TRINAMIC PD42-1-1141 Instructions

Stepper Motor with
Controller / Driver

0.27 - 0.49 Nm / 24 V DC
USB, RS485, and S/D Interface

MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive

Hardware Version V1.2

HARDWARE MANUAL

+

+ +

+

PD-1141

UNIQUE FEATURES

TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany

www.trinamic.com

PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 2

Table of Contents

1 Features ........................................................................................................................................................................... 3

2 Order Codes ................................................................................................................................................................... 5

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

3.1 Dimensions ........................................................................................................................................................... 6

3.2 Stepper Motor Specifications ........................................................................................................................... 7

3.3 Connectors of PD-1141 ....................................................................................................................................... 8

3.3.1 Power and RS485 Connector ..................................................................................................................... 9

3.3.1.1 Power Supply .......................................................................................................................................... 9

3.3.1.2 RS485 ....................................................................................................................................................... 10

3.3.2 Multipurpose I/O Connector ..................................................................................................................... 11

3.3.2.1 Digital Inputs IN_0, IN_1, IN_2 ........................................................................................................ 12

3.3.2.2 Analog Input AIN_1 ............................................................................................................................. 13

3.3.2.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 13

3.3.3 Step/Direction Connector .......................................................................................................................... 14

3.3.3.1 Step / Direction / Enable inputs....................................................................................................... 14

3.3.4 Motor Connector .......................................................................................................................................... 15

3.3.5 Mini-USB Connector .................................................................................................................................... 16

4 Reset to Factory Defaults ......................................................................................................................................... 17

5 On-Board LED .............................................................................................................................................................. 17

6 Operational Ratings ................................................................................................................................................... 18

7 Torque Curves ............................................................................................................................................................. 19

7.1.1 PD42-1-1141 Torque Curves ...................................................................................................................... 19

7.1.2 PD42-2-1141 Torque Curves ...................................................................................................................... 19

7.1.3 PD42-3-1141 Torque Curves ...................................................................................................................... 20

8 Functional Description .............................................................................................................................................. 21

9 PD-1141 Operational Description ........................................................................................................................... 22

9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 22

10 Life Support Policy ..................................................................................................................................................... 24

11 Revision History .......................................................................................................................................................... 25

11.1 Document Revision ........................................................................................................................................... 25

11.2 Hardware Revision ............................................................................................................................................ 25

12 References .................................................................................................................................................................... 25

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 3

1 Features

The PANdrive™ PD-1141 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling. The PD-1141 includes a stepper motor and controller/driver
electronics. It can be used in many decentralized applications and has been designed for 0.27… 0.49 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

- ready for dcStep

Interfaces

- RS485 2-wire communication interface

- USB full speed (12Mbit/s) device interface

- Step/Direction/Enable interface (optically isolated) for external control of driver circuit

- 4 multipurpose inputs:

- 3x general-purpose digital inputs

(Alternate functions: STOP_L / STOP_R / HOME switch inputs)

- 1x dedicated analog input

- 2 general purpose outputs

- 2x open-drain 100 mA max.

Software

- TMCL: standalone operation or remote controlled operation,

program memory (non volatile) for up to 1024 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 1.1 A RMS / 1.7 A peak (programmable)

- 0.27… 0.49 Nm max. holding torque (depends on motor)

Refer to separate TMCL Firmware Manual, too.

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 4

Load
[Nm]

stallGuard2

Initial stallGuard2
(SG) value: 100%

Max. load

stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.

Motor stalls

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

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.

Figure 1.1 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.

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Figure 1.2 Energy efficiency example with coolStep

PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 5

Order code

Description

Size (mm3)

PD42-1-1141-option

PANdrive 0.27Nm max. holding torque

42 x 42 x 46.5

PD42-2-1141-option

PANdrive 0.35Nm max. holding torque

42 x 42 x 51

PD42-3-1141-option

PANdrive 0.49Nm max. holding torque

42 x 42 x 60

Firmware option

Description

Order code example:

-TMCL

Module pre-programmed with TMCL firmware

PD42-1-1141-TMCL

Order code

Description

PD-1141-CABLE

Cable loom for PD-1141:

- 1x cable loom for power and RS485 connector (length 200mm)

1x cable loom for multipurpose I/O connector (length 200mm)

- 1x cable loom for S/D connector (length 200mm)

- 1x USB type A connector to mini-USB type B connector cable (length 1.5m)

2 Order Codes

The PD-1141 is currently available with three 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.

