Trinamic PANdrive PD42-1-1370, PANdrive PD42-2-1370, PANdrive PD42-3-1370, PANdrive PD42-4-1370 Hardware Manual

PANdrive™ for Stepper

PANDRIVE™

PD42-x-1370 Hardware Manual

Hardware Version V1.10 | Document Revision V1.10 • 2018-AUG-18

The PANdrive™PD42-1-1370, PD42-2-1370, PD42-3-1370 amd PD42-4-1370 are small and compact full
mechatronic solutions including NEMA17 / 42mm flange size stepper motors. The PANdrives™ are
controlled via RS485 bus interface using TMCL protocol. They feature an integrated magnetic en­coder for position feedback, spreadCycle™ chopper for high speed stepper motor commutation, a
fully integrated hardware motion controller with s-shaped motion ramps, as well as stallGuard2™
and coolStep™.

Features

•

Stepper Motor NEMA17 with con­troller / driver

• 0.22 - 0.7Nm holding torque

•

Supply Voltage +9. .. 28V DC supply
voltage

• Up to 2A RMS motor current

• RS485 bus interface

•

integrated s-shaped ramp motion
controller in hardware

• magnetic encoder IC

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™

automatic current scal-

ing

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simplified Block Diagram

9

…28V DC

Microcontroller

EEPROM

4

IN_0..IN

_

3

Step

Motor

RS

485

MOSFET

Stage

Energy Efficient

262

42x1370

DC

/

_

0

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Contents

1 Features 3

2 Order Codes 4

3 Mechanical and Electrical Interfacing 5

3.1 Dimensions of PD42-x-1370 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3.2 Stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

3.3 Integrated Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4 Connectors 9

4.1 Power Supply, RS485 and I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.2 Motor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

5 On-Board LEDs 12

6 I/Os 13

6.1 Digital inputs HOME, STOP_L, STOP_R and /ENABLE . . . . . . . . . . . . . . . . . . . . . . . . . 13

6.2 Digital output (open-drain) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

7 Communication 14

7.1 RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

8 Motor driver current 16

9 Torque curves 18

9.1 PD42-1-1370 Torque Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

9.2 PD42-2-1370 Torque Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

9.3 PD42-3-1370 Torque Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

9.4 PD42-4-1370 Torque Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

10 Functional Description 20

11 Operational Ratings and Characteristics 21

12 Abbreviations used in this Manual 22

13 Figures Index 23

14 Tables Index 24

15 Supplemental Directives 25

15.1 Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

15.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

15.3 Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

15.4 Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

15.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

15.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

15.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

16 Revision History 27

16.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

16.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

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1 Features

The PANdrive™PD42-1-1370, PD42-2-1370, PD42-3-1370 amd PD42-4-1370 are small and compact full
mechatronic solutions including NEMA17 / 42mm flange size stepper motors, the TMCM-1370 controller /
driver electronics and magnetic encoder for position feedback and optional closed-loop operation. The
four PANdrives include stepper motor with different lengths and different holding torques (PD42-1-1370:

0.22Nm, PD42-2-1370: 0.36Nm, PD42-3-1370: 0.44Nm and PD42-4-1370: 0.7Nm) but, same electronics and
encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os together
with the build-in TMCL scripting feature and remote operation using one of the available communication
interfaces and even a mixture of both.

Motion Controller

• Fully integrated hardware motion controller with s-shaped motion ramp support

• Motion profile calculation in real-time

• On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

• Automatic position regulation in hardware (optional, with integrated encoder)

Driver

• Motor current: up to 2A RMS (2.8A peak, programmable in software)

• Supply voltage: +24V DC (+9. . . +28V DC)

• 256 microsteps per fullstep

• spreadCycle™ highly dynamic current control chopper

Encoder

• integrated magnetic / hall sensor based absolut position encoder

Interfaces

• RS485 interface (up-to 1Mbit/s)

• HOME, Left and Right STOP switch inputs

• Driver enable input

• Digital output (open-drain)

Software

•

TMCL™remote (direct mode) and standalone operation (memory for up to 1024 TMCL™commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see PD42-x­1370 TMCL firmware manual for more details

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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2 Order Codes

The combination of motor and motor mounted controller/driver electronic is currently available with four
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 24mm

Order Code Description Size (LxWxH)

PD42-1-1370

PANdrive™with NEMA17 stepper motor, 0.22Nm
max., 2A RMS, +24V, S-ramps, magnetic encoder,
RS485, TMCL firmware

42mm x 42mm x 47mm

PD42-2-1370

PANdrive™with NEMA17 stepper motor, 0.36Nm
max., 2A RMS, +24V, S-ramps, magnetic encoder,
RS485, TMCL firmware

42mm x 42mm x 51mm

PD42-3-1370

PANdrive™with NEMA17 stepper motor, 0.44Nm
max., 2A RMS, +24V, S-ramps, magnetic encoder,
RS485, TMCL firmware

42mm x 42mm x 60mm

PD42-4-1370

PANdrive™with NEMA17 stepper motor, 0.7Nm
max., 2A RMS, +24V, S-ramps, magnetic encoder,
RS485, TMCL firmware

42mm x 42mm x 73mm

Table 1: Order Code

A cable loom set is available for this module:

Order Code Description

PD42-1370-CABLE Cable loom for PD42-1370:

•

1x cable loom for power supply, RS485 and I/O connector (cable length
200mm, 10pin JST PH connector at one end, open wires at the other
end)

Table 2: PD42-x-1370 Cable Loom

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3 Mechanical and Electrical Interfacing

All PD42-x-1370 consist of one out of four available NEMA17 / 42mm stepper motors with 2A RMS rated
coil current with the same controller / driver electronics mounted on its backside and integrated magnetic
encoder. The PD42-1-1370 uses the QSH4218-34-20-022 stepper motor with 0.22Nm holding torque, the
PD42-2-1370 uses the QSH4218-38-20-036 stepper motor with 0.36Nm holding torque, the PD42-3-1370
uses the QSH4218-47-20-044 stepper motor with 0.44Nm holding torque and the PD42-4-1370 uses the
QSH4218-60-20-070 stepper motor with 0.7Nm holding torque.

