Trinamic TMCM-170-57 Manuel utilisateur

MECHATRONIC DRIVES WITH BLDC MOTOR PANdrives

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

V 1.10

HARDWARE MANUAL

+ + TMCM-170-57

controller / driver module

up to 10A RMS / 12…48V DC

CAN, RS232/RS485 (optional)

+ +

++ PDx-170-57-E

mechatronic device with

57 mm BLDC servo motor

up to 10A RMS / 12…48V DC

CAN, RS232/RS485 (0ptional)

incremental encoder

hall sensors

+ +

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 2

Contents

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

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

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

4Electrical and mechanical description.................................................................................................................... 6

4.1 Pinning................................................................................................................................................................... 6

4.2 Application circuit ............................................................................................................................................... 7

4.3 Dimensions ........................................................................................................................................................... 8

4.4 Connectors ............................................................................................................................................................ 9

4.5 PANdrive™ specifications ................................................................................................................................. 9

4.5.1 PANdrive™ motor .................................................................................................................................... 9

5Operational ratings.................................................................................................................................................... 11

5.1 Power supply requirements........................................................................................................................... 12

5.2 Bus interface....................................................................................................................................................... 12

5.2.1 Terminating the RS485 network ........................................................................................................ 12

6Functional description .............................................................................................................................................. 13

6.1 Setting the basic values for operation (using the demonstration application)............................. 13

6.2 Start-up for encoder based commutation ................................................................................................. 13

6.3 Encoder setting.................................................................................................................................................. 14

6.4 Hall sensor only operation w/o encoder................................................................................................... 15

6.5 Stop switch......................................................................................................................................................... 15

6.6 General functions (explore using the Windows based demo software) ......................................... 15

6.7 Temperature, current and voltage monitoring functions ..................................................................... 15

6.8 Programmable motor current limit ............................................................................................................. 16

7Revision history .......................................................................................................................................................... 17

7.1 Document revision ........................................................................................................................................... 17

7.2 Firmware revision............................................................................................................................................. 17

8References .................................................................................................................................................................... 17

9Appendix....................................................................................................................................................................... 18

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 3

1Life 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.

2011

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.

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 4

2Features

The PD-170-57 is a combination of an intelligent BLDC servo motor controller / driver, an optical

encoder and a 57mm brushless DC motor. As a controller/driver module the TMCM-170 has been

designed for high performance servo drives based on brushless DC motors. It combines the high

resolution known from stepper motors with the high dynamic, high velocity and high reliability of a

BLDC drive. A build-in ramp generator allows parameterized smooth positioning. Its small form factor

allows direct mounting on / into a motor-encoder assembly. The TMCM-170 supports BLDC motors

with nearly any number of poles and incremental encoders with nearly any resolution. The TMCM-170

integrates a position and a velocity regulator.

The module can be remote controlled via an RS232 or RS485 interface (ordering options) and CAN

interface.

Applications

Replacement of servo drive by high reliability / low cost BLDC drive

Fast and precise positioning

Smooth very low to very high constant / variable velocity drives

Very high velocity stability drives

Extremely compact decentralized motor electronics

Motor / Encoder type

Sine (or block) commutated BLDC motors with encoder and with / without additional hall sensors

Hall sensor based motors can be operated without encoder

Motor power from a few watts to 500W

Motor velocity up to 100,000 RPM (electrical field)

Incremental encoder (2 channel with option for N-channel) with resolution from 256 to 30000 /

motor rotation (opt. per electrical field rotation)

12V to 48V nominal motor voltage

Coil current up to 10A nominal (up to 14A current for short time)

PANdrive™ Motor and Encoder data

Motor: TRINAMICs QBL 5704-94-04-032 or QBL 5704-116-04-042, rated torque 0.32 Nm or 0.42 Nm

Encoder: HEDS-5640-A12 with resolution of 2000 per motor rotation

Please refer to the datasheets for detailed motor and encoder information

Highlights

High-efficiency operation, low power-dissipation

CAN interface and RS232 or RS485 integrated

Integrated Protection: reverse polarity and overload / overtemperature / overvoltage

TRINAMIC TMCL™ protocol and TMCL™ software environment for parameterizing and for update

and for programming of standalone mode

1024 entry 10 bit motor sine commutation table

External (stop) switch or encoder N channel can be used for absolute position reference

Different start up modes for automatic commutation calibration

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 5

3Order codes

The RS232 and RS485 interfaces are assembly options of one and the same TMCM-170 printed circuit

board.

Cables are not included. Add the appropriate cable loom to your order if required.

Order code

Description

Dimensions [mm³]

PD4-170-57-E (-option)

PANdrive™ 0.32Nm

132 x 61 x 61 (without motor axis)

PD5-170-57-E (-option)

PANdrive™ 0.42Nm

152 x 61 x 61 (without motor axis)

TMCM-170 (-option)

BLDC servo module

61 x 61 x 28

Table 3.1: PANdrive™ or module order codes

Option

Host interface

-232

RS232 and CAN interface

-485

RS485 and CAN interface

Table 3.2: Options for order codes

Component parts

Description

TMCM-170-CABLE

Cable loom for module and PANdrive™.

Table 3.3: Order codes for component parts

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 6

4Electrical and mechanical description

4.1 Pinning

Connectors shown as top view

Motor / power supply

connector on bottom PCB

Hall

sensors

1.5mm

conn. 1

+5V

GND

Inter-

face 5

RS485- / TXD

RS485+ / RXD

GND

CANL

CANH

Encoder

CHB

CHA

CHN/Null

GND

+5V

I/O

+5V

CUR LED

GND

OVT LED

DIRIN

1 AIN

N.C.

/STOP

1GND

RS485 Term

CAN Term

Figure 4.1: Pinning

Function

AIN

Analog input: Can measure 0 - 10V signal.

DIRIN

5V TTL input. Not used in current firmware releases

/STOP

Reference Switch / Emergency stop. Tie this pin to GND to stop the motor or to clear

the position counter. Function / polarity depends on Software setting.

(5V TTL input with integrated 10K pull-up resistor to 5V)

OVT LED

5V TTL output: Toggling with 3Hz when temperature pre-warning threshold is

exceeded, high when module shut down due to overtemperature.

CUR LED

5V TTL output: High, when module goes into current limiting mode or into

overvoltage switch off. Toggling with 3Hz on undervoltage condition.

+5V

5V supply for motor hall sensors and as reference for external purpose

GND

Power GND / GND reference

GND is also connected to the mounting holes on the bottom PCB

RXD /

RS485+

RXD signal of module for RS232 communication (RS232 version)

Non-inverting RS485 signal (RS485 version)

TXD /

RS485-

TXD signal of module for RS232 communication (RS232 version)

Inverting RS485 signal (RS485 version)

CANH / CANL

CAN interface signals

U, V, W

BLDC motor coil outputs

CHN

Encoder null channel (optional use)

(5V TTL input with integrated pull-up resistor to 5V)

CHA, CHB

Incremental encoder channel A / channel B

(5V TTL input with integrated pull-up resistor to 5V)

H1, H2, H3

Hall sensor signals

(5V TTL input with integrated pull-up resistor to 5V)

Positive power supply voltage (reverse polarity protected)

Other pins

Leave all other pins unconnected!

Table 4.1: Pinning

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 7

I/O board

(top view)

5Interface

I/O

Hall

sensors

5Encoder

Driver board

(top view)

Motor

U V W Power

Interface

EncI/O

Hall

Motor Power

Important note: For the PANdrives™PD-170, the motor coils, hall sensor signals and encoder signals

are already connected. Nevertheless, in order to connect power supply the upper interface board has

to be removed. Never connect or disconnect the boards while power is switched on!

4.2 Application circuit

The schematic shows a typical application circuit using CAN bus interface. Optionally the unit allows

connection of motor hall sensors and encoder N-channel as well as further digital / analog pins and

different interface options.

TMCM-170

Reference

Sw.

BLDC-

Motor

Encoder

Mech. Axis

GND

/STOP

GND

I/OInterface

CANL

CANH

System's

CAN bus keep distance

short for CAN

110R

Termination

resistor at bus end

GND

Encoder

+5V

CHA

CHB

GND

Place unit near

encoder / motor

4700µ,

63V

48V system

power

supply

optional overvoltage

suppressor:

high power zener /

zener transistor

circuit

optional

capacitor if > 2m

CHN

Figure 4.2: Application circuit

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 8

4.3 Dimensions

Diameter 61mm, TMCM-170 height 28mm (16mm + highest part), mounting holes diameter is 2.8mm

Figure 4.3: Dimensions of TMCM-170 and PD-170

32,00

25,97

14,50

27,00

13,50

27,00

30,50

46,77

61,00

Top view of

Driver board

All values are in

millimeters

Gap pad

Metal plate

BLDC

Motor

Encoder

I/O-Board

Driver-Board

PD-170

132,00 (PD4) or 152,00 (PD5)

15,00

1,00

16,00

20,00

39,00

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 9

4.4 Connectors

Hall sensor: JST1.5mm type: S5B-ZR-SM2-TF

Other interfaces: JST-PHR –8 and JST PHR –5 2.00 mm

4.5 PANdrive™ specifications

This chapter describes the additional components of the PD-170.

4.5.1 PANdrive™ motor

The PD-170 comes either with the QBL 5704-94-04-032 or QBL 5704-116-04-042 motor (ordering option).

For further information refer to the QBL 5704 motor manual, also.

Main characteristics:

Hall Effect Angle: 120° electric angle

Shaft run out: 0,025 mm

Insulation Class: B

Radial Play: 0,02 mm 450G load

Max Radial Force: 75N (10mm from flange)

Max Axial Force: 15N

Dielectric Strength: 500 VDC For One Minute

Insulation Resistance: 100M Ohm min. 500VDC

Recommended Ambient Temp.: -20 to +40°C

Bearing: Brushless motors fitted with ball bearings

Specifications

QBL 5704

-94-04-032

-116-04-042

No. of Pole

No. of Phase

Rated Voltage

Rated Phase Current

5.08

6.67

Rated Speed

RPM

4000

Rated Torque

0.32

0.42

Max Peak Torque

0.98

1.3

Torque Constant

Nm/A

0.063

Line to Line Resistance

Ohm

0.45

0.35

Line to Line Inductance

1.4

Max Peak Current

16.5

20.5

Lenth (LMAX)

116

Rotor Inertia

kgm² x 10-6

17,3

Mass

1,25

Related TRINAMIC PANdrive™

PD4-170-57

PD5-170-57

Table 4.2: Motor technical data

PDx-170-57-E / TMCM-170 Hardware Manual (V1.10 / 2011-NOV-24) 10

Adjustments for QBL5704-116-04-042

Switch the reverse hall sensor polarity on and the reverse encoder direction off. Use the basic control

and diagnostics software or TMCL-IDE.

Adjustments for QBL5704-94-04-032

Switch the reverse hall sensor polarity off and the reverse encoder direction on. Use the basic control

and diagnostics software or TMCL-IDE.

Figure 4.4: Motor dimensions

Ce manuel convient aux modèles suivants

Table des matières

Autres manuels Trinamic Contrôleurs

Trinamic

Trinamic TMCM-1181 Manuel utilisateur

Trinamic

Trinamic TMCM-078 Manuel utilisateur

Trinamic

Trinamic TMCM-1140 Manuel utilisateur

Trinamic

Trinamic TMCM-1141 Manuel utilisateur

Trinamic

Trinamic TMCM-1311 Manuel d'utilisation et d'entretien

Trinamic

Trinamic PANdrive PD42-1-1370 Manuel utilisateur

Trinamic

Trinamic TMCM-610 Manuel utilisateur

Trinamic

Trinamic TMCM-310 Manuel utilisateur

Trinamic

Trinamic SIXpack 2 Manuel utilisateur

Trinamic

Trinamic TMCM-342 Manuel utilisateur

Trinamic

Trinamic TMCM-1140 Manuel utilisateur

Trinamic

Trinamic IDX 4803 Manuel utilisateur

Trinamic

Trinamic TMCM-1141 Manuel utilisateur

Trinamic

Trinamic PD1-113-57-SE Manuel utilisateur

Trinamic

Trinamic TMCM-1160 Manuel utilisateur

Trinamic

Trinamic TMCM-343 Manuel utilisateur

Trinamic

Trinamic TMCM-6110 Manuel utilisateur

Trinamic

Trinamic TMC428 Instructions d'installation et d'utilisation

Trinamic

Trinamic TMCL-LITE TMCM-1316 Manuel utilisateur

Trinamic

Trinamic TMCM-351 Manuel utilisateur

Trinamic

Trinamic TMCM-1310 Manuel utilisateur

Trinamic

Trinamic TMCM-110 Manuel utilisateur

Trinamic

Trinamic TMCM-013-42 Manuel utilisateur

Trinamic

Trinamic TMCM-6110 Manuel utilisateur

Manuels Contrôleurs populaires d'autres marques

Digiplex

Digiplex DGP-848 Mode d'emploi

YASKAWA

YASKAWA SGM series Manuel utilisateur

Sinope

Sinope Calypso RM3500ZB Manuel utilisateur

Isimet

Isimet DLA Series Style 2 Manuel d'installation

LSIS

LSIS sv-ip5a Manuel utilisateur

Rockwell Automation

Rockwell Automation 1769-L31 Manuel utilisateur

Airflow

Airflow Uno hab Manuel utilisateur

ABB

ABB ACS580-01 drives Manuel utilisateur

Panasonic

Panasonic GM1 Series Manuel utilisateur

Emerson

Emerson SW93 Manuel utilisateur

AutoAqua

AutoAqua Smart ATO micro SATO-120P Manuel utilisateur

Panasonic

Panasonic FP? Positioning Unit RTEX Manuel utilisateur

Samson

Samson Type 5824 Manuel de service

Alpha IP

Alpha IP MIOB 21001 Manuel utilisateur

Siemens

Siemens OpenAir GMA 1 Series Manuel utilisateur

Surecom

Surecom SR-629 Manuel utilisateur

Fishman

Fishman TriplePlay Manuel utilisateur

Regulus

Regulus SRS1 T Manuel utilisateur