Table 2.1 PD-1141 order codes

The following options are available:

Table 2.2 PD-1141 firmware options

A cable loom set is available for this module:

Table 2.2 Cable loom order codes

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 6

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

Model

Length of motor

PD42-1-1141

33.5±1 mm

PD42-2-1141

38±1 mm

PD42-3-1141

47±1 mm

3 Mechanical and Electrical Interfacing

3.1 Dimensions

The PD-1141 includes the TMCM-1141 stepper motor controller/driver module and a NEMA17 bipolar
stepper motor. Currently, there is a choice between three NEMA 17/42mm bipolar stepper motors with
different lengths and different holding torques.

Figure 3.1 PD-1141 dimensions

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 7

Specifications

Units

QSH4218

-35-10-027

-41-10-035

-51-10-049

Rated Voltage

V

5.3

4.5

5.0

Rated Phase Current

A

1.0

1.0

1.0

Phase Resistance at 20°C

Ω

5.3

4.5

5.0

Phase Inductance (typ.)

mH

6.6

7.5

8.0

Holding Torque (typ.)
Ncm

27

35

49

oz in

38

50

69

Detent Torque

mNm

22

25

28

Rotor Inertia

g cm2

35

54

68

Weight (Mass)

Kg

0.22

0.28

0.35

Insulation Class

B B B

Dielectic Strength (for one minute)

VAC

500

500

500

Connection Wires

N° 4 4

4

Step Angle

°

1.8

1.8

1.8

Step angle Accuracy (max.)

% 5 5

5

Flange Size (max.)

mm

42.3

42.3

42.3

Motor Length (max.)

mm

33.5

38

47

Rear shaft hole depth

mm

5.0

5.0

5.0

Rear shaft hole diameter

mm

3.0

3.0

3.0

Axis Diameter

mm

5.0

5.0

5.0

Axis Length (typ.)

mm

24

24

24

Axis D-cut (0.5mm depth)

mm

20

20

20

Maximum Radial Force
(20 mm from front flange)

N

28

28

28

Maximum Axial Force

N

10

10

10

Ambient temperature

°C

-20…+50

-20…+50

-20…+50

Related PANdrive

PD42-1-1141

PD42-2-1141

PD42-3-1141

3.2 Stepper Motor Specifications

MAIN CHARACTERISTICS OF THREE DIFFERENT MOTORS AVAILABLE AS PART OF THE PD-1141

Table 3.1 NEMA 17 / 42mm stepper motor technical data

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 8

Motor

14

1

5

Power and

RS485

1

8

Multi-

purpose

I/O

Step /

Direction

USB

1

4

Label

Connector type

Mating connector type

Power and
RS485
Connector

CI0105P1VK0-LF
CVIlux CI01 series, 5 pins, 2mm pitch

Connector housing CVIlux: CI01055000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-5
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Multi-purpose
I/O Connector

CI0108P1VK0-LF
CVIlux CI01 series, 8 pins, 2mm pitch

Connector housing CVIlux: CI01085000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-8
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Step/Direction
Connector

CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch

Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Motor
Connector

CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch

Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A

or

Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Mini-USB
Connector

Molex 500075-1517
Mini USB Type B vertical receptacle

Any standard mini-USB plug

3.3 Connectors of PD-1141

The controller/driver board of the PD-1141 offers five connectors including the motor connector which is
used for attaching the motor coils to the electronics. Further, there is a connector for power and for the
RS485 interface. The USB interface and the step/direction interface have their own connectors. The 8pin
multipurpose I/O connector offers four multipurpose inputs and two general purpose outputs.

Figure 3.2 Overview connectors

Table 3.1 Connectors and mating connectors, contacts and applicable wire

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 9

5

1

Pin

Label

Direction

Description

1

GND

Power (GND)

System and signal ground

2

VDD

Power (Supply)

VDD (+9 V… +28 V)

3

GND

Power (GND)

System and signal ground

4

RS485+

Bidirectional

RS485 interface, diff. signal (non-inverting)

5

RS485-

Bidirectional

RS485 interface, diff. signal (inverting)

Add external power supply capacitors!

It is recommended to connect an electrolytic capacitor of significant size (e.g. 470µF/35V)
to the power supply lines next to the PD-1141 especially if the distance to the power
supply is large (i.e. more than 2-3m)! In larger systems a zener diode circuitry might be
required in order to limit the maximum voltage when the motor is operated at high
velocities.

Rule of thumb for size of electrolytic capacitor:   





 



In addition to power stabilization (buffer) and filtering this added capacitor will also
reduce any voltage spikes which might otherwise occur from a combination of high
inductance power supply wires and the ceramic capacitors. In addition it will limit slew­rate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors
may cause stability problems with some switching power supplies.

Do not connect or disconnect motor during operation!

Motor cable and motor inductivity might lead to voltage spikes when the motor is
disconnected / connected while energized. These voltage spikes might exceed voltage
limits of the driver MOSFETs and might permanently damage them. Therefore, always
disconnect power supply before connecting / disconnecting the motor.

Keep the power supply voltage below the upper limit of 28V!

Otherwise the driver electronics will seriously be damaged! Especially, when the selected
operating voltage is near the upper limit a regulated power supply is highly
recommended. Please see also chapter 6 (operating values).

There is no reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver

transistors.

3.3.1 Power and RS485 Connector

A 5pin single row connector is used for power supply and RS485 serial communication.

Table 3.2 Connector for power supply and RS485

3.3.1.1 Power Supply

For proper operation care has to be taken with regard to power supply concept and design. Due to space
restrictions the PD-1141 includes about 40µF/35V of supply filter capacitors. These are ceramic capacitors
which have been selected for high reliability and long life time. The module includes a 28V suppressor
diode for over-voltage protection.

CAUTION!

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 10

c:>

node

1

node

n

- 1

node

n

Host

Slave Slave Slave

RS485

termination

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as
short as possible

node

n - 1

node

n

Slave Slave

termination

resistor

(120 Ohm)

+5V

GND

pull-up (1k)

pull-down (1k)

RS485- / RS485B

RS485+ / RS485A

3.3.1.2 RS485

For remote control and communication with a host system the PD-1141 provides a two wire RS485 bus
interface. For proper operation the following items should be taken into account when setting up an
RS485 network:

1. BUS STRUCTURE:

The network topology should follow a bus structure as closely as possible. That is, the
connection between each node and the bus itself should be as short as possible. Basically, it
should be short compared to the length of the bus.

Figure 3.3 Bus structure

2. BUS TERMINATION:

Especially for longer busses and/or multiple nodes connected to the bus and/or high
communication speeds, the bus should be properly terminated at both ends. The PD-1141 does
not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of
the bus have to be added externally.

3. NUMBER OF NODES:

The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a
single bus. The bus transceiver used on the PD-1141 units (SN65HVD3082ED) has just 1/8th of the
standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus.

4. NO FLOATING BUS LINES:

Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is
transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to
communication errors. In order to ensure valid signals on the bus it is recommended to use a
resistor network connecting both bus lines to well defined logic levels. In contrast to the
termination resistors this network is normally required just once per bus. Certain RS485 interface
converters available for PCs already include these additional resistors (e.g. USB-2-485).

Figure 3.4 Bus lines with resistor network

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 11

8

1

Pin

Label

Direction

Description

1

GND

Power (GND)

System and signal ground

2

VDD

Power (Supply)

VDD, connected to VDD pin of the power and
RS485 connector

3

OUT_0

Output

Open-drain output (max. 100 mA)
Integrated freewheeling diode to VDD

4

OUT_1

Output

Open-drain output (max. 100 mA)
Integrated freewheeling diode to VDD

5

IN_0

Input

Dedicated analog input,

Input voltage range: 0… +10V
Resolution: 12bit (0… 4095)

6

IN_1

Input

General purpose digital input (+24 V compatible)

Alternate function: left stop switch input

7

IN_2

Input

General purpose digital input (+24 V compatible)

Alternate function: right stop switch input

8

IN_3

Input

General purpose digital input (+24 V compatible)

Alternate function: home switch input

3.3.2 Multipurpose I/O Connector

An 8pin 2mm pitch single row connector is available for all multipurpose inputs and outputs.

Table 3.4 Multipurpose I/O connector

Note:

- All inputs have resistor based voltage input dividers with protection diodes. These resistors

also ensure a valid GND level when left unconnected.

- For all digital inputs (IN_1, IN_2, IN_3) a 1k pull-up resistor to +5V can be activated. Then these

inputs have a default (unconnected) logic level of 1 and an external switch to GND can be
connected. This might be especially interesting in case these inputs are used as stop and home
switch inputs (alternate function).

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 12

+3.3V

IN_0
IN_1
IN_2

microcontroller (all)
and TMC429 (IN_0, IN_1)

10k

22k

1nf

GND

GND GND

common switch for all
three digital inputs

1k

+5V

Label

(pin)

Default function

Alternate function 1

Alternate function 2

IN_0 (6)

General purpose
digital input

STOP_L - left stop switch input
connected to processor and
TMC429 REF input (supporting
left stop functionality in
hardware)

IN_0 (6)

IN_1 (7)

General purpose
digital input

STOP_R - right stop switch input
connected to processor and
TMC429 REF input (supporting
right stop switch functionality in
hardware)

IN_1 (7)

IN_2 (8)

General purpose
digital input

HOME - home switch input
(connected to processor)

IN_2 (8)

3.3.2.1 Digital Inputs IN_1, IN_2, IN_3

The eight pin connector of the PD-1141 provides three multi-purpose digital inputs IN_1, IN_2 and IN_3.

All three inputs accept up-to +24 V input signals. They are protected against these higher voltages using
voltage resistor dividers together with limiting diodes against voltages below 0 V (GND) and above +3.3 V
DC (see figure below).

Figure 3.5 General purpose inputs (simplified input circuit)

Refer to the PD-1141 TMCL Firmware Manual (SIO command) for further information about switching the
pull-up resistors for all digital inputs on / off.

The three digital inputs have alternate functionality depending on configuration in software. The
following functions are available:

Table 3.7 Multipurpose inputs / alternate functions

All three digital inputs are connected to the on-board processor and can be used as general purpose
digital inputs (default).

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 13

+3.3V

AIN_1

ADC input

(microcontroller)

22k

10k

10nF

GND

GND GND

VDD

OUT_0,

OUT_1

microcontroller

GND

3.3.2.2 Analog Input AIN_1

The eight pin connector of the PD-1141 provides one dedicated analog input AIN_1.

This dedicated analog input offers a full scale input range of 0… +10V with a resolution of the internal
analog-to-digital converter of the microcontroller of 12 bit (0… 4095).

The input is protected against higher voltages up-to +24 V using voltage resistor dividers together with
limiting diodes against voltages below 0 V (GND) and above +3.3 V DC (see figure below).

Figure 3.6 General purpose inputs (simplified input circuit)

3.3.2.3 Outputs OUT_0, OUT_1

The eight pin connector of the PD-1141 offers two general purpose outputs OUT_0 and OUT_1. These two
outputs are open-drain outputs and can sink up to 100 mA each. The outputs of the N-channel MOSFET
transistors are connected to freewheeling diodes each for protection against voltage spikes especially
from inductive loads (relais etc.) above supply voltage (see figure below).

Using free-wheeling diodes connected to VDD supply voltage:
None of the two outputs should be connected to any voltage above supply voltage of the module.

Figure 3.7 General purpose outputs

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 14

4

1

Pin

Label

Direction

Description

1

COMMON

Power
(Supply input)

Power supply input for the three Step / Direction
/ Enable signals. Accepts voltages between +5V
and +24V nom.

2

/ENABLE

Input

Enable input
(function depends on firmware)

3

STEP

Input

Step pulse input
(connected to step input of TMC262 driver IC)

4

DIRECTION

Input

Direction input
(connected to direction input of TMC262 driver IC)

8mA

8mA

8mA

+3.3V

GND

Enable

Direction

Step

Common

(5..24V)

microcontroller

TMC262

TMC262

3.3.3 Step/Direction Connector

A 4pin 2mm pitch single row connector is available for the Step/Dir interface. This interface can be used
for connecting an external motion controller to the on-board driver stage instead of the integrated
motion controller.

