MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive
Hardware Version V1.1
HARDWARE MANUAL
+ +
TMCM-1180
PD86-1180
1-Axis Stepper
Controller / Driver
5.5A RMS/ 24 or 48V DC
USB, RS232, RS485, and CAN
+ +
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 2
Table of Contents
2 Features ........................................................................................................................................................................... 3
3 Order Codes ................................................................................................................................................................... 4
4 Mechanical and Electrical Interfacing ..................................................................................................................... 5
4.1 TMCM-1180 Dimensions and Mounting Holes ............................................................................................. 5
4.2 PD86-1180 Dimensions and Motor Specifications ...................................................................................... 6
4.2.1 Dimensions of PD86-3-1180 ........................................................................................................................ 6
4.2.2 Motor Specifications of QSH8618-96-55-700 ........................................................................................... 7
4.2.3 Torque Figure of QSH8618-96-55-700 ....................................................................................................... 8
4.3 Connectors of TMCM-1180 ................................................................................................................................. 9
4.3.1 Power Connector ......................................................................................................................................... 10
4.3.2 Serial Communication Connector ........................................................................................................... 12
4.3.3 USB Connector .............................................................................................................................................. 12
4.3.4 Output Connector ........................................................................................................................................ 13
4.3.5 Input Connector ........................................................................................................................................... 14
4.3.6 Step/Direction Connector .......................................................................................................................... 16
4.3.7 Encoder Connector ...................................................................................................................................... 17
4.3.8 Motor Connector and Specifications ...................................................................................................... 18
5 Jumpers ......................................................................................................................................................................... 19
5.1 RS485 Bus Termination .................................................................................................................................... 19
5.2 CAN Bus Termination........................................................................................................................................ 19
6 Operational Ratings ................................................................................................................................................... 20
7 Functional Description .............................................................................................................................................. 21
7.1 System Architecture .......................................................................................................................................... 21
7.1.1 Microcontroller ............................................................................................................................................. 21
7.1.2 EEPROM ........................................................................................................................................................... 21
7.1.3 Motion Controller ........................................................................................................................................ 21
7.1.4 Stepper Motor Driver .................................................................................................................................. 22
7.1.5 sensOstep Encoder ...................................................................................................................................... 22
8 TMCM-1180 Operational Description ..................................................................................................................... 23
8.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23
9 TMCL ............................................................................................................................................................................... 25
10 CANopen ....................................................................................................................................................................... 25
11 Life Support Policy ..................................................................................................................................................... 26
12 Revision History .......................................................................................................................................................... 27
12.1 Document Revision ........................................................................................................................................... 27
12.2 Hardware Revision ............................................................................................................................................ 27
13 References..................................................................................................................................................................... 27
www.trinamic.com
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 3
2 Features
The PD86-1180 is a full mechatronic solution with state of the arte feature set. It is highly integrated and
offers a convenient handling. The PD86-1180 consists of a NEMA 34 (flange size 86mm) stepper motor,
controller/driver electronics and integrated encoder.
The TMCM-1180 is an intelligent stepper motor controller/driver module featuring the new outstanding
coolStep™ technology for sensorless load dependent current control. This allows energy efficient motor
operation. With the advanced stallGuard2™ feature the load of the motor can be detected with high
resolution. The module is designed to be mounted directly on an 86mm flange QMot stepper motor.
MAIN CHARACTERISTICS
Electrical data
- Supply voltage: +24V DC or +48V DC nominal
- Motor current: up to 5.5A RMS (programmable)
PANdrive motor
- Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current
- Holding torque: 7Nm
Encoder
- Integrated sensOstep magnetic encoder (max. 256 increments per rotation) e.g. for step-loss detection
under all operating conditions and positioning
Integrated motion controller
- Motion profile calculation in real-time (TMC428/429 motion controller)
- 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
Interfaces
- inputs for stop switches (left and right) and home switch
- general purpose inputs and 2 general purpose outputs
- USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces
Safety features
- Shutdown input. The 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
- Available with TMCL™ or CANopen
- Standalone TMCL 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
- CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported
Please see separate TMCL and CANopen Firmware Manuals for additional information
www.trinamic.com
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 4
Order code
Description
Dimensions [mm³]
TMCM-1180 (-option)
TMCM-1180 with coolStep, sensOstep
85.9 x 85.9 x 21.5
PD86-3-1180 (-option)
PD86-3-1180 with coolStep, sensOstep, 7.0 Nm
85.9 x 85.9 x 118.5
Option
Firmware
-TMCL
TMCL firmware
-CANopen
CANopen firmware
Component part
Description
TMCM-1180-CABLE
Cable loom for module and PANdrive
3 Order Codes
Cables are not included. Add the appropriate cable loom to your order if required.
Table 3.1 PANdrive or module order codes
Table 3.2 Options for order codes
Table 3.3 Order codes for component parts
www.trinamic.com
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 5
85.9
85.9
67.45
72
72
13.9
13.9
2
8
2
8
67.45
4.55
18.45
18.45
4.55
R5.9
81.35
81.35
TMCM-1180
M4
4 Mechanical and Electrical Interfacing
4.1 TMCM-1180 Dimensions and Mounting Holes
The dimensions of the controller/driver board (TMCM-1180) are approx. 86mm x 86mm in order to fit to the
back side of the 86mm stepper motor. The TMCM-1180 is 21.5mm high without matching connectors. There
are four mounting holes for M4 screws.
Figure 4.1 Dimensions of TMCM-1180 and mounting holes
www.trinamic.com
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 6
96
8.38
73.02±0.05
1.52
22.5 max
1.4
85.85
4.1
17
31.75±1
25
1.1
11.6
12.7
85.9
85.9
69.5±0.2
69.5±0.2
400 min.
4 x ø 5.5
73.02±0.05
12.7
11.6
4.2 PD86-1180 Dimensions and Motor Specifications
The PD86-1180 includes the TMCM-1180 stepper motor controller/driver electronic module, a magnetic
encoder based on sensOstep technology and an 86mm flange size bipolar hybrid stepper motor.
4.2.1 Dimensions of PD86-3-1180
www.trinamic.com
Figure 4.2 PD86-3-1180 dimensions
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 7
Specifications
Units
QSH8618-96-55-700
Wiring
Rated Voltage
V
2.56
Rated Phase Current (nominal)
A
5.5
Phase Resistance at 20°C
Ω
0.45
Phase Inductance (typ.)
mH
4.5
Holding Torque (typ.)
Nm
7.0
Detent Torque
Nm
Rotor Inertia
gcm2
2700
Weight (Mass)
Kg
2.8
Insulation Class
B
Insulation Resistance
Ω
100M
Dialectic Strength (for one
minute)
VAC
500
Connection Wires
N°
4
Max applicable Voltage
V
140
Step Angle ° 1.8
Step angle Accuracy
%
5
Flange Size (max.)
mm
85.85
Motor Length (max.)
mm
96
Axis Diameter
mm
12.7
Axis Length (visible part, typ.)
mm
31.75
Axis D-cut (1.1mm depth)
mm
25.0
Shaft Radial Play (450g load)
mm
0.02
Shaft Axial Play (450g load)
mm
0.08
Maximum Radial Force
(20 mm from front flange)
N
220
Maximum Axial Force
N
60
Ambient Temperature
°C
-20… +50
Temp Rise
(rated current, 2 phase on)
°C
max. 80
4.2.2 Motor Specifications of QSH8618-96-55-700
Table 4.1 Motor specifications of QSH8618-96-55-700
www.trinamic.com
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 8
0
1
2
3
4
5
6
100 1000 10000
Torque [Nm]
Speed [Pps]
Testing conditions: 48V; 5,5A
Full step
4.2.3 Torque Figure of QSH8618-96-55-700
The torque figure details the motor torque characteristics for full step operation in order to allow simple
comparison. For full step operation there are always a number of resonance points (with less torque) which
are not depicted. These will be minimized by microstep operation.
Figure 4.3 QSH8618-96-55-700 speed vs. torque characteristics
www.trinamic.com
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26) 9
Motor
USB
Power
Serial
communication
Input OutputStep/DirEncoder
1
1
1
1111
Label
Connector type
Mating connector type
Power
JST B4P-VH
JST VH series, 4 pins, 3.96mm pitch
Connector housing JST: VHR-4N
Contacts JST: BVH-21T-P1.1
Motor
JST B4P-VH
JST VH series, 4 pins, 3.96mm pitch
Connector housing JST: VHR-4N
Contacts JST: BVH-21T-P1.1
Mini-USB
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
Serial
communication
CI0108P1VK0-LF
CVIlux CI01 series, 8 pins, 2mm pitch
Connector housing CVIlux: CI01085000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-8
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
4.3 Connectors of TMCM-1180
The controller/driver board of the PD86-1180 offers eight connectors including the motor connector which is
used internally for attaching the motor coils to the electronics. In addition to the power connector there are
two connectors for serial communication (one for mini-USB and one for RS232/RS485/CAN) and two
connectors for additional input and output signals. Further there is one connector for Step/Direction and
another for the encoder.
The output connector offers two general purpose outputs, one power supply voltage output, and one
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 the supply voltage.
The input connector offers two inputs for stop switches (left and right), one home switch input, two general
purpose inputs and one connection to the system or signal ground.
Figure 4.4 Overview connectors
www.trinamic.com
Loading...