TRINAMIC PD42-1-1240-CAN Instructions

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PANdrive™ for Stepper

10… 30V DC

Microcontroller

EEPROM

I/Os

Step

Motor

RS485

MOSFET

Driver

Stage

Energy Efficient

Driver

TMC262

Motion

Controller

Pre-Driver

USB

CAN

DC/DC

Encoder

PD42-x-1240

PANDRIVE™

PD42-x-1240 Hardware Manual

Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

Features

• Stepper Motor NEMA17 / 42mm

• 0.22 - 0.7Nm

• with controller/driver

• Linear and sixPoint™ ramps

• +10. .. 30V DC supply voltage

• Up to 2A RMS motor current

• RS485, CAN & USB interface

•

integrated sensOstep encoder and support for external encoder

• S/D interface

• multi-purpose inputs and outputs

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

Simpliﬁed Block Diagram

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Read entire documentation.

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Contents

1 Features 4

2 Order Codes 6

3 Mechanical and Electrical Interfacing 8

3.1 Dimensions of PD42-x-1240 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.2 Stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.3 Integrated sensOstep™ encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4 Connectors 11

4.1 Power Supply Input Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.2 Motor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.3 RS485 + CAN Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.4 USB Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.5 I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5 On-Board LEDs 15

6 Reset to Factory Defaults 15

7 I/Os 17

7.1 Analog input IN0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.2 Digital inputs IN1 and IN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.3 HOME/STOP_L/STOP_R switch inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

7.4 External incremental encoder input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

7.5 Step/Direction inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8 Communication 20

8.1 RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

8.2 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

9 Motor driver current 22

10 Torque curves 24

10.1 PD42-1-1240 Torque Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

10.2 PD42-2-1240 Torque Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

10.3 PD42-3-1240 Torque Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

10.4 PD42-4-1240 Torque Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

11 Functional Description 26

12 Operational Ratings and Characteristics 27

13 Abbreviations used in this Manual 29

14 Figures Index 30

15 Tables Index 31

16 Supplemental Directives 32

16.1 Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

16.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

16.3 Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

16.4 Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

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16.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

16.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

16.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

17 Revision History 34

17.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

17.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

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1 Features

The PANdrive™PD42-1-1240, PD42-2-1240, PD42-3-1240 amd PD42-4-1240 are small and compact full mechatronic solutions including NEMA17 / 42mm ﬂange size stepper motors, the TMCM-1240 controller / driver electronics and TRINAMIC™sensOstep™encoder for step-loss detection. The four PANdrives include stepper motor with diﬀerent lengths and diﬀerent holding torques (PD42-1-1240: 0.22Nm, PD42-2-1240:

0.36Nm, PD42-3-1240: 0.44Nm and PD42-4-1240: 0.7Nm) but, same electronics and encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os together with the build-in TMCL scripting feature and remote operation using one of the available communication interfaces and even a mixture of both.

Motion Controller

• Motion proﬁle calculation in real-time

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

• Linear and unique sixPoint™ramp in hardware

• Encoder interface and Reference / Stop switch inputs

Driver

• Motor current: up to 2A RMS (2.2A RMS max. / 3.1A peak, programmable in software)

• Supply voltage: +24V DC (+10. . . +30V DC)

• 256 microsteps per fullstep

• spreadCycle™highly dynamic current control chopper

• stealthChop™for quiet operation and smooth motion

• programmable Step/Dir interface for driver-only applications with microstep interpolation

Encoder

•

integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation) for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5 encoder steps)

•

support for external A/B incremental encoder in addition / as an alternative for the integrated encoder

• programmable encoder scaling and support for motor stop on encoder deviation

Interfaces

• RS485 interface (up-to 1Mbit/s)

• CAN interface (up-to 1Mbit/s)

• USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)

• Step/Dir input (optically isolated)

• Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)

• 2 general purpose digital inputs

• Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)

• 1 analog input (0..10V nom. input range)

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

• HOME switch input (shared with analog input)

Software

•

TMCL™remote (direct mode) and standalone operation (memory for up to 1024 TMCL™commands), fully supported by TMCL-IDE (PC based integrated development environment). Please see PD42-x1240 TMCL ﬁrmware manual for more details

•

CANopen ﬁrmware with CANopen standard protocol stack for the CAN interface. Please see PD42-x1240 CANopen ﬁrmware manual for more details.

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2 Order Codes

The combination of motor and motor mounted controller/driver electronic is currently available with four stepper motors (diﬀerent length and holding torque):

The length of the PANdrives is speciﬁed without the length of the axis. For the overall length of the product please add 26mm

Order Code Description Size (LxWxH)

PD42-1-1240-TMCL

PD42-2-1240-TMCL

PD42-3-1240-TMCL

PD42-4-1240-TMCL

PD42-1-1240-CANopen

PD42-2-1240-CANopen

PANdrive™with NEMA17 stepper motor, 0.22Nm max. TMCM-1240 electronics, 2A RMS, +24V, RS485, CAN, USB, sensOstep™encoder, TMCL ﬁrmware

PANdrive™with NEMA17 stepper motor, 0.36Nm max. TMCM-1240 electronics, 2A RMS, +24V, RS485, CAN, USB, sensOstep™encoder, TMCL ﬁrmware

PANdrive™with NEMA17 stepper motor, 0.44Nm max. TMCM-1240 electronics, 2A RMS, +24V, RS485, CAN, USB, sensOstep™encoder, TMCL ﬁrmware

