MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1.4 HARDWARE MANUAL + + PD28-1-1021 PD28-3-1021 Stepper Motor NEMA11 / 28mm 0.06 - 0.12Nm with Controller / Driver up-to 0.7A RMS / 24V DC sensOstep™ Encoder RS485 Interface + UNIQUE FEATURES: TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) Table of Contents 1 2 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing ...............
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 1 3 Features The PANdrive™ PD28-1-1021 and PD28-3-1021 are small and compact full mechatronic solutions including NEMA11 / 28mm flange size stepper motors, the TMCM-1021 controller/ driver electronics and TRINAMIC sensOstep™ encoder for step-loss detection. The two PANdrives include stepper motor with different lengths and different holding torques (PD28-1-1021: 0.06Nm, PD28-3-1021: 0.12Nm) but, same electronics and encoder setup.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 4 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.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 2 5 Order Codes The combination of motor and motor mounted controller/driver electronic is currently available with two stepper motors (different length and holding torque). The length of the PANdrives™ is specified without the length of the axis. For the overall length of the product please add 21 mm (see detailed drawings in chapter 3).
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 3 6 Mechanical and Electrical Interfacing The PD28-1-1021 consists of the NEMA11 / 28mm flange size stepper motor QSH2818-32-07-006 with controller / driver electronics TMCM-1021 mounted on its backside and integrated sensOstep™ encoder. The PD28-3-1021 uses the longer QSH2818-51-07-012 NEMA11 / 28mm stepper motor together with the same electronics and encoder.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 7 3.1.2 Dimensions of PD28-3-1021 The PD28-3-1021 consists of the stepper motor QSH2818-51-07-012, the TMCM-1021 controller / driver electronics and integrated sensOstep™ encoder. Figure 3.2 PD28-3-1021 dimensions (all dimensions in mm) www.trinamic.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 8 3.2 Motor Characteristics Main characteristics of the two different motors available as part of the PD28-1-1021 (QSH2818-32-07-006) and PD28-3-1021 (QSH2818-51-07-012): Specification Related PANdrive Rated Voltage Rated Phase Current Phase Resistance at 20°C Phase Inductance (typ.) Paramete Units r VRATED IRMS_RATED RCOIL Holding Torque (typ.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 9 3.3 Integrated sensOstep™ encoder The PD28-1-1021 and PD28-3-1021 PANdrive offer integrated sensOstep™ encoders based on hall sensor technology. As the name “sensOstep™” already indicates intended use of this type of compact and highly integrated encoder is step loss detection of motor movements. As soon as the motor has been moved to a new location the position may be verified using this encoder feedback.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 10 3.4 Connectors The PD-1021 has two connectors, an 8-pin power and input/output connector and a 4-pin motor connector (used to connect the attached motor). Power / communication / I/Os 1 8 4 1 Motor Figure 3.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 11 3.4.1 Power, Communication and I/O Connector An 8-pin, 2mm pitch single row connector is used for power supply, RS485 serial communication and additional multi-purpose inputs and outputs. Pin 1 2 3 4 Label GND VDD RS485+ RS485- Direction Power (GND) Power (Supply) Bidirectional Bidirectional 5 IN_0 Input 6 IN_1 Input 7 OUT_0 / IN_2 Output / Input 8 OUT_1 / IN_3 Output / Input Description GND VDD, typ.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 12 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.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 13 4. COMMUNICATION SPEED: The maximum RS485 communication speed supported by the PD28-1-1021 / PD28-3-1021 is 115200 bit/s (FW version 1.29 with TMCM-1021 hardware version 1.2 and 1.4). Factory default is 9600 bit/s. Please see separate TMCM-1021 TMCL firmware manual for information regarding other possible communication speeds below 115200 bit/s. 5.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 14 All four inputs are protected using voltage resistor dividers together with limiting diodes against voltages below 0V (GND) and above +3.3V DC. Input circuit of the first two inputs IN_0 and IN_1 is shown below: IN_0, IN_1 +3.3V 10k microcontroller and stepper motor driver 10k 1nF GND GND GND Figure 3.7 General purpose inputs IN_0 and IN_1 The two inputs have alternate functions depending on configuration in software.