MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Hardware Version V1.2
HARDWARE MANUAL
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PD-1140
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UNIQUE FEATURES:
Stepper Motor with
Controller / Driver
0.22 - 0.70 Nm / 24 V DC
sensOstep™ Encoder
USB, RS485, and CAN
PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 2
www.trinamic.com
Table of Contents
2 Features ........................................................................................................................................................................... 3
3 Order Codes ................................................................................................................................................................... 5
4 Mechanical and Electrical Interfacing ..................................................................................................................... 6
4.1 Dimensions ........................................................................................................................................................... 6
4.2 Stepper Motor Specifications ........................................................................................................................... 7
4.3 Connectors of PD-1140 ....................................................................................................................................... 8
4.3.1 Power and Communication Connector ................................................................................................... 9
4.3.1.1 Power Supply ................................................................................................................................................ 9
4.3.1.2 RS485 ............................................................................................................................................................. 10
4.3.1.3 CAN ................................................................................................................................................................. 11
4.3.2 Multipurpose I/O Connector ..................................................................................................................... 12
4.3.2.1 Digital Inputs IN_1, IN_2, IN_3 .............................................................................................................. 13
4.3.2.2 Analog Input IN_0 ..................................................................................................................................... 14
4.3.2.3 Outputs OUT_0, OUT_1 .............................................................................................................................. 14
4.3.3 Motor Connector .......................................................................................................................................... 15
4.3.4 Mini-USB Connector .................................................................................................................................... 16
5 Reset to Factory Defaults ......................................................................................................................................... 17
6 On-Board LEDs............................................................................................................................................................. 18
7 Operational Ratings ................................................................................................................................................... 19
8 Torque Curves ............................................................................................................................................................. 20
8.1.1 PD42-1-1140 Torque Curve ........................................................................................................................ 20
8.1.2 PD42-2-1140 Torque Curve ........................................................................................................................ 20
8.1.3 PD42-3-1140 Torque Curve ........................................................................................................................ 21
8.1.4 PD42-4-1140 Torque Curve ........................................................................................................................ 21
9 Functional Description .............................................................................................................................................. 22
10 PD-1140 Operational Description ........................................................................................................................... 23
10.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23
11 Life Support Policy ..................................................................................................................................................... 25
12 Revision History .......................................................................................................................................................... 26
12.1 Document Revision ........................................................................................................................................... 26
12.2 Hardware Revision ............................................................................................................................................ 26
13 References .................................................................................................................................................................... 26
PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 3
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2 Features
The PANdrive™ PD-1140 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling. The PD-1140 includes a stepper motor, controller/driver
electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and
has been designed for 0.20… 0.70 Nm max. holding torque and 24V DC nominal supply voltage. With its
high energy efficiency from TRINAMICs coolStep technology cost for power consumption is kept down.
The TMCL™ 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 (1024 increments per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
- RS485 2-wire communication interface
- CAN 2.0B communication interface
- USB full speed (12Mbit/s) device interface
- 4 multipurpose inputs:
- 3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input)
- 1x dedicated analog input
- 2 general purpose outputs
- 1x open-drain 1A max.
- 1x +5V supply output (can be switched on/off in software)
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: +24 V DC nominal (9… 28 V DC)
- Motor current: up to 2 A RMS / 2.8 A peak (programmable)
- 0.22… 0.70 Nm max. holding torque (depends on motor)
Refer to separate TMCL Firmware Manual, too.
PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 4
www.trinamic.com
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. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 2.1 stallGuard2 load measurement SG as a function of load
coolStep™ 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
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 2.2 Energy efficiency example with coolStep
PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 5
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3 Order Codes
The PD-1140 is currently available with four 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
Description
Size (mm3)
PD42-1-1140-option
PANdrive 0.22Nm max. holding torque
42 x 42 x 46.5
PD42-2-1140-option
PANdrive 0.36Nm max. holding torque
42 x 42 x 51
PD42-3-1140-option
PANdrive 0.44Nm max. holding torque
42 x 42 x 60
PD42-4-1140-option
PANdrive 0.70Nm max. holding torque
42 x 42 x 73
Table 3.1 PD-1140 order codes
The following options are available:
Firmware option
Description
Order code example:
-TMCL
Module pre-programmed with TMCL firmware
PD42-1-1140-TMCL
Table 3.2 PD-1140 firmware options
A cable loom set is available for this module:
Order code
Description
PD-1140-CABLE
Cable loom for PD-1140:
- 1x cable for power and communication connector (length 200mm)
- 1x cable for multipurpose In/Out connector (length 200mm)
- 1x USB type A connector to mini-USB type B connector cable (length 1.5m)
Table 3.2 Cable loom order codes
PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 6
www.trinamic.com
4 Mechanical and Electrical Interfacing
4.1 Dimensions
The PD-1140 includes the TMCM-1140 stepper motor controller/driver module, the magnetic encoder based
on sensOstep technology and a NEMA17 bipolar stepper motor. Currently, there is a choice between four
NEMA 17/42mm bipolar stepper motors with different lengths and different holding torques.
Length
42±1
2
22-0.05
24±1
20
5
4.5
13 max
37
22
42±1
42±1
5
42±1
34
2xM3
42±1
37
34
3
FRONT VIEW REAR VIEW
Figure 4.1 PD-1140 dimensions
Model
Length of motor
PD42-1-1140
33.5±1 mm
PD42-2-1140
38±1 mm
PD42-3-1140
47±1 mm
PD42-4-1140
60±1 mm
PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 7
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4.2 Stepper Motor Specifications
MAIN CHARACTERISTICS OF FOUR DIFFERENT MOTORS AVAILABLE AS PART OF THE PD-1140
Specifications
Parameter
Units
QSH4218
-34-20-022
-38-20-036
-47-20-044
-60-20-070
Step angle
˚ 1.8
1.8
1.8
1.8
Step angle accuracy
% +/-5
+/-5
+/-5
+/-5
Ambient temperature
°C
-20 … +50
-20 … +50
-20 … +50
-20 … +50
Max. motor temperature
°C
80
80
80
80
Shaft radial play (450g load)
mm
0.02
0.02
0.02
0.02
Shaft axial play (450g load)
mm
0.08
0.08
0.08
0.08
Max radial force
(20mm from front flange)
N
28
28
28
28
Max axial force
N 10
10
10
10
Rated voltage
V
RATED
V 2.0
2.4
2.4
4.4
Rated phase current
I
RMS RATED
A 2.0
2.0
2.0
2.0
Phase resistance at 20°C
R
COIL
Ω 1.0
1.2
1.4
2.3
Phase inductance (typ.)
mH
1.6
2.2
2.1
6.0
Holding torque
Nm
0.22
0.36
0.44
0.70
Insulation class
B B B
B
Rotor inertia
g cm2
35
57
68
102
Weight
kg
0.22
0.24
0.35
0.5
Table 4.1: NEMA 17 / 42mm stepper motor technical data
PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26) 8
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4.3 Connectors of PD-1140
The controller/driver board of the PD-1140 offers four connectors including the motor connector which is
used for attaching the motor coils to the electronics. The power and communication connector is used
for power supply, CAN interface, and RS485 interface. The 8pin multipurpose I/O connector offers four
multipurpose inputs and two general purpose outputs. Further, there is a connector for the USB interface.
USB
Motor
14
Multi-purpose
I/O
1
8
Power and
Communication
1
6
Figure 4.2 Overview connectors
Label
Connector type
Mating connector type
Power and
Communication
Connector
JST B6B-PH-K-S
(JST PH series, 6pins, 2mm pitch)
Connector housing: JST PHR-6
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Multipurpose
I/O Connector
JST B8B-PH-K-S
(JST PH series, 8pins, 2mm pitch)
Connector housing: JST PHR-8
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Motor
Connector
JST B4B-PH-K-S
(JST PH series, 4pins, 2mm pitch)
Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Mini-USB
Connector
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
Figure 4.3 Connectors and mating connectors, contacts and applicable wire
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