PANdrive™with NEMA17 stepper motor, 0.7Nm max. TMCM-1240 electronics, 2A RMS, +24V, RS485, CAN, USB, sensOstep™encoder, TMCL ﬁrmware

PANdrive™with NEMA17 stepper motor, 0.22Nm max. TMCM-1240 electronics, 2A RMS, +24V, RS485, CAN, USB, sensOstep™encoder, CANopen ﬁrmware

PANdrive™with NEMA17 stepper motor, 0.36Nm max. TMCM-1240 electronics, 2A RMS, +24V, RS485, CAN, USB, sensOstep™encoder, CANopen ﬁrmware

42mm x 42mm x 47mm

42mm x 42mm x 51mm

42mm x 42mm x 60mm

42mm x 42mm x 73mm

42mm x 42mm x 47mm

42mm x 42mm x 51mm

PD42-3-1240-CANopen

PANdrive™with NEMA17 stepper motor, 0.44Nm max. TMCM-1240 electronics, 2A RMS, +24V, RS485, CAN, USB, sensOstep™encoder, CANopen ﬁrmware

PD42-4-1240-CANopen

PANdrive™with NEMA17 stepper motor, 0.7Nm max. TMCM-1240 electronics, 2A RMS, +24V, RS485, CAN, USB, sensOstep™encoder, CANopen ﬁrmware

Table 1: Order Code

42mm x 42mm x 60mm

42mm x 42mm x 73mm

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A cable loom set is available for this module:

Order Code Description

TMCM-1240-CABLE Cable loom for TMCM-1240:

•

1x cable loom for power supply connector (cable length 200mm, 4pin JST PH connector at one end, open wires at the other end)

•

1x cable loom for RS485 + CAN connector (cable length 200mm, 5pin JST PH connector at one end, open wires at the other end)

•

1x cable loom for motor connector (cable length 200mm, 4pin JST PH connector at one end, open wires at the other end)

•

1x cable loom for I/O connector (cable length 200mm, 8pin JST PH connector at one end, open wires at the other end)

• 1x Micro-USB cable

Table 2: TMCM-1240 Cable Loom

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The TMCM-1240 controller/driver electronics is also available separately. Please refer to TMCM-1240 hardware manual for further details.

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3 Mechanical and Electrical Interfacing

All PD42-x-1240 consist of one out of four available NEMA17 / 42mm stepper motors with 2A RMS rated coil current with the same TMCM-1240 controller / driver electronics mounted on its backside and integrated sensOstep™encoder. The PD42-1-1240 uses the QSH4218-34-20-022 stepper motor with 0.22Nm holding torque, the PD42-2-1240 uses the QSH4218-38-20-036 stepper motor with 0.36Nm holding torque, the PD42-3-1240 uses the QSH4218-47-20-044 stepper motor with 0.44Nm holding torque and the PD42-41240 uses the QSH4218-60-20-070 stepper motor with 0.7Nm holding torque. Please see also stepper motor manuals and TMCM-1240 hardware and ﬁrmware manuals for more details.

NOTICE

Note:

In order to make proper use of the integrated sensOstep™encoder (the sensor IC is placed on the bottom of the pcb) the TMCM-1240 electronics should not be removed/moved relative to the motor. In case the integrated encoder feature is not used, the electronics may be moved or even removed from the motor and placed somewhere else according to application requirements.

3.1 Dimensions of PD42-x-1240

Figure 1: PD42-x-1240 with diﬀerent NEMA17 / 42mm stepper motors (all dimensions in mm)

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

3.2 Stepper motor

Main characteristics of the four diﬀerent motors available as part of the PD42-x-1240 PANdrive™:

Speciﬁcations Unit PD42-1-1240 PD42-2-1240 PD42-3-1240 PD42-4-1240

Step angle ° 1.8 1.8 1.8 1.8

Step angle accuracy % +/-5 +/-5 +/-5 +/-5

Ambient temperature °C -20. . . +50 -20.. . +50 -20.. . +50 -20. . . +50

Max. motor temperature °C 80 80 80 80

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Shaft radial play (450g load)

mm 0.02 0.02 0.02 0.02

Shaft axial play (450g load) mm 0.08 0.08 0.08 0.08

Max radial force (20mm

N 28 28 28 28

from front ﬂange)

Max axial force N 10 10 10 10

Rated voltage V 2.0 2.4 2.4 4.4

Rated phase current A 2.0 2.0 2.0 2.0

Phase resistance at 20°C Ω 1.0 1.2 1.4 2.3

Phase inductance (typ.) mH 1.6 2.2 2.1 6.0

Holding torque Nm 0.22 0.36 0.44 0.70

Insulation class B B B B

Rotor inertia g cm

35 57 68 102

Weight kg 0.22 0.24 0.35 0.5

Table 3: NEMA17 / 42mm stepper motor technical data

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3.3 Integrated sensOstep™ encoder

The PD42-x-1240 PANdrives oﬀer integrated sensOstep™encoders based on hall sensor technology. As the name “sensOstep™“ already indicates intended use of this type of compact and highly integrated encoder is step loss detection of motor movements. As soon as the motor has been moved to a new location the position may be veriﬁed using this encoder feedback. In case the stepper motor has lost one or multiple steps during movement e.g. due to overload / any obstacle encountered during movement the motor axes will jump for at least one electrical period / 4 full steps. This can be detected using the integrated encoder. In addition, step losses may be already detected during motor movements using the “deviation” setting available as part of the TMCL ﬁrmware (see PD42-x-1240 / TMCM-1240 ﬁrmware manual for more details). While the encoder oﬀers 10bit (1024 steps) resolution per motor revolution the absolute position information is less accurate and depends on the displacement of the hall sensor based encoder IC relative to the magnet and motor axis among other factors. Every PANdrive™has been tested for maximum deviation of +/- 5 encoder steps (static performance) relative to commanded microstep target position during ﬁnal tests after assembly at our factory. This will ensure more than adequate performance of the integrated sensOstep™ encoder for step loss detection during motor movements.

