IDX Manual (V1.15 / September 26
th
, 2008)
2
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1
Features........................................................................................................................................................................... 4
2
Life support policy ....................................................................................................................................................... 5
3
Electrical and Mechanical Interfacing ..................................................................................................................... 6
3.1
Pinning ................................................................................................................................................................... 6
3.2
Dimensions ........................................................................................................................................................... 7
3.3
Connectors ............................................................................................................................................................ 7
4
Operational Ratings ..................................................................................................................................................... 8
4.1
Practical maximum motor current ratings ................................................................................................... 9
4.2
Step, Direction and Disable Inputs ............................................................................................................. 10
5
Getting Started ............................................................................................................................................................ 11
5.1
Motor .................................................................................................................................................................... 11
5.1.1
Motor Choice ............................................................................................................................................ 11
5.1.1.1
Motor velocity ............................................................................................................................. 11
5.1.1.2
Chopper Modes 0 (SPI / Default Mode) and 1 (PWM) ..................................................... 11
5.1.1.3
Chopper Mode 2 (PHASE) ......................................................................................................... 12
5.2
Connecting Motor and Power Supply ......................................................................................................... 14
5.3
Power Supply Requirements ......................................................................................................................... 14
5.3.1
EMV considerations ................................................................................................................................ 15
5.4
Connections for Step / Direction- Mode ..................................................................................................... 15
5.5
Connections for RS485 Interface .................................................................................................................. 15
5.5.1
Interface installation ............................................................................................................................. 15
5.5.2
Control with terminal program .......................................................................................................... 16
5.6
Functional Description ..................................................................................................................................... 17
5.7
Disable Function ............................................................................................................................................... 17
5.8
RS485 Control Interface .................................................................................................................................. 17
5.8.1
RS485 Commands ................................................................................................................................... 18
5.8.1.1
Examples for test move ........................................................................................................... 19
5.8.1.2
Motor Current (C) ....................................................................................................................... 19
5.8.1.3
Failure Readout (E) .................................................................................................................... 19
5.8.1.4
StallGuard (G) .............................................................................................................................. 20
5.8.1.5
Limit Switch (L) ........................................................................................................................... 20
5.8.1.6
Output setting (O) ...................................................................................................................... 21
5.8.1.7
I/Os Readout (Q) ......................................................................................................................... 21
5.8.1.8
Baud Rate (U) .............................................................................................................................. 21
5.8.1.9
Velocity Mode (V) ....................................................................................................................... 22
5.8.1.10
Store Parameters to EEPROM (W) .......................................................................................... 22
5.8.1.11
Microstep Resolution (Z) .......................................................................................................... 23
5.8.2
Chopper Modes ....................................................................................................................................... 23
5.8.2.1
Chopper Mode 0 (SPI) / Default Mode ................................................................................. 23
5.8.2.2
Chopper Mode 1 (PWM) ........................................................................................................... 24
5.8.2.3
Chopper Mode 2 (PHASE) ......................................................................................................... 24
5.8.2.4
Chopper mode 3 (Phase and SPI) ......................................................................................... 25
5.8.2.5
Chopper mode 4 (PWM and SPI) .......................................................................................... 25
5.9
Step / Direction.................................................................................................................................................. 26
5.9.1
Direction .................................................................................................................................................... 26
5.9.2
Step ............................................................................................................................................................ 27
5.10
Reset to factory default ................................................................................................................................... 27
5.11
Firmware Update ............................................................................................................................................... 28
5.12
Option: Pseudo DC-Motor mode (not supported by software yet) .................................................... 29
5.12.1
Setting up the module ......................................................................................................................... 29
5.12.2
Parameterizing with RS485 .................................................................................................................. 29
5.12.3
Motion Control ........................................................................................................................................ 29
6
Revision History .......................................................................................................................................................... 30
6.1
Documentation Revision ................................................................................................................................. 30
6.2
Firmware Revision ............................................................................................................................................ 30
