Trinamic PD1-113-57-SE232, PD2-113-57-SE232, PD3-113-57-SE232, PD4-113-57-SE232, PD1-113-60-SE232 Hardware Manual

PDx-113-57/60-SE

TMCM-113-57/60-SE

Hardware Manual

Version: 1.30

2009-OCT-28

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D – 20 357 Hamburg, Germany

Phone +49-40-51 48 06 - 0

FAX: +49-40-51 48 06 - 60 http://www.trinamic.com

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 2

Table of contents

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

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

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

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

4.1 Size of PDx-113-57-SE .......................................................................................................................................... 6

4.2 Size of PDx-113-60-SE .......................................................................................................................................... 7

4.3 Size of electronics (TMCM-113-57/60-SE) ........................................................................................................ 8

4.4 Motor ....................................................................................................................................................................... 9

4.5 Connectors ........................................................................................................................................................... 10

4.5.1 Power connector .......................................................................................................................................... 11

4.5.2 Serial communication connector ............................................................................................................ 11

4.5.3 I/O connector ................................................................................................................................................ 11

4.5.4 Motor connector........................................................................................................................................... 12

4.6 Serial communication interface ..................................................................................................................... 12

4.6.1 RS232 ............................................................................................................................................................... 12

4.6.2 RS485 ............................................................................................................................................................... 13

4.7 Reference switch inputs .................................................................................................................................. 15

4.8 General purpose inputs ................................................................................................................................... 15

4.9 General purpose outputs ................................................................................................................................. 16

5 Functional description .............................................................................................................................................. 17

6 Firmware ....................................................................................................................................................................... 18

7 Torque curves .............................................................................................................................................................. 19

7.1 PD1-113-60-SE ...................................................................................................................................................... 19

7.2 PD2-113-60-SE ...................................................................................................................................................... 20

7.3 PD3-113-60-SE ...................................................................................................................................................... 20

7.4 PD4-113-60-SE ...................................................................................................................................................... 21

8 Operational ratings .................................................................................................................................................... 22

9 Revision history .......................................................................................................................................................... 24

9.1 Document revision ............................................................................................................................................ 24

9.2 Hardware revision ............................................................................................................................................. 24

10 References..................................................................................................................................................................... 24

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 3

1 Life support policy

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.

Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.

Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result form its use.

Specifications are subject to change without notice.

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 4

2 Features

The PDx-113-57/60-SE is a full mechatronic device consisting of a NEMA 23 (flange size 57mm) or NEMA 24 (flange size 60mm) stepper motor, controller/driver electronics and integrated encoder. The electronics itself is also available without the motor as TMCM-113-57/60-SE module.

Applications

 Compact single-axis stepper motor solutions  Encoder feedback for high reliability operation (-SE option)

Electrical data

 Supply voltage: +24V DC nominal (+7V .. +28.5V DC)  Motor current: up-to 2.8A RMS (programmable)

Integrated motor (for PDx-113-57/60-SE only)

 Two phase bipolar stepper motor with 2.8A RMS nom. coil current  Holding torque with 57mm motor: 0.55Nm, 1.01Nm, 1.26Nm or 1.89Nm  Holding torque with 60mm motor: 1.1Nm, 1.65Nm, 2.1Nm or 3.1Nm

Integrated encoder (for –SE option only)

 Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) for step-loss detection

under all operating conditions

Integrated motion controller

 Motion profile calculation in real-time (TMC428 motion controller)  On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

Integrated bipolar stepper motor driver

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

Interfaces

 2 inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs  either RS-232 or RS-485 serial communication interfaces

Software

 Available with TMCL (both interface options)  stand-alone operation or remote controlled operation  program memory (non volatile) for up-to 2048 TMCL commands  PC-based application development software TMCL-IDE available for free

Please see separate TMCL firmware manual for additional information [TMCL].

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 5

Order code

Description

Length of unit

PD1-113-57-SE-option

PANdrive with 0.55Nm max./holding torque

60mm

PD2-113-57-SE-option

PANdrive with 1.01Nm max./holding torque

70mm

PD3-113-57-SE-option

PANdrive with 1.26Nm max./holding torque

75mm

PD4-113-57-SE-option

PANdrive with 1.89Nm max./holding torque

95mm

Order code

Description

Length of unit

PD1-113-60-SE-option

PANdrive with 1.10Nm max./holding torque

64mm

PD2-113-60-SE-option

PANdrive with 1.65Nm max./holding torque

75mm

PD3-113-60-SE-option

PANdrive with 2.10Nm max./holding torque

84mm

PD4-113-60-SE-option

PANdrive with 3.10Nm max./holding torque

105mm

Order code

Description

Size of unit

TMCM-113-57/60-SE-option

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

board size: 60mm x 60mm

Interface option

Communication interface

232

RS232 interface

485

RS485 interface

3 Order codes

The PDx-113-57/60-SE is currently available with two different stepper motor series (NEMA23 / 57mm flange size or) with four stepper motors of different length and holding torque each and two interface options:

