Trