Trinamic PD42-1-1140 Manuel utilisateur

MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrives

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Hardware Version V1.3

HARDWARE MANUAL

+ + PD42-1-1140

PD42-2-1140

PD42-3-1140

PD42-4-1140

Stepper Motor NEMA17 / 42mm

0.22 –0.7 Nm

with Controller / Driver

up-to 2A RMS / 24V DC

sensOstep™ encoder

RS485, CAN, USB interfaces

+ +

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 2

Table of contents

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

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

3Order codes.................................................................................................................................................................... 6

4Mechanical and electrical interfacing ..................................................................................................................... 7

4.1 Dimensions of PD42-x-1140 .............................................................................................................................. 7

4.2 Stepper motor ...................................................................................................................................................... 8

4.3 Integrated sensOstep™ encoder..................................................................................................................... 9

4.4 Connectors...........................................................................................................................................................10

4.4.1 Power and Communication......................................................................................................................11

4.4.2 Multi-purpose I/O.........................................................................................................................................14

4.4.3 Motor...............................................................................................................................................................18

4.4.4 Mini-USB .........................................................................................................................................................18

5Motor driver current ..................................................................................................................................................20

6Reset to Factory Defaults .........................................................................................................................................21

7On-Board LEDs.............................................................................................................................................................22

8Operational ratings ....................................................................................................................................................23

9Torque Curves..............................................................................................................................................................25

9.1.1 PD42-1-1140 Torque Curve ........................................................................................................................25

9.1.2 PD42-2-1140 Torque Curve ........................................................................................................................25

9.1.3 PD42-3-1140 Torque Curve ........................................................................................................................26

9.1.4 PD42-4-1140 Torque Curve ........................................................................................................................26

10 Functional description ..............................................................................................................................................27

11 PD42-x-1140 Operational Description....................................................................................................................28

11.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................28

12 Revision history ..........................................................................................................................................................30

12.1 Document revision ............................................................................................................................................30

12.2 Hardware revision .............................................................................................................................................30

13 References.....................................................................................................................................................................31

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 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.

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.

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 4

2Features

The PANdrive™ PD42-1-1140, PD42-2-1140, PD-3-1140 and PD42-4-1140 are small and compact full mechatronic

solutions including NEMA17 / 42mm flange size stepper motors, the TMCM-1140 controller/ driver electronics and

TRINAMIC sensOstep™ encoder for step-loss detection. The four PANdrives include stepper motor with different

lengths and different holding torques (PD42-1-1140: 0.22Nm, PD42-2-1140: 0.36Nm, PD42-3-1140: 0.44Nm and

PD42-4-1140: 0.7Nm) but, same electronics and encoder setup. The PANdrives support both, stand-alone

operation e.g. using the on-board I/Os together with the build-in TMCL scripting feature and remote control

operation using the RS485 2-wire communication bus interface and even a mixture of both.

Applications

Compact and decentralized stepper motor solutions

Step loss detection for high reliability operation

Electrical data

Supply voltage: +24V DC nominal

Motor current: up to 2.8A peak / 2A RMS (programmable)

Integrated motion controller

Motion profile calculation in real-time (TMC429 motion controller)

On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

High performance ARM Cortex-M3™ microcontroller for overall system control and serial communication

protocol handling

Integrated bipolar stepper motor driver

Up to 256 microsteps per full step

High-efficient operation, low power dissipation (MOSFETs with low RDS(ON))

Dynamic current control

Integrated protection

stallGuard2™ feature for stall detection

Automatic load dependent motor current adaptation for reduced power consumption and heat

dissipation (coolStep™)

Integrated encoder

Integrated sensOstep™ magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss

detection under all operating conditions and positioning

Integrated motor

Two phase bipolar stepper motor with 2A RMS nom. coil current

Holding torque: 0.22Nm, 0.36Nm, 0.44Nm or 0.7Nm

Interfaces

RS485 2-wire communication interface

CAN 2.0B communication interface

USB full speed (12Mbit/s) device interface

4 multi-purpose inputs:

o3x general-purpose digital inputs

(alternate functions: STOP_L/STOP_R/HOME switch inputs or A/B/N encoder input)

o1x dedicated analog input

2 general purpose outputs

o1x open-drain 1A max.

o1x +5V supply output –can be switched on/off in software e.g. for encoder / end switch supply

Software

Available with TMCL™ or CANopen firmware

TMCL™ remote (direct mode) and stand-alone operation (memory for up-to 1024 TMCL™ commands)

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 5

CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported

Fully supported by TMCL-IDE (PC based integrated development environment)

Please see separate TMCL™or CANopen firmware manual and for additional information

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.