NOTICE

Do not disassemble PANdrive™ when using integrated encoder

In order to make proper use of the integrated sensOstep™encoder (the sensor IC is placed on the bottom center of the pcb) the TMCM-1240 electronics should not be removed/moved relative to the motor! Otherwise encoder performance might suﬀer / not work.

Note: In case the integrated encoder feature is not used, the TMCM-1240 electronics may be moved or even removed from the motor and placed somewhere else according to application requirements.

Keep the electronics free of (metal) particles!

The integrated sensOstep encoder uses a magnet at the end of the motor axis in order to monitor position of the motor axis. The magnet naturally attracts especially tiny metal particles.

These particles might be held on the top side of the PCB and – even worse – start

moving in accordance with the rotating magnetic ﬁeld as soon as the motor starts moving. This might lead to shorts of electronic contacts / wires on the board and totally erratic behavior of the module! Use compressed air for cleaning the module if necessary (especially in prototype setups).

In order to prevent shorts and better protect the electronics the TMCM-1240 printed circuit board is coated after assembly of components.

™

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USB

Motor

RS485 + CAN

I/O

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4 Connectors

The PD42-x-1240 oﬀers ﬁve connectors including the motor connector which is used for connecting the motor coils to the electronics. There is one motor and one power supply connector - both with four pins and two interface connectors - one with ﬁve pins for RS485 and CAN and a dedicated micro-USB connector. All other inputs and outputs are concentrated on one 8 pin connector.

NOTICE

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

Motor cable and motor inductivity might lead to voltage spikes

when the motor is (dis)connected while energized. These voltage spikes might

exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch oﬀ / disconnect power supply or at least disable driver stage before connecting / disconnecting motor.

Figure 2: PD42-x-1240 connectors

Connector Types and Mating Connectors

Connector Connector type on-board Mating connector type

Power JST B4B-PH-K-S

(JST PH series, 4pins, 2mm pitch)

Motor JST B4B-PH-K-S

(JST PH series, 4pins, 2mm pitch)

RS485+CAN JST B5B-PH-K-S

(JST PH series, 5pins, 2mm pitch)

USB USB-micro B female connector USB-micro B male connector

I/O JST B8B-PH-K-S

(JST PH series, 8pins, 2mm pitch)

Table 4: Connector Types and Mating Connectors of the PD42-x-1240

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

Wire: 0.22mm2, AWG 24

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

Wire: 0.22mm2, AWG 24

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

Wire: 0.22mm2, AWG 24

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

Wire: 0.22mm2, AWG 24

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4.1 Power Supply Input Connector

The PD42-x-1240 oﬀers one 4pin JST PH series power supply input connector. In addition to main power supply input and related ground connection this connector oﬀers a separate logic supply input with the option to keep the on-board logic alive while the driver stage is switched oﬀ. It is not necesary to connect the logic supply input in case separate supplies are not required as the main power supply input will always supply power to the driver stage and the logic part. The power supply input connector oﬀers a driver enable input. This input has to be connected to any voltage above 3.5V up-to max. supply voltage of 30V in order to enable the driver stage. Leaving this pin unconnected or connected to ground (voltage below 2.4V) will disable the driver stage regardless of any settings in software. This input may be connected to main power supply input permanently in case an enable input in hardware is not required.

Power Supply Connector Pin Assigment

Pin Label Direction Description

1 GND Power (GND) Common system supply and signal ground

2 V

MAIN

Power (input) Main power supply input for the driver and on-board logic

3 Enable Digital input

4 V

LOGIC

Power (input) Optional separate power supply input for the on-board logic

Table 5: Power Supply Connector Pin Assignment

NOTICE

Do not connect or disconnect motor during operation!

tor inductivity might lead to voltage spikes when the motor is (dis)connected

while energized. These voltage spikes might exceed voltage limits of the driver

MOSFETs and might permanently damage them. Therefore, always switch oﬀ

/ disconnect power supply or at least disable driver stage before connecting /

disconnecting motor.

NOTICE

Take care of polarity, wrong polarity can destroy the board!

Connect Enable pin to voltage >3.5V in order to enable motor movements!

10. . . 30V

Driver enable input. A voltage above 3.5V is required here in order to enable the on-board stepper motor driver. This input maybe connected to main power supply input in order to enable the driver stage (+24V tolerant input).

10. . . 30V

Motor cable and mo-

4.2 Motor Connector

A second 4pin JST PH series connector is available for connection of a 2-phase bipolar stepper motor.

