TRINAMIC IDX 4803, IDX 7505 Technical data

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IDX (IDX 4803 and IDX 7505)

Manual

STEPPER motor controller/driver modules

IDX / IDX 4803: 3.5A RMS (5A peak) / 48V IDX 7505: 5.0A RMS (7A peak) / 75V with RS485 and step-/ direction interface

Trinamic Motion Control GmbH & Co. KG

D – 20357 Hamburg, Germany

Phone +49-40-51 48 06 – 0 FAX: +49-40-51 48 06 – 60

http://www.trinamic.com

INFO@TRINAMIC.COM

Sternstraße 67

IDX Manual (V1.08 / August 30th, 2006) 2

Table of Contents

Features ........................................................................................................................................... 4

2 Life support policy ............................................................................................................................ 5

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

3.1 Pinning ...................................................................................................................................... 6

3.2 Dimensions ............................................................................................................................... 7

3.3 Connectors................................................................................................................................ 7

4 Operational Ratings ......................................................................................................................... 8

4.1 Practical maximum motor current ratings ................................................................................. 9

4.2 Step, Direction and Disable Inputs.......................................................................................... 10

5 Getting Started ............................................................................................................................... 11

5.1 Motor ....................................................................................................................................... 11

5.1.1 Motor Choice...................................................................................................................... 11

5.1.1.1 Motor velocity.............................................................................................................. 11

5.1.1.2 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM) ............................................... 11

5.1.1.3 Chopper Mode 2 (PHASE) ......................................................................................... 12

5.2 Connecting Motor and Power Supply ..................................................................................... 14

5.3 Power Supply Requirements .................................................................................................. 14

5.4 Connections for Step / Direction- Mode.................................................................................. 15

5.5 Connections for RS485 Interface............................................................................................ 16

5.5.1 Interface installation ........................................................................................................... 16

5.5.2 Control with terminal program............................................................................................ 16

6 Functional Description.................................................................................................................... 17

6.1 Disable Function ..................................................................................................................... 17

6.2 RS485 Control Interface .........................................................................................................17

6.2.1 RS485 Commands............................................................................................................. 18

6.2.1.1 Examples for test move .............................................................................................. 19

6.2.1.2 Motor Current (C)........................................................................................................ 19

6.2.1.3 Failure Readout (E)..................................................................................................... 19

6.2.1.4 StallGuard (G)............................................................................................................. 20

6.2.1.5 Limit Switch (L) ........................................................................................................... 20

6.2.1.6 Output setting (O) ....................................................................................................... 20

6.2.1.7 I/Os Readout (Q)......................................................................................................... 21

6.2.1.8 Baud Rate (U) ............................................................................................................. 21

6.2.1.9 Velocity Mode (V)........................................................................................................ 21

6.2.1.10 Store Parameters to EEPROM (W) ............................................................................ 22

6.2.1.11 Microstep Resolution (Z)............................................................................................. 22

6.2.2 Chopper Modes ................................................................................................................. 22

6.2.2.1 Chopper Mode 0 (SPI) / Default Mode ....................................................................... 22

6.2.2.2 Chopper Mode 1 (PWM)............................................................................................. 23

6.2.2.3 Chopper Mode 2 (PHASE) ......................................................................................... 23

6.2.2.4 Chopper mode 3 (Phase and SPI).............................................................................. 24

6.2.2.5 Chopper mode 4 (PWM and SPI) ............................................................................... 24

6.3 Step / Direction........................................................................................................................ 25

6.3.1 Direction ............................................................................................................................. 25

6.3.2 Step.................................................................................................................................... 26

6.4 Reset to factory default ........................................................................................................... 26

6.5 Firmware Update..................................................................................................................... 27

6.6 Option: Pseudo DC-Motor mode (not supported by software yet).......................................... 28

6.6.1 Setting up the module ........................................................................................................ 28

6.6.2 Parameterizing with RS485 ............................................................................................... 28

6.6.3 Motion Control.................................................................................................................... 28

7 Revision History ............................................................................................................................. 29

7.1 Documentation Revision ......................................................................................................... 29

7.2 Firmware Revision .................................................................................................................. 29

IDX Manual (V1.08 / August 30th, 2006) 3

List of Figures

Figure 3.1: Pinning of IDX ....................................................................................................................... 6

Figure 3.2: Dimensions............................................................................................................................ 7

Figure 3.3: Base Plate Dimensions ......................................................................................................... 7

Figure 4.1: Step, Direction and Disable Inputs...................................................................................... 10

Figure 5.1: Maximum voltage regarding motor current and inductivity ................................................. 13

Figure 5.2: Connecting Motor and Power Supply ................................................................................. 14

Figure 5.3: Contacts for Step-Direction ................................................................................................. 15

Figure 5.4: Contacts for RS485 with an adapter ................................................................................... 16

Figure 5.5 : Connection settings for RS485 .......................................................................................... 16

Figure 6.1: GPO wiring scheme ............................................................................................................ 20