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 15 The inputs are protected using voltage resistor dividers together with limiting diodes against voltages below 0V (GND) and above +3.3V DC. The circuit of the two outputs and the two inputs connected in parallel to the inputs is shown below: VDD OUT_0 / IN_2 OUT_1 / IN_3 +3.3V 10k microcontroller 10k 1nF GND GND GND microcontroller since V1.4 1k GND GND Figure 3.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 16 For hardware version 1.2: Do not connect either IN_2 or IN_3 directly to a low resistance supply voltage (e.g. directly to any power supply voltage). As the output transistors connected in parallel might briefly switch-on during power-up they might be damaged / destroyed if the current through the transistors to ground exceeds 100mA. www.trinamic.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 17 3.4.2 Motor Connector A 4-pin, 2mm pitch single row connector is used for connecting the four motor wires to the electronics. Pin 1 2 3 4 Label OB2 OB1 OA2 OA1 Direction Output Output Output Output Pin Pin Pin Pin 2 1 2 1 of of of of motor motor motor motor Description coil B coil B coil A coil A Table 3.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 18 4 Motor driver current The on-board stepper motor driver operates current controlled. The driver current may be programmed in software in two ranges (low current range up-to 0.7A RMS and high current range up-to 1.4A RMS) with 32 effective scaling steps in hardware for each range. Please note: the high current range is available with TMCM-1021 hardware revision V1.4, only – not with hardware revision V1.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) Motor current setting in software (TMCL) 80..87 88..95 96..103 104..111 112..119 120..127 128..135 136..143 144..151 152..159 160..167 168..175 176..183 184..191 192..199 200..207 208..215 216..223 224..231 232..239 240..247 248..255 0..7 8..15 16..23 24..31 32..39 40..47 48..55 56..63 64..71 72..79 80..87 88..95 96..103 104..111 112..119 120..127 128..135 136..143 144..151 152..159 160..167 168..175 176..183 184..191 192..199 200..
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) Motor current setting in software (TMCL) 248..255 Range setting in software (TMCL) 0 Current scaling step (CS) 31 Motor current ICOIL_PEAK [A] 2.033 20 Motor current ICOIL_RMS [A] 1.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 5 21 Reset to Factory Defaults It is possible to reset the PD28-1-1021 / PD28-3-1021 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.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 7 22 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded! Symbol Parameter Min Typ Max Unit VDD Power supply voltage for operation 9 12… 24 28 V ICOIL_PEAK_L Motor coil current for sine wave peak 0 1 A 0 0.7 A 0 2*) A 0 1.4*) A 1.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) Symbol Parameter NRS485 Number of nodes connected to single RS485 network fRS485 Maximum bit rate supported on RS485 connection Table 7.3 Operational ratings of RS485 interface www.trinamic.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 8 24 Torque Curves The following figures show the curve of each PANdrive. PD21-1-1021 - 0.7A RMS Phase Current, 256 uSteps 0,10 0,09 torque[Nm] 0,08 0,07 0,06 0,05 0,04 0,03 0,02 0,01 0,00 10 100 1000 10000 speed[rpm] Figure 8.1 PD28-1-1021 torque vs. speed 24V / 0.7 A, 256 µsteps PD28-3-1021 - 0.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 9 25 Functional description The PD28-1-1021 and PD28-3-1021 are highly integrated mechatronic devices which can be controlled via RS485 serial interface. 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.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 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.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 27 11 Revision History 11.1 Document Revision Version 0.90 Date 2011-AUG-02 Author GE 0.91 2011-AUG-25 SD 0.92 2011-NOV-10 GE 1.00 2012-JUN-20 SD 1.01 2013-JUL-23 SD 1.02 2018-JAN-23 GE 1.03 2018-JAN-25 GE Description Initial version Information about left, right, and home switch added.
PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) Version Date TMCM-1021_V14 2013-JUL-30 28 Description / Modifications compared to previous versions extended current settings the module supports NEMA11 (28mm) bipolar stepper motors using the lower current range and also NEMA17 (42mm) bipolar stepper motors using the higher current range – making it possible to use just one module type in a mixed NEMA11 / NEMA17 system environment (if desired / applicable).
