Stepper Motor with
Controller / Driver
0.55 - 3.1 Nm / 48 V
sensOstep™ Encoder
USB, RS485, and CAN
Step/Dir Interface
MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrive
Hardware Version V1.1
HARDWARE MANUAL
+
+ +
+
PD-1160
UNIQUE FEATURES
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 2
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 PD57-1160 and PD60-1160 Dimensions ......................................................................................................... 6
3.1.1 PD57-1160 Dimensions ................................................................................................................................ 6
3.1.2 PD60-1160 Dimensions ................................................................................................................................ 7
3.2 Connectors of PD-1160 ....................................................................................................................................... 8
3.2.1 Power Connector ........................................................................................................................................... 9
3.2.1.1 Power Supply .......................................................................................................................................... 9
3.2.2 Serial Communication Connector ........................................................................................................... 10
3.2.2.1 RS485 ....................................................................................................................................................... 11
3.2.2.2 CAN ........................................................................................................................................................... 12
3.2.3 Multipurpose I/O Connector ..................................................................................................................... 13
3.2.3.1 Digital Inputs STOP_L, STOP_R, and HOME ................................................................................... 13
3.2.3.2 General Purpose Inputs IN_0 and IN_1 ......................................................................................... 14
3.2.3.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 14
3.2.4 Step/Direction Connector .......................................................................................................................... 15
3.2.4.1 Step / Direction / Enable Inputs ...................................................................................................... 15
3.2.5 Encoder Connector ...................................................................................................................................... 16
3.2.5.1 Encoder Inputs ...................................................................................................................................... 16
3.2.6 Motor Connector .......................................................................................................................................... 17
3.2.7 Mini-USB Connector .................................................................................................................................... 18
4 Jumpers ......................................................................................................................................................................... 19
4.1 RS485 Bus Termination .................................................................................................................................... 19
4.2 CAN Bus Termination ....................................................................................................................................... 19
5 Reset to Factory Defaults ......................................................................................................................................... 20
6 On-board LEDs ............................................................................................................................................................. 21
7 Operational Ratings ................................................................................................................................................... 22
8 Torque Curves ............................................................................................................................................................. 24
8.1 Curves of PD57-1160 ......................................................................................................................................... 24
8.1.1 PD57-1-1160 Torque Curves ...................................................................................................................... 24
8.1.2 PD57-2-1160 Torque Curves ...................................................................................................................... 26
8.2 Curves of PD60-1160 ......................................................................................................................................... 28
8.2.1 PD60-3-1160 Torque Curves ...................................................................................................................... 28
8.2.2 PD60-4-1160 Torque Curves ...................................................................................................................... 29
9 Functional Description .............................................................................................................................................. 30
10 PD-1160 Operational Description ........................................................................................................................... 31
10.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 31
11 Life Support Policy ..................................................................................................................................................... 33
12 Revision History .......................................................................................................................................................... 34
12.1 Document Revision ........................................................................................................................................... 34
12.2 Hardware Revision ............................................................................................................................................ 34
13 References .................................................................................................................................................................... 34
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 3
1 Features
The PANdrive™ PD-1160 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling. The PD-1160 includes a stepper motor, controller/driver
electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and
has been designed for 0.55… 3.1Nm max. holding torque and 24 or 48 V DC nominal supply voltage. With
its high energy efficiency from TRINAMIC’s 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
Encoder
- sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
- Interface for connection of external incremental a/b/n encoder
Interfaces
- RS485 interface
- CAN (2.0B up to 1Mbit/s) interface
- USB full speed (12Mbit/s) interface
- Step/Direction interface (optically isolated)
- 3 inputs for stop switches and home switch (+24V compatible) with programmable pull-up
- 2 general purpose inputs (+24V compatible) and 2 general purpose outputs (open collector)
- Incremental a/b/n encoder interface (TTL and open-collector signals supported directly)
Safety features
- Shutdown input – driver will be disabled in hardware as long as this pin is left open or shorted to
ground
- Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched
off externally while supply for digital logic and therefore digital logic remains active
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
- Ready for CANopen
Electrical and mechanical data
- Supply voltage: common supply voltages +12 V DC / +24 V DC / +48 V DC supported (+9 V… +51 V DC)
- Motor current: up to 2.8 A RMS (programmable)
- 0.55… 3.1Nm max. holding torque (depends on motor)
- With NEMA23 (57mm motor flange size) or NEMA24 (60mm motor flange size) stepper motor
Refer to separate TMCL Firmware Manual, too.
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 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-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 5
Order code
Description
Size (mm3)
PD57-1-1160
PANdrive with 0.55Nm max./holding torque
60 x 60 x 58
PD57-2-1160
PANdrive with 1.01Nm max./holding torque
60 x 60 x 68
Order code
Description
Size (mm3)
PD60-3-1160
PANdrive with 2.10Nm max./holding torque
60 x 60 x 82
PD60-4-1160
PANdrive with 3.10Nm max./holding torque
60 x 60 x 103
Order code
Description
PD-1160-CABLE
Cable loom for PD-1160:
- 1x cable loom for power connector (length 200mm)
- 1x cable loom for communication connector (length 200mm)
- 1x cable loom for multipurpose I/O connector (length 200mm)
- 1x cable loom for S/D connector (length 200mm)
- 1x cable loom for encoder connector (length 200mm)
- 1x USB type A connector to mini-USB type B connector cable (length 1.5m)
2 Order Codes
The PD-1160 is currently available with two different stepper motor series (NEMA23 / 57mm flange size or
NEMA24 / 60mm flange size):
With NEMA 23 / 57mm flange size motor:
The length of the PANdrives is specified without the length of the axis. For the overall length of the
product please add 24mm.
Table 2.1 Order codes (PD57-1160)
With NEMA 24 / 60mm flange size motor:
The length of the PANdrives is specified without the length of the axis. For the total length of the
product add 24mm.
Table 2.2 Order codes (PD60-1160)
A cable loom set is available for this module:
Table 2.3 Cable loom order codes
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 6
Length
56.4±138.1±0.025
1.6
5
6,35-0.013
24±1
20±0.5
R 0.5
38.1±0.025
47.14±0.2
4-ø4.6
56.4±1
56.4±1
6.35-0.013
60
60
47.14±0.2
17
60
4.5
Model
Length (mm)
PD57-1-1160
41
PD57-2-1160
51
3 Mechanical and Electrical Interfacing
3.1 PD57-1160 and PD60-1160 Dimensions
3.1.1 PD57-1160 Dimensions
The PD57-1160 includes the TMCM-1160 stepper motor controller/driver module, the magnetic encoder
based on sensOstep technology and a NEMA23 bipolar stepper motor. Currently, there is a choice
between two NEMA 23/57mm bipolar stepper motors with different lengths and different holding
torques.
Figure 3.1 Dimensions of PD57-1160
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 7
Length
5
9
38.1±0.025
1.6
24±1
8-0.013
20±0.5
7.5±0.2
60±0.5
17
60
4.5
60
47.14±0.2
60
38.1±0.025
8
47.14±0.2
4-ø4.5
Model
Length (mm)
PD60-3-1160
65
PD60-4-1160
86
3.1.2 PD60-1160 Dimensions
Currently, there is a choice between two NEMA 24/60mm bipolar stepper motors with different lengths
and different holding torques.
Figure 3.2 Dimensions of PD60-1160
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 8
USB
Serial
communication
Multi-purpose
I/O
Motor
Power
Encoder
14
1
8
1
4
1
5
1
5
1
4
Step /
Direction
Label
Connector type
Mating connector type
Power
Connector
JST B4B-EH-A
(JST EH series, 4pins, 2.5mm pitch)
Connector housing: JST EHR-4
Contacts: JST SEH-001T-P0.6
Wire: 0.33mm2, AWG 22
Serial
communication
Connector
JST B5B-PH-K-S
(JST PH series, 5pins, 2mm pitch)
Connector housing: JST PHR-5
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Multi-purpose
I/O Connector
JST B8B-PH-K-S
(JST PH series, 8pins, 2mm pitch)
Connector housing: JST PHR-8
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Step/Direction
Connector
JST B4B-PH-K-S
(JST EH series, 4pins, 2mm pitch)
Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Encoder
Connector
JST B5B-PH-K-S
(JST EH series, 5pins, 2mm pitch)
Connector housing: JST PHR-5
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Motor
Connector
JST B4B-EH-A
(JST PH series, 4pins, 2.5mm pitch)
Connector housing: JST EHR-4
Contacts: JST SEH-001T-P0.6
Wire: 0.33mm2, AWG 22
Mini-USB
Connector
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
3.2 Connectors of PD-1160
The PD-1160 offers seven connectors including the motor connector which is used for attaching the
motor coils to the electronics. In addition to the power connector there are two connectors for serial
communication (mini-USB connector and 5pin connector for RS485 and CAN) and three connectors for
Step/Direction, multipurpose input/output signals, and for an external encoder.
The multipurpose connector offers two general purpose outputs, two general purpose inputs, two inputs
for stop switches and one for an additional home switch.
The power supply connector offers separate inputs for driver and for logic power supply plus hardware
shutdown input. Leaving the shutdown input open or tying it to ground will disable the motor driver
stage in hardware. For operation, this input should be tied to supply voltage.
Figure 3.3 Overview connectors
Table 3.1 Connectors and mating connectors, contacts and applicable wire
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 9
4
1
Pin
Label
Description
1
+V
Driver
Module + driver stage power supply input
2
+V
Logic
(Optional) separate digital logic power supply input
3
/SHUTDOWN
Shutdown input. Connect this input to +V
Driver
or +V
Logic
in order
to activate driver stage. Leaving this input open or connecting it
to ground will disable driver stage
4
GND
Module ground (power supply and signal ground)
Add external power supply capacitors!
It is recommended to connect an electrolytic capacitor of significant size (e.g. 2200 µF /
63V) to the power supply lines next to the PD-1160 especially if the distance to the power
supply is large (i.e. more than 2-3m)!
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.
3.2.1 Power Connector
This PANdrive offers separate power supply inputs for digital logic (pin 2) and driver/power stage (pin 1).
Both supply inputs use common ground connections (pin 4). This way, power supply for the driver stage
may be switched off while still maintaining position and status information when keeping digital logic
supply active. Due to internal diode the digital logic supply has to be equal or higher than the
driver/power stage supply. Otherwise the diode between driver/power stage supply and digital logic
supply might short the separate supplies.
+U
In case power supply is provided only to the power section (pin 1) an internal diode will distribute
power to the logic section. So, when separate power supplies are not required it is possible to just use
pin 1 and 4 for powering the module. If so, pin 2 (logic supply) and pin 3 (/SHUTDOWN input) can be
connected together in order to enable the driver stage.
ENABLING THE DRIVER STAGE
Connect /SHUTDOWN input to +U
open or connecting it to ground will disable driver stage.
A 4-pin JST EH series B4B-EH connector is used as power connector on-board.
SUPPLY ONLY
DRIVER
Driver
or +U
in order to activate the driver stage. Leaving this input
Logic
Table 3.2 Connector for power supply
3.2.1.1 Power Supply
For proper operation care has to be taken with regard to the power supply concept and design. Due to
space restrictions the TMCM-1160 module includes about 20 µF / 100 V of supply filter capacitors. These
are ceramic capacitors which have been selected for high reliability and long life time.
HINTS FOR POWER SUPPLY CABLES
- Keep power supply cables as short as possible.
- Use large diameters for power supply cables.
CAUTION!
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 10
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 51V!
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 7 (operating values).
There is no reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver
transistors.
1
5
Pin
Label
Description
1
CAN_H
CAN bus signal (dominant high)
2
CAN_L
CAN bus signal (dominant low)
3
GND
Module ground (system and signal ground)
4
RS485+
RS485 bus signal (non inverted)
5
RS485-
RS485 bus signal (inverted)
3.2.2 Serial Communication Connector
The module supports RS485 and CAN communication via this connector.
CAN interface will be de-activated in case USB is connected due to internal sharing of hardware
resources.
A 2mm pitch 5-pin JST B5B-PH-K connector is used for serial communication.
Table 3.3 Connector for serial communication
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 11
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
3.2.2.1 RS485
For remote control and communication with a host system the PD-1160 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 6.4: 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-1160 does
offer on-board termination resistors which can be activated with the help of a jumper. The
jumper has to be removed for units not connected to one end of the bus!
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-1160 units (SN65HVD485ED) has 1/2 of the
standard bus load and allows a maximum of 64 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 3.5 Bus lines with resistor network
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 12
c:>
node
1
node
n
- 1
node
n
Host
Slave Slave Slave
CAN
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
3.2.2.2 CAN
For remote control and communication with a host system the PD-1160 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:
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 3.6 CAN 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-1160 does
offer on-board termination resistors which can be activated with the help of a jumper (see
chapter 7). The jumper has to be removed for units not connected to one end of the bus!