With NEMA 23 / 57mm flange size motor:

Table 3.1: Order codes (PDx-113-57-SE)

With NEMA 24 / 60mm flange size motor:

Table 3.2: Order codes (PDx-113-60-SE)

The electronic module TMCM-113-57/60-SE itself is also available with two serial interface options:

Table 3.3: Order codes (TMCM-113-57/60-SE)

Serial interface options:

Table 3.4: Options

For cost critical applications and applications with reduced requirements with regard to position feedback both versions - with and without motor - are also available without sensOstep™ encoder as PDx-113-57/60 and TMCM-113-57/60 on request.

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 6

Connectors

17

Length

56.4±138.1±0.025

1.6

5

20.6±1

6,35-0.013 60

38 . 1±0.025

47 . 14±0.2

4 - ø4.6

56 . 4±1

6. 3 5-0.013

60 ± 0.5

47 . 14±0.2

Length of motor

PD1

41mm

PD2

51mm

PD3

56mm

PD4

76mm

4 Mechanical and electrical interfacing

4.1 Size of PDx-113-57-SE

Currently, there is a choice between four NEMA 23 / 57mm bipolar stepper motors with different lengths and different holding torques.

Figure 4.1: Dimensions of PDx-113-57-SE (all values in mm)

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 7

Length

5

9

38.1±0.025

1.6

24±1

8-0.013

Connectors

17

69 max

20±0.5

7.5±0.2

60±0.5

60 ± 0.5

47 . 14±0.2

60 ± 0.5

38 . 1±0.025

8

47 . 14±0.2

4 - ø4.5

Length of motor

PD1

45.0mm

PD2

56.0mm

PD3

65.0mm

PD4

86.0mm

4.2 Size of PDx-113-60-SE

Currently, there is a choice between four NEMA 24 / 60mm bipolar stepper motors with different lengths and different holding torques.

Figure 4.2: Dimensions of PDx-113-60-SE (all values in mm)

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 8

mounting holes

for NEMA 23 / 57mm motors

mounting holes

for NEMA 24 / 60mm motors

Mounting hole 3.2mm (connected to ground)

Mounting hole 3.2mm

(no electrical connection)

4.3 Size of electronics (TMCM-113-57/60-SE)

The outer shape of the TMCM-113-57/60-SE controller/driver board has been designed in order to fit to the back bell of a NEMA 24/60mm flange size motor (60mmx60mm). Consequently, the module is a little bit larger than the motor when being mounted on a standard NEMA 23/57mm motor (figure 4.3).

There are four mounting holes altogether. They have been designed in order to fit to the latest NEMA 23/57mm [QSH5718] and NEMA 24/60mm [QSH6018] stepper motors available from TRINAMIC. Two mounting holes at opposite corners of the board have been positioned in order to be able to attach it to the back bell of the NEMA 23/57mm stepper motors and the other two for mounting it to the NEMA 24/60mm stepper motors.

Figure 4.3: PDx-113-57/60-SE controller/driver board

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Specifications

Parameter

Units

QSH5718

-41-28-055

-51-28-101

56-28-126

-76-28-189

Number of Leads

N˚ 4 4 4 4

Step Angle

˚ 1.8

1.8

Step Angle Accuracy

% 5 5 5

5

Rated Voltage

V

RATED

V 2

2.3

2.5

3.2

Rated Phase Current

I

RMS RATED

A 2.8

2.8

Phase Resistance at 20°C

R

COIL

Ω 0.7

0.83

0.9

1.13

Phase Inductance (typ.)

mH

1.4

2.2

2.5

3.6

Holding Torque

Nm

0.55

1.01

1.26

1.89

Rotor Inertia

g cm2

120

275

300

480

Insulation Class

B B B

B

Max. applicable voltage

V 75

75

Max. radial force (20mm from front flange)

N 75

75

Max. axial force

N 15

15

Weight

kg

0.45

0.65

0.7

1

Length

mm

41

51

56

76

Temp. Rise (rated current, 2 phase on)