All three Step/Dir/Enable signals are optically isolated. Therefore, an additional supply input (COMMON) is
available which has to be connected to a supply voltage between +5 V and +24 V for proper operation.

Table 3.5: Step/Direction connector

3.3.3.1 Step / Direction / Enable inputs

The inputs Step / Direction / Enable are electrically (optically) isolated from the power supply and all
other signals of the PD-1141. These inputs have one common reference input COMMON (see Figure 3.7).
The COMMON input should be connected to a positive supply voltage between +5V and +24V. Step /
Direction / Enable signals might be driven either by open-collector / open-drain outputs or by push-pull
outputs. In case of push-pull outputs the COMMON supply voltage should be equal / similar to the high
signal voltage level of the push-pull drivers.

Figure 3.8 Step/Dir/Enable inputs

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 15

4

1

Pin

Label

Direction

Description

1

OB2

Output

Pin 2 of motor coil B

2

OB1

Output

Pin 1 of motor coil B

3

OA2

Output

Pin 2 of motor coil A

4

OA1

Output

Pin 1 of motor coil A

Example for connecting the QSH4218 NEMA 17 / 42mm stepper motors:

M

A

black

green

B

blue

red

TMCM-1141

QS4218 Motor

Motor connector pin

Cable color

Coil

Description

1

Red B Motor coil B pin 1

2

Blue

B-

Motor coil B pin 2

3

Green

A-

Motor coil A pin 2

4

Black

A

Motor coil A pin 1

3.3.4 Motor Connector

As motor connector a 4pin 2mm pitch single row connector is available. The motor connector is used for
connecting the four motor wires of the two motor coils of the bipolar stepper motor to the electronics.

Table 3.5 Motor connector

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 16

1

5

Pin

Label

Direction

Description

1

VBUS

Power
(supply input)

+5V supply from host

2

D-

Bidirectional

USB Data –

3

D+

Bidirectional

USB Data +

4

ID

Power (GND)

Connected to signal and system ground

5

GND

Power (GND)

Connected to signal and system ground

3.3.5 Mini-USB Connector

A 5pin mini-USB connector is available on-board for serial communication (as alternative to the RS485
interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections.

Table 3.6 Connector for USB

For remote control and communication with a host system the PD-1141 provides a USB 2.0 full-speed
(12Mbit/s) interface (mini-USB connector). As soon as a USB host is connected the module will accept
commands via USB.

USB BUS POWERED OPERATION MODE

The PD-1141 supports both, USB self powered operation (when an external power is supplied via the
power supply connector) and USB bus powered operation, (no external power supply via power supply
connector).

On-board digital core logic will be powered via USB in case no other supply is connected (USB bus
powered operation). The digital core logic comprehends the microcontroller itself and also the EEPROM.
The USB bus powered operation mode has been implemented to enable configuration, parameter
settings, read-outs, firmware updates, etc. by just connecting an USB cable between module and host PC.
No additional cabling or external devices (e.g. power supply) are required.

Please note that the module might draw current from the USB +5V bus supply even in USB self powered
operation depending on the voltage level of this supply.

Motor movements are not possible in this operation mode. Therefore, connect the power connector and
change to USB self powered operation mode.

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 17

Short these two pads

Status

Label

Description

Heartbeat

Run

This green LED flashes slowly during operation.

Green LED

4 Reset to Factory Defaults

It is possible to reset the PD-1141 to factory default settings without establishing a communication link.
This might be helpful in case communication parameters of the preferred interface have been set to
unknown values or got accidentally lost.