3. NUMBER OF NODES:
The bus transceiver used on the PD-1160 units (TJA1050T or similar) supports at least 110 nodes
under optimum conditions. Practically achievable number of nodes per CAN bus highly depends
on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes).
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 13
1
8
Pin
Label
Description
1
OUT_0
General purpose output, open drain (max. 1A)
Integrated freewheeling diode connected to +V
Logic
2
OUT_1
General purpose output, open drain (max. 1A)
Integrated freewheeling diode connected to +V
Logic
3
IN_0
General purpose input (analog and digital), +24V compatible
Resolution when used as analog input: 12bit (0..4095)
4
IN_1
General purpose input (analog and digital), +24V compatible
Resolution when used as analog input: 12bit (0..4095)
5
STOP_L
Left stop switch input (digital input), +24V compatible,
programmable internal pull-up to +5V
6
STOP_R
Right stop switch input (digital input), +24V compatible,
programmable internal pull-up to +5V
7
HOME
Home switch input (digital input), +24V compatible, programmable
internal pull-up to +5V
8
GND
Module ground (system and signal ground)
+3.3V
STOP_L
STOP_R
HOME
microcontroller (all)
and TMC429 (STOP_L, STOP_R)
10k
22k
100nf
GND
GND GND
programmable in software
1k
+5V
3.2.3 Multipurpose I/O Connector
A 2mm pitch 8-pin JST B8B-PH-K connector is used for connecting general purpose inputs, home and stop
switches and outputs to the unit:
Table 3.4 Multipurpose I/O connector
Note:
All inputs have resistor based voltage dividers with protection diodes. These resistors also ensure a valid
GND level when left unconnected.
For reference switch inputs (STOP_L, STOP_R, HOME) a 1k pull-up resistor to +5V can be activated
(separately for each input). Then these inputs have a default (unconnected) logic level of “1” and an
external switch to GND can be connected.
3.2.3.1 Digital Inputs STOP_L, STOP_R, and HOME
The eight pin connector of the PD-1160 provides three reference switch digital inputs STOP_L, STOP_R and
HOME. 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.
Figure 3.6 STOP_L, STOP_R and HOME inputs (simplified input circuit)
All three digital inputs are connected to the on-board processor and can be used as general purpose
digital inputs!
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 14
+3.3V
IN_0,
IN_1
ADC input
(microcontroller)
22k
10k
100nF
GND
GND GND
+V
Logic
microcontroller
GND
3.2.3.2 General Purpose Inputs IN_0 and IN_1
The eight pin connector of the PD-1160 provides two general purpose inputs which may be used as
either digital or analog inputs.
GENERAL PURPOSE INPUTS AS ANALOG INPUTS
As analog input they offer a full scale input range of 0… +10 V with a resolution of the internal analog-to-
digital converter of the microcontroller of 12bit (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.
Figure 3.7 General purpose inputs (simplified input circuit)
3.2.3.3 Outputs OUT_0, OUT_1
The eight pin connector of the PD-1160 offers two general purpose outputs OUT_0 and OUT_1. These two
outputs are open-drain outputs and can sink up to 1 A each. The outputs of the N-channel MOSFET
transistors are connected to freewheeling diodes each for protection against voltage spikes especially
from inductive loads (relays etc.) above supply voltage.
- In case free-wheeling diodes are connected to VDD supply voltage:
None of the two outputs should be connected to any voltage above supply voltage of the module.
- It is recommended to connect +V
outputs OUT_0/1 are used to switch inductive loads (e.g. relays etc.).
of the power connector to the power supply output in case the
logic
Figure 3.8 General purpose outputs
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 15
1
4
Pin
Label
Description
1
COM
Common supply for the opto-coupler inputs (+5V… +24V)
2
ENABLE
Enable signal input
(function depends on firmware)
3
STEP
Step signal input
(connected to step input of TMC262 driver IC)
4
DIRECTION
Direction signal
(connected to direction input of TMC262 driver IC)
8mA
8mA
8mA
+3.3V
GND
Enable
Direction
Step
Common
(5… 24V)
microcontroller
TMC262
TMC262
3.2.4 Step/Direction Connector
A 2mm pitch 4-pin JST B4B-PH-K connector is used for step and direction input signals. This is an option
in case the on-board controller is used for configuration of the driver stage, only. The Step/Direction
input is optically isolated and will allow direct control of the driver stage.
Please do not attach any signal to this input if the on-board motion controller is used! Otherwise step or
direction signal connected here might interfere with signals generated on-board.
