Trinamic PD1-140-42-SE, PD2-140-42-SE, PD4-140-42-SE, TMCM-140-42-SE HARDWARE MANUAL

PDx-140-42-SE

TMCM-140-42-SE

Hardware Manual

Version: 1.05

2010-SEP-29

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D - 20 357 Hamburg, Germany

Phone +49-40-51 48 06 - 0

FAX: +49-40-51 48 06 - 60

http://www.trinamic.com

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 2

Table of contents

1 Life support policy ............................................................................................................................ 3

2 Features ............................................................................................................................................ 4

3 Order codes ....................................................................................................................................... 5

4 Mechanical and electrical interfacing ................................................................................................ 6

4.1 Size of PDx-140-42-SE ................................................................................................................. 6

4.2 Size of electronics (TMCM-140-42-SE) .......................................................................................... 7

4.3 Motor ......................................................................................................................................... 7

4.4 Connectors ................................................................................................................................. 8

4.4.1 Power and serial communication connector ........................................................................ 8

4.4.1.1 Reset the module to factory defaults .......................................................................................... 9

4.4.2 I/O connector ...................................................................................................................... 10

4.4.3 Motor connector ................................................................................................................. 10

4.4.4 USB connector .................................................................................................................... 10

4.5 Input/output circuits ................................................................................................................ 11

4.5.1 Reference switch inputs ...................................................................................................... 11

4.5.2 General purpose inputs ...................................................................................................... 11

4.5.3 General purpose outputs .................................................................................................... 12

5 Functional Description .................................................................................................................... 13

6 Firmware ......................................................................................................................................... 14

7 Torque curves .................................................................................................................................. 15

7.1 PD1-140-42-SE ........................................................................................................................... 15

7.2 PD2-140-42-SE ........................................................................................................................... 16

7.3 PD3-140-42-SE ........................................................................................................................... 16

7.4 PD4-140-42-SE ........................................................................................................................... 17

8 Operational ratings ......................................................................................................................... 18

9 PD-140 operational description ....................................................................................................... 20

9.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency ........................... 20

10 Revision history .............................................................................................................................. 22

10.1 Document revision ................................................................................................................... 22

10.2 Hardware revision .................................................................................................................... 22

11 References ....................................................................................................................................... 23

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 3

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.

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.

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 4

2 Features

The PDx-140-42-SE is a full mechatronic device consisting of a NEMA 17 (flange size 42mm) stepper motor, controller/driver electronics and integrated encoder. The electronics itself is also available without the motor as TMCM-140-42-SE module.

Applications

Very compact single-axis stepper motor solutions Encoder feedback for high reliability operation

Electrical data

Supply voltage: +24V DC nominal (+7V… +28.5V DC) Motor current: up to 2.0A RMS (programmable)

Integrated motor (for PDx-140-42-SE only)

Two phase bipolar stepper motor with 2A RMS nom. coil current Holding torque: 0.22Nm, 0.36Nm, 0.44Nm or 0.7Nm

Integrated encoder

Integrated sensOstep™ magnetic encoder (max. 4096 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning

Integrated motion controller

Motion profile calculation in real-time (TMC428 motion controller) On the fly alteration of motor parameters (e.g. position, velocity, acceleration) High performance ARM7 microcontroller for overall system control and serial communication protocol

handling

Integrated bipolar stepper motor driver

Up to 16 microsteps per full step High-efficient operation, low power dissipation (TMC249 stepper driver with external MOSFETs) Dynamic current control Integrated protection Integrated stallGuard™ for motor stall detection (e.g. elimination of end switches) Integrated chopSync™ for high velocity operation

Interfaces

2 inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs USB and either RS232, RS485 or CAN (2.0B up-to 1Mbit/s) communication interfaces

Software

Available with TMCL™ (all interface options) or CANopen (CAN interface option) TMCL™: stand-alone operation or remote controlled operation TMCL™: program memory (non volatile) for up-to 2048 TMCL™ commands TMCL™: PC-based application development software TMCL-IDE available for free CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported Please see separate TMCL™ and CANopen firmware manuals for additional information

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 5

Order code

Description

Dimensions [mm3]

PD1-140-42-SE-option

PANdrive with 0.22Nm max./holding torque

42x42x72

PD2-140-42-SE-option

PANdrive with 0.36Nm max./holding torque

42x42x76,5

PD3-140-42-SE-option

PANdrive with 0.44Nm max./holding torque

42x42x85,5

PD4-140-42-SE-option

PANdrive with 0.70Nm max./holding torque

42x42x98,5

Order code

Description

Dimensions [mm3]

