TRINAMIC PD-1161 Mechatronic Drives With Stepper Motor User Manual
- June 13, 2024
- TRINAMIC
Table of Contents
PD-1161 Mechatronic Drives With Stepper Motor
Product Information
Product: Mechatronic Drives with Stepper Motor
Model: PANdrive
Hardware Version: V1.0
Manufacturer: TRINAMIC Motion Control GmbH & Co. KG
Location: Hamburg, Germany
Website: www.trinamic.com
Downloaded from: Arrow.com
Manual: PD-1161 V1.0 Hardware Manual (Rev. 1.15 /
2013-JUL-05)
Unique Features
-
Stepper Motor with Controller/Driver 0.55… 3.1Nm / 24V
DC -
sensOstepTM Encoder USB, RS485, and RS232
Table of Contents
- Features
- Order Codes
- Mechanical and Electrical Interfacing
- PD-1161 and PD-1161 Dimensions
* PD57-1161 Dimensions
* PD60-1161 Dimensions-
Curves of PD57-1161
-
PD57-1-1161 Torque Curves
-
PD57-2-1161 Torque Curves
-
Curves of PD60-1161
-
PD60-3-1161 Torque Curves
-
PD60-4-1161 Torque Curves
-
Functional Description
-
PD-1161 Operational Description
-
Calculation: Velocity and Acceleration vs. Microstep and
Fullstep Frequency -
Life Support Policy
-
Revision History
-
Document Revision
-
Hardware Revision
-
References
Product Usage Instructions
To use the Mechatronic Drives with Stepper Motor (PANdrive),
follow these steps:
-
Ensure that you have the necessary power supply of 24V DC.
-
Connect the PANdrive to the power supply.
-
If required, connect the sensOstepTM Encoder to the PANdrive
using USB, RS485, or RS232 interface. -
Refer to the PD-1161 Hardware Manual for mechanical and
electrical interfacing details, including dimensions for PD-1161
and its variants (PD57-1161 and PD60-1161). -
Refer to the torque curves provided in the manual for PD57-1161
and PD60-1161 to understand the torque characteristics of the
stepper motor. -
Read the functional description section to gain a better
understanding of the product’s features and operation. -
Consult the PD-1161 Operational Description section for
calculations related to velocity, acceleration, microstep, and
fullstep frequency. -
Familiarize yourself with the product’s life support policy,
revision history, and references for additional information.
Note: For detailed instructions on specific tasks or
troubleshooting, refer to the PD-1161 V1.0 Hardware Manual.
MECHATRONIC DRIVES WITH STEPPER MOTOR
PANdrive
Hardware Version V1.0
HARDWARE MANUAL
+ PD-1161
Stepper Motor with Controller/Driver 0.55… 3.1Nm / 24V DC
sensOstepTM Encoder USB, RS485, and RS232
UNIQUE FEATURES:
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Table of Contents
1 Features ………………………………………………………………………………………………………………………………………..3 2 Order
Codes …………………………………………………………………………………………………………………………………..5 3 Mechanical 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………………………………………………………………………………………………………………….10 3.2.3 In/Out
Connector………………………………………………………………………………………………………………12 3.2.4 Motor Connector
………………………………………………………………………………………………………………13
4 Reset to Factory Defaults ……………………………………………………………………………………………………………….14 5
On-board LEDs ……………………………………………………………………………………………………………………………..15 6
Operational Ratings……………………………………………………………………………………………………………………….16 7 Torque
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
8 Functional Description …………………………………………………………………………………………………………………..20 9
PD-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
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1 Features
The PANdriveTM 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
sensOstepTM 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 TMCLTM 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.
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TRINAMICS UNIQUE FEATURES EASY TO USE WITH TMCL
stallGuard2TM
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 energyefficient point of operation for the motor.
Load [Nm]
stallGuard2
Initial stallGuard2 (SG) value: 100%
Max. load
coolStepTM
stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall.
Figure 1.1 stallGuard2 load measurement SG as a function of load
Motor stalls
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.