Load

[Nm]

stallGuard2

Initial stallGuard2

(SG) value: 100%

Max. load

stallGuard2 (SG) value: 0

Maximum load reached.

Motor close to stall.

Motor stalls

Figure 2.1 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.

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

Figure 2.2 Energy efficiency example with coolStep

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 6

3Order codes

The combination of motor and motor mounted controller/driver electronic is currently available with three

stepper motors (different length and holding torque):

The length of the PANdrives™ is specified without the length of the axis. For the overall length of the product

please add 26 mm (see detailed drawings in chapter 3).

Order code

Description

Size of unit

PD42-1-1140-option

PANdrive with NEMA17 stepper motor, 0.22Nm max.,

TMCM-1140 electronics, 2A RMS, +24V, RS485, CAN,

USB, sensOstep™ encoder

42mm x 42mm x 47mm

PD42-2-1140-option

PANdrive with NEMA17 stepper motor, 0.36Nm max.,

TMCM-1140 electronics, 2A RMS, +24V, RS485, CAN,

USB, sensOstep™ encoder

42mm x 42mm x 51mm

PD42-3-1140-option

PANdrive with NEMA17 stepper motor, 0.44Nm max.,

TMCM-1140 electronics, 2A RMS, +24V, RS485, CAN,

USB, sensOstep™ encoder

42mm x 42mm x 60mm

PD42-4-1140-option

PANdrive with NEMA17 stepper motor, 0.7N max.,

TMCM-1140 electronics, 2A RMS, +24V, RS485, CAN,

USB, sensOstep™ encoder

42mm x 42mm x 73mm

Table 3.1: Order codes

The following options are currently available:

Firmware option

Description

Order code example:

-TMCL

Module pre-programmed with TMCL firmware

TMCM-1140-TMCL

-CANOPEN

Module pre-programmed with CANopen firmware

TMCM-1140-CANOPEN

Table 3.2: PD42-x-1140 firmware options

A cable loom set is available for this module, also:

Order code

Description

TMCM-1140-CABLE

Cable loom for TMCM-1140. Contains (see chapter 4.4, also):

-1x cable loom for power and communication connector

(cable length approx.. 200mm)

-1x cable loom for multi-purpose I/O connector

(cable length approx.. 200mm)

-1x cable loom for motor connector

(cable length approx.. 200mm)

-1x USB type A connector to mini-USB type B connector cable

Table 3.3: Cable loom order code

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 7

4Mechanical and electrical interfacing

All PD42-x-1140 consist of one out of four available NEMA17 / 42mm stepper motors with 2A RMS rated coil

current with the same TMCM-1140 controller / driver electronics mounted on its backside and integrated

sensOstep™ encoder. The PD42-1-1140 uses the QSH4218-34-20-022 stepper motor with 0.22Nm holding torque,

the PD42-2-1140 uses the QSH4218-38-20-036 stepper motor with 0.36Nm holding torque, the PD42-3-1140 uses

the QSH4218-47-20-044 stepper motor with 0.44Nm holding torque and the PD42-4-1140 uses the QSH4218-60-20-

070 stepper motor with 0.7Nm holding torque.

Please see also stepper motor manuals and TMCM-1140 hardware and firmware manuals for more details.

Note:

In order to make proper use of the integrated sensOstep™encoder (the sensor IC is placed on the bottom of

the pcb) the TMCM-1140 electronics should not be removed/moved relative to the motor.

In case the integrated encoder feature is not used, the electronics may be moved or even removed from the

motor and placed somewhere else according to application requirements.