TMCM-140-42-SE-option

Single axis bipolar stepper motor controller / driver electronics with integrated encoder electronics

board size: 42x42

Option

Communication interface + firmware

232

USB (mini USB connector) and RS232 interface, TMCL™ firmware

485

USB (mini USB connector) and RS485 interface, TMCL™ firmware

CAN

USB (mini USB connector) and CAN interface, TMCL™ firmware

CANopen

USB (mini USB connector) and CAN interface, CANopen firmware

3 Order codes

The PDx-140-42-SE is currently available with four different stepper motors (between 0.22Nm and 0.70Nm holding torque), three interface options in addition to the standard on-board USB interface (RS232, RS485 or CAN) and two firmware versions (TMCL™ and CANopen):

Table 3.1: Order codes (PDx-140-42-SE)

The electronic module TMCM-140-42-SE itself is also available with three interface options in addition to the standard on-board USB interface (RS232, RS485 or CAN) and two firmware versions (TMCL™ and CANopen):

Table 3.2: Order codes (TMCM-140-42-SE)

Both versions offer the following options:

Table 3.3: Options

For cost critical applications and applications with reduced requirements with regard to position feedback both versions - with and without motor - are also available without sensOstep™ encoder as PDx-140-42 and TMCM-140-42 on request.

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 6

Length

42.3

2

22-0.05

24±1

20

5

43 max

Connectors

14.5 max

4.5

43 max

20

42 . 3

31

4x M 3

De e p 4.5

43 max

5

Length of motor

PD1

33.5±1mm

PD2

38±1mm

PD3

47±1mm

PD4

60±1mm

4 Mechanical and electrical interfacing

4.1 Size of PDx-140-42-SE

Currently, there is a choice between four 42mm bipolar stepper motors with different lengths and different holding torques.

Figure 4.1: Dimensions PDx-140-42-SE (all values in mm)

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 7

Specifications

Parameter

Units

QSH4218

-34-20-022

-38-20-036

-47-20-044

-60-20-070

Step angle

˚ 1.8

1.8

Step angle accuracy

% +/-5

+/-5

Ambient temperature

°C

-20 … +50

Max. motor temperature

°C

80

Shaft radial play (450g load)

mm

0.02

Shaft axial play (450g load)

mm

0.08

Max radial force (20mm from front flange)

N

28

Max axial force

N 10

10

Rated voltage

V

RATED

V 2.0

2.4

4.4

Rated phase current

I

RMS RATED

A 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

4.2 Size of electronics (TMCM-140-42-SE)

The electronic board has been designed in order to fit to a NEMA17 / 42mm size stepper motor with regard to board size and mounting holes. Board size is 42mm x 42mm and there are two mounting holes (size:

3.2mm) for M3 screws.

Figure 4.2: Dimensions TMCM-140-42-SE (all values in mm)

4.3 Motor

Main characteristics of the four different motors available as part of the PDx-140-42-SE:

Table 4.1: Technical motor data

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 8

Power and serial communication connector

Status LED

Motor connector

1

5

1

8

1 4

USB connector (mini USB)

I/O connector

1

5

RS232

RS485

CAN

Description

1

GND

Power and signal ground

2

VDD

Supply voltage (+24V DC nom.)

3

GND

Power and signal ground

4

RS232_TxD

RS485A

CAN_L

5 RS232_RxD

RS485B

CAN_H

open: no termination resistor

closed: 120 Ohm termination resistor

4.4 Connectors

The PDx-140-42-SE / TMCM-140-42-SE offers four connectors, a 5-pin power and serial communication interface connector, an 8-pin input/output connector, a 4-pin motor connector (with PDx-140-42-SE already connected to the attached motor) and a 5-pin mini-USB connector.

Figure 4.3: PDx-140-42-SE Connectors

4.4.1 Power and serial communication connector

A 5-pin JST PH series connector is used for power supply and serial communication. Three different communication interface standards are available with this unit (as options): RS232, RS485 and CAN.

Table 4.2: Connector for power and communication

Mating connector from JST: PHR-5 (housing) and SPH-002T-P0.5S (crimp contact for AWG #30 to 24 / 0.05mm2 to 0.22mm2 wires).

For RS485 and CAN interface option the module contains a 120Ohm termination resistor:

For early versions of the unit a zero Ohm resistor is already assembled in order to activate the 120 Ohm line termination on-board. This has to be removed in case the unit is not connected as last / first node in a network or there is already proper bus termination installed!