Motor Connector Pin Assignment

Pin Label Direction Description

1 B1 out Pin 1 of motor coil B

2 B2 out Pin 2 of motor coil B

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Pin Label Direction Description

3 A1 out Pin 1 of motor coil A

4 A2 out Pin 2 of motor coil A

Table 6: Motor Connector Pin Assignment

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NOTICE

Do not connect or disconnect motor during operation!

tor inductivity might lead to voltage spikes when the motor is (dis)connected

while energized. These voltage spikes might exceed voltage limits of the driver

MOSFETs and might permanently damage them. Therefore, always switch oﬀ

/ disconnect power supply or at least disable driver stage before connecting /

disconnecting motor.

Do not mix-up power supply and motor connectors!

Motor cable and mo-

4.3 RS485 + CAN Connector

For serial communication the PD42-x-1240 oﬀers selection between RS485, CAN and USB interfaces. While the USB interface is available for conﬁguration and service of the board, mainly (e.g. parameter settings, ﬁrmware updates) a 5-pin JST PH series connector oﬀers 2-wire RS485 and CAN interfaces for in system communication.

NOTICE

Pin Label Direction Description

Due to hardware ressource sharing USB and CAN communication interfaces are not available at the same time. As soon as USB is physically attached to a host or hub the CAN interface will be switched oﬀ.

RS485 + CAN Connector Pin Assignment

1 GND Power (GND) Common system supply and signal ground

2 RS485+ Bidirectional RS485 interface, diﬀ. signal (non-inverting)

3 RS485- Bidirectional RS485 interface, diﬀ. signal (inverting)

4 CAN_H Bidirectional CAN interface, diﬀ. signal (non-inverting)

5 CAN_L Bidirectional CAN interface, diﬀ. signal (inverting)

Table 7: RS485 + CAN Connector Pin Assignment

4.4 USB Connector

For serial communication the PD42-x-1240 oﬀers selection between RS485, CAN and USB interfaces. The USB interface via on-board micro-USB connector (type B) is available for conﬁguration and service of the board, mainly (e.g. parameter settings, ﬁrmware updates). The USB device interface supports full speed (12Mbit/s) communication and supports bus powered and self-powered operation. During bus-powered operation the low voltage logic part of the board will be powered, only. This includes the microcontroller and the non-volatile memory and therefore allows parameter settings and ﬁrmware updates of the board

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using a standard USB cable, only. Of course, for any motor movement main supply via supply input connector is required.

NOTICE

USB Connector Pin Assignment

Pin Label Direction Description

1 VBUS Power (+5V) USB +5V nom. power supply input

2 D- Bidirectional USB interface, diﬀ. signal (inverting)

3 D+ Bidirectional USB interface, diﬀ. signal (inverting)

4 ID Input connected to GND (via 100k resistor)

5 GND Power (GND) Common system supply and signal ground

Table 8: USB Connector Pin Assignment

4.5 I/O Connector

The PD42-x-1240 oﬀers several inputs (two of them optically isolated) and one digital (open-drain) output. The inputs include support for stop switches (left and right), home switch, step/direction, incremental A/B channel encoder and analog (0. . . +10V) input. All this functionality is available via one 8pin JST PH series

I/O connector.

I/O Connector Pin Assignment

Pin Label Direction Description

1 GND Power (GND) Common system supply and signal ground

2 IN0/HOME Input Analog input (0. . . +10V)

HOME switch input

+24V tolerant, programmable (separate) pull-up to +5V

3 IN1/ENC_A Input General purpose digital input

Incremental encoder input channel A

+24V tolerant, programmable pull-up (for IN1/IN2 together) to +5V

3 IN2/ENC_B Input General purpose digital input

Incremental encoder input channel B

+24V tolerant, programmable pull-up (for IN1/IN2 together) to +5V

5 STOP_L/STEP Input STOP left switch input

STEP pulse input

input optically isolated, +24V compatible

6 STOP_R/DIR Input STOP right switch input

DIR input

input optically isolated, +24V compatible

7 ISO_COM Power

Common positive (+24V_ISO) or negative (GND_ISO) isolated supply input for optically isolated inputs

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Green LEDRed LED

Pin Label Direction Description

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8 OUT0 Output (OD)

Open-Drain output. Output will be pulled low when activated.

Voltages up-to logic supply input level (or main supply input in case separate logic supply is not used) are supported here. Max. continuous pull-down current: 100mA

Table 9: I/O Connector Pin Assignment

All pins marked light green oﬀer functional isolation towards main supply input. In case this is not required ISO_COM may be connected to main ground or supply input, of course. The opto-couppler used are AC

types. This way, either high side switches or low side switches for both inputs are supported.

5 On-Board LEDs

The board oﬀers two LEDs in order to indicate board status. The function of both LEDs is dependent on the ﬁrmware version. With standard TMCL ﬁrmware the green LED should be ﬂashing slowly during operation and the red LED should be oﬀ. When there is no valid ﬁrmware programmed into the board or during ﬁrmware update the red and green LEDs are permanently switched on. During reset to factory default values the green LED will be ﬂashing fast. With CANopen ﬁrmware both LEDs are switched on/oﬀ/ﬂashing according to standard deﬁntion.

