MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive Hardware Version V1.2 HARDWARE MANUAL + + PD-1141 Stepper Motor with Controller / Driver 0.27 - 0.49 Nm / 24 V DC USB, RS485, and S/D Interface + UNIQUE FEATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) Table of Contents 1 2 3 Features........................................................................................................................................................................... 3 Order Codes ................................................................................................................................................................... 5 Mechanical and Electrical Interfacing ......................................
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 1 3 Features The PANdrive™ PD-1141 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD-1141 includes a stepper motor and controller/driver electronics. It can be used in many decentralized applications and has been designed for 0.27… 0.49 Nm max. holding torque and 24V DC nominal supply voltage.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 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.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 2 5 Order Codes The PD-1141 is currently available with three NEMA 17 stepper motors. The length of the PANdrives is specified without the length of the axis. For the overall length of the product please add 24 mm. Order code PD42-1-1141-option PD42-2-1141-option PD42-3-1141-option Description PANdrive 0.27Nm max. holding torque PANdrive 0.35Nm max. holding torque PANdrive 0.49Nm max. holding torque Size (mm3) 42 x 42 x 46.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 3 6 Mechanical and Electrical Interfacing 3.1 Dimensions The PD-1141 includes the TMCM-1141 stepper motor controller/driver module and a NEMA17 bipolar stepper motor. Currently, there is a choice between three NEMA 17/42mm bipolar stepper motors with different lengths and different holding torques. 24±1 20 4.5 22-0.05 42±1 37 5 Model 2 Length 13 max 22 Length of motor PD42-1-1141 PD42-2-1141 33.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 7 3.2 Stepper Motor Specifications MAIN CHARACTERISTICS OF THREE DIFFERENT MOTORS AVAILABLE AS PART OF THE PD-1141 Specifications Units Rated Voltage Rated Phase Current Phase Resistance at 20°C Phase Inductance (typ.) V A Ω mH Ncm oz in mNm g cm2 Kg Holding Torque (typ.) Detent Torque Rotor Inertia Weight (Mass) Insulation Class Dielectic Strength (for one minute) Connection Wires Step Angle Step angle Accuracy (max.) Flange Size (max.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 8 3.3 Connectors of PD-1141 The controller/driver board of the PD-1141 offers five connectors including the motor connector which is used for attaching the motor coils to the electronics. Further, there is a connector for power and for the RS485 interface. The USB interface and the step/direction interface have their own connectors. The 8pin multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 9 3.3.1 Power and RS485 Connector A 5pin single row connector is used for power supply and RS485 serial communication. 1 Pin 1 2 3 4 5 5 Label GND VDD GND RS485+ RS485- Direction Power (GND) Power (Supply) Power (GND) Bidirectional Bidirectional Description System and signal ground VDD (+9 V… +28 V) System and signal ground RS485 interface, diff. signal (non-inverting) RS485 interface, diff. signal (inverting) Table 3.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 10 3.3.1.2 RS485 For remote control and communication with a host system the PD-1141 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.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 11 3.3.2 Multipurpose I/O Connector An 8pin 2mm pitch single row connector is available for all multipurpose inputs and outputs. Pin 1 1 8 Label GND Direction Power (GND) 2 VDD Power (Supply) 3 OUT_0 Output 4 OUT_1 Output 5 IN_0 Input 6 IN_1 Input 7 IN_2 Input 8 IN_3 Input Description System and signal ground VDD, connected to VDD pin of the power and RS485 connector Open-drain output (max.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 12 3.3.2.1 Digital Inputs IN_1, IN_2, IN_3 The eight pin connector of the PD-1141 provides three multi-purpose digital inputs IN_1, IN_2 and IN_3. All three inputs accept up-to +24 V input signals. They are protected against these higher voltages using voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below). common switch for all three digital inputs +5V 1k +3.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 13 3.3.2.2 Analog Input AIN_1 The eight pin connector of the PD-1141 provides one dedicated analog input AIN_1. This dedicated analog input offers a full scale input range of 0… +10V with a resolution of the internal analog-to-digital converter of the microcontroller of 12 bit (0… 4095). The input is protected against higher voltages up-to +24 V using voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 14 3.3.3 Step/Direction Connector A 4pin 2mm pitch single row connector is available for the Step/Dir interface. This interface can be used for connecting an external motion controller to the on-board driver stage instead of the integrated motion controller. All three Step/Dir/Enable signals are optically isolated.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 15 3.3.4 Motor Connector As motor connector a 4pin 2mm pitch single row connector is available. The motor connector is used for connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics. 1 4 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.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 16 3.3.5 Mini-USB Connector A 5pin mini-USB connector is available on-board for serial communication (as alternative to the RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 4 17 Reset to Factory Defaults It is possible to reset the PD-1141 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. Now, perform the following steps: 1. 2. 3. 4. 5. 6. 7.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 6 18 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 7 19 Torque Curves The following paragraphs will show you the curves of each PANdrive. 7.1.1 PD42-1-1141 Torque Curves PD42-1-1141 - 1.1A RMS Phase Current, 256 uSteps 0,35 0,30 torque[Nm] 0,25 0,20 0,15 0,10 0,05 0,00 10 100 1000 10000 speed[rpm] Figure 7.1 PD42-1-1141 torque vs. velocity 24V / 1.1 A, 256µsteps 7.1.2 PD42-2-1141 Torque Curves PD42-2-1141 - 1.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 7.1.3 20 PD42-3-1141 Torque Curves PD42-3-1141 - 1.1A RMS Phase Current, 256 uSteps 0,70 0,60 torque[Nm] 0,50 0,40 0,30 0,20 0,10 0,00 10 100 1000 speed[rpm] Figure 7.3 PD42-3-1141 torque vs. velocity 24V / 1.1A, 256µsteps www.trinamic.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 8 21 Functional Description The PD-1141 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.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 9 22 PD-1141 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.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) EXAMPLE: Signal f_CLK velocity a_max pulse_div ramp_div usrs msf 16 MHz 1000 122070.31 Hz 21 2048 32 122070.31 fsf [ Hz ] a value 16 MHz 1000 1000 1 1 6 26 (16Mhz ) 2 1000 11 29 2 1907.34 Hz 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 RPM fsf 1907.34 26.49 fullsteps per rotation 72 fsf 60 1907.34 60 1589.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-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.
PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 25 11 Revision History 11.1 Document Revision Version Date Author Description GE - Göran Eggers SD - Sonja Dwersteg 0.90 0.91 2011-DEC-19 2011-DEC-23 GE GE 1.00 2012-JUN-22 SD 1.01 1.02 2012-JUL-23 2012-JUL-27 SD SD 1.03 2013-MAR-05 SD 1.