0,9
0,8
0,7
0,6
0,5
Efficiency 0,4
0,3
0,2
0,1
0
0
50 100 150 200 250 300 350
Velocity [RPM]
Figure 1.2 Energy efficiency example with coolStep
Efficiency with coolStep Efficiency with 50% torque reserve
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2 Order 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 PD57-1-1161 PD57-2-1161
Description PANdrive with 0.55Nm max./holding torque PANdrive with 1.01Nm max./holding torque
Table 2.1 Order codes (PD57-1161)
Size (mm3) 60 x 60 x 58 60 x 60 x 68
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 PD60-3-1161 PD60-4-1161
Description PANdrive with 2.10Nm max./holding torque PANdrive with 3.10Nm max./holding torque
Table 2.2 Order codes (PD60-1161)
Size (mm3) 60 x 60 x 82 60 x 60 x 103
A cable loom set is available for this module:
Order code TMCM-1161-CABLE
Description
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
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3 Mechanical 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.
24±1
Length
17 6
20±0.5 R 0.5
38.1±0.025 6,35-0.013
56.4±1
60
1.6 5
60 56.4±1 47.14±0.2
6.35-0.013 38.1±0.025
Fgure 3.1 Dimensions of PD57-1161
47.14±0.2 56.4±1 60
Model PD57-1-1161 PD57-2-1161
Length (mm) 41 51
4-ø4.6
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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.
24±1 1.6
Length
17 6
38.1±0.025 8-0.013
20±0.5 7.5±0.2
60±0.5
60
5
9
60 47.14±0.2
8 38.1±0.025
Figure 3.2 Dimensions of PD60-1161
47.14±0.2 60
Model PD60-3-1161 PD60-4-1161
Length (mm) 65 86
4-ø4.5
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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.
1
I n/Out
I nterface USB
1 1
Motor 1
Figure 3.3 Overview connectors
Domain Interface / Power Motor
In/Out USB
Connector type JST B6B-EH-A, 2.5mm pitch connector header, vertical
JST B4B-EH-A, 2.5mm pitch connector header, vertical
JST B8B-EH-A, 2.5mm pitch connector header, vertical
Mini-USB type B vertical female
Mating connector type JST EHR-6, female crimp connector housing; crimp
contacts JST SEH-001T-P0.6
JST EHR-4, female crimp connector housing; crimp contacts JST SEH-001T-P0.6
JST EHR-8, female crimp connector housing; crimp contacts JST SEH-001T-P0.6
Mini-USB type B, male
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3.2.1 Interface and Power Supply Connector
Pin Label 1 GND 2 VCC 3 RS485A+ 4 RS485B5 RS232_TxD 6 RS232_RxD
Description Module and signal ground 10… 30V DC power supply / nom. 24V DC RS485 non-inverted bus signal RS485 inverted bus signal RS232 transmit data from module 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:
c
=
1000
F A
×
IMOT
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.
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:
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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.
termination resistor
(120 Ohm)
Host
c:>
Slave
node 1
}
RS485
Figure 3.5: RS485 bus structure
Slave
node n – 1
Slave
node n
keep distance as short as possible
termination resistor
(120 Ohm)
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).
Slave
node n- 1
Slave
node n
+5V pull-up (1k)
RS485+ / RS485A RS485- / RS485B
termination resistor
(120 Ohm)
pull-down (1k)
GND
Figure 3.6: RS485 bus lines with resistor network
3.2.2 USB Connector
Pin Label 1 VBUS
Description +5V power
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2 D3 D+ 4 ID 5 GND
Data Data + not connected ground
Table 3.2 Mini USB connector
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3.2.3 In/Out Connector
Pin Label 1 GND 2 VCC 3 OUT_0 4 OUT_1 5 IN_0
STOP_L/ 6 STEP/
IN_1
STOP_R/ 7 DIR/
IN_2
HOME/ 8 ENABLE/
IN_3
Description Module ground (system and signal ground) 10… 30V DC power supply /
nom. 24V DC General purpose output, open collector General purpose output,
open collector Analog input, 0… 10V (analog to digital converter range)
Digital input, +24V compatible, programmable internal pull-up. Functionality
can be selected in software:
a) Left stop switch input (connected to REF1 input of TMC429 motion
controller) b) Step signal (connected to step input of TMC262 stepper driver)
c) General purpose input (connected to processor) Digital input +24V
compatible, programmable internal pull-up. Functionality can be selected in
software: a) Right stop switch input (connected to REF3 input of TMC429 motion
controller) b) Direction signal (connected to direction input of TMC262
stepper driver) c) General purpose input (connected to processor) Digital
input +24V compatible, programmable internal pull-up.* Functionality can be
chosen in software: a) Home switch input (connected to processor) b) Enable
signal (connected to processor) c) General purpose input (connected to
processor)
Table 3.3 In/Out connector
- It is possible to enable / disables pull-ups (1k to 5+V) in software for all three digital inputs. Pull-ups are always enabled / disabled for all three together / at the same time.