Figure 3: PD42-x-1240 LEDs

6 Reset to Factory Defaults

It is possible to reset all settings in ﬁrmware for the PD42-x-1240 to factory defaults without establishing a working communication connection. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got lost. For this procedure two pads on the bottom side of the module have to be shorted (electrically connected with each other) during power-on. Please perform the following steps:

1. Switch power supply OFF (and disconnect USB cable if applicable)

2. Short CLK and DIO pads of programming pads on bottom of pcb (see ﬁgure 4)

3. Switch power supply ON again (or connect USB again if applicable)

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

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

Short these two pads

5. Switch power supply OFF again (and disconnect USB cable if applicable)

6. Remove short between pads

After switching power supply ON again (and / or connecting USB cable) all permanent settings have been restored to factroy defaults

Figure 4: Reset to factory default settings

16 / 34

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

100nF

10k

22k

2k2

+3V3

microcontroller

IN0

+5V

TMCM-1240

pull-up

disabled

17 / 34

7 I/Os

The I/O connector (8pin JST PH series) oﬀers one analog input, two non-isolated digital inputs with integrated pull-ups (programmable) and two optically isolated inputs. All inputs can be used for diﬀerent purposes explained in more detail in the following subsections.

7.1 Analog input IN0

The PD42-x-1240 oﬀers one analog input. The analog input voltage range is approx. 0..+10V. For voltages above +10V saturation takes place but, up-to 30V higher voltages are tolerated without destroying the input. For analog to digital conversion the integrated ADC of the on-board microcontroller is used. Resolution of this converter is 12bit (0..4095).

Figure 5: Analog input IN0

The analog input can be used as digital input, also. There is an integrated pull-up to +5V which can be switched on of oﬀ in software. When using this input as anlog input the pull-up should be usually switched oﬀ.

7.2 Digital inputs IN1 and IN2

The PD42-x-1240 oﬀers two digital inputs IN1 and IN2 which accept signals between 0 and 30V with voltages above approx. 2.9V recognized as logical ’1’ and below 1V as logical ’0’. Both inputs oﬀer intergated pull-ups to +5V which can be switched on or oﬀ in software (always together). When using the inputs with low-side switches (connected to GND), pull-ups usually should be switched on (default). In case high-side switches are used the pull-ups must be switched oﬀ. For push-pull signals the pull-ups may be either switched on or oﬀ.

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

33pF

22k

10k

2k2

+3V3

microcontroller

IN1 IN2

+5V

TMCM-1240

pull-up

enabled

pull-up

disabled

+5V...24V

+5V

680

6k8

2k2

+3V3

microcontroller

TMCM-1240

STOP_L, STOP_R

ISO_COM

+24V_ISO

GND_ISO

18 / 34

Figure 6: Digital inputs IN1 and IN2

7.3 HOME/STOP_L/STOP_R switch inputs

The PD42-x-1240 oﬀers two optically isolated inputs which can be used as left (STOP_L) and right (STOP_R) stop switch inputs. When enabled in software the STOP_L switch input will stop motor movement in negative direction (step counter decreasing) while activated. Likewise the STOP_R switch input will stop motor movement in positive direction (step counter increasing) while activated.

Figure 7: Stop switch inputs

A separated / isolated supply may be used for the switches - as indicated in the drawing (+24V_ISO and related GND_ISO) - but, same supply as for the PD42-x-1240 can be used, also, of course.

7.4 External incremental encoder input

The PD42-x-1240 oﬀers an integrated hall-sensor based magnet encoder. In addition, an external incremental A/B encoder may be connected to the two digital inputs IN1 and IN2. Encoder with push-pull signals (e.g. +5V TTL) and open-drain output signals are supported (single-ended). For open-drain outputs the internal pull-ups should be activated in software (default mode).

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

33pF

22k

10k

2k2

+3V3

microcontroller

ENC_A,

ENC_B

+5V

TMCM-1240

+5V

pull-up

enabled

680

6k8

2k2

+3V3

microcontroller

TMCM-1240

STEP,

DIR

ISO_COM

+24V_ISO

GND_ISO

19 / 34

Figure 8: External encoder input

7.5 Step/Direction inputs

The PD42-x-1240 may be used as driver with an external motion controller. In this case the Step/Direction output signals of the external motion controller may be connected to the optically isolated Step/Dir inputs of the PD42-x-1240. Please note that these signals should be 24V signals. For lower voltage signals a simple small signal transistor maybe inserted as level converter.

Figure 9: Step/Direction input

Due to limitations of the opto-isolators the maximum step frequency of these inputs is limited to around 20kHz. For higher motor speed the step interpolator of the driver stage should be activated or the microstep resolution reduced (default 256 microsteps per fullstep).

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

c:>

node

- 1

node

Host

Slave Slave Slave

RS485

termination

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as short as possible

20 / 34

8 Communication

8.1 RS485

For remote control and communication with a host system the PD42-x-1240 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 10: RS485 bus structure with termination resistors

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 PD42-x-1240 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 stadard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the PD42-x-1240 units (SN65HVD1781D) oﬀers a signiﬁcantly reduced bus load compared to the standard and allows a maximum of 255 units to be connected to a single RS485 bus using standard TMCL ﬁrmware. Please note: usually it cannot be expected to get reliable

communication with the maximum number of nodes connected to one bus and maximum supported communication speed at the same time. Instead, a compromise has to be found between bus cable length, communication speed and number of nodes.

4. COMMUNICATION SPEED: The maximum RS485 communication speed supported by the PD42-x-1240 hardware is 1Mbit/s. Factory default is 9600 bit/s. Please see separate PD42-x-1240 TMCL ﬁrmware manual for information regarding other possible communication speeds below the upper hardware limit.

5. 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.

There are actually two options which can be recommended: Add resistor (bias) network on one side of the bus, only (120R termination resistor still at both ends):

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

node

n - 1

node

Slave Slave

termination

resistor

(120R)

+5V

GND

pull-up (680R)

pull-down (680R)

RS485- / RS485B

termination

resistor

(120R)

RS485+ / RS485A

node

n - 1

node

Slave Slave

termination

resistor

(220R)

+5V

GND

pull-up (390R)

pull-down (390R)

RS485- / RS485B

RS485+ / RS485A

termination

resistor

(220R)

+5V

GND

pull-up (390R)

pull-down (390R)

Figure 11: RS485 bus lines with resistor (bias) network on one side, only

Or add resistor network at both ends of the bus (like Proﬁbus™ termination):

21 / 34

Figure 12: RS485 bus lines with Proﬁbus™recommended line termination

8.2 CAN

For remote control and communication with a host system the PD42-x-1240 provides a CAN bus interface. Please note that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken into account when setting up a CAN network:

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

c:>

node

- 1

node

Host

Slave Slave Slave

CAN

termination

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as short as possible

Figure 13: CAN bus structure with termination resistors

3. BUS TERMINATION: The bus transceiver used on the PD42-x-1240 units (TJA1051T) supports at least 110 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).

22 / 34

9 Motor driver current

The on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 eﬀective scaling steps in hardware. Explanation of diﬀerent columns in table below:

Motor current setting in software

(TMCL)

Motor current I [A]

Motor current setting in software (TMCL)

0. . . 7 0 0.102 0.072

8. . . 15 1 0.203 0.144

16. . . 23 2 0.305 0.215

These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current). They are used to set the run / standby current using the following TMCL commands:

SAP 6, 0, <value> // set run current SAP 7, 0, <value> // set standby current

(read-out value with GAP instead of SAP. Please see separate PD42-x-1240 ﬁrmware manual for further information)

Resulting motor current based on motor current setting

RMS

Motor Current Setting

Current scaling step (CS)

Motor current I peak

COIL

[A]

Motor current I RMS

COIL

[A]

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23 / 34

Motor current setting in software (TMCL)

Current scaling step (CS)

Motor current I peak

COIL

[A]

Motor current I RMS

24. . . 31 3 0.406 0.287

32. . . 39 4 0.508 0.359

40. . . 47 5 0.609 0.431

48. . . 55 6 0.711 0.503

56. . . 63 7 0.813 0.575

64. . . 71 8 0.914 0.646

72. . . 79 9 1.016 0.718

80. . . 87 10 1.117 0.790

88. . . 95 11 1.219 0.862

96. . . 103 12 1.320 0.934

104. . . 111 13 1.422 1.005

112. . . 119 14 1.523 1.077

120. . . 127 15 1.625 1.149

128. . . 135 16 1.727 1.221

136. . . 143 17 1.828 1.293

COIL

[A]

144. . . 151 18 1.930 1.364

152. . . 159 19 2.031 2.133

160. . . 167 20 2.133 1.508

168. . . 175 21 2.234 1.580

176. . . 183 22 2.336 1.652

184. . . 191 23 2.438 1.724

192. . . 199 24 2.539 1.795

200. . . 207 25 2.641 1.867

208. . . 215 26 2.742 1.939

216. . . 223 27 2.844 2.011

224. . . 231 28 2.945 2.083

232. . . 239 29 3.047 2.154

240. . . 247 30 3.148 2.226

248. . . 255 31 3.250 2.298

Table 11: Available motor current settings

In addition to the settings in the table the motor current may be switched oﬀ completely (free-wheeling) using axis parameter 204 (see PD42-x-1240 ﬁrmware manual).

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10 Torque curves

10.1 PD42-1-1240 Torque Curve

24 / 34

Figure 14: PD42-1-1240 torque vs. velocity 24V / 2A, 256µsteps

10.2 PD42-2-1240 Torque Curve

Figure 15: PD42-2-1240 torque vs. velocity 24V / 2A, 256µsteps

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

10.3 PD42-3-1240 Torque Curve

Figure 16: PD42-3-1240 torque vs. velocity 24V / 2A, 256µsteps

25 / 34

10.4 PD42-4-1240 Torque Curve

Figure 17: PD42-4-1240 torque vs. velocity 24V / 2A, 256µsteps

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

ARM

Cortex-M3

microcontroller

EEPROM

I/Os

RS485

MOSFET

Driver

Stage

Energy Efficient

Driver

TMC262

Motion

Controller

Pre-Driver

SPI

USB

SPI

CAN

DC/DC

+5V

sensOstep™

Encoder

SPI

+3V3

STOP_L/R, S/D, Encoder

PD42-1-1240

Step

Motor

PD42-2-1240 PD42-3-1240 PD42-4-1240

QSH4218-34-20-022

QSH4218-38-20-036

QSH4218-47-20-044

QSH4218-60-20-070

TMCM-1240

26 / 34

11 Functional Description

The PD42-x-1240 is a full mechatronic solution including a 42mm ﬂange (NEMA17) bipolar stepper motor. It includes the controller / driver electronics TMCM-1240 and a choice between four diﬀerent NEMA 17 / 42mm ﬂange size bipolar hybrid stepper motors with diﬀerent length and torque.

