PDx-109-57 V2
Hardware Manual
Version: 1.13
2010-SEP-25
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20 357 Hamburg, Germany
http://www.trinamic.com
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 2
Contents
1 Life support policy ....................................................................................................................................................... 4
2 Features........................................................................................................................................................................... 5
3 Order codes .................................................................................................................................................................... 7
4 Electrical and mechanical interfacing ..................................................................................................................... 8
4.1 Dimensions ........................................................................................................................................................... 8
4.1.1 Dimensions of PCB .................................................................................................................................. 8
4.1.2 Dimensions of PDx-109-57 V2 ............................................................................................................... 9
4.2 Connectors .......................................................................................................................................................... 11
4.2.1 Connector 1: Power supply, RS485, and GPI1/2 ............................................................................ 12
4.2.2 Connector 2: RS232 and additional I/O ........................................................................................... 12
4.2.3 Connectors 3 and 4: Motor .................................................................................................................. 13
5 Operational ratings .................................................................................................................................................... 14
5.1 GPI1, GPI2, and disable inputs ..................................................................................................................... 15
6 Functional description .............................................................................................................................................. 16
6.1 System architecture .......................................................................................................................................... 16
6.1.1 Microcontroller (µC) ............................................................................................................................... 16
6.1.2 TMCL™ EEPROM....................................................................................................................................... 16
6.1.3 TMC428 motion controller ................................................................................................................... 16
6.1.4 TMC249 motor driver ............................................................................................................................. 17
6.2 Power supply requirements........................................................................................................................... 17
6.3 Disable ................................................................................................................................................................. 17
6.4 Communication interfaces RS232 and RS485 ........................................................................................... 18
6.5 Motor current setting ....................................................................................................................................... 18
6.6 Microstep resolution ........................................................................................................................................ 19
6.7 Reference switches ........................................................................................................................................... 19
6.8 stallGuard™ - sensorless motor stall detection ...................................................................................... 19
6.9 Environment temperature considerations ................................................................................................. 19
6.10 State indication LEDs ....................................................................................................................................... 20
6.11 Firmware update ............................................................................................................................................... 20
6.12 Resetting the module ...................................................................................................................................... 21
7 Putting the PDx-109-57 into operation ................................................................................................................ 22
8 TMCM-109 operational description ........................................................................................................................ 23
8.1 Calculation: Velocity and acceleration vs. microstep- and fullstep frequency ................................ 23
9 Software ........................................................................................................................................................................ 25
10 Revision history .......................................................................................................................................................... 26
10.1 Document revision ........................................................................................................................................... 26
10.2 Firmware revision ............................................................................................................................................. 26
11 References .................................................................................................................................................................... 27
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 3
List of Figures
Figure 4.1: Dimensions of base PCB ............................................................................................................................... 8
Figure 4.2: Side view of PD-109-57-RS V2 ...................................................................................................................... 9
Figure 4.3: Front view of PD-109-57-RS V2 .................................................................................................................. 10
Figure 4.4: Rear view of PD-109-57-RS V2 .................................................................................................................... 10
Figure 4.5: The TMCM-109 module and its connectors ............................................................................................ 11
Figure 5.1: GPI1, GPI2, and disable inputs .................................................................................................................. 15
Figure 5.2: Example for GPI1, GPI2, and disable inputs .......................................................................................... 15
Figure 6.1: Main parts of the PDx-109-57-RS V2 ......................................................................................................... 16
Figure 6.2: Pins for resetting the module ................................................................................................................... 21
List of Tables
Table 2.1: Specifications of the PANdrive motors ....................................................................................................... 5
Table 3.1: Order codes ......................................................................................................................................................... 7
Table 4.1: Connector 1 ....................................................................................................................................................... 12
Table 4.2: Connector 2 ....................................................................................................................................................... 12
Table 5.1: Operational ratings ......................................................................................................................................... 14
Table 6.1: Motor current examples ................................................................................................................................ 18
Table 6.2: Microstep resolution setting ........................................................................................................................ 19
Table 6.3: Optimum motor settings ................................................................ Fehler! Textmarke nicht definiert.
Table 6.4: State indication LEDs...................................................................................................................................... 20
Table 8.1: TMC428 velocity parameters ......................................................................................................................... 23
Table 10.1: Document revision ........................................................................................................................................ 26
Table 10.2: Firmware revision ......................................................................................................................................... 26
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 4
1 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.
© TRINAMIC Motion Control GmbH & Co. KG 2010
Information given in this data sheet is believed to be
accurate and reliable. However neither responsibility
is assumed for the consequences of its use nor for
any infringement of patents or other rights of third
parties, which may result from its use.
Specifications are subject to change without notice.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 5
Specifications
Parameter
Units
QSH5718
-41-28-055
-51-28-101
56-28-126
-76-28-189
Number of Leads
N˚ 4 4 4 4
Step Angle
˚ 1.8
1.8
1.8
1.8
Step Angle Accuracy
% 5 5 5
5
Rated Voltage
V
RATED
V 2
2.3
2.5
3.2
Rated Phase Current
I
RMS RATED
A 2.8
2.8
2.8
2.8
Phase Resistance at 20°C
R
COIL
Ω 0.7
0.83
0.9
1.13
Phase Inductance (typ.)
mH
1.4
2.2
2.5
3.6
Holding Torque
Nm
0.55
1.01
1.26
1.89
Detent Torque
Nm
0.020
0.035
0.039
0.066
Rotor Inertia
g cm2
120
275
300
480
Insulation Class
B B B
B
Max. applicable voltage
V 75
75
75
75
Max. radial force
(20mm from front flange)
N 75
75
75
75
Max. axial force
N 15
15
15
15
Weight
kg
0.45
0.65
0.7
1
Length
mm
41
51
56
76
Temp. Rise (rated current,
2 phase on)
˚C
+80 max
+80 max
+80 max
+80 max
Ambient Temperature
˚C
-20 +50
-20 +50
-20 +50
-20 +50
Table 2.1: Specifications of the PANdrive motors
2 Features
The PANdrive PDx-109-57 V2 features a full mechatronic solution including a 57mm flange
motor. It is based on the TMCM-109-57 electronics and offers RS232 and RS485 interfaces. The
power supply, the interface and the multipurpose I/Os can be connected via two pluggable
screw terminal connectors. With the stallGuard™ feature it is possible to detect motor overload
or motor stall.
The TMCM-109-57 comes with the PC based software development environment TMCL-IDE for
the Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level commands
like move to position or constant rotation a rapid and fast development of motion control
applications is guaranteed. Communication traffic is kept very low since all time critical
operations, e.g. ramp calculation are performed onboard. The TMCL™ program can be stored in
the on-board EEPROM for stand-alone operation. The firmware of the module can be updated
via the serial interface.