˚C

+80 max

Ambient Temperature

˚C

-20 … +50

Specifications

Parameter

Units

QSH6018

-45-28-110

-56-28-165

-65-28-210

-86-28-310

Number of Leads

N˚ 8 8 8 8

Step Angle

˚ 1.8

1.8

Rated Voltage

V

RATED

V 2.1

2.52

3.36

4.17

Rated Phase Current

I

RMS RATED

A 2.8

2.8

Phase Resistance at 20°C

R

COIL

Ω 0.75

0.9

1.2

1.5

Phase Inductance (typ.)

mH 2 3.6

4.6

6.8

Holding Torque

Nm

1.1

1.65

2.1

3.1

Rotor Inertia

g cm2

275

400

570

840

Insulation Class

B B B

B

Weight

kg

0.6

0.77

1.2

1.4

Ambient Temperature

˚C

-20 … +50

4.4 Motor

Main characteristics of the four different motors available as part of the PDx-113-57-SE:

Table 4.1: NEMA 23 / 57mm technical motor data

Main characteristics of the four different motors available as part of the PDx-113-60-SE:

Table 4.2: NEMA 24 / 60mm technical motor data

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 10

STOPL STOPR GND VDD GPO_0 GPO_1 IN_0 IN_1

Left reference switch input Right reference switch input Supply and signal ground Power supply output General purpose output 0 General purpose output 1 General purpose input 0 General purpose input 1

1 2 3 4 5 6 7 8

GND RS232_RxD or RS485A / RS485+

GND

Supply and signal ground

Supply and system ground

1 2 3 4

VDD GND

Power supply input Supply and system ground

2 1

RS232_TxD or RS485B / RS485-

BB+ AA+

Motor coil B Motor coil B Motor coil A Motor coil A

4 3 2 1

4.5 Connectors

The TMCM-113-57/60-SE has four connectors, a 2-pin connector for power supply, a 4-pin serial communication interface connector, an 8-pin input/output connector and a 4-pin motor connector (used to connect the attached motor).

Figure 4.4: TMCM-113-57/60-SE connectors

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2

1

Label

Description

1

GND

Module ground (power supply and signal ground)

2

VDD

Power supply input, nom. +24V DC (+7 .. +28.5V DC)

1

4

RS232

RS485

Description

1

GND

Power and signal ground

2

RS232_RxD

RS485A / RS485+

Serial communication signal

3

RS232_TxD

RS485B / RS485-

Serial communication signal

4

GND

Power and signal ground

18

Label

Direction

Description

1

STOPL

Input

Left reference switch input

2

STOPR

Input

Right reference switch input

3

GND

Power

Power and signal ground

4

VDD

Output

Power supply output

5

OUT_0

Output

General purpose output (open collector)

6

OUT_1

Output

General purpose output (open collector)

7

IN_0

Input

General purpose input (+24V compatible)

8

IN_1

Input

General purpose input (+24V compatible)

4.5.1 Power connector

A 2-pin Molex 6410 series connector is used for power supply.

Table 4.3: Connector for power

A mating connector together with a cable loom is available as part of the TMCM-113-CABLE cable loom set.

4.5.2 Serial communication connector

A 4-pin JST PH series connector is used for serial communication. Two different communication interface standards are available with this unit (either or options): RS232 and RS485.

Table 4.4: Connector for communication

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

A mating connector together with a cable loom is available as part of the TMCM-113-CABLE cable loom set.

4.5.3 I/O connector

An 8-pin JST PH series connector is used for general purpose input/output signals and reference switch inputs.

Table 4.5: Connector for stop switches and general purpose I/O

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

A mating connector together with a cable loom is available as part of the TMCM-113-CABLE cable loom set.

2

wires).

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 12

14

Label

Direction

Description

1

A+

Output

2-phase stepper motor phase A

2

A-

Output

2-phase stepper motor phase A

3

B+

Output

2-phase stepper motor phase B

4

B-

Output

2-phase stepper motor phase B

4.5.4 Motor connector

A 4-pin Molex 7395 series connector is used for connecting the motor.

Table 4.6: Connector for motor

A mating connector together with a cable loom is available as part of the TMCM-113-CABLE cable loom set.

4.6 Serial communication interface

The PDx-113-57/60-SE is available with two serial interface options: RS232 for point-to-point communication and RS485 for bus communication. The two different interface options are assembly options – depending on the desired interface different components are assembled.

4.6.1 RS232

RS232 can be used for serial point-to-point communication. The PDx-113-57/60-SE-232 includes a transceiver with level converter for true RS232/V24 signal levels (Figure 4.3).

Figure 4.5: RS232 interface option (transceiver/level shifter IC marked red)

When connecting to a master e.g. PC using the RS232 interface please keep in mind that the RS232 transmit signal wire of the master has to be connected to the RS232 receive signal wire of the board and vice versa.