The PD42-x-1240 can be controlled via USB, RS485 or CAN serial interfaces. There are three general purpose digital inputs which can be used, also as STOP_L / STOP_R / HOME switch inputs (for reference movements, as end switches etc. depending on ﬁrmware, mode and conﬁguration) or for connecting an additional external encoder (incremental A/B/N). In addition, there is one dedicated analog input for

0. . . +10V analog signals and two general-purpose outputs (one open-drain and one switchable +5V supply output).

The PD42-x-1240 with TMCL™ﬁrmware option is supported by 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 a rapid and fast development of motion control applications is guaranteed. Please refer to the PD42-x-1240 or TMCM-1240 ﬁrmware manuals for more information about TMCL™ commands.

Communication traﬃc is kept low since all time critical operations, e.g. ramp calculation are performed on board. Complete stand-alone or full remote control or anything in-between is possible. The ﬁrmware of the module can be updated via the serial interface. As an alternative to TMCL, a CANopen ﬁrmware is available.

™

The PD42-x-1240 contains the following main components:

• Microcontroller (ARM Cortex-M3™), responsible for overall control and communication

•

Highly integrated advanced stepper motor controller supporting linear and unique 6-points ramps in hardware

•

Advanced stepper motor driver with stallGuard2™and coolStep™with MOSFET driver stage (8x power N-MOSFETs for bipolar stepper motor)

• RS485, CAN and USB transceivers

• On-board voltage regulators (+5V and +3V3) required for supply of all on-board digital circuits

Figure 18: PD42-x-1240 block diagram

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

12 Operational Ratings and Characteristics

27 / 34

NOTICE

Never Exceed the absolute maximum ratings!

Keep the power supply voltage below the upper limit of +30V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended.

General Operational Ratings

Symbol Parameter Min Typ Max Unit

Power

USB

Power supply voltage 10 12.. . 24 30 V

Power supply current <<I

COIL_RMS

1.4 x I

COIL_RMS

Power supply via USB connector 5 V

Current withdrawn from USB supply when USB

42 mA

bus powered (no other supply connected)

COIL_PEAK

Motor coil current for sine wave

peak (chopper

0 0. . . 2.8 3.1 A

regulated, adjustable via software)

COIL_RMS

ENV

Continuous motor current (RMS) 0 0. . . 2 2.2

Environmental temperature at rated current (no

-30 60 °C

forced cooling reaquired)

Table 12: General operational ratings of the module

Operational Ratings of the I/Os

Symbol Parameter Min Typ Max Unit

OUT0

Voltage at open drain output OUT0 (switched oﬀ) 0 +V

Output sink current of open drain output OUT0

Power

100 mA

(switched on)

IN0/1/2

IN0

IN1/2_L

IN1/2_H

STOP_L/R_ON

Input voltage for IN0. . . IN2 0 0. . . +24 +30 V

Measurement range for analog input IN0 0 +10

Low level voltage for IN1 and IN2 (digital inputs) 1 V

High level voltage for IN1 and IN2 (digital inputs) 2.9 V

Switch-On opto-isolated inputs (voltage between

20-24 30 V

input and ISO_COM)

STOP_L/R_OFF

Switch-oﬀ opto-isolated inputs (voltage between

0 0-16 V

input and ISO_COM)

Please note: 2.2A RMS will exceed connector speciﬁcation. Therefore, continuous motor current should be limited to 2A RMS

max. motor current

approx. 0. . . +10.56V at the analog input IN0 is translated to 0. . . 4095 (12bit ADC, raw values). Above approx. +10.56V the analog

input will saturate but, not being damaged (up-to VDD).