For this procedure two pads on the bottom side of the board have to be shortened.
Now, perform the following steps:

1. Power supply off and USB cable disconnected

2. Short two pads as marked in Figure 4.1

3. Power up board (power via USB is sufficient for this purpose)

4. Wait until the on-board red and green LEDs start flashing fast (this might take a while)

5. Power-off board (disconnect USB cable)

6. Remove short between pads

7. After switching on power-supply / connecting USB cable all permanent settings have been

restored to factory defaults

Figure 4.1 Reset to factory default settings

5 On-Board LED

The board offers an LED in order to indicate board status. The function of the LED is dependent on the
firmware version. With standard TMCL firmware the green LED should be flashing slowly during
operation. When there is no valid firmware programmed into the board or during firmware update the
green LED is permanently on.

BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE

Figure 5.1 On-board LED

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 18

Symbol

Parameter

Min

Typ

Max

Unit

VDD

Power supply voltage for operation

9

12… 24

28

V

I

COIL_peak

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

0 1.7

A
I

COIL_RMS

Continuous motor current (RMS)

0 1.1

A

IDD

Power supply current

<< I

COIL

1.4 * I

COIL

A

T

ENV

Environment temperature at rated current (no
forced cooling required)

Tbd 40

°C

Symbol

Parameter

Min

Typ

Max

Unit

V

OUT_0/1

Voltage at open drain output

0 +VDD

V

I

OUT_0/1

Output sink current of open drain output

100

mA

V

IN_1/2/3

Input voltage for IN_1, IN_2, IN_3 (digital
inputs)

0 +VDD

V
V

IN_L 1/2/3

Low level voltage for IN_1, IN_2 and IN_3

0 1.2 V V

IN_H 1/2/3

High level voltage for IN_1, IN_2 and IN_3

4 +VDD

V

V

IN_0

Measurement range for analog input IN_0

0 +10

V

Symbol

Parameter

Min

Typ

Max

Unit

N

RS485

Number of nodes connected to single RS485
network

256

6 Operational Ratings

The operational ratings show the intended or the characteristic ranges and should be used as design
values.

In no case shall the maximum values be exceeded!

GENERAL OPERATIONAL RATINGS

Table 6.1 General operational ratings of module

OPERATIONAL RATINGS OF MULTIPURPOSE I/OS

Table 6.2 Operational ratings of multipurpose I/Os

OPERATIONAL RATINGS OF RS485 INTERFACE

Table 6.3: Operational ratings of RS485 interface

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 19

0,00

0,05

0,10

0,15

0,20

0,25

0,30

0,35

10 100 1000 10000

torque[Nm]

speed[rpm]

PD42-1-1141 - 1.1A RMS Phase Current, 256 uSteps

0,00

0,05

0,10

0,15

0,20

0,25

0,30

0,35

0,40

0,45

0,50

10 100 1000 10000

torque[Nm]

speed[rpm]

PD42-2-1141 - 1.1A RMS Phase Current, 256 uSteps

7 Torque Curves

The following paragraphs will show you the curves of each PANdrive.

7.1.1 PD42-1-1141 Torque Curves

Figure 7.1 PD42-1-1141 torque vs. velocity 24V / 1.1 A, 256µsteps

7.1.2 PD42-2-1141 Torque Curves

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Figure 7.2 PD42-2-1141 torque vs. velocity 24V / 1.1 A, 256µsteps

PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 20

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

10 100 1000 10000

torque[Nm]

speed[rpm]

PD42-3-1141 - 1.1A RMS Phase Current, 256 uSteps

7.1.3 PD42-3-1141 Torque Curves

Figure 7.3 PD42-3-1141 torque vs. velocity 24V / 1.1A, 256µsteps

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 21

9… 28V DC

RS485

USB

µC

TMCL™

Memory

6

I/Os

Step

Motor

MOSFET

Driver

Stage

SPI

PD-1141

TMCM-1141

SPI

SPI

S/D

TMC429

Motion

Controller

Energy Efficient

Driver

TMC262

Power

Driver

TMC262

with

coolStep™

+5V

Stop

switches

S/D

S/D

8 Functional Description

The PD-1141 is a highly integrated mechatronic device which can be controlled via several serial
interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are
performed on board. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both:
direct mode and standalone operation. Full remote control of device with feedback is possible. The
firmware of the module can be updated via any of the serial interfaces.

