User Manual

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 27
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11 Revision History
11.1 Document Revision
Version
Date
Author
Description
0.90
2011-AUG-02
GE
Initial version
0.91
2011-AUG-25
SD
Information about left, right, and home switch added. Minor
changes
0.92
2011-NOV-10
GE
- Motor connector corrected and motor connection added
- General purpose output circuit extended
- Hardware revision list updated
1.00
2012-JUN-20
SD
- Rule of thumb for capacitor added.
- Design updated
- Chapter 6 (on-board LED) new
- Chapter 5 (reset to factory defaults) new
- Torque curves added
1.01
2013-JUL-23
SD
- Connector types updated.
- Chapter Fehler! Verweisquelle konnte nicht gefunden
erden. updated.
1.02
2018-JAN-23
GE
- Major update. Integration of updated and new chapters
from TMCM-1021 hardware manual
- Note on sensOstep™ encoder accuracy added
1.03
2018-JAN-25
GE
- More Details + tolerances added to motor shaft drawing
Figure 11.1: Document revision
11.2 Hardware Revision
Please note: all current PD28-1-1021 and PD28-3-1021 PANdrives use controller driver electronics TMCM-1021
V1.4. Previous versions used TMCM-1021 V1.2. All other TMCM-1021 hardware versions listed below have
been used for prototypes, only. The following list includes changes in hardware for the TMCM-1021
controller / driver electronics since initial hardware (prototype) version V1.0:
Version
Date
Description / Modifications compared to previous versions
TMCM-1021_V10*)
2011-JUL-11
Initial version
TMCM-1021_V11*)
2011-AUG-18
- TMC262 clock generation switched to internal clock
- Encoder circuit corrected
- LED added
TMCM-1021_V12**)
2011-SEP-28
- LED moved to location near 8pin connector
(version 1.2 is 100% firmware compatible with V1.1)
TMCM-1021_V13*)
2013-MAY-14
- MOSFETs: The new driver stage is more powerful (less heat
dissipation) than the one used on V1.2. The module now
supports two motor current ranges (up-to 0.7A RMS (same as
V1.2 – fully compatible also with respect to current scaling) and
up-to 1.4A RMS motor current (new with version 1.4)). Switching
between these two ranges can be done in software (lower
current range: SAP 179, 0, 1 (default), higher current range: SAP
179, 0, 0). The lower current range (up-to 0.7A RMS / SAP 179, 0,
1) is the default one in order to maintain 100% compatibility in
terms of motor current settings. For the lower current range the
motor current can be scaled down using TMCL command SAP 6,
0, 0 … 255 as known from the current version. Same settings
will result in same motor current values as with current version.
After switching to the higher current range (SAP 179, 0, 0) similar
scaling is possible with the high current range, also. Due to the