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 9

Interface

Description

RS232

Short RxD and TxD for resetting the module.

RS485

- Demount the board from the motor.

- Short the two pins which are marked on the

figure below. The pins are on the back of the board.

- Turn power ON and wait. The LED flashes quickly

now.

- Turn power OFF. The module is reset to factory

defaults now.

CAN

- Demount the board from the motor.

- Short the two pins which are marked on the

figure below. The pins are on the back of the board.

- Turn power ON and wait. The LED flashes quickly

now.

- Turn power OFF. The module is reset to factory

defaults now.

4.4.1.1 Reset the module to factory defaults

Table 4.3: Reset the module to factory defaults

Figure 4.4: Pins for resetting the module

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 10

1

8

Label

Direction

Description

1

STOP_L

Input

Left stop switch input (+5V compatible)

2

STOP_R

Input

Right stop switch input (+5V compatible)

3

GND

Power (GND)

Power and signal ground

4

VDD

Power

Supply voltage +24V DC nom.

5

OUT_0

Output

General purpose output (open collector)

6

OUT_1

Output

General purpose output (open collector)

7

IN_0

Input

General purpose input (+5V and +24V compatible)

8

IN_1

Input

General purpose input (+5V and +24V compatible)

1

4

Label

Direction

Description

1

OA1

Output

2-phase stepper motor phase A

2

OA2

Output

2-phase stepper motor phase A

3

OB1

Output

2-phase stepper motor phase B

4

OB2

Output

2-phase stepper motor phase B

1

5

Label

Description

1

VBUS

+5V power

2

D-

Data –

3

D+

Data +

4

ID

Not connected

5

GND

Ground

4.4.2 I/O connector

An 8-pin JST PH series connector is used for input/output signals.

Table 4.4: Connector for power and I/O

Mating connector from JST: PHR-8 (housing) and SPH-002T-P0.5S (crimp contact for AWG #30 to 24 / 0.05mm2 to 0.22mm2 wires).

4.4.3 Motor connector

A 4-pin JST PH series connector is used for connecting the motor.

Table 4.5: Connector for motor

Mating connector from JST: PHR-4 (housing) and SPH-002T-P0.5S (crimp contact for AWG #30 to 24 / 0.05mm2 to 0.22mm2 wires).

4.4.4 USB connector

A 5-pin mini-USB connector is available on board.

Table 4.6: Connector for USB

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 11

STOP_L

1k

10k

+5V

1nF

GND

STOP_R

1k

10k

+5V

1nF

GND

IN_0

10k

4k75

GND

+3V3

GND

IN_1

10k

4k75

GND

+3V3

GND

4.5 Input/output circuits

The module offers 2 stop switch inputs, 2 general purpose inputs and 2 general purpose outputs. The stop switch inputs STOP_L and STOP_R are +5V tolerant and include 1k pull-up resistors to +5V. The general purpose inputs IN_0 and IN_1 accept digital (e.g. 5V or 24V compatible) signals or analog signals (0..10V) and include pull-down resistors.

The general purpose outputs are open-collector outputs with integrated freewheeling diodes. Max. sink current per output is 100mA and max. voltage at output when output is inactive / output transistor is switched off is limited to module supply voltage due to the integrated freewheeling diode.

4.5.1 Reference switch inputs

There are 2 reference/stop switch inputs (STOPL / STOPR). Both inputs offer an internal pull-up resistor (1k) and accept voltages between 0 and +5V.

Figure 4.5: Reference/stop switch inputs STOP_L, STOP_R

4.5.2 General purpose inputs

There are 2 general purpose inputs (IN_0 / IN_1). Both inputs offer internal voltage divider and voltage limiter and accept input voltages between 0 and +24V as digital inputs and between 0 and +10V as analog inputs (depending on software settings). The voltage divider resistors act as pull-down resistors, also.

Early version of module (with pcb version 1.0 and 1.1) contained 1k resistor instead of 4k75 resistor as low side resistor in voltage divider. For these modules full scale analog input range is +36V instead of +10V.

Figure 4.6: General purpose inputs IN_o, IN_1

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 12

1k

GND

VDD

OUT_0

BC847

1k

GND

VDD

OUT_1

BC847

4.5.3 General purpose outputs

There are 2 general purpose outputs (OUT_0 / OUT_1). Both outputs are open collector outputs and can drive loads up-to 100mA. Especially for inductive loads a freewheeling diode to supply voltage (VDD) has been included. This is also the reason why the external voltage at the general purpose outputs - when the outputs are switched off - should not be higher than the supply voltage of the module + approx. 0.5V.

