048 TMCL™ commands. The EEPROM is also used to store configuration data. 7.1.3 TMC428 motion controller The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-steppermotors.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 23 7.1.5 sensOstep™ encoder The sensOstep™ encoder used in this unit is based on a magnetic angular position encoder system with low resolution. It consists of a small magnet positioned at the back end of a stepper motor axis and a Hallsensor IC with integrated digital signal processing (e.g. for automatic gain control, temperature compensation etc.) placed above the magnet on the back side of a motor mounted printed circuit board.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 24 8 TMCM-1180 operational description 8.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency The values of the parameters sent to the TMC428 do not have typical motor values like rotations per second as velocity. But these values can be calculated from the TMC428-parameters as shown in this section.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) Example: Signal f_CLK velocity a_max pulse_div ramp_div usrs msf 16 MHz 1000 21 2048 32 fsf [Hz ] a value 16 MHz 1000 1000 1 1 6 122070.31 26 (16Mhz ) 2 1000 2 11 29 122070.31Hz 1907.34Hz 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 fsf 1907.34 26.49 fullsteps per rotation 72 RPM fsf 60 1907.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 26 9 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 the TMC TechLibCD and on www.trinamic.com. Please refer to these sources for updated data sheets and application notes.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 27 10 CANopen The TMCM-1180 module should also be used with the CANopen protocol in future versions. For this purpose, a special CANopen firmware is under development. Please contact TRINAMIC if you are interested in this option. Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 28 11 Revision history 11.1 Document revision Version 0.90 0.91 Date 2009-AUG-04 2009-NOV-11 Author GE GE 1.00 2010-JUN-28 SD 1.01 2011-MAR-21 SD Description Initial version New hardware included New engineering detail drawings. Functional and operational descriptions added. New front page, minor changes Table 11.1: Document revision 11.2 Hardware revision Version 1.00 1.10 1.20 1.
TMCM-1180 and PD86-1180 Hardware Manual (V1.01 / 2011-MAR-21) 12 References [TMCM-1180 / PD86-1180 TMCL™] [TMC262] [TMCL-IDE] [QSH8618] TMCM-1180 and PD86-1180 TMCL™ Firmware Manual TMC262 Datasheet TMCL-IDE User Guide QSH8618 Manual Please refer to www.trinamic.com. Copyright © 2011, TRINAMIC Motion Control GmbH & Co.