+24V
OUT_0 OUT_1
OUT_0 OUT_1
GND
GND
Figure 3.4 Internal circuit of OUT_0/1
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PU
+5V / pull-up ON 0V / pull-up OFF
1kO
I N_0
47kO
I N_0
I N_1/2/3
10kO
+3.3V I N_1/2/3
1nF
22kO
100nF 22k O
GND GND
Figure 3.5 Internal circuit of IN_0
GND GND GND
Figure 3.6 Internal circuit of IN_1/2/3
3.2.3.1 Limit Switches
The PD-1161 can be configured so that a motor has a left and a right limit
switch. The motor stops when the traveler has reached one of the limit
switches. An additional home switch might be used for initialization.
STOP_L
HOME
STOP_R
Motor
Left stop sw itch
Traveler
Figure 3.7 Limit switches and home switch
Right stop sw itch
3.2.4 Motor Connector
Pin Label
1
OA1
2
OA2
3
OB1
4
OB2
Description Motor coil A Motor coil A Motor coil B Motor coil B
Table 3.4 Motor connector
CAUTION!
Keep the electronics free of (metal) particles!
The integrated sensOstep encoder uses a magnet at the end of the motor axis in
order to monitor position. The magnet naturally attracts especially tiny metal
particles. These particles might be held on the top side of the PCB and even
worse start moving in accordance with the rotating magnetic field as soon as
the motor starts moving. This might lead to shorts of electronic contacts /
wires on the board and totally erratic behavior of the module! Use compressed
air for cleaning the module if necessary.
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4 Reset to Factory Defaults
It is possible to reset the PD-1161 to factory default settings without
establishing a communication link. This might be helpful in case communication
parameters of the preferred interface have been set to unknown values or got
accidentally lost.
For this procedure two pads on the bottom side of the board have to be
shortened (see figure 4.12).
Please perform the following steps:
1. Power supply off and USB cable disconnected 2. Short two pads as marked in
Figure 4.1 3. Power up board (power via USB is sufficient for this purpose) 4.
Wait until the on-board red and green LEDs start flashing fast (this might
take a while) 5. Power-off board (disconnect USB cable) 6. Remove short
between pads 7. After switching on power-supply / connecting USB cable all
permanent settings have been restored to
factory defaults
Short these two pads
Figure 4.1 Reset to factory default settings
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5 On-board LEDs
The board offers two LEDs in order to indicate board status. The function of
both LEDs is dependent on the firmware version. With standard TMCL firmware
the green LED should be slowly flashing during operation and the red LED
should be off.
When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are permanently on.
BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE
Status
Label
Description
Heartbeat
Run
This green LED flashes slowly during operation.
Error
Error
This red LED lights up if an error occurs.
USB
Red LED Green LED
Figure 5.1 on-board LEDs
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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.
Symbol VCC VUSB IUSB
ICOIL_peak
ICOIL_RMS ISUPPLY TENV
Parameter
Min
Power supply voltage for operation
10
Power supply via USB connector
Current withdrawn from USB supply when USB bus powered (no other supply connected)
Motor coil current for sine wave peak (chopper 0 regulated, adjustable via software)
Continuous motor current (RMS)
0
Power supply current Environment temperature at rated current (no forced -35*) cooling required)
Typ
Max
Unit
24
30
V DC
5
V
40
mA
4
A
<< ICOIL
2.8
A
1.4 * ICOIL A
+50
°C
Table 6.1 General operational ratings of the module
*) limited by test equipment. Includes power-up / cold start at this temperature. It can be expected that the module will work down to -40°C.