Table 3.4 Connector for step/direction signals
3.2.4.1 Step / Direction / Enable Inputs
The inputs Step, Direction and Enable are electrically (optically) isolated from the power supply and all
other signals of the module. These inputs have one common reference input COMMON.
The COMMON input should be connected to a positive supply voltage between +5 V and +24 V. 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 3.9 Step / Direction / Enable inputs
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 16
1
5
Pin
Label
Description
1
GND
Module ground (system and signal ground)
2
+5V
+5V supply output for external encoder circuit (100 mA max.)
3
ENC_A
Encoder a channel input (internal pull-up)
4
ENC_B
Encoder b channel input (internal pull-up)
5
ENC_N
Optional encoder n / index channel input (internal pull-up)
ENC_A microcontroller
2k7
1
+5V
ENC_B
ENC_N
2k7 2k7
1
1
microcontroller
microcontroller
3.2.5 Encoder Connector
The module supports an external incremental a/b/n encoder via this connector. The external encoder may
be used in addition or as an alternative to the internal / on-board sensOstep encoder.
A 2mm pitch 5-pin JST B5B-PH-K connector is used for connecting an external encoder with TTL (+5 V
push-pull) or open-collector signals directly:
Table 3.5 Connector for an external incremental encoder
3.2.5.1 Encoder Inputs
The PD-1160 offers a dedicated encoder input for incremental a/b encoders with optional n / indexchannel.
Encoders with +5 V push-pull (TTL) signals or open-collector signals (on-board pull-ups) might be
connected directly. This connector offers a +5 V supply output for supply of the encoder circuit. Up to
100mA might be drawn from this output.
Connecting an external encoder is an option. An external encoder might be used in addition or as
alternative to the internal sensOstep encoder.
Figure 3.9 Encoder a/b/n inputs
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 17
4
1
Pin
Label
Description
1
OA1
Motor coil A
2
OA2
Motor coil A
3
OB1
Motor coil B
4
OB2
Motor coil B
M
A
green
B
blue
red
black
TMCM-1160
Q5718 motor
Motor connector pin
Cable colour
Coil
Description
1
Black
A
Motor coil A pin 1
2
Green
A-
Motor coil A pin 2
3
Red B Motor coil B pin 1
4
Blue
B-
Motor coil B pin 2
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. 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.
3.2.6 Motor Connector
Both motor coil windings (bipolar stepper motor) are connected to the motor connector.
Figure 3.4 Motor connector
CAUTION!
www.trinamic.com
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 18
1
5
Pin
Label
Description
1
VBUS
+5V supply from host
2
D-
Data –
3
D+
Data +
4
ID
Not connected
5
GND
Module ground (system and signal ground)
3.2.7 Mini-USB Connector
A 5-pin standard mini-USB connector is available on board. This module supports USB 2.0 full-speed
(12Mbit/s) connections.
Please note:
- On-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no
other supply is connected. The USB connection might be used to set parameters / download
TMCL programs or perform firmware updates while power supply for the module (and the rest of
the machine) has been switched off or is not connected.
- CAN interface will be de-activated as soon as USB is connected due to internal sharing of
hardware resources.
Table 3.6 Mini USB connector
For remote control and communication with a host system the PD-1160 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-1160 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 +5 V 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-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 19
RS485 bus
termination
CAN bus
termination
4 Jumpers
Most settings of the board are done through the software. Nevertheless, two jumpers are available for
configuration.
Figure 4.1 RS485 and CAN bus termination
4.1 RS485 Bus Termination
The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface. When this
jumper is closed, the resistor will be placed between the two differential bus lines RS485+ and RS485-.
4.2 CAN Bus Termination
The board includes a 120 Ohm resistor for proper bus termination of the CAN interface. When this
jumper is closed, the resistor will be placed between the two differential bus lines CAN_H and CAN_L.
www.trinamic.com
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 20
Short these two pads.
PERFORM THE FOLLOWING STEPS:
1. Power supply off and USB cable disconnected
2. Short two pads as marked in Figure 5.1
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
5 Reset to Factory Defaults
It is possible to reset the PD-1160 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 (see Figure 5.1).
Figure 5.1 Reset to factory default settings
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 21
Red LED
Green LED
BEHAVIOR OF LEDS WITH STANDARD TMCL FIRMWARE
Status
Label
Description
Heartbeat
Run
The green LED flashes during operation.
Error
Error
The red LED lights up if an error occurs.
6 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 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 on.
Figure 6.1 on-board LEDs
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 22
Symbol
Parameter
Min
Typ
Max
Unit
+V
Driver
/ +V
Logic
Power supply voltage for operation
9
12, 24, 48
51
V DC *)
I
USB
USB supply current when USB bus powered
(+5V USB supply)
70 mA
I
COIL_peak
Motor coil current for sine wave peak
(chopper regulated, adjustable via software)
0 4
A
I
COIL_RMS
Continuous motor current (RMS)
0 2.8
A
I
SUPPLY
Power supply current
<< I
COIL
1.4 * I
COIL
A
T
ENV
Environment temperature at +48V supply and
rated current (100% duty-cycle, no forced
cooling required)
40
°C
T
ENV
Environment temperature at +24V supply and
rated current (100% duty-cycle, no forced
cooling required)
50
°C
Symbol
Parameter
Min
Type
Max
Unit
V
COMMON
Supply voltage for common supply input for
step, direction and enable (inputs have
negative logic)
5… 24
27
V
V
STEP/DIR/ENABLE_ON
Signal voltage at step, direction and enable
input (active, opto-coupler on)
3.5
4.5… 24
30
V
V
STEP/DIR/ENABLE_OFF
Signal voltage at step, direction and enable
input (inactive, opto-coupler off)
-5.5 0 2
V
V
STEP/DIR/ENABLE_ON
Opto-coupler current when switched on
(internally regulated)
6… 8 mA
f
STEP
Step frequency
1 *)
MHz
7 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 OF THE MODULE
Table 7.1 General operational ratings of module
*) Attention: due to the internal diode between V
than V
Driver
.
Driver
and V
Logic VLogic
should be always equal or higher
GENERAL OPERATIONAL RATINGS OF STEP/DIRECTION INPUT
Table 7.2 Operational ratings of Step/Dir input
*) Maximum frequency for +5 V TTL level step signals is with 50 % duty cycle.
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 23
Symbol
Parameter
Min
Type
Max
Unit
V
STOP_L/R/HOME
Input voltage for STOP_L/R/HOME
0 24
V
V
STOP_L/R/HOME_L
Low level voltage for STOP_L/R/HOME
0 1.3
V
V
STOPL/R/HOME_H
High level voltage for STOP_L/R/HOME
(internal programmable 1k pull-up to +5V)
3 24
V
V
IN_0/1_digital
Input voltage for IN_0 and IN_1 when used
as digital input
0 24
V
V
IN_0/1_analog
Full range input voltage for IN_0 and IN_1
when used as analog input
0 10
V
V
IN_0/1_L
Low level voltage for IN_0 and IN_1 when
used as digital input
(internal 10k pull-down)
0 1.3 *)
V
V
IN_0/1_H
High level voltage for IN_0 and IN_1 when
used as digital input
3 *) 24
V
V
OUT_0/1
Voltage at open collector output
0
V
LOGIC
+
0.5 **)
V
I
OUT_0/1
Output sink current at open collector
outputs
1
A
OPERATIONAL RATINGS OF THE GENERAL PURPOSE INPUTS/OUTPUTS
Table 7.3 Operational ratings of the general purpose inputs/outputs
*) this voltage is programmable (internal 12bit ADC)
**) limited to module supply voltage + 0.5V due to integrated freewheeling diode between general
purpose output and module supply voltage
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PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 24
TMCM-1160 – QSH5718-41-28-055 – Torque versus Velocity
VS = 24V; I
coil
= 2.8A [RMS]; 256 Microsteps
TMCM-1160 – QSH5718-41-28-055 – Torque versus Velocity
VS = 24V; I
coil
= 2.8A [RMS]; 256 Microsteps
8 Torque Curves
TRINAMIC offers the TMCM-1160 in combination with two different stepper motor series: QSH5718 and
QSH6018. The following paragraphs will show you the curves of each PANdrive.
8.1 Curves of PD57-1160
8.1.1 PD57-1-1160 Torque Curves
www.trinamic.com
Figure 8.1 Torque curves PD57-1-1160, V
= 24 V DC
S
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 25
TMCM-1160 – QSH5718-41-28-055 – Torque versus Velocity
VS = 48V; I
coil
= 2.8A [RMS]; 256 Microsteps
TMCM-1160 – QSH5718-41-28-055 – Torque versus Velocity
VS = 48V; I
coil
= 2.8A [RMS]; 256 Microsteps
www.trinamic.com
Figure 8.2 Torque curves PD57-1-1160, V
= 48 V DC
S
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 26
TMCM-1160 – QSH5718-51-28-101 – Torque versus Velocity
VS = 24V; I
coil
= 2.8A [RMS]; 256 Microsteps
TMCM-1160 – QSH5718-51-28-101 – Torque versus Velocity
VS = 24V; I
coil
= 2.8A [RMS]; 256 Microsteps
8.1.2 PD57-2-1160 Torque Curves
www.trinamic.com
Figure 8.3 Torque curves PD57-2-1160, V
= 24 V DC
S
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 27
TMCM-1160 – QSH5718-51-28-101 – Torque versus Velocity
VS = 48V; I
coil
= 2.8A [RMS]; 256 Microsteps
TMCM-1160 – QSH5718-51-28-101 – Torque versus Velocity
VS = 48V; I
coil
= 2.8A [RMS]; 256 Microsteps
Figure 8.4 Torque curves PD57-2-1160, V
www.trinamic.com
= 48 V DC
S
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 28
TMCM-1160 – QSH6018-65-28-210 – Torque versus Velocity
VS = 24V; I
coil
= 2.8A [RMS]
TMCM-1160 – QSH6018-65-28-210 – Torque versus Velocity
VS = 48V; I
coil
= 2.8A [RMS]
8.2 Curves of PD60-1160
8.2.1 PD60-3-1160 Torque Curves
Figure 8.5 Torque curves PD60-3-1160, V
= 24 V DC
S
Figure 8.6 Torque curves PD60-3-1160, V
www.trinamic.com
= 48 V DC
S
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 29
TMCM-1160 – QSH6018-86-28-310 – Torque versus Velocity
VS = 24V; I
coil
= 2.8A [RMS]
TMCM-1160 – QSH6018-86-28-310 – Torque versus Velocity
VS = 48V; I
coil
= 2.8A [RMS]; Fullsteps
8.2.2 PD60-4-1160 Torque Curves
Figure 8.7 Torque curves PD60-4-1160, V
= 24 V DC
S
Figure 8.8 Torque curves PD60-4-1160, V
www.trinamic.com
= 48 V DC
S
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 30
9… 51V DC
RS485
USB
µC
TMCL
Memory
7
I/Os
Step
Motor
MOSFET
Driver
Stage
SPI
PD-1160
SPI
SPI
S/D
TMC429
Motion
Controller
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
S/D
S/D
CAN
Encoder
a/b/n
TMCM-1160
+5V
Stop
switches
sensOstep™
Encoder
SPI
9 Functional Description
The PD-1160 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. Common supply voltages are +12VDC / +24VDC / +48VDC. 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 9.1 the main parts of the PD-1160 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
- the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.
Figure 9.1 Main parts of the PD-1160
The PD-1160 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCL). Using predefined TMCL high level commands like move to position a
rapid and fast development of motion control applications is guaranteed.
Please refer to the PD-1160 Firmware Manual for more information about TMCL commands.
www.trinamic.com
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 31
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
3220482
][
][
_
divpulse
CLK
velocityHzf
Hzusf
usrs
Hzusf
Hzfsf
2
][
][
29__
max
2
2
divrampdivpulse
CLK
af
a
usrs
a
af
2
10 PD-1160 Operational Description
10.1 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 10.1 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-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 32
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-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 33
11 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-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 34
Version
Date
Author
GE - Göran Eggers
SD - Sonja Dwersteg
Description
0.91
2012-MAY-03
GE
Initial version
1.00
2012-JUN-12
SD
First complete version including the following chapters:
- Reset to factory defaults,
- LEDs
1.01
2012-JUL-30
SD
General purpose inputs corrected.
1.02
2013-JUL-23
SD
Chapter 3.2.1 updated.
Version
Date
Description
TMCM-1160_V10
2011-JUL-20
Initial version
TMCM-1160_V11
2012-JAN-24
- Inputs IN_0 and IN_1 can be used as analog
inputs, also
12 Revision History
12.1 Document Revision
Table 12.1 Document revision
12.2 Hardware Revision
Table 12.2 Hardware revision
13 References
[PD-1160 TMCL] PD-1160 TMCL Firmware Manual
[TMCL-IDE] TMCL-IDE User Manual
[QSH5718] QSH5718 Manual
[QSH6018] QSH6018 Manual
Please refer to www.trinamic.com.
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