NOTICE

Note:

In order to make proper use of the integrated magnetic encoder (the
sensor IC is placed on the bottom of the pcb) the controller /driver electronics
should not be removed/moved relative to the motor. In case the integrated
encoder feature is not used, the electronics may be moved or even removed from
the motor and placed somewhere else according to application requirements.

3.1 Dimensions of PD42-x-1370

Length

Figure 1: PD42-x-1370 with different NEMA17 / 42mm stepper motors (all dimensions in mm)

PANdrive Overall length of unit

PD42-1-1370 46.5 ±1 mm

PD42-2-1370 51 ±1 mm

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PANdrive Overall length of unit

PD42-3-1370 60 ±1 mm

PD42-3-1370 73 ±1 mm

Table 3: Overall length of PANdrive units (body without motor axis)

3.2 Stepper motor

Main characteristics of the four different motors available as part of the PD42-x-1370 PANdrive™:

Specifications Unit PD42-1-1370 PD42-2-1370 PD42-3-1370 PD42-4-1370

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 2.0 2.4 2.4 4.4

Rated phase current A 2.0 2.0 2.0 2.0

Phase resistance at 20°C 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 cm

2

35 57 68 102

Weight kg 0.22 0.24 0.35 0.5

Table 4: NEMA17 / 42mm stepper motor technical data

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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3.3 Integrated Encoder

The PD42-x-1370 line of PANdrives™offers an integrated encoder based on hall sensor technology with
a resolution of 12bit per rotation. When comparing with our sensOstep™solutions which are also hall
sensor based this encoder offers superior performance with comparatively high update rates and low
latency.

In combination with our latest generation of hardware motion controller ICs this architecture offers cost
optimized closed-loop support. In order to enable closed-loop operation the following sequence of TMCL
commands may be used:

1

SAP 6, 0, 255 // set run c urrent to 2 A ( RMS)

3

// closed loop field w e akening settings

SAP 108, 0, 300000 // gamma Vmin

5

SAP 109, 0, 600000 // gamma Vmax

7

SAP 115, 0, 2000 // set closed loop correction veloc ity P
SAP 116, 0, 20 //set closed loop correction veloc ity I

9

SAP 117, 0, 2000 // set closed loop correction veloc ity I cli pping

11

SAP 118, 0, 0 // set closed loop correction veloc ity DV clock
SAP 119, 0, 200000 //set closed loop correctio n veloc ity DV clipping

13

SAP 129, 0, 1 // Turn on closed loop

15

Wait Init :

17

GAP 133, 0 // Wait until closed loop init finishe d
JC ZE, WaitInit

19

// accelerat ion , velocit y sett ings (e xample)

21

SAP 4, 0, 600000
SAP 5, 0, 800000 // set acceleration

23

SAP 17, 0, 800000 // set deceleration
Stop

Please note that this code snippet should be regarded as starting point for application specific optimiza­tions of regulation parameters.

Field weakening is mandatory for higher speed operation in closed loop mode. As torque curve decreases
earlier when ramping up speed for the longer motors with higher holding torque field weakening may
be applied earlier, already. Therefore, for the PANdrive™with the longest motor (PD42-4-1370) the field
weakening parameters should be adjusted accordingly:

SAP 6, 0, 255 // set run c urrent to 2 A ( RMS)

2

// closed loop field w e akening settings

4

SAP 108, 0, 110000 // gamma Vmin
SAP 109, 0, 400000 // gamma Vmax

6

SAP 115, 0, 2000 // set closed loop correction veloc ity P

8

SAP 116, 0, 20 //set closed loop correction veloc ity I

10

SAP 117, 0, 2000 // set closed loop correction veloc ity I cli pping
SAP 118, 0, 0 // set closed loop correction veloc ity DV clock

12

SAP 119, 0, 200000 //set closed loop correctio n veloc ity DV clipping

14

SAP 129, 0, 1 // Turn on closed loop

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16

Wait Init :

GAP 133, 0 // Wait until closed loop init finishe d

18

JC ZE, WaitInit

20

// accelerat ion , velocit y sett ings (e xample)

SAP 4, 0, 600000

22

SAP 5, 0, 800000 // set acceleration
SAP 17, 0, 800000 // set deceleration

24

Stop

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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4 Connectors

The PD42-x-1370 offers two connectors - one 10 pin connector for power supply, communication (RS485)
and IOs and one 4 pin connector for connecting the stepper motor.

NOTICE

Start with power supply OFF and do not connect or disconnect motor dur­ing operation!

Motor cable and motor inductivity might lead to voltage spikes
when the motor is (dis)connected while energized. These voltage spikes might
exceed voltage limits of the driver MOSFETs and might permanently damage
them. Therefore, always switch off / disconnect power supply or at least disable
driver stage before connecting / disconnecting motor.

1

10

1

4

Motor

Power, RS485 and I/O

Figure 2: PD42-x-1370 connectors

Connector Types and Mating Connectors

Connector Connector type on-board Mating connector type

Power, RS485 and I/O JST B10B-PH-K-S

(JST PH series, 10pins, 2mm pitch)

Connector housing: JST PHR-10
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24

Motor 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

Table 5: Connector Types and Mating Connectors of the PD42-x-1370

©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany

Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com