Connection between PC and PDx-113-57/60-SE:

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 13

PC

(D-SUB 9pin)

PDx-113-57/60-SE

(Serial communication connector)

Label

2

RS232_RxD

3

RS232_TxD

3

RS232_TxD

2

RS232_RxD

5

GND

1, 4

GND

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

Table 4.7: RS232 Connection PC <-> PDx-113-57/60-SE

4.6.2 RS485

RS485 can be used for serial bus communication. The PDx-113-57/60-SE-485 includes a transceiver and a termination resistor which can be activated for modules placed at one end of the communication bus using an on-board jumper (Figure 4.4).

Figure 4.6: RS485 interface option (transceiver and termination header marked red)

For proper operation of the RS485 bus 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 4.7: Bus structure

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 14

Set jumper for RS485

bus termination

node

n - 1

node

n

Slave Slave

termination

resistor

(120 Ohm)

+5V

GND

pull-up (1k)

pull-down (1k)

RS485- / RS485B

RS485+ / RS485A

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 PDx-11357/60-SE-485 integrates a 120 Ohm termination resistor that can be placed between both RS485 bus wires by setting a jumper:

Figure 4.8: Bus termination

3. NUMBER OF NODES: The RS-485 electrical interface standard (EIA-485) allows up-to 32 nodes to be

connected to a single bus. The bus transceiver used for the PDx-113-57/60-SE-485 units (SN65HVD3082ED) has just 1/8 of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus.

4. NO FLOATING BUS LINES: Avoid floating bus lines while neither the host/master nor one of the

slaves along the bus line is transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well defined logic levels. In contrast to the termination resistors this network is normally required just once for a bus. Certain RS485 interface converters available for a PC already include these additional resistors (e.g. USB-2485 [USB-2-485]).

Figure 4.9: Resistor network to avoid floating bus lines

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 15

STOPL

1k

10k

+5V

1nF

GND

STOPR

1k

10k

+5V

1nF

GND

IN_0

10k

GND

+5V

GND

IN_1

10k

GND

+5V

GND

4.7 Reference switch inputs

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

Figure 4.10: Reference/stop switch inputs STOPL, STOPR

4.8 General purpose inputs

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

Figure 4.11: General purpose inputs IN_o, IN_1

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 16

10k

GND

VDD

OUT_0

BC847

10k

GND

VDD

OUT_1

BC847

4.9 General purpose outputs

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

Figure 4.12: General purpose outputs OUT_0, OUT_1

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 17

5V Power Supply

RS232

or

RS485

24V

PD-113-57/60-SE

progammable

Motion

Controller

with TMC428

High Power

Driver

TMC249

TMCL

Memory

sensOstepTM

Encoder

MOSFET

Driver

Stage

Step

Motor

5 Functional description

The PD-113-57/60-SE is a full mechatronic solution including a 57 or 60 mm flange motor (NEMA23/NEMA24). It combines a convenient controller electronic and a sensOstep™ encoder with a range of different motor types and can be controlled via RS-232 or RS485 interface. The chopSync™ feature allows high velocity operation avoiding resonances. The PD-113-57/60-SE comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL). Using predefined TMCL high level commands like „move to position“ or „constant rotation“ a rapid and fast development of motion control applications is guaranteed. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed onboard. The stepper driver / controller module is available without the electronics also as TMCM-113-57/60-SE.

Figure 5.1: Main parts of the PD-113-57/60-SE

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6 Firmware

Currently, the standard TMCL firmware is available for both interface options and is supplied as default firmware. Please refer to the TMCL firmware manual for this unit for more details [TMCL].

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 19

7 Torque curves

The following torque curves have been measured using the PANdrive PDx-113-60-SE with all four stepper motors available as part of this unit. The four different stepper motors all offer the same max. coil current but, differ with respect to holding torque, motor length, coil resistance and inductivity – to name a few. As rule of thumb, more holding torque means more copper, longer or larger motor, more coil resistance and higher inductivity which limits the max. reachable velocity at the same supply voltage. All measurements were taken at +24V driver supply voltage and max. motor current.

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

7.1 PD1-113-60-SE

The PD1-113-60-SE is the most compact version of this PANdrive version with the shortest NEMA 24 / 60mm stepper motor.

Figure 7.1: PD1-113-60-SE torque curve

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7.2 PD2-113-60-SE

For applications where more torque is required than available with the PD1-113-60-SE, the PD2-113-60-SE might be an option.

Figure 7.2: PD2-113-60-SE torque curve

7.3 PD3-113-60-SE

For applications where more torque is required than available with the PD2-113-60-SE, the PD3-113-60-SE might be an option.

Figure 7.3: PD3-113-60-SE torque curve

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 21

7.4 PD4-113-60-SE

For applications where more torque is required than available with the PD3-113-60-SE, the PD4-113-60-SE might be an option. The PD4-113-60-SE is the version with highest holding torque and the longest stepper motor available for this PANdrive series.

Figure 7.4: PD4-113-60-SE torque curve

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 22

Symbol

Parameter

Min

Type

Max

Unit

VDD

Power supply voltage for operation

7

24

28.5

V

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 rated current (no forced cooling required)

-20

+40 **)

°C

Environment temperature at 80% of rated current or 50% duty cycle (no forced cooling required)

-20 +60

°C

8 Operational ratings

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

Table 8.1: General operational ratings of the module

*) Please note: only PDx-113-57/60-SE and TMCM-113-57/60-SE with pcb version 1.2 or newer support specified max. current over full temperature range. Older / pre-series versions may be limited with regard to temperature range and / or max. motor current.

**) Test set-up / procedure: PANdrive PD4-113-60-SE mounted to a metal base plate in order to keep stepper motor temperature within limits for the motor during test (table 4.2) / test inside climate chamber with approx. 53l volume / no forced air convection during test / test duration at least 30min.

Please note: motor temperature should always be kept below upper limit for the motor - that is, motor / PANdrive should be mounted to an appropriate metal / cooling plate or frame. Especially, the longer available stepper motor which are part of the PD4-113-57-SE or PD4-113-60-SE may easily reach 100°C or above when operated at full current over long time without being mounted to any heat-conducting structure or forced air convection. In case the TMCM-113-57/60-SE electronic module is mounted close to the motor as with the PANdrives, the motor might substantially heat up the electronics and limit the maximum environmental temperature during operation. The unit may be operated at higher environmental temperatures than specified when the duty cycle of the motor and / or the motor current is reduced or in case the TMCM-113-57/60-SE electronic module is mounted separately from the motor.

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 23

Symbol

Parameter

Min

Type

Max

Unit

V

STOPL/R

Input voltage for STOPL/R

0 5

V

STOPL/R_L

Low level voltage for STOPL/R

0 1.2

V

STOPL/R_H

High level voltage for STOPL/R (internal 1k pull-up)

1.9 5

V

IN_0/1_digital

Input voltage for IN_0 and IN_1 when used as digital input

0 24

V

IN_0/1_analogue

Input voltage for IN_0 and IN_1 when used as analogue input

0 10

V

IN_0/1_L

Low level voltage for IN_0 and IN_1 when used as digital input

(internal 20k pull-down)

0 2

V

IN_0/1_H

High level voltage for IN_0 and IN_1 when used as digital input

6 24

V

OUT_0/1

Voltage at open collector output

0

VDD + 0.5 *)

V

I

OUT_0/1

Output sink current

100

mA

Symbol

Parameter

Min

Type

Max

Unit

N

RS485

Number of nodes connected to single RS485 network

256

Table 8.2: Operational ratings of the general purpose inputs/outputs

*) limited to module supply voltage + 0.5V due to integrated freewheeling diode between general purpose output and module supply voltage

Table 8.3: Operational ratings of the PS485 interface

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 24

Version

Date

Author

Description

1.00

2008-OCT-20

GE

Initial version

1.10

2008-DEC-19

SD

Dimensions of the PANdrives and functional description added

1.20

2009-MAY-13

SD

PD3-113-57-SE and PD4-113-57-SE added

1.30

2009-OCT-28

GE

New hardware version and torque curves added

Version

Date

Description

1.00

2008-JUL-25

First three prototypes

1.10

2008-SEP-24

Minor corrections, start of series production

1.20

2009-JUN-10

Optimisation of thermal design

1.30

2009-AUG-05

Encoder connection corrected, series production version

9 Revision history

9.1 Document revision

Table 9.1: Document revision

9.2 Hardware revision

Table 9.2: Hardware revision

10 References

[TMCL] PDx-113-57/60-SE TMCL firmware manual (see http://www.trinamic.com) [QSH5718] 57mm stepper motor reference manual (see http://www.trinamic.com) [QSH6018] 60mm stepper motor reference manual (see http://www.trinamic.com) [USB-2-485] USB-2-485 interface converter reference manual (see http://www.trinamic.com)

Trinamic PD1-113-57-SE232, PD2-113-57-SE232, PD3-113-57-SE232, PD4-113-57-SE232, PD1-113-60-SE232 Hardware Manual

Specifications and Main Features

Frequently Asked Questions

User Manual