Figure 4.7: General purpose outputs OUT_0, OUT_1

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 13

5V Power Supply

USB

CAN

or

RS232

or

RS485

24V

PD-140-42-SE

progammable

Motion

Controller

with TMC428

High Power

Driver

TMC249

TMCL

Memory

sensOstepTM

Encoder

MOSFET

Driver

Stage

Step

Motor

5 Functional Description

The PANdrive PD-140-42-SE is a mechatronic solution including a 42 mm flange motor, a controller board and a sensOstep™ encoder. It offers four motor torque options and can be controlled via CAN, RS232, RS485 or USB interface. Power supply, interface and general purpose I/Os can be connected with high density JST connectors. The chopSync™ feature allows high speed movement avoiding resonances. The PD-140-42-SE 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 on board. The TMCL™ program can be stored in the onboard EEPROM for stand-alone operation. In addition to TMCL™ CANopen is available as firmware option, also.

Figure 5.1: Main parts of the PDx-140-42-SE

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 14

6 Firmware

Currently, there are two different firmware versions available for this unit – TMCL™ and CANopen. TMCL™ is available for all interface options and is supplied as default firmware. Please refer to the TMCL™ firmware manual for this unit for more details [TMCL].

With the CAN interface option also CANopen is available as firmware. This firmware supports the CiA 301 and CiA 402 profiles with support for homing mode, profile position mode and velocity mode. For more details please refer to the CANopen manual [CANopen].

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 15

7 Torque curves

The following torque curves have been measured using the PANdrive PDx-140-42-SE with all four stepper motors available as part of this unit. The four different stepper motors all offer the same max. coil current but, differ with respect to holding torque, motor length, coil resistance and inductivity – to name a few. As rule of thumb, more holding torque means more copper, longer motor, more coil resistance and higher inductivity which limits the max. reachable velocity at the same supply voltage. All measurements were taken at +24V driver supply voltage and max. motor current.

The figures below include torque curves for microstep operation and full step operation. With full step mode it is possible to reach higher velocities whereas resonances normally prevent any smooth operation at lower speeds (see torque curves below). Therefore, TMCL™ firmware offers programmable automatic switch over between microstep operation at lower speeds and full-step operation at higher speed in order to take advantage of both modes (please see TMCL™ firmware manual, axis parameter 211).

7.1 PD1-140-42-SE

The PD1-140-42-SE is the most compact version of this PANdrive series with the shortest stepper motor.

Figure 7.1: PD1-140-42-SE torque curve

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 16

7.2 PD2-140-42-SE

For applications where more torque is required than available with the PD1-140-42-SE, the PD2-140-42-SE might be an option.

Figure 7.2: PD2-140-42-SE torque curve

7.3 PD3-140-42-SE

For applications where more torque is required than available with the PD2-140-42-SE, the PD3-140-42-SE might be an option.

Figure 7.3: PD3-140-42-SE torque curve

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 17

7.4 PD4-140-42-SE

For applications where more torque is required than available with the PD3-140-42-SE, the PD4-140-42-SE might be an option. The PD4-140-42-SE is the version with highest holding torque and the longest stepper motor available for this PANdrive series.

Figure 7.4: PD4-140-42-SE torque curve

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 18

Symbol

Parameter

Min

Typ

Max

Unit

Vcc

+24 DC input

7

24

28.5

V

I

COIL_peak

Motor coil current for sine wave peak (chopper regulated, adjustable via software)

0

2.8 *)

A

I

COIL_RMS

Continuous motor current (RMS)

0 2 *)

A

I

SUPPLY

Power supply current

<< I

COIL

1.4 * I

COIL

A

T

ENV

Environment temperature at max. current, 100% duty cycle

(no forced cooling required)

+40 **)

°C

8 Operational ratings

The operational ratings shown below should be used as design values. In no case should the maximum values been exceeded during operation.

Table 8.1: General operational ratings of the module

*) Please note: only PDx-140-42-SE and TMCM-140-42-SE with pcb version 1.1 or newer support specified max. current over full temperature range. Older / pre-series versions may be limited with regard to temperature range and / or max. motor current.

**) Test set-up / procedure: PANdrive PD4-140-42-SE mounted to a metal base plate in order to keep stepper motor temperature within limits for the motor during test (table 4.1) / test inside climate chamber with approx. 53l volume / no forced air convection during test / test duration at least 30min.