4.1 Dimensions of PD42-x-1140

Figure 4.1: PD42-x-1140 with different NEMA 17 / 42mm stepper motors (all dimensions in mm)

PANdrive

Length of motor

PD42-1-1140

33.5±1mm

PD42-2-1140

38±1mm

PD42-3-1140

47±1mm

PD42-4-1140

60±1mm

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 8

4.2 Stepper motor

Main characteristics of the four different motors available as part of the PD42-x-1140 PANdrive™:

Specifications

Parameter

Units

QSH4218

-34-20-022

-38-20-036

-47-20-044

-60-20-070

Related PANdrive

PD42-1-1140

PD42-2-1140

PD42-3-1140

PD42-4-1140

Step angle

1.8

Step angle accuracy

+/-5

Ambient temperature

°C

-20 … +50

Max. motor temperature

°C

Shaft radial play (450g load)

0.02

Shaft axial play (450g load)

0.08

Max radial force

(20mm from front flange)

Max axial force

Rated voltage

VRATED

2.0

2.4

4.4

Rated phase current

IRMS RATED

2.0

Phase resistance at 20°C

RCOIL

Ω

1.0

1.2

1.4

2.3

Phase inductance (typ.)

1.6

2.2

2.1

6.0

Holding torque

0.22

0.36

0.44

0.70

Insulation class

Rotor inertia

g cm2

102

Weight

0.22

0.24

0.35

0.5

Table 4.1: NEMA 17 / 42mm stepper motor technical data

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 9

4.3 Integrated sensOstep™ encoder

The PD42-x-1140 PANdrives offer integrated sensOstep™ encoders based on hall sensor technology. As the

name “sensOstep™” already indicates intended use of this type of compact and highly integrated encoder is

step loss detection of motor movements. As soon as the motor has been moved to a new location the position

may be verified using this encoder feedback. In case the stepper motor has lost one or multiple steps during

movement e.g. due to overload / any obstacle encountered during movement the motor axes will jump for at

least one electrical period / 4 full steps. This can be detected using the integrated encoder. In addition, step

losses may be already detected during motor movements using the “deviation” setting available as part of the

TMCL firmware (see PD42-x-1140 / TMCM-1140 firmware manual for more details).

While the encoder offers 10bit (1024 steps) resolution per motor revolution the absolute position information is

less accurate and depends on the displacement of the hall sensor based encoder IC relative to the magnet and

motor axis among other factors. Every PANdrive™ has been tested for maximum deviation of +/- 5 encoder

steps (static performance) relative to commanded microstep target position during final tests after assembly at

our factory. This will ensure more than adequate performance of the integrated sensOstep™ encoder for step

loss detection during motor movements.

Do not disassemble PANdrive™ when using integrated encoder

In order to make proper use of the integrated sensOstep™encoder (the sensor IC is placed

on the bottom center of the pcb) the TMCM-1140 electronics should not be removed/moved

relative to the motor! Otherwise encoder performance might suffer / not work.

Note: In case the integrated encoder feature is not used, the TMCM-1140 electronics may be

moved or even removed from the motor and placed somewhere else according to

application requirements.

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 of the motor axis. 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 (especially

in prototype setups).

In order to prevent shorts and better protect the electronics the TMCM-1140 printed circuit

board is coated after assembly of components since hardware version V1.3.

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 10

4.4 Connectors

The PD42-x-1140 offers four connectors including the motor connector which is used for connecting the motor

coils to the electronics. The power and communication connector is used for power supply, CAN interface, and

RS485 interface. The 8pin multipurpose I/O connector offers four multipurpose inputs and two general purpose

outputs. Further, there is a connector for the USB interface.

USB

Motor

Multi-purpose

I/O

Power and

Communication

Figure 4.2: PD42-x-1140 connectors

Overview of connector and mating connector types:

Label

Connector type

Mating connector type

Power and

Communication

Connector

CI0106P1VK0-LF

CVIlux CI01 series, 6 pins, 2mm pitch

Connector housing CVIlux: CI01065000-A

Contacts CVIlux: CI01T011PE0-A

Connector housing JST: PHR-6

Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Multi-purpose

I/O Connector

CI0108P1VK0-LF

CVIlux CI01 series, 8 pins, 2mm pitch

Connector housing CVIlux: CI01085000-A

Contacts CVIlux: CI01T011PE0-A

Connector housing JST: PHR-8

Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Motor

Connector

CI0104P1VK0-LF

CVIlux CI01 series, 4 pins, 2mm pitch

Connector housing CVIlux: CI01045000-A

Contacts CVIlux: CI01T011PE0-A

Connector housing JST: PHR-4

Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Mini-USB

Connector

Molex 500075-1517

Mini USB Type B vertical receptacle

Any standard mini-USB plug

Table 4.2: Connectors and mating connectors, contacts and applicable wire

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