In Figure 8.1 the main parts of the PD-1141 are shown:

- the microprocessor, which runs the TMCL operating system (connected to TMCL memory),

- the motion controller, which calculates ramps and speed profiles internally by hardware,

- the power driver with stallGuard2 and its energy efficient coolStep feature,

- the MOSFET driver stage,

- the QSH stepper motor, and

Figure 8.1 Main parts of the PD-1141

Remark: stop switches are an alternate function of two out of three digital inputs.

The PD-1141 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCM). Using predefined TMCL high level commands like move to position a
rapid and fast development of motion control applications is guaranteed.

Please refer to the PD-1141 Firmware Manual for more information about TMCL commands.

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 22

Signal

Description

Range

f

CLK

clock-frequency

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… 8 (a value of 7 or 8 is internally
mapped to 6 by the TMC429)

3220482

][

][

_







divpulse

CLK

velocityHzf

Hzusf

usrs

Hzusf

Hzfsf

2

][

][ 

29__

max

2

2







divrampdivpulse

CLK

af

a

usrs

a

af

2



9 PD-1141 Operational Description

9.1 Calculation: Velocity and Acceleration vs. Microstep and

Fullstep Frequency

The values of the parameters sent to the TMC429 do not have typical motor values like rotations per
second as velocity. But these values can be calculated from the TMC429 parameters as shown in this
section.

PARAMETERS OF TMC429

Table 9.1 TMC429 velocity parameters

MICROSTEP FREQUENCY

The microstep frequency of the stepper motor is calculated with

with usf: microstep-frequency

FULLSTEP 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

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 23

Signal

value

f_

CLK

16 MHz

velocity

1000

a_max

1000

pulse_div

1

ramp_div

1

usrs

6

Hz

MHz

msf 31.122070

3220482

100016

1









HzHzfsf 34.1907

2

31.122070

][

6



s

MHz

Mhz

a 21.119

2

1000)16(

2911

2









s

MHz

s

MHz

af 863.1

2

21.119

6



49.26

72

34.1907



rotationperfullsteps

fsf

RPS

46.1589

72

6034.190760











rotationperfullsteps

fsf

RPM

EXAMPLE:

CALCULATION OF THE NUMBER OF ROTATIONS

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

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 24

10 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 2013

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.

All trademarks used are property of their respective
owners.

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 25

Version

Date

Author

GE - Göran Eggers
SD - Sonja Dwersteg

Description

0.90

2011-DEC-19

GE

Initial version

0.91

2011-DEC-23

GE

Connector pin assignment corrected

1.00

2012-JUN-22

SD

First complete version including the following chapters:

- Reset to factory defaults,

- LEDs,

- Torque curves

1.01

2012-JUL-23

SD

Information about sensOstep deleted.

1.02

2012-JUL-27

SD

Figure 3.5 corrected.

1.03

2013-MAR-05

SD

- Names of inputs changed:

AIN_0 IN_0
IN_0 IN_1
IN_1 IN_2
IN_2 IN_3

- Names of outputs changed:

OUT_1 = OUT_0
OUT_0 = OUT_1

1.04

20013-JUL-23

SD

- Connector description updated

- Information about power supply updated

Version

Date

Description

TMCM-1041_V10

2011-MAR-03

Initial version

TMCM-1141_V10

2011-AUG-12

- Clock generation and distribution changed,

16Mhz crystal instead of 8MHz, TMC429 and
TMC262 running from 16Mhz clock signal from
processor

- Resistor dividers at inputs changed, more

compact and optimized input protection circuit

- Support of USB powered operation

TMCM-1141_V11

2011-NOV-23

- Optimization and cost reduction for board

assembly after feedback from assembly house
(version 1.1 is 100% firmware compatible with
V1.0)

TMCM-1141_V12

2011-DEC-12

- Mounting holes connected to GND

11 Revision History

11.1 Document Revision

Table 11.1 Document revision

11.2 Hardware Revision

Table 11.2 Hardware revision

12 References

[PD-1141 TMCL] PD-1141 TMCL Firmware Manual
[TMC262] TMC262 Datasheet
[TMC429] TMC429 Datasheet
[TMCL-IDE] TMCL-IDE User Manual
[QSH4218] QSH4218 Manual

Please refer to www.trinamic.com.

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