Please note: motor temperature should always be kept below upper limit for the motor - that is, motor / PANdrive should be mounted to an appropriate metal / cooling plate or frame. Especially, the longest available stepper motor which is part of the PD4-140-42-SE may easily reach 100°C or above when operated at full current over long time without being mounted to any heat-conducting structure or forced air convection. In case the TMCM-140-42-SE electronic module is mounted close to the motor as with the PANdrives, the motor might substantially heat up the electronics and limit the maximum environmental temperature during operation. The unit may be operated at higher environmental temperatures than specified when the duty cycle of the motor and / or the motor current is reduced or in case the TMCM-14042-SE electronic module is mounted separately from the motor.

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 19

Symbol

Parameter

Min

Typ

Max

Unit

V

STOP_L/R_L

Low level input voltage for STOP_L/R switch inputs

0.9

V

STOP_L/R_H

High level input voltage for STOP_L/R switch inputs

1.9 5

V

IN_1/2_L

Low level input voltage for general purpose inputs IN_1/2 (when configured as digital inputs)

1.6

V

IN_1/2_H

High level input voltage for general purpose inputs IN_1/2 (when configured as digital inputs)

4.0 24

V

IN_1/2_ANA

Analog voltage full scale input range for general purpose inputs IN_1/2 (when configured as analog inputs)

0 10*)

V

OUT_1/2

Maximum voltage at general purpose outputs (open collector output switched off)

VDD + 0.5

**)

V

I

OUT_1/2

Maximum output sink current for general purpose outputs (open collector)

10

100

mA

Table 8.2: Operational ratings of input and output signals

*) Analog voltage full scale input range is +36V for early version of module **) limited to module supply voltage + 0.5V due to integrated freewheeling diode between general purpose output and module supply voltage

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 20

Signal

Description

Range

f

CLK

clock-frequency

0… 16 MHz

velocity

-

0… 2047

a_max

maximum acceleration

0… 2047

pulse_div

divider for the velocity. The higher the value is, the less is the maximum velocity default value = 0

0… 13

ramp_div

divider for the acceleration. The higher the value is, the less is the maximum acceleration default value = 0

0… 13

Usrs

microstep-resolution (microsteps per fullstep = 2

usrs

)

0… 7 (a value of 7 is internally mapped to 6 by the TMC428)

3220482

velocity]Hz[f

]Hz[usf

div_pulse

CLK

usrs

2

]Hz[usf

]Hz[fsf

29div_rampdiv_pulse

max

2

CLK

2

af

a

usrs

2

a

af

9 PD-140 operational description

9.1 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 this document.

The parameters for the TMC428 are:

Table 9.1: 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 (pulse frequency change per second – the acceleration a) is given by

This results in acceleration in fullsteps of:

with af: acceleration in fullsteps

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 21

Signal

value

f_CLK

16 MHz

velocity

1000

a_max

1000

pulse_div

1

ramp_div

1

usrs

6

Hz31.122070

3220482

1000MHz16

msf

1

Hz34.1907

2

31.122070

]Hz[fsf

6

s

MHz

21.119

2

1000)Mhz16(

a

2911

2

s

MHz

863.1

2

s

MHz

21.119

af

6

49.26

72

34.1907

rotationperfullsteps

fsf

RPS

46.1589

72

6034.1907

rotationperfullsteps

60fsf

RPM

Example:

Calculation of the number of rotations:

A stepper motor has e.g. 72 fullsteps per rotation.

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 22

Version

Date

Author

Description

1.00

2008-07-23

GE

Initial version

1.01

2008-09-01

GE

Ordering codes added

1.02

2008-10-28

GE

CAN connector pin assignment corrected

1.03

2008-12-17

SD

Size of the unit and functional description added

1.04

2009-10-21

GE

New hardware version + torque curves added

1.05

2010-09-29

SD

Paragraph Reset the module to factory defaults added.

Version

Date

Description

1.00

2008-04-27

First version, reduced motor current

1.10

2009-06-29

Second version, full production (series) version

1.20

2009-12-09

Several minor improvements

10 Revision history

10.1 Document revision

Table 10.1: Document revision

10.2 Hardware revision

Table 10.2: Hardware revision

PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 23

11 References

[TMCL] PD-140 TMCL™ Firmware Manual (see http://www.trinamic.com) [CANopen] CANopen Manual (see http://www.trinamic.com)

Trinamic PD1-140-42-SE, PD2-140-42-SE, PD4-140-42-SE, TMCM-140-42-SE HARDWARE MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual