TRINAMIC PD42-1-1270-TMCL Instructions

Download

PANdrive™ for Stepper Motors

+6V..+28V DC

ARM

Cortex-M0+

microcontroller

TMCL™

Memory

Step

Motor

CAN

Energy Efficient

Driver

TMC262

Stepper

motor

controller +

driver

TMCM-1270

I2C

SPI

Input

REFL/REFR

PD42-x-1270

ENC_A/ENC_B /ENABLE

PANDRIVE™

PD42-1270 Hardware Manual

Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02

PD42-1270 is an easy to use PANdrive™smart stepper motor. The module is controlled via a CAN bus interface and comes with two ﬁrmware options – TMCL and CANopen. PD42-1270 features stealthChop™for absolute silent motor control, spreadCycle™for high speed stepper motor commutation, a fully integrated hardware motion controller with sixPoint™ motion ramps, as well as stallGuard2™ and coolStep™.

Features

• PANdrive™ smart motor

• Supply Voltag +6 to +24V DC

• CAN bus interface

• TMCL or CANopen protocol

•

Integrated controller

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

sixPoint™

ramp motion

Applications

• Lab-Automation

• Manufacturing

Simpliﬁed Block Diagram

• Robotics

• Factory Automation

• CNC

• Laboratory Automation

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Contents

1 Features 3

1.1 General Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.2 TRINAMIC’s Unique Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.1 stealthChop™ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.2 spreadCycle™ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.3 stallGuard2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.4 coolStep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.2.5 sixPoint Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Order Codes 7

3 Mechanical and Electrical Interfacing 8

3.1 PD42-1270 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.2 PD42-1270 Dimensions and Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.3 PD42-1270 Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.4 PD42-1270 Torque Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4 Connectors and LEDs 13

4.1 Power supply and I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.2 CAN Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.3 Motor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.4 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5 Functional Description 17

5.1 Typical Application Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

5.2 Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6 Operational Ratings and Characteristics 18

6.1 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6.2 Electrical Characteristics (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . . 18

6.3 I/O Ratings (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

6.4 Functional Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

6.5 Other Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

7 Abbreviations used in this Manual 19

8 Figures Index 20

9 Tables Index 21

10 Supplemental Directives 22

10.1 Producer Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

10.2 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

10.3 Trademark Designations and Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

10.4 Target User . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

10.5 Disclaimer: Life Support Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

10.6 Disclaimer: Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

10.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

11 Revision History 24

11.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

11.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

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1 Features

The PANdrive™PD42-1270 is a full mechatronic solution with state of the art feature set. It is highly integrated and oﬀers convenient handling via CAN interface. The PD42-1270 includes a stepper motor, driver electronics, and a fully featured hardware motion controller. It can be used in many decentralized applications and has been designed for 0.20...0.47 Nm maximum holding torque and 24V DC nominal supply voltage. With stealthChop™, the PD42-1270 oﬀers absolutely silent and smooth motor operation for lower and medium velocities. With spreadCycle™, the PD42-1270 oﬀers a high performance current controlled chopper mode for highest velocities with perfect zero crossing performance. With stallGuard2™, a sensorless load detection feature is provided for automatic end step detection and load monitoring. stallGuard2 is also used for the automatic current scaling feature coolStep™. The PD42-1270 comes with a CAN bus interface and four (4) digital IOs.

1.1 General Features

Main Characteristics

• Supply Voltage +24V nom. (+6V to +28V DC)

• 1.0A RMS phase current (ca. 1.4A peak phase current)

• Highest micro step resolution, up to 256 micro steps per full step

• Available with enclosure and mounted to NEMA17 / 42mm ﬂange size motor

• Permanent onboard parameter storage

• Advanced sixPoint™ ramp hardware motion controller

• Noiseless stealthChop™ chopper mode for slow to medium velocities

• High performance spreadCycle™ chopper mode

• High-precision sensorless load measurement with stallGuard2™

• Automatic current scaling algorithm coolStep™ to save energy and keep your drive cool

I/Os

• Home and reference switch inputs

• Enable input to power-on/-oﬀ driver H-bridges

• Optionally conﬁgurable analog input

•

Optionally conﬁgurable incremental encoder inputs (quadrature channels A and B only, no N channel)

CAN Bus Interface

• Standard CAN Bus Interface for control and conﬁguration

• CAN bit rate of 20. . . 1000kBit/s

• TMCL-based protocol with TMCL ﬁrmware option

• CANopen protocol with DS402 device proﬁle with CANopen ﬁrmware option

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1.2 TRINAMIC’s Unique Features

1.2.1 stealthChop™

stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities. With stealthChop, the motor current is applied by driving a certain eﬀective voltage into the coil, using a voltage mode PWM. There are no more conﬁgurations required except for the regulation of the PWM voltage to yield the motor target current.

Figure 1: Motor coil sine wave current using stealthChop (measured with current probe)

1.2.2 spreadCycle™

The spreadCycle chopper is a high-precision, hysteresis-based, and simple to use chopper mode, which automatically determines the optimum length for the fast-decay phase. Several parameters are available to optimize the chopper to the application. spreadCycle oﬀers optimal zero crossing performance compared to other current controlled chopper algorithms and thereby allows for highest smoothness. The true target current is powered into the motor coils.

Figure 2: spreadCycle principle

1.2.3 stallGuard2

stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor coils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The

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Load [Nm]

stallGuard2

Initial stallGuard2 (SG) value: 100%

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

Motor stalls

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

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50% torque reserve

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stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value reaches zero or is near zero. This is the most energy-eﬃcient point of operation for the motor.

Figure 3: stallGuard2 Load Measurement as a Function of Load

1.2.4 coolStep

coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2. coolStep adapts 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 for cost reduction.

Figure 4: Energy Eﬃciency Example with coolStep

1.2.5 sixPoint Motion Controller

TRINAMIC’s sixPoint motion controller is a new type of ramp generator, which oﬀers faster machine operation compared to the classical linear acceleration ramps. The sixPoint ramp generator allows adapting

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the acceleration ramps to the torque curves of a stepper motor and uses two diﬀerent acceleration settings each for the acceleration phase and for the deceleration phase

Figure 5: Typical motion proﬁle with TRINAMIC’s sixPoint motion controller

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2 Order Codes

Order Code Description Size (LxWxH)

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PD42-1-1270-TMCL

PD42-2-1270-TMCL

PD42-3-1270-TMCL

PD42-1-1270-CANOpen

PD42-2-1270-CANOpen

PD42-3-1270-CANOpen

TMCM-1270-TMCL

TMCM-1270-CANOpen

Table 1: Order codes modules (electronics + enclosure) and PANdrives™

PANdrive, 0.27Nm, 1.0A RMS, +24V DC, CAN Bus interface, TMCL ﬁrmware

PANdrive, 0.35Nm, 1.0A RMS, +24V DC, CAN Bus interface, TMCL ﬁrmware

PANdrive, 0.49Nm, 1.0A RMS, +24V DC, CAN Bus interface, TMCL ﬁrmware

PANdrive, 0.27Nm, 1.0A RMS, +24V DC, CAN Bus interface, CANopen ﬁrmware

PANdrive, 0.35Nm, 1.0A RMS, +24V DC, CAN Bus interface, CANopen ﬁrmware

PANdrive, 0.49Nm, 1.0A RMS, +24V DC, CAN Bus interface, CANopen ﬁrmware

Controller/Driver Module without motor, +24V DC, CAN Bus interface, TMCL ﬁrmware

Controller/Driver Module without motor, +24V DC, CAN Bus interface, CANopen ﬁrmware

42mm x 42mm x 45,5mm

42mm x 42mm x 50mm

42mm x 42mm x 59mm

42mm x 42mm x 45,5mm

42mm x 42mm x 50mm

42mm x 42mm x 59mm

42mm x 42mm x 12mm

Order Code Description

TMCM-1270-CABLE Cable loom for TMCM-1270:

• 1x cable loom for motor connector with 4-pin JST PH series connector

•

1x cable loom for Power supply and I/O connector with 10-pin JST PH series connector

PD42-1270-CABLE Cable loom for PD42-x-1270:

•

1x cable loom for Power supply and I/O connector with 10-pin JST PH series connector

Table 2: Order codes cable loom

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3 Mechanical and Electrical Interfacing

3.1 PD42-1270 Dimensions

The PD42-1270 includes the TMCM-1270 stepper motor controller/driver module (electronics + encapsulating enclosure) and a NEMA17 / 42mm ﬂange size bipolar stepper motor. Currently, there is a choice between three NEMA17 / 42mm ﬂange size stepper motors with diﬀerent lengths and diﬀerent holding torques. All three stepper motors are rated for 1A RMS coil current - perfectly ﬁtting to the TMCM-1270 electronics. The dimensions of the controller/driver unit are approx. 42mm x 42mm x 12mm (TMCM-1270 electronics + encapsulating enclosure). There are two mounting holes for M3 screws for mounting on the back bell of a NEMA17 / 42mm ﬂange size stepper motor (screw/thread length depends on motor size).

Figure 6: PD42-1270 top view mechanical dimensions

3.2 PD42-1270 Dimensions and Weight

When mounted to the stepper motor the overall size of the PANdrive is the housing height plus motor body size.

Order Code L in mm Weight in g

TMCM-1270 12 ±0,2 ≈ 32

PD42-1-1270 45,5 ±1 ≈ 260

PD42-2-1270 50 ±1 ≈ 320

PD42-3-1270 59 ±1 ≈ 395

Table 3: Length and weight

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Figure 7: PD42-3-1270 mechanical dimensions with motor

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3.3 PD42-1270 Motor Parameters

Speciﬁcations Parameter Unit PD42-1-1270 PD42-2-1270 PD42-3-1270

Step angle

Step angle accuracy % ±5 ±5 ±5

Ambient temperature T

Max. motor temperature T

amb

motor

max

Shaft radial play (450g load) mm 0,02 0,02 0,02

Shaft axial play (450g load) mm 0,08 0,08 0,08

◦

C -20...+50 -20...+50 -20...+50

◦

C 80 80 80

1.8 1.8 1.8

10 / 24

Max radial force (20mm from

N 28 28 28

front ﬂange)

Max axial force N 10 10 10

Rated voltage V

Rated phase current I

Phase resistance at 20◦C R

Phase inductance (typ.) L

RAT ED

RMSRAT ED

COIL

V 2.0 2.4 2.4

A 1.0 1.0 1.0

Ω 1.0 1.2 1.4

mH 1.6 2.2 2.1

Holding torque Nm 0.22 0.36 0.44

Insulation class B B B

Rotor inertia g cm2 35 57 68

Weight M kg 0.22 0.24 0.35

Table 4: PD42-1270 Motor Parameters

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3.4 PD42-1270 Torque Curves

The following diagrams show the torque vs. speed curves for the PD42-1-1270, the PD42-2-1270, and the PD42-3-1270 at three diﬀerent typical conditions. All measurements have been done in spreadCycle chopper mode. The measurement conditions are:

1. V DD =+24V, I

2. V DD =+24V, I

3. V DD =+12V, I

COILRM S

=1A, 1/256 microstepping

=1A, half stepping

Figure 8: PD42-1-1270 torque vs. speed

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Figure 9: PD42-2-1270 torque vs. speed

Figure 10: PD42-3-1270 torque vs. speed

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Power Supply and I/O

connector

Motor connector

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4 Connectors and LEDs

The PD42-1270 oﬀers two connectors - one 10-pin connector for power supply, communication (CAN) and four Inputs and one four pin connector for connecting the motor.

Figure 11: PD42-1270 connectors

Overview of connector and mating connector types:

Label Connector type Mating connector type

Power supply and I/O connector

Motor connector

JST B10B-PH-K-S (JST PH series, 10pins, 2mm pitch)

JST B4B-PH-K-S (JST PH series, 4pins, 2mm pitch)

Table 5: Connector and mating connectors

4.1 Power supply and I/O Connector

Pin no. Pin name Description

1 GND Supply and signal ground connection

2 +24V Supply voltage input (+6V to +28V DC)

Connector housing: JST PHR-10 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

3 CAN_H Diﬀerential CAN bus signal (non-inverting)

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Pin no. Pin name Description

4 CAN_L Diﬀerential CAN bus signal (inverting)

5 GND Signal ground connection

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6 +5V

7 HOME (GPI0)

8 REFL (GPI1)

9 REFR (GPI2)

10 ENN (GPI3)

Table 6: PD42-1270 Power supply and I/O connector pin assignment

NOTICE

5V output, 100mA maximum load, e.g. for end / home switch circuit or external encoder supply

General purpose input 0, can be used as HOME switch input, also. Conﬁgurable as analog input AIN0 via software (+5V compatible, internal 10k pull-up to +5V)

General purpose input 1, can be used as left reference / stop switch input REFL / STOP_L, also. Conﬁgurable as incremental encoder input channel A via software (+5V TTL compatible, internal 10k pull-up to +5V)

General purpose input 2, can be used as right reference / stop switch input REFR / STOP_R, also. Conﬁgurable as incremental encoder input channel B via software (+5V TTL compatible, internal 10k pull-up to +5V)

ENABLE NOT input (active low) for driver stage, 0 = enabled, 1 = disabled (+5V TTL compatible, internal 10k pull-up to +5V)

Always keep the power supply voltage below the upper limit of 28V!

Otherwise the driver electronics will be seriously damaged. Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended.

NOTICE

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 PD42-1270! Rule of thumb for size of electrolytic capacitor: C =

1000µF

× I

SU P P LY

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 slew-rate of power supply voltage at the module. The low ESR of ceramic-only ﬁlter capacitors may cause stability problems with some switching power supplies.

NOTICE

Tie ENN to GND in order to enable driver stage!

Please note that pin 10 of the Power supply and I/O connector is a hardware driver stage enable input (active low) with an internal pull-up resistor. In order to enable motor driver stage and be able to move the motor using appropriate software commands it is necessary to tie this input to GND.

4.2 CAN Connection

For remote control and communication with a host system the PD42-1270 provides a CAN bus interface. For proper operation the following items should be taken into account when setting up a CAN network:

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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 12: CAN bus strcuture

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 PD42-1270 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.

Number of Nodes

The bus transceiver used on the PD42-1270 (TJA1051) supports at least 100 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).

CAN Bus Adapters

To quickly connect to the PD42-1270 a PC based intergated development environment TMCL-IDE is available. Latest release can be downloaded for free from our web site: www.trinamic.com A number of common CAN interface adapters from diﬀerent manufactures is supported from within this software. Please make sure to check our web site from time to time for the latest version of the software!

4.3 Motor Connector

Pin no. Pin name Description

1 A1 Motor phase A pin 1

2 A2 Motor phase A pin 2

3 B1 Motor phase B pin 1

4 B2 Motor phase B pin 2

Table 7: Motor connector pinning

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Green LED

Red LED

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NOTICE

Do not connect or disconnect motor during operation!

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

4.4 LEDs

The PD42-1270 includes two LEDs: one green status LED and one red error LED. See ﬁgure 13 for LED location.

Figure 13: PD42-1270 LED colors and loacation

Depending on the ﬁrmware option (TMCL or CANopen), these LEDs have diﬀerent functionality. Main states for TMCL:

State green LED State red LED Description TMCL Firmware

Flashing oﬀ Firmware running (normal operation mode)

Permanent on Permanent on Bootloader mode, ﬁrmware update supported

Table 8: LED functionality description

For CANopen ﬁrmware LED functionality has been implemented based on CANopen standard.

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Power supply

USB-CAN

c:>

Host

5 Functional Description

5.1 Typical Application Wiring

The PD42-1270 driver/controller’s wiring is straightforward as shown in the following ﬁgure.

• Power supply must be connected to V+ and GND.

• CAN - use appropriate CAN interface adapter

• ENN - connect ENN signal to GND in order to enable driver stage

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Figure 14: Typical application scenario for remote control of PD42-1270

5.2 Inputs

The four inputs of the PD42-1270 are +5V TTL compatible with internal pull-ups (10k) to +5V and optically isolated.

not

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6 Operational Ratings and Characteristics

6.1 Absolute Maximum Ratings

Parameter Min Max Unit

Supply voltage +6 +28 V

Working temperature -30 +40 ° C

Motor coil current / sine wave peak 1.4 A

Continuous motor current (RMS) 1.0 A

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NOTICE

Stresses above those listed under "‘Absolute Maximum Ratings"’ may cause permanent damage to the device. This is a stress rating only and functional operation of the device at those or any other conditions above those indicated in the operation listings of this speciﬁcation is not implied. Exposure to maximum rating conditions for extended periods may aﬀect device reliability.

6.2 Electrical Characteristics (Ambient Temperature 25° C)

Parameter Symbol Min Typ Max Unit

Supply voltage V DD 6 24 28 V

Motor coil current / sine wave

peak

(chopper regu-

COILpeak

0 1.4 A

lated, adjustable via TTL UART interface)

Continuous motor current (RMS) I

Power supply current I

COILRM S

0 1.0 A

 I

COIL

1.4∗I

COIL

Table 10: Electrical Characteristics

6.3 I/O Ratings (Ambient Temperature 25° C)

Parameter Symbol Min Typ Max Unit

Input voltage V

Low level voltage V

High level voltage V

0 1.75 V

3.25 5 V

5 5.5 V

Table 11: I/O ratings

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6.4 Functional Characteristics

Parameter Description / Value

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Control

CAN bus interface and four digital inputs for referencing, incremental encoder, and NOT_ENABLE

Communication CAN bus interface for control and conﬁguration, 20. . . 1000kBit/s

Driving Mode

spreadCycle, stealthChop, and constant

chopper, adaptive current control

off

via stallGuard2 and coolstep

Stepping Resolution Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step

Table 12: Functional Characteristics

6.5 Other Requirements

Speciﬁcations Description or Value

Cooling Free air

Working environment Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting

Working temperature -30° C to +40° C

Table 13: Other Requirements and Characteristics

7 Abbreviations used in this Manual

Abbreviation Description

CAN Controller Area Network

IDE Integrated Development Environment

LED Light Emmitting Diode

RMS Root Mean Square value

TMCL TRINAMIC Motion Control Language

TTL Transistor Transistor Logic

UART Universal Asynchronous Receiver Transmitter

USB Universal Serial Bus

Table 14: Abbreviations used in this Manual

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PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02

8 Figures Index

Motor coil sine wave current using stealthChop (measured with current

probe) . . . . . . . . . . . . . . . . . . . 4

2 spreadCycle principle . . . . . . . . . . 4

stallGuard2 Load Measurement as a

Function of Load . . . . . . . . . . . . 5

Energy Eﬃciency Example with coolStep 5

Typical motion proﬁle with TRINAMIC’s

sixPoint motion controller . . . . . . . 6

PD42-1270 top view mechanical di-

mensions . . . . . . . . . . . . . . . . . 8

PD42-3-1270 mechanical dimensions

with motor . . . . . . . . . . . . . . . . 9

8 PD42-1-1270 torque vs. speed . . . . 11

9 PD42-2-1270 torque vs. speed . . . . 12

10 PD42-3-1270 torque vs. speed . . . . 12

11 PD42-1270 connectors . . . . . . . . . 13

12 CAN bus strcuture . . . . . . . . . . . 15

13 PD42-1270 LED colors and loacation . 16 14

Typical application scenario for re-

mote control of PD42-1270 . . . . . . 17

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PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02

9 Tables Index

Order codes modules (electronics +

enclosure) and PANdrives™ . . . . . . 7

2 Order codes cable loom . . . . . . . . 7

3 Length and weight . . . . . . . . . . . 8

4 PD42-1270 Motor Parameters . . . . 10

5 Connector and mating connectors . . 13 6

PD42-1270 Power supply and I/O con-

nector pin assignment . . . . . . . . . 14

7 Motor connector pinning . . . . . . . 15

8 LED functionality description . . . . . 16

10 Electrical Characteristics . . . . . . . . 18

11 I/O ratings . . . . . . . . . . . . . . . . 18

12 Functional Characteristics . . . . . . . 19

Other Requirements and Characteristics 14 Abbreviations used in this Manual . . 19

15 Hardware Revision . . . . . . . . . . . 24

16 Document Revision . . . . . . . . . . . 24

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10 Supplemental Directives

10.1 Producer Information

10.2 Copyright

TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources.©Copyright 2017 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.

10.3 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.

10.4 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.

10.5 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.

10.6 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

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23 / 24

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.

10.7 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.

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PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02

11 Revision History

11.1 Hardware Revision

Version Date Author Description

1.00 2016-09-27 TMC Series version.

Table 15: Hardware Revision

11.2 Document Revision

Version Date Author Description

1.00 2016-06-26 BS Initial release.

1.10 2016-02-20 GE Update for series version V1.0

Table 16: Document Revision

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TRINAMIC PD42-1-1270-TMCL Instructions

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Features

1.1 General Features

1.2.1 stealthChop™

1.2.2 spreadCycle™

1.2.3 stallGuard2

1.2.4 coolStep

1.2.5 sixPoint Motion Controller

2 Order Codes

3 Mechanical and Electrical Interfacing

3.1 PD42-1270 Dimensions

3.2 PD42-1270 Dimensions and Weight

3.3 PD42-1270 Motor Parameters

3.4 PD42-1270 Torque Curves

4 Connectors and LEDs

4.1 Power supply and I/O Connector

4.2 CAN Connection

4.3 Motor Connector

4.4 LEDs

5 Functional Description

5.1 Typical Application Wiring

5.2 Inputs

6 Operational Ratings and Characteristics

6.1 Absolute Maximum Ratings

6.4 Functional Characteristics

6.5 Other Requirements

7 Abbreviations used in this Manual

8 Figures Index

9 Tables Index

10 Supplemental Directives

10.1 Producer Information

10.2 Copyright

10.3 Trademark Designations and Symbols

10.4 Target User

10.5 Disclaimer: Life Support Systems

10.6 Disclaimer: Intended Use

10.7 Collateral Documents & Tools

11 Revision History

11.1 Hardware Revision

11.2 Document Revision