Note: The motor might heat up well above 50°C when running at full current without proper cooling. This might substantially increase the environmental temperature for the electronics. When using the coolStepTM operation mode, the actual motor current might be substantially less than max. programmed current which will significantly reduce power dissipation and motor temperature.
Symbol
Parameter
Min
Typ
Max
Unit
VSTOP_L/R_HOME Input voltage for stop / home switch inputs
0
STOP_L / STOP_R and HOME
(also valid when configured for alternate function)
28
V
VSTOP_L/R_HOME_L Low level voltage for stop / home switch inputs STOP_L / 0
STOP_R and HOME
(also valid when configured for alternate function)
1.1
V
VSTOP_L/R_HOME_H High level voltage for stop / home switch inputs STOP_L / 2.9
STOP_R and HOME
(also valid when configured for alternate function)
28
V
VOUT_0/1 IOUT_0/1 VIN_0
Voltage at open collector output OUT_0 / OUT_1
0
Output sink current for OUT_0 / OUT_1
Full scale input voltage range for analog input IN_0
0
VCC
V
100
mA
10
V
Table 6.2 Operational ratings of general purpose I/Os
Symbol
Parameter
Min
Typ
Max
Unit
NRS485
Number of nodes connected to single RS485 network
256
Table 6.4 Operational ratings of the RS485 interface
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7 Torque Curves
TRINAMIC offers the TMCM-1161 in combination with two different stepper motor
series: QSH5718 and QSH6018. The following paragraphes will show you the
curves of each PANdrive.
7.1 Curves of PD57-1161
7.1.1 PD57-1-1161 Torque Curves
TMCM-1161 QSH5718-41-28-055 Torque versus Velocity VS = 24V; Icoil = 2.8A
[RMS]; 256 Microsteps
TMCM-1161 QSH5718-41-28-055 Torque versus Velocity VS = 24V; Icoil = 2.8A
[RMS]; 256 Microsteps
Figure 7.1 PD57-1-1161 torque vs. velocity 24V / 2.8A, 256µsteps
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7.1.2 PD57-2-1161 Torque Curves
TMCM-1161 QSH5718-51-28-101 Torque versus Velocity VS = 24V; Icoil = 2.8A
[RMS]; 256 Microsteps
TMCM-1161 QSH5718-51-28-101 Torque versus Velocity VS = 24V; Icoil = 2.8A
[RMS]; 256 Microsteps
Figure 7.2 PD57-2-1161 torque vs. velocity 24V / 2.8A, 256µsteps
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7.2 Curves of PD60-1161
7.2.1 PD60-3-1161 Torque Curves
TMCM-1161 QSH6018-65-28-210 Torque versus Velocity VS = 24V; Icoil = 2.8A
[RMS]
Figure 7.3: PD60-3-1161 torque vs. velocity 24V / 2.8A
7.2.2 PD60-4-1161 Torque Curves
TMCM-1161 QSH6018-86-28-310 Torque versus Velocity VS = 24V; Icoil = 2.8A
[RMS]
Figure 7.4: PD60-4-1161 torque vs. velocity 24V / 2.8A
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8 Functional Description
The PD-1161 is a highly integrated mechatronic device which can be controlled
via several serial interfaces. Communication traffic is kept low since all
time critical operations, e.g. ramp calculations are performed on board.
Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for
both: direct mode and standalone operation. Full remote control of device with
feedback is possible. The firmware of the module can be updated via any of the
serial interfaces.
In Figure 8.1 the main parts of the PD-1161 are shown:
– the microprocessor, which runs the TMCL operating system (connected to TMCL
memory), – the motion controller, which calculates ramps and speed profiles
internally by hardware, – the power driver with its energy efficient coolStep
feature, – the MOSFET driver stage, – the QSH stepper motor, and – the
sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.