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

Operational Ratings of the I/Os

Symbol Parameter Min Typ Max Unit

28 / 34

STEP/DIR

Max. frequency for step/direction opto-isolated

20 kHz

inputs

Table 13: Operational ratings of I/Os

Operational Ratings of the RS485 Interface

Symbol Parameter Min Typ Max Unit

RS485

Number of nodes connected to single RS485 network 256

Max. speed for RS485 network 1Mbit/s

Table 14: Operational ratings of the RS485 interface

Operational Ratings of the CAN Interface

Symbol Parameter Min Typ Max Unit

CAN

Number of nodes connected to single CAN network >110

Max. speed for CAN network 1Mbit/s

Table 15: Operational ratings of the CAN interface

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

13 Abbreviations used in this Manual

Abbreviation Description

IDE Integrated Development Environment

LED Light Emmitting Diode

RMS Root Mean Square value

TMCL TRINAMIC Motion Control Language

Table 16: Abbreviations used in this Manual

29 / 34

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

14 Figures Index

PD42-x-1240 with diﬀerent NEMA17 / 42mm stepper motors (all dimensions

in mm) . . . . . . . . . . . . . . . . . . 8

2 PD42-x-1240 connectors . . . . . . . . 11

3 PD42-x-1240 LEDs . . . . . . . . . . . . 15

4 Reset to factory default settings . . . 16

5 Analog input IN0 . . . . . . . . . . . . 17

6 Digital inputs IN1 and IN2 . . . . . . . 18

7 Stop switch inputs . . . . . . . . . . . 18

8 External encoder input . . . . . . . . . 19

9 Step/Direction input . . . . . . . . . . 19

RS485 bus structure with termination

resistors . . . . . . . . . . . . . . . . . 20

RS485 bus lines with resistor (bias) net-

work on one side, only . . . . . . . . . 21

RS485 bus lines with Proﬁbus™recommended

line termination . . . . . . . . . . . . . 21

CAN bus structure with termination

resistors . . . . . . . . . . . . . . . . . 22

PD42-1-1240 torque vs. velocity 24V /

2A, 256µsteps . . . . . . . . . . . . . . 24

PD42-2-1240 torque vs. velocity 24V /

2A, 256µsteps . . . . . . . . . . . . . . 24

PD42-3-1240 torque vs. velocity 24V /

2A, 256µsteps . . . . . . . . . . . . . . 25

PD42-4-1240 torque vs. velocity 24V /

2A, 256µsteps . . . . . . . . . . . . . . 25

18 PD42-x-1240 block diagram . . . . . . 26

30 / 34

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

15 Tables Index

31 / 34

1 Order Code . . . . . . . . . . . . . . . 6

2 TMCM-1240 Cable Loom . . . . . . . . 7

NEMA17 / 42mm stepper motor tech-

nical data . . . . . . . . . . . . . . . . . 9

Connector Types and Mating Connec-

tors of the PD42-x-1240 . . . . . . . . 11

Power Supply Connector Pin Assignment

6 Motor Connector Pin Assignment . . 13 7

RS485 + CAN Connector Pin Assignment

8 USB Connector Pin Assignment . . . . 14

9 I/O Connector Pin Assignment . . . . 15

11 Available motor current settings . . . 23 12

General operational ratings of the

module . . . . . . . . . . . . . . . . . . 27

13 Operational ratings of I/Os . . . . . . 28

Operational ratings of the RS485 inter-

face . . . . . . . . . . . . . . . . . . . . 28

Operational ratings of the CAN interface

16 Abbreviations used in this Manual . . 29

17 Hardware Revision . . . . . . . . . . . 34

18 Document Revision . . . . . . . . . . . 34

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32 / 34

16 Supplemental Directives

16.1 Producer Information

16.2 Copyright

TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources.©Copyright 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.

Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available product-related documentation.

16.3 Trademark Designations and Symbols

Trademark designations and symbols used in this documentation indicate that a product or feature is owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation.

This Hardware Manual is a non-commercial publication that seeks to provide concise scientiﬁc and technical user information to the target user. Thus, trademark designations and symbols are only entered in the Short Spec of this document that introduces the product at a quick glance. The trademark designation /symbol is also entered when the product or feature name occurs for the ﬁrst time in the document. All trademarks and brand names used are property of their respective owners.

16.4 Target User

The documentation provided here, is for programmers and engineers only, who are equipped with the necessary skills and have been trained to work with this type of product.

The Target User knows how to responsibly make use of this product without causing harm to himself or others, and without causing damage to systems or devices, in which the user incorporates the product.

16.5 Disclaimer: Life Support Systems

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 document is believed to be accurate and reliable. However, no 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.

16.6 Disclaimer: Intended Use

The data speciﬁed in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, ﬁtness for a particular purpose

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

33 / 34

or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given.

In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in signiﬁcant personal injury or death (safety-Critical Applications) without TRINAMIC’s speciﬁc written consent.

TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless speciﬁcally designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product.

16.7 Collateral Documents & Tools

This product documentation is related and/or associated with additional tool kits, ﬁrmware and other items, as provided on the product page at: www.trinamic.com.

PD42-x-1240 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-AUG-17

17 Revision History

17.1 Hardware Revision

Version Date Author Description

V1.0 2017-OCT-30 GE Initial version.

V1.1 2017-NOV-28 GE Minor changes: S/D support added.

Table 17: Hardware Revision

17.2 Document Revision

Version Date Author Description

1.00 2018-MAR-28 GE Initial version based on TMCM-1240 hardware manual.

1.01 2018-MAY-03 OK Typo corrections.

1.02 2018-AUG-17 GE Torque curve descriptions corrected.

34 / 34

Table 18: Document Revision

TRINAMIC PD42-1-1240-CAN Instructions

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Features

2 Order Codes

3 Mechanical and Electrical Interfacing

3.1 Dimensions of PD42-x-1240

3.3 Integrated sensOstep™ encoder

4 Connectors

4.1 Power Supply Input Connector

4.2 Motor Connector

4.3 RS485 + CAN Connector

4.4 USB Connector

4.5 I/O Connector

5 On-Board LEDs

6 Reset to Factory Defaults

7 I/Os

7.1 Analog input IN0

7.2 Digital inputs IN1 and IN2

7.3 HOME/STOP_L/STOP_R switch inputs

7.4 External incremental encoder input

7.5 Step/Direction inputs

8 Communication

8.1 RS485

8.2 CAN

9 Motor driver current

10 Torque curves

10.1 PD42-1-1240 Torque Curve

10.2 PD42-2-1240 Torque Curve

10.4 PD42-4-1240 Torque Curve

11 Functional Description

12 Operational Ratings and Characteristics

13 Abbreviations used in this Manual

14 Figures Index

15 Tables Index

16 Supplemental Directives

16.1 Producer Information

16.2 Copyright

16.3 Trademark Designations and Symbols

16.4 Target User

16.5 Disclaimer: Life Support Systems

16.6 Disclaimer: Intended Use

16.7 Collateral Documents & Tools

17 Revision History

17.1 Hardware Revision

17.2 Document Revision