Figure 6.2: Step-Direction signals and motor reactions ........................................................................ 25

Figure 6.3: Step and Direction Signal.................................................................................................... 26

Figure 6.4: Reset to factory default ....................................................................................................... 26

Figure 6.5: Firmware update tool .......................................................................................................... 27

Figure 6.6: GPI wiring scheme .............................................................................................................. 28

Figure 6.7: Layout Changes for DC-Motor option ................................................................................. 28

List of Tables

Table 1.1: Order codes............................................................................................................................ 4

Table 3.1: Power and Motor Pinning ....................................................................................................... 6

Table 3.2: Controls Pinning ..................................................................................................................... 6

Table 4.1: Operational Ratings (Orange: Different values for IDX 7505)................................................ 8

Table 4.2.1: Practical motor current limitations for IDX 7505.................................................................. 9

Table 5.1: Maximum voltage regarding motor current and inductivity .................................................. 12

Table 6.1: RS485 Commands ............................................................................................................... 18

Table 6.2: Motor Current Examples for IDX / IDX 4803 ........................................................................ 19

Table 6.3: Failure readout in SPI mode................................................................................................. 19

Table 6.4: StallGuard............................................................................................................................. 20

Table 6.5: Limit switch ........................................................................................................................... 20

Table 6.6: Output adjustment ................................................................................................................ 20

Table 6.7: I/Os Readout ........................................................................................................................ 21

Table 6.8: Baud rate .............................................................................................................................. 21

Table 6.9: Adjustment of Microstep Resolution..................................................................................... 22

Table 6.10: Chopper mode 3 switching velocities.................................................................................24

Table 6.11: External signals and motor reactions ................................................................................. 25

Table 7.1: Documentation Revisions..................................................................................................... 29

Table 7.2: Firmware Revisions.............................................................................................................. 29

IDX Manual (V1.08 / August 30th, 2006) 4

1 Features

The TRINAMIC IDX is a small and rugged step / direction stepper motor driver system with a supply voltage of up to 50V and up to 3.5A RMS motor coil current (up to 75V and up to 5A RMS for IDX 7505). It can be controlled via an RS-485 interface. Up to 256 micro steps are supported for either high accuracy or high speed. An update of the firmware is possible via the serial interface. The system features sensorless stall detection (StallGuard comes with a stand-alone reference search feature.

The motor, switches and power supply can be connected easily with screw terminal connectors. The housing is based on a thick aluminum plate which is used as a heatsink.

Applications

• Step-/ Direction stepper driver for industrial applications

• Robotics

• Remote diagnostics / feedback allows for high-reliability drives

• Centralized motor driver mounted in switchboard

• Decentralized motor driver mounted near motor

Motor type

• Coil current from 500mA to 3.5A RMS (5A peak) (IDX / IDX 4803) Coil current from 500mA to 5.0A RMS (7A peak) (IDX 7505)

• 12V to 50V nominal supply voltage (or any value in between) (IDX / IDX 4803) 12V to 75V nominal supply voltage (or any value in between) (IDX 7505)

Highlights

• Remote controlled diagnostics and parameterization (RS485)

• Reference move and turn CW / CCW via RS485

• Stand-alone operation, adjusted via RS485

• Fully protected drive

• Digital selection of motor current and standby current

• Local reference move using sensorless StallGuard feature or reference switch

• All setup parameters are stored in internal EEPROM, no bus system required in end application

• Micro step resolution can be changed to get high accuracy or high speed with the possibility to

combine both

• Different chopper modes allow best adaptation to application / motor

• Many adjustment possibilities make this module the solution for a great field of demands

Order code Description

IDX or IDX 4805 48V, 3.5A IDX module IDX 7505 75V, 5A IDX module

) and full protection. The module is fully protected and

(available anticipated Sept. 2006)

Table 1.1: Order codes

IDX Manual (V1.08 / August 30th, 2006) 5

2 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.

Information given in this data sheet is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result form its use.

Specifications subject to change without notice.

IDX Manual (V1.08 / August 30th, 2006) 6

3 Electrical and Mechanical Interfacing

3.1 Pinning

RS485B RS485A RS485B

Controls

RS485A

GPO

GPI GND RefB RefA

+5V

Step

Dir

Disable

Common

IDX

Figure 3.1: Pinning of IDX

OB2 OB1 OA2

OA1 GND

+VS

Power

Motor

Pin Number Function

OB1, OB2 1, 2 Connections for motor coil B OA1, OA2 3, 4 Connections for motor coil A GND 5 GND, power +VS 6 Positive power supply voltage

Table 3.1: Power and Motor Pinning

Pin Number Function

RS485 - 1, 3 RS485 remote control access -, TTL input RS485 + 2, 4 RS485 remote control access +, TTL input GPO 5 General Purpose Output, for wiring scheme see Figure 6.1 GPI 6 General Purpose Input, for wiring scheme see Figure 6.6 GND 7 GND reference REF B 8 Reference signal B (integrated 3.9 K pull up resistor to +5V) REF A 9 Reference signal A (integrated 3.9 K pull up resistor to +5V) +5V 10 Constant +5V output, reference Step 11 Opto-decoupled input (negative terminal):

Each impulse causes one motor microstep

Direction 12 Opto-decoupled input (negative terminal):

Polarity determines motor direction

Disable 13 Opto-decoupled input (negative terminal):

Tie to opto-coupler negative supply voltage to disable motor driver

Common 14 5…24V, Opto-coupler positive supply voltage

Table 3.2: Controls Pinning

IDX Manual (V1.08 / August 30th, 2006) 7

3.2 Dimensions

63.5mm

3mm

19mm

29.5mm

34mm

63.5mm

Figure 3.2: Dimensions

63.0mm

3mm

12mm

4mm

7mm

6.5mm

4.5mm

63.5mm

Figure 3.3: Base Plate Dimensions

29.5mm

3.3 Connectors

Both connectors are RIA connectors. Power and motor: 6 pin connector RM 5.0 (07_06_RM5) Control: Two 4 pin and one 6 pin connectors RM 3.5, (2x 166_04_RM3.5, 1x 166_06_RM35)

IDX Manual (V1.08 / August 30th, 2006) 8

4 Operational Ratings

The operational ratings show the intended / the characteristic range for the values and should be used as design values. In no case shall the maximum values be exceeded.

Symbol Parameter Min Typ Max Unit

VS Power supply voltage (IDX 4803) 12 ... 48 58.5 V

VS Power supply voltage (IDX 7505) 12 ... 75 78.5 V

Motor coil current for sine wave peak

COIL

(chopper regulated, adjustable via software) (IDX 4803)

Motor peak coil current (IDX 7505) 0.7 … 6.4 7.1 A

COIL

IMC Nominal RMS motor current (IDX 4803) 0.5 ... 3 3.5 A

IMC Nominal motor current (IDX 7505) 0.5 ... 4.5 5 A

Motor chopper frequency (actual

CHOP

frequency depends on operation mode)

0.7 … 4.3 5 A

20 or 36 kHz

Coil output slope 300 Ns

SLP

IS Power supply current << I

Isolation voltage of optocoupler ± 42 ±100 V

ISO

Supply voltage for step, direction and

COM

5 ... 24 27 V

1.4 * I

COIL

disable; (inputs have negative logic)

Signal active voltage at disable, step and

OPTON

3.5 4.5 .. 24 27 V

direction input (optocoupler on,

OPTOFF

measured from U

Signal inactive voltage at disable, step

to input)

COM

-3 0 2 V and direction input (optocoupler off, measured from U

Optocoupler current (internally

OPT

to input))

COM

4 8 mA

regulated)

Step frequency via step input 350 kHz

Step

delay

Direction hold time after step impulse

0.7 µs

active (falling) edge

setup

REF

Input voltage on GPI -2 0 ... 5 30 V

GPI

GPO

Output current on GPO (open collector) -150 mA

GPO

ENV

TC Temperature of case back (cooling

setup time before step impulse 2.0 µs

Input low voltage on REFA / REFB -2 0 0.8 V

Input high voltage on REFA / REFB 2.4 5 30 V

Output voltage on GPO (open collector) -1 100 V

Environment temperature -25 70 °C

-25 85 °C

plate), operating

Table 4.1: Operational Ratings (Orange: Different values for IDX 7505)

IDX Manual (V1.08 / August 30th, 2006) 9

4.1 Practical maximum motor current ratings

The IDX 7505 (IDX 4803) uses eight high power 80V (60V) transistors with low internal on resistance of only 15mOhm (24mOhm) to drive the motor. Due to this, power loss is just a few watts at maximum current. In order to avoid EMV problems and to keep electromagnetic emission low, the transistors are switched smoothly on and off with 300ns transitions. On the other hand, this produces dynamic losses and thus additional power dissipation. The resulting power dissipation has to be cooled away by air convection and via the metal base plate, in order to keep transistor and board temperature well below 125°C (Integrated thermal limit). This especially becomes a limiting point for the IDX7505, because of its high voltage capability. The following table gives some examples for the current capability in a typical mounting situation, where the module is mounted to a metal base plate (heat sink with fins, overall dimensions 100*50*15mm³). In this situation the base plate was always kept at maximum 60°C. However, the actual motor type and velocity setting also influences power dissipation of the module.

Chopper

mode

0, 1 75V 3.5A 50% 0, 1 70V 4A 60% 0, 1 60V 4.5A 80% 0, 1 ≤50V 5A 100%

2 15V … 75V 4A *) n/a

Supply voltage

for continuous operation

Maximum

RMS

COIL

Maximum

duty cycle for

full current

Table 4.2.1: Practical motor current limitations for IDX 7505

*) This limit is due to the higher current ripple in chopper mode 2, which allows a maximum of 75% to 90% of the maximum current setting. It is not a thermal limit.

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TRINAMIC IDX 4803, IDX 7505 Technical data

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