TMCLTM Memory
PD-1161
Stop Sw itches*)
RS232
RS485
µC
USB I / Os 3
Step/ Dir*)
10 …30V DC
Motion Controller
TMC429
+3.3V
Pow er
Energy
DErfifivcieernt TDMCri2v6e2 r
TwMCit2h62 coolStepTM
MOSFET Driver Stage
SPI
TMCM-1161
sensOstepTM
Encoder
Step Motor
*) The module offers three additional inputs. Functionality can be chosen by software: :
a)
STOP_L / STOP_R / HOME
b)
STEP/ DIR interface
c)
3 general purpose inputs
Figure 8.1 Main parts of the PD-1161
The PD-1161 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCM). Using predefined TMCL high level commands like move to position a rapid and fast development of motion control applications is guaranteed. Please refer to the PD-1161 Firmware Manual for more information about TMCL commands.
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21
9 PD-1161 Operational Description
9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep
Frequency
The values of the parameters sent to the TMC429 do not have typical motor
values like rotations per second as velocity. But these values can be
calculated from the TMC429 parameters as shown in this section.
PARAMETERS OF TMC429
Signal
Description
Range
fCLK velocity
clock-frequency –
16 MHz 0… 2047
a_max maximum acceleration
0… 2047
divider for the velocity. The higher the value is, the less is the
pulse_div maximum velocity default value = 0
0… 13
divider for the acceleration. The higher the value is, the less is
ramp_div the maximum acceleration default value = 0
0… 13
Usrs
microstep-resolution (microsteps per fullstep = 2usrs)
0… 8
Table 9.1 TMC429 velocity parameters
The microstep-frequency of the stepper motor is calculated with
usf [Hz]
=
fCLK [Hz] velocity 2 pulse _ div 2048 32
with usf: microstep-frequency
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be divided by the number of microsteps per fullstep.
fsf [Hz] = usf [Hz] 2usrs
with fsf: fullstep-frequency
The change in the pulse rate per time unit (pulse frequency change per second the acceleration a) is given by
2
f a CLK
max
a = 2 pulse div+ramp div+29
This results in acceleration in fullsteps of:
af = a 2usrs
with af: acceleration in fullsteps
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22
Example:
Signal f_CLK velocity a_max pulse_div ramp_div usrs
value 16 MHz 1000 1000 1 1 6
msf
=
16 MHz1000 21 2048 32
=122070
.31
Hz
fsf
[
Hz]
=
122070 26
.31
=1907
.34
Hz
a
=
(16
Mhz)2 1000 21+1+29
=119.21
MHz s
af
119.21 MHz
=
s 26
= 1.863 MHz s
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
= 1907.3460 =1589.46
fullsteps per rotation
72
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23
10 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.
Life support systems are equipment intended to support or sustain life, and
whose failure to perform, when properly used in accordance with instructions
provided, can be reasonably expected to result in personal injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2013 Information given in this data
sheet is believed to be accurate and reliable. However neither responsibility
is assumed for the consequences of its use nor for any infringement of patents
or other rights of third parties, which may result from its use.
Specifications are subject to change without notice. All trademarks used are
property of their respective users.
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24
11 Revision History
11.1 Document Revision
Version
1.00 1.10 1.11 1.12 1.13 1.14 1.15
Date
2011-JUN-30 2011-AUG-22 2012-FEB-25 2012-03-13 2012-JUL-30 2013-MAR-27
2013-JUL-05
Author
GE – Göran Eggers SD – Sonja Dwersteg
SD GE SD SD SD SD SD
Table 11.1 Document revision
11.2Hardware Revision
Description
Initial version Updates for hardware version TMCM-1161_V10 First complete
version Torque curves corrected Description of analog and digital inputs
corrected AIN_0 renamed: IN_0 Chapter 3.2.1.1 (power supply) updated
Version TMCM-1061_V10
TMCM-1161_V10
Date 2011-APR-20
2011-JUL-22
Table 11.2 Hardware revision
Description
First prototype version Redesign:
– Corrected and modified clock concept – Stop switches connected to REF1+3 of
TMC429 – New encoder IC with 10bit resolution (max.)
12 References
[PD-1161 TMCL] [TMCL-IDE] [QSH5718] [QSH6018]
PD-1161 TMCL Firmware Manual TMCL-IDE User Manual QSH5718 Manual QSH6018 Manual
Please refer to www.trinamic.com.
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