Trinamic PANdrive PD-1161 Manuale utente

MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrive

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Hardware Version V1.0

HARDWARE MANUAL

++PD-1161

+ +

UNIQUE FEATURES:

Stepper Motor with

Controller/Driver

0.55… 3.1Nm / 24V DC

sensOstep™Encoder

USB, RS485, and RS232

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)2

www.trinamic.com

Table of Contents

1Features........................................................................................................................................................................... 3

2Order Codes ................................................................................................................................................................... 5

3Mechanical and Electrical Interfacing..................................................................................................................... 6

3.1 PD-1161 and PD-1161 Dimensions.................................................................................................................. 6

3.1.1 PD57-1161 Dimensions ................................................................................................................................ 6

3.1.2 PD60-1161 Dimensions ................................................................................................................................ 7

3.2 Connectors of PD-1161....................................................................................................................................... 8

3.2.1 Interface and Power Supply Connector ................................................................................................. 9

3.2.2 USB Connector ............................................................................................................................................. 11

3.2.3 In/Out Connector......................................................................................................................................... 12

3.2.4 Motor Connector.......................................................................................................................................... 13

4Reset to Factory Defaults......................................................................................................................................... 14

5On-board LEDs............................................................................................................................................................. 15

6Operational Ratings ................................................................................................................................................... 16

7Torque Curves ............................................................................................................................................................. 17

7.1 Curves of PD57-1161......................................................................................................................................... 17

7.1.1 PD57-1-1161 Torque Curves...................................................................................................................... 17

7.1.2 PD57-2-1161 Torque Curves...................................................................................................................... 18

7.2 Curves of PD60-1161......................................................................................................................................... 19

7.2.1 PD60-3-1161 Torque Curves...................................................................................................................... 19

7.2.2 PD60-4-1161 Torque Curves...................................................................................................................... 19

8Functional Description.............................................................................................................................................. 20

9PD-1161 Operational Description........................................................................................................................... 21

9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 21

10 Life Support Policy..................................................................................................................................................... 23

11 Revision History.......................................................................................................................................................... 24

11.1 Document Revision........................................................................................................................................... 24

11.2 Hardware Revision ............................................................................................................................................ 24

12 References .................................................................................................................................................................... 24

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)3

www.trinamic.com

1Features

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. With its

high energy efficiency from TRINAMIC’s coolStep technology cost for power consumption is kept down. The

TMCL™ firmware allows for standalone operation and direct mode.

MAIN CHARACTERISTICS

Motion controller

-Motion profile calculation in real-time

-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

Encoder

-sensOstep magnetic encoder (max. 1024 positions per rotation) e.g. for step-loss detection under all

operating conditions and positioning supervision

Interfaces

-inputs for stop switches (left and right) and home switch

-1 analog input

-2 general purpose outputs (open collector with freewheeling diodes)

-USB, RS232, and RS485 communication interfaces

Software

-TMCL: standalone operation or remote controlled operation,

program memory (non volatile) for up to 2048 TMCL commands, and

PC-based application development software TMCL-IDE available for free.

Electrical and mechanical data

-Supply voltage: +24V DC nominal (10… 30V DC)

-Motor current: up to 2.8A RMS (programmable)

-0.5… 3.1Nm max. holding torque (depends on motor)

-With NEMA23 (57mm motor flange size) or NEMA24 (60mm motor flange size) stepper motor

Refer to separate TMCL Firmware Manual, too.

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)4

www.trinamic.com

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. This is the most energy-efficient point of operation for the motor.

Load

[Nm]

stallGuard2

Initial stallGuard2

(SG) value: 100%

Max. load

stallGuard2 (SG) value: 0

Maximum load reached.

Motor close to stall.

Motor stalls

Figure 1.1 stallGuard2 load measurement SG as a function of load

coolStep™coolStep is a load-adaptive automatic current scaling based on the load measurement via

stallGuard2 adapting the required current to the load. Energy consumption can be

reduced by as much as 75%. coolStep allows substantial energy savings, especially for

motors which see varying loads or operate at a high duty cycle. Because a stepper motor

application needs to work with a torque reserve of 30% to 50%, even a constant-load

application allows significant energy savings because coolStep automatically enables

torque reserve when required. Reducing power consumption keeps the system cooler,

increases motor life, and allows reducing cost.

0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

0 50 100 150 200 250 300 350

Efficiency

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50% torque reserve

Figure 1.2 Energy efficiency example with coolStep

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)5

www.trinamic.com

2Order 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

Description

Size (mm3)

PD57-1-1161

PANdrive with 0.55Nm max./holding torque

60 x 60 x 58

PD57-2-1161

PANdrive with 1.01Nm max./holding torque

60 x 60 x 68

Table 2.1 Order codes (PD57-1161)

With NEMA 24 / 60mm flange size motor:

The length of the PANdrives is specified without the length of the axis. For the total length of the

product add 24mm.

Order code

Description

Size (mm3)

PD60-3-1161

PANdrive with 2.10Nm max./holding torque

60 x 60 x 82

PD60-4-1161

PANdrive with 3.10Nm max./holding torque

60 x 60 x 103

Table 2.2 Order codes (PD60-1161)

A cable loom set is available for this module:

Order code

Description

TMCM-1161-CABLE

Cable loom for PD-1161:

-1x cable for interface connector

-1x cable for In/Out connector

-1x cable for motor connector

-1x USB type A connector to mini-USB type B connector cable

Table 2.3 Cable loom order codes

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)6

www.trinamic.com

3Mechanical 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

56.4±1 6038.1±0.025

1.6

6,35-0.013

24±1

20±0.5

R 0.5

38.1±0.025

47.14±0.2

4-ø4.6

56.4±1

6.35-0.013

47.14±0.2

Fgure 3.1 Dimensions of PD57-1161

Model

Length (mm)

PD57-1-1161

PD57-2-1161

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)7

www.trinamic.com

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

38.1±0.025

1.6

24±1

8-0.013

20±0.5

7.5±0.2

60±0.5 60

47.14±0.2

38.1±0.025

47.14±0.2

4-ø4.5

Figure 3.2 Dimensions of PD60-1161

Model

Length (mm)

PD60-3-1161

PD60-4-1161

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)8

www.trinamic.com

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.

In/Out

Interface

USB

Motor

Figure 3.3 Overview connectors

Domain

Connector type

Mating connector type

Interface /

Power

JST B6B-EH-A, 2.5mm pitch connector

header, vertical

JST EHR-6, female crimp connector housing;

crimp contacts JST SEH-001T-P0.6

Motor

JST B4B-EH-A, 2.5mm pitch connector

header, vertical

JST EHR-4, female crimp connector housing;

crimp contacts JST SEH-001T-P0.6

In/Out

JST B8B-EH-A, 2.5mm pitch connector

header, vertical

JST EHR-8, female crimp connector housing;

crimp contacts JST SEH-001T-P0.6

USB

Mini-USB type B vertical female

Mini-USB type B, male

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)9

www.trinamic.com

3.2.1 Interface and Power Supply Connector

Label

Description

GND

Module and signal ground

VCC

10… 30V DC power supply / nom. 24V DC

RS485A+

RS485 non-inverted bus signal

RS485B-

RS485 inverted bus signal

RS232_TxD

RS232 transmit data from module

RS232_RxD

RS232 receive data to module

Table 3.1 Connector for power supply and interfaces

3.2.1.1 Power Supply

When using supply voltages near the upper limit, a regulated power supply is mandatory. The power

supply should be designed in a way, that it supplies the nominal motor voltage at the desired maximum

motor power.

To ensure reliable operation of the unit, the power supply has to have a sufficient output capacitor and

the supply cables should have a low resistance, so that the chopper operation does not lead to an

increased power supply ripple directly at the unit. Power supply ripple due to the chopper operation

should be kept at a maximum of a few 100mV.

HINTS FOR POWER SUPPLY CABLES

-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 (2200µF or larger

recommended) to the power supply lines next to the TMCM-1161 especially if the distance

to the power supply is large (i.e. more than 2-3m)!

Rule of thumb for size of electrolytic capacitor:    

 

In addition to power stabilization (buffer) and filtering this added capacitor will also

reduce any voltage spikes which might otherwise occur from a combination of high

inductance power supply wires and the ceramic capacitors. In addition it will limit slew-

rate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors

may cause stability problems with some switching power supplies.

Do not connect or disconnect motor during operation!

Motor cable and motor inductivity might lead to voltage spikes when the motor is

disconnected / connected while energized. These voltage spikes might exceed voltage

limits of the driver MOSFETs and might permanently damage them. Therefore, always

disconnect power supply before connecting / disconnecting the motor.

Keep the power supply voltage below the upper limit of 30V!

Otherwise the driver electronics will seriously be damaged! Especially, when the selected

operating voltage is near the upper limit a regulated power supply is highly

recommended. Please see also chapter 6 (operating values).

There is no reverse polarity protection!

The module will short any reversed supply voltage due to internal diodes of the driver

transistors.

PD-1161 V1.0 Hardware Manual (Rev. 1.15 / 2013-JUL-23)10

www.trinamic.com

3.2.1.2 RS485

For remote control and communication with a host system the PD-1161 provides a two wire RS485 bus

interface. For proper operation the following items should be taken into account when setting up an

RS485 network:

1. BUS STRUCTURE:

The network topology should follow a bus structure as closely as possible. That is, the

connection between each node and the bus itself should be as short as possible. Basically, it

should be short compared to the length of the bus.

c:> node

node

n- 1

node

Host Slave Slave Slave

RS485

termination

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as

short as possible

Figure 3.5: RS485 bus structure

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. NUMBER OF NODES:

The RS-485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a

single bus. The bus transceiver used on the PD-1161 units (SN65HVD3082ED) has just 1/8th of the

standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus.

4. NO FLOATING BUS LINES:

Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is

transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to

communication errors. In order to ensure valid signals on the bus it is recommended to use a

resistor network connecting both bus lines as well defined logic levels. In contrast to the

termination resistors this network is normally required just once per bus. Certain RS485 interface

converters available for PCs already include these additional resistors (e.g. USB-2-485).

node

n- 1

node

Slave Slave

termination

resistor

(120 Ohm)

+5V

GND

pull-up (1k)

pull-down (1k)

RS485- / RS485B

RS485+ / RS485A

Figure 3.6: RS485 bus lines with resistor network

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