Applications
decentralized mechatronic drive with integrated intelligence
high-precision drives with high dynamics and torque
Electrical data
18V to 55V motor supply voltage for highest motor dynamics
up to 2.8A RMS nominal motor current
Motor data
all PANdrive Motors optimized for 2.8A RMS motor current
flange max. 56.5mm x 56.5mm
D-cut of 15mm length and 0.5mm depth
more specifications:
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 6
Interface
RS232, RS485 (please request for CAN version)
2 inputs for reference and stop switches
3 general purpose inputs and 1 general purpose output
Features
up to 16 times microstepping
memory for 2048 TMCL commands
automatic ramp generation in hardware
on the fly alteration of motion parameters (e.g. position, velocity, acceleration)
stallGuard™ for sensorless motor stall detection
optically isolated inputs for two general purpose inputs and the disable input
dynamic current control
Software
stand-alone operation using TMCL™ or remote controlled operation
PC-based application development software TMCL-IDE included
Other
Pluggable screw terminal connectors for all external signals
RoHS compliant latest from July 1
st
, 2006
Protection class IP20 according to DIN EN 60529 (IEC 529/VDE 047 T1)
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 7
Order code
Description
Dimensions
PD1-109-57-option
PANdrive 0.55Nm with motor QSH5718-41-28-055
74.6 x 57.2 x 86
PD2-109-57-option
PANdrive 1.01Nm with motor QSH5718-51-28-101
84.6.6 x 57.2 x 86
PD3-109-57-option
PANdrive 1.26Nm with motor QSH5718-56-28-126
89.6 x 57.2 x 86
PD4-109-57-option
PANdrive 1.89Nm with motor QSH5718-76-28-189
109.6 x 57.2 x 86
Option
Host interface
RS
RS232 and RS485
3 Order codes
Table 3.1: Order codes
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 8
86.0 mm
57.2 mm
50.0 mm
5.0 mm
30.0 mm28.0 mm 23.0 mm
3.6 mm
49.0 mm
4.1 mm
TMCM-109-57
Mouning
holes
4 Electrical and mechanical interfacing
4.1 Dimensions
4.1.1 Dimensions of PCB
Height: 22mm (additional: minimum 3mm distance to the motor; 4-5mm are recommended)
The PCB has four M3 mounting holes for the QMOT motor configuration.
Figure 4.1: Dimensions of base PCB
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 9
Length
56.4±138.1±0.03
1.6
5
6,35-0.012
302
46
86
67
20
24±1
20±0.5
R 0.5
Motor
Length (mm)
QSH5718-41-28-055
41
QSH5718-51-28-101
51
QSH5718-56-28-126
56
QSH5718-76-28-189
76
4.1.2 Dimensions of PDx-109-57 V2
Figure 4.2: Side view of PDx-109-57 V2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 10
56.4±1
56.4±1
6.35-0.013
47.14±0.2
57.2
86.0
21.0
8.6
38.1±0.025
4-ø4.6
47.14±0.2
86.0
57.2
67
32
32
Ø 2. 5
Figure 4.3: Front view of PDx-109-57 V2
Figure 4.4: Rear view of PDx-109-57 V2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 11
Terminal 1
Connector 1
Connector 2
Terminal 1
Connector 3
Connector 4
4.2 Connectors
The TMCM-109 consists of two PCBs: the CPU board and the base board. All the connectors can be
found on the base board. They are shown in Figure 4.5.
The connectors onboard of the module are a 10 and a 12 pin female connector from RIACON,
Type 183, RM 3.5mm. Fitting male connectors with screw terminals are RIACON Type 169, RM 3.5mm.
Please refer to www.riaconnect.com for more detailed information.
Attention: Never plug in the board in reverse direction!
Figure 4.5: The TMCM-109 module and its connectors
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 12
Terminal
Name
Function
1
GPO0
General purpose output 0 (same as connector 2, terminal 5)
(open collector, max. 250mA, max. 40V, 1K pull up to 5V integrated)
2
Shutdown
Shutdown input (positive optocoupler input, polarity set via SW, SGP 80)
3
GPI1
General purpose input 1 (positive optocoupler input)
4
GPI2
General purpose input 2 (positive optocoupler input)
5
OC_GND
Optocoupler ground
6
RS485-
RS485-
7
RS485+
RS485+
8
RS485-
RS485- (same as terminal 6)
9
RS485+
RS485+ (same as terminal 7)
10
GND
Ground
11
GND
Ground
12
+VM
+18..55V DC power supply
Terminal
Name
Function
1
GND
Ground
2
IF select
Interface selection:
Leave open to use RS232, connect to ground to use RS485.
3
TXD
RS232 TxD (output)
4
RXD
RS232 RxD (input)
5
GPO0
General purpose output 0 (same as connector 1, terminal 1)
(open collector, max. 250mA, max. 40V, 1K pull-up to 5V integrated)
6
GPI0
General purpose input 0 (max. 5V)
7
StopR
Right limit switch input (integrated 10K pull-up to 5V)
8
StopL
Left limit switch input (integrated 10K pull-up to 5V)
9
+5V
+5V output (max. 150mA)
Can be used to supply 5V fan or optical switches.
10
GND
Ground
4.2.1 Connector 1: Power supply, RS485, and GPI1/2
Use this connector to connect the module to the power supply. The connector also provides pins for
the RS485 and the general purpose input 1 and 2 signals. To use the RS485 interface, it has to be
enabled via the interface selection input (please see connector 2 pinning). The polarity of the
shutdown input can be configured using TMCL™. Please note that the shutdown input and general
purpose inputs 1 and 2 are connected to photo couplers. The ground line of all three photo couplers
is connected to terminal 5.
Table 4.1: Connector 1
4.2.2 Connector 2: RS232 and additional I/O
The RS232 interface and all other inputs and outputs of the module can be connected here. These are
the limit switches, a general purpose input and a general purpose output. The limit switch inputs are
equipped with internal pull-up resistors, so they have to be connected to GND via normally closed
switches, if enabled via software. The general purpose input can either be used as a digital TTL input
or as an analogue input with a voltage range of either 0… 5V or 0… 10V. This voltage range is
selectable by software. The general purpose output is an open collector output for a maximum
current of 250mA. Freewheeling diodes connected to the supply voltage are also included so that e.g.
a 24V relay or a coil can be connected directly. The pin assignment of this connector is as follows:
Table 4.2: Connector 2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 13
4.2.3 Connectors 3 and 4: Motor
Normally, the TMCM-109 module comes mounted on a suitable stepper motor. Should you have a
module without a motor you can connect a two phase bipolar stepper motor yourself. To connect the
motor there are two screw terminals adjacent to a cable feed through hole on the board. Connect
one coil of the motor to one of the connectors and the other coil to the other connector. Please
always make sure that the module is disconnected from the power supply before connecting or
disconnecting a motor. Connecting or disconnecting a motor while the module is powered can
damage the module!
Connect one motor coil to connector 3 and the other motor coil to connector 4. The direction of the
motor shaft can be reversed by changing the polarity of one coil.
Do not connect or disconnect the motor while power on. Damage to the module may occur.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 14
Symbol
Parameter
Min
Typ.
Max
Unit
VS
Power supply voltage for operation
18
24… 48 1)
55 1)
V
I
COIL
Motor coil current for sine wave
peak (chopper regulated, adjustable
via software)
0
2.1 … 5.0
5.0
A
IMC
Continuous motor current (RMS)
recommended for supply voltages
up to 36 V
0
1.5… 3.5
3.5
A
Continuous motor current (RMS),
recommended for supply voltages
exceeding 36 V
0
1.5… 3.0
3.5 2)
A
f
CHOP
Motor chopper frequency
36.8
kHz
IS
Power supply current
<< I
COIL
1.4 * I
COIL
A
U
+5V
+5V output (max. 150mA load)
4.8
5.0
5.2
V
V
ISO
Isolation voltage of optocoupler
± 42
±100
V
V
OPTON
Signal active voltage at enable, step
and direction input (optocoupler on)
4
5… 24
27
V
I
OPTON
Signal current for optocoupler
(internally limited) (meas. at 24V)
11
15
18
mA
V
OPTOFF
Signal inactive voltage on enable,
GPI1 and GPI2 input (optocoupler
off)
-1 0 1.5
V
V
INPROT
Input voltage for StopL, StopR, GPI0
(internal protection, DC)
-24 24
V
V
ANA
GPI0 analog measurement range
(20k voltage divider in high range)
0… 5
0… 10
V
V
STOPLO
StopL, StopR low level input
0
0.9
V
V
STOPHI
StopL, StopR high level input
(integrated 10k pull-up to +5V)
1.9 5
V
T
ENV
Environment temperature at rated
current (no cooling)
-40 +40
°C
Environment temperature at 80 % of
rated current or 50% duty cycle
(no cooling)
-40 +60
°C
5 Operational ratings
The operational ratings show the intended range for the values and should be used as design values.
In no case shall the maximum values be exceeded.
1) Attention: First samples (until Oct. 05) are limited to a maximum of 38V supply voltage
2) Forced cooling might be required
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Table 5.1: Operational ratings
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 15
V
GPI1
5.. 24V
C
E
A
C
C
E
A
C
C
E
A
C
GND
µC
A : Anode
C : Cathode
C : Collector
E : Emitter
+5 V
V
GPI2
5.. 24V
V
DISABLE
5.. 24V
OPTO _ GND
27V4.0 V1.5 V
V
OPTOFF
V
OPTON
undefined
V
GPIx
OPTO _ GND
5.1 GPI1, GPI2, and disable inputs
The GPI1 input, the GPI2 input, and the disable input are optically isolated inputs. Their functional
voltages V
state the input voltage has to be less than 1.5V (V
OPTON
and V
are directly depending on the input voltages (V
OPTOFF
) and for on-state it has to exceed 4.0V (V
OPTOFF
GPI1
, V
GPI2
and V
DISABLE
). For off-
).
OPTON
Logic level:
Figure 5.1: GPI1, GPI2, and disable inputs
Figure 5.2: Example for GPI1, GPI2, and disable inputs
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 16
5V Power Supply
18… 55V DC
PDx-109-57-RS V2
High Power
Driver
TMC249
µC
TMCL
Memory
progammable
Motion
Controller
TMC428
Step
Motor
additional
I/Os /
Disable
RS232
RS485
2
additional
I/Os
Stop
Switches
+5V
TMCM-109
MOSFET
Driver
Stage
Opto-
isolation
6 Functional description
In figure 6.1 the main parts of the PDx-109-57-RS V2 are shown. The module mainly consists of the
µC, a TMC428 motion controller, a TMC249 stepper motor driver, the TMCL™ program memory
(EEPROM) and the host interfaces RS232 and RS485.
Figure 6.1: Main parts of the PDx-109-57 V2
6.1 System architecture
The TMCM-109 integrates a microcontroller with the TMCL™ (Trinamic Motion Control Language)
operating system. The motion control real-time tasks are realized by the TMC428.
6.1.1 Microcontroller (µC)
The flash ROM of the microcontroller holds the TMCL™ operating system and the EEPROM memory of
the microcontroller is used to permanently store configuration data, while an additional EEPROM
memory holds the user TMCL™ programs.
The TMCL™ operating system can be updated only via the host interfaces. Please use the latest
version of the TMCL-IDE to do this.
6.1.2 TMCL™ EEPROM
To store TMCL™ programs for standalone operation the TMCM-109 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL™ programs consisting of up to
2047 TMCL™ commands.
6.1.3 TMC428 motion controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phasestepper-motors (on this module, only one motor can be used). Motion parameters like speed or
acceleration are sent to the TMC428 via SPI by the microcontroller. Calculation of ramps and speed
profiles are done internally by hardware based on the target motion parameters.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 17
V
OPTON
open wire
V
OPTOFF
polarity 1
polarity 2
6.1.4 TMC249 motor driver
The stepper motor driver used on the TMCM-109 module is the TMC249 chip. This driver is very
dependable, because it provides a variety of protection and diagnostic features, which even can be
read out by the user software. It’s 16 times microstepping gives a quiet and precise motor operation.
A maximum coil current of 5.0A is supported by this driver IC together with the high performance
MOSFETs the module is equipped with.
6.2 Power supply requirements
The TMCM-109 is equipped with a switching voltage regulator that generates the 5V supply voltage for
the digital components of the module from the motor power supply. Because of that only one supply
voltage is needed for the module. The power supply voltage can be 18… 55V DC. Please note that
there is no protection against reverse polarity or too high voltage. The power supply typically should
be within a range of 24 to 48V to achieve highest motor performance. When using supply voltages
near the upper limit, a regulated power supply becomes a must. Please ensure, that enough power
filtering capacitors are provided in the system (2200µF or more recommended), in order to absorb
mechanical energy fed back by the motor in stall conditions. In larger systems a zener diode circuitry
might be required, when motors are operated at high velocities.
The power supply should be designed in a way, that it supplies the nominal motor voltage at the
desired maximum motor power. In no case shall the supply value exceed the upper/lower voltage
limit. To ensure reliable operation of the unit, the power supply has to have a sufficient output
capacitor and the supply cables should have a low resistance, so that the chopper operation does not
lead to an increased power supply ripple directly at the unit. Power supply ripple due to the chopper
operation should be kept at a maximum of a few 100mV.
Therefore we recommend to
keep power supply cables as short as possible
use large diameter for power supply cables
use a robust 2200µF or larger additional filtering capacitor located near to the motor driver
unit, if the distance to the power supply is large (i.e. more than 2-3m)
6.3 Disable
The disable input works as an emergency shutdown. The polarity can be configured using TMCL™.
It is in the user’s responsibility to stop the step impulses or set the velocity to zero before enabling
the motor again, because it would start abruptly or otherwise loose track.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 18
Interface selection pin
(connector 2, terminal 2)
Selected communication
interface
open wire
RS232
pulled to ground
RS485
Setting
I
COIL,PP
I
COIL,RMS
255
5.0A
3.54A
216
4.2A
3.0A
180
3.5A
2.5A
144
2.8A
2.0A
108
2.1A
1.5A
72
1.4A
1.0A
0
0A
0A
6.4 Communication interfaces RS232 and RS485
The communication between the host and the module takes place via its host interface. This can be
either RS232 or RS485. The module is equipped with both interfaces, but only one interface can be
used at a time. All interfaces integrated on the module are ready-to-use, so there are no external
drivers or level shifters necessary. To select RS232, leave open the interface selection pin, for RS485
pull it to ground. Please see chapter Fehler! Verweisquelle konnte nicht gefunden werden. for the
pin assignments of the interfaces.
The communication with the TMCM-109 module is done using TMCL™ commands.
When using the RS485 interface, the devices can be daisy-chained. Bus termination resistors in the
range of 100 Ohms are typically required at each of the two ends of the cables.
6.5 Motor current setting
The motor current can be set in a range of 0 to 255, using the TMCL™ software instruction 5:
SAP, type 6: max. current (255 correspond to the module’s maximum I
You can find the appropriate value in Table 6.1: Motor current examples
Table 6.1: Motor current examples
setting.)
COIL
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 19
Value
Microsteps
0
Do not use: for fullstep please
see fullstep threshold
1
Halfstep (not recommended)
2
4
3
8
4
16 5 32
6
64
6.6 Microstep resolution
The microstep resolution can be set using TMCL™ software. The default setting is 64 microsteps
which is the highest resolution.
To set the microstep resolution with a TMCL™ command use instruction 5:
SAP, type 140: microstep resolution
You can find the appropriate value in Table 6.2:
Table 6.2: Microstep resolution setting
Despite the possibility to set it up to 64 microsteps, the motor physically will be positioned to a
maximum of about 24 microsteps, when it is operated in the 32 or 64 microstep setting.
6.7 Reference switches
Two digital reference/stop switch inputs are provided (StopL= stop left and StopR = stop right). They
are used as an absolute position reference for homing and to set a hardware limit for the motion
range. The inputs have internal pull-up resistors. Either opto-switches or mechanical switches with
normally closed contact can be used. The 5V output can be used as a supply for opto-switches.
6.8 stallGuard™ - sensorless motor stall detection
The integrated stallGuard™ feature gives a simple means to detect mechanical blocking of the motor.
This can be used for precise absolute referencing, when no reference switch is available. The load
value can be read using a TMCL™ command or the module can be programmed so that the motor
will be stopped automatically when it has been obstructed or the load has been too high. Just
activate stallGuard™ and then let the traveler run against a mechanical obstacle that is placed at the
end of the operation area. When the motor has stopped it is definitely at the end of its way, and this
point can be used as the reference position.
Please refer to the TMCL™ Firmware Manual on how to activate the stallGuard™ feature. The TMCLIDE also has some tools which let you try out and adjust the stallGuard™ function in an easy way.
Mixed decay should be switched off when stallGuard™ is operational in order to get usable
results.
6.9 Environment temperature considerations
As the power dissipation of the MOSFETs is very low, no heat sink or cooling fan is needed, unless
the environment temperature is raised and the module continuously is operated at a high current.
When the output bridge temperature reaches a critical value, the output current is reduced by 20%. If
the temperature still rises higher, the outputs become switched off. The coils are automatically
switched on again when the temperature is within the limits again. An optional cooling fan can be
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 20
LED
Function
POWER
Shows that the module is powered
CPU_OK
Flashes during normal operation. After resetting the configuration EEPROM it may
take some seconds before the LED starts flashing again. When the operating system
is being downloaded to the module the LED lights steadily.
ERROR
On when the temperature of the MOSFETs is getting too high. The LED is off during
normal operation
OUT_0
Shows the state of the general purpose output
mounted to cope with higher environment temperatures, when problems are perceived. The 5V power
supply output can be used to operate a small fan.
6.10 State indication LEDs
The TMCM-109 module is equipped with four LEDs that show the actual state of the module:
Table 6.3: State indication LEDs
6.11 Firmware update
Use the Install OS function of the TMCL-IDE. It is located in the Setup menu.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 21
Figure 6.2: Pins for resetting the
module
6.12 Resetting the module
The reset to factory default values can be done using the TMCL-IDE. Select Setup, Configure module,
the Other tab and then Restore Factory Default.
If there are communication problems, the reset procedure of the PDx-109-57 is as follows:
1. Turn OFF the power.
2. Link pins 1 and 3 of the programming connector (as shown in the picture below) by hardwire.
3. Turn the power ON and wait until the LED on the module flashes fast (faster than normally).
4. Turn the power OFF.
5. Remove the link between the pins.
6. Turn the power ON again and wait until the LED flashes normally (this can take some
seconds).
7. All settings are restored to the factory default now.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 22
//A simple example for using TMCL and the TMCL-IDE
SAP 4, 0, 100 //Set the maximum speed
Loop: MVP ABS, 0, 150000 //Move to position 150000
WAIT POS, 0, 0
WAIT TICKS, 0, 200
MVP ABS, 0, 0 //Move back to position 0
WAIT POS, 0, 0
WAIT TICKS, 0, 100
7 Putting the PDx-109-57 into operation
On the basis of a small example it is shown step by step how the PDx-109-57 is set into operation.
Users who are already familiar with TMCL™ and other TRINAMIC modules may skip this chapter.
Example:
The following application is to be implemented on the TMCM-109 module using the TMCL-IDE
Software development environment.
The simple application is:
Move the Motor to position 150000
Wait 2 seconds
Move the Motor back to position 0
Wait 1 second
Start again with the first step
Before implementing this application on the PDx-109 it is necessary to do the following:
Step 1: Connect the host interface to the PC
Step 2: Connect the power supply voltage to the module
Step 3: Switch ON the power supply. The activity LED should start to flash. This indicates the
correct configuration of the microcontroller.
Step 4: Start the TMCL-IDE software development environment. Enter the program shown
below.
Step 5: Click the Assemble icon to convert the TMCL™ program into byte code.
Then download the program to the TMCM-109 module by clicking the Download icon.
Step 7: Click the Run icon. The downloaded program will now be executed.
A detailed documentation about the TMCL™ operations and the TMCL-IDE can be found in the TMCL™
Firmware Manual.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 23
Parameter
Description
Range
f
CLK
Clock frequency
16 MHz
velocity
0… 2047
a_max
Maximum acceleration
0… 2047
pulse_div
Velocity pre-divider. The higher the value is the less
is the maximum velocity.
Default value = 3
Can be changed in TMCL™ using SAP 154.
0… 13
ramp_div
Acceleration pre-divider. The higher the value is the
less is the maximum acceleration
default value = 7
Can be change in TMCL™ using SAP 153.
0… 13
Usrs
Microstep resolution (microsteps per fullstep = 2
usrs
).
Can be changed in TMCL™ using SAP 140.
0… 6
3220482
][
][
_ divpulse
CLK
velocityHzf
Hzusf
usrs
Hzusf
Hzfsf
2
][
][
29__
max
2
2
divrampdivpulse
CLK
af
a
usrs
a
af
2
8 TMCM-109 operational description
8.1 Calculation: Velocity and acceleration vs. microstep- and
fullstep frequency
The values of the parameters sent to the TMC428 do not have typical motor values, like rotations per
second as velocity. But these values can be calculated from the TMC428 parameters, as shown in the
table below. It is also possible to use the calculator of the TMCL-IDE.
TMC428 velocity parameters:
Table 8.1: TMC428 velocity parameters
The microstep-frequency of the stepper motor is calculated with:
with usf: microstep-frequency
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be
divided by the number of microsteps per fullstep:
with fsf: fullstep-frequency
The change in the pulse rate per time unit (microstep frequency change per second - the acceleration
a) is given by:
This results in acceleration in fullsteps of:
with af: acceleration in fullsteps
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 24
CLK
16MHz on the TMCM-109 module
velocity
1000
a_max
1000
pulse_div
1
ramp_div
1
usrs
6
Hz
MHz
msf 3125.122070
3220482
100016
1
HzHzfsf 35.1907
2
3125.122070
][
6
s
MHz
Mhz
a 208.119
2
1000)16(
2911
2
s
MHz
s
MHz
af 863,1
2
208.119
6
49.26
72
35.1907
rotationperfullsteps
fsf
RPS
458.1589
72
6035.190760
rotationperfullsteps
fsf
RPM
Example:
If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is:
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 25
9 Software
TMCL™, the Trinamic Motion Control Language is used to send commands from the host to the TMCM109 module and to write programs that can be stored in the EEPROM of the module so that the
module can execute the TMCL™ commands in a stand-alone mode.
TMCL™ is described in the PDx-109-57 V2 Firmware Manual. This document also describes the TMCL™
Integrated Development Environment (TMCL-IDE), a program running on Windows which allows easy
development of TMCL™ applications.
All manuals are provided on the TMC TechLib CD and on the web site of TRINAMIC Motion Control
GmbH & Co. KG www.trinamic.com. Also the latest versions of the firmware (TMCL™ operating
system) and PC software (TMCL-IDE) can be found there.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 26
Version
Comment
Author
Description
1.00
Initial Release
OK
1.01
2005-JUN-29
BD
Added technical specs
1.03
2005-DEC-09
BD, HC
Added PANdrive documentation
1.04
2005-DEC-15
BD
Added ordering info
1.06
2006-MAR-12
BD
Added mechanical dimensions for PANdrive
1.07
2006-JUL-13
BD
Corrected mechanical dimensions
1.08
2006-OCT-18
HC
Added resetting information
1.09
2007-JUN-06
HC
Microstep resolution (chapter 0), operational description
(chapter 8) and optimum motor settings (chapter Fehler!
Verweisquelle konnte nicht gefunden werden.) added
1.10
2007-OCT-17
HC
Step/direction firmware information (chapter 5.1)
1.11
2008-DEC-08
OK
Step/direction inputs and all sections related to this removed
1.12
2010-JAN-15
SD
Motor specifications and dimensions updated, order codes
renewed, minor other changes
1.13
2010-SEP-25
SD
Order codes corrected, dimensions corrected
Version
Comment
Description
3.35
Actual revision
Please refer to TMCL™ manual
10 Revision history
10.1 Document revision
Table 10.1: Document revision
10.2 Firmware revision
Table 10.2: Firmware revision
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25) 27
11 References
[PDx-109] PDx-109-57 Vs TMCL™ Firmware Manual
[TMCL-IDE] TMCL-IDE User Manual
[QSH5718] QSH5718 Manual
Please see http://www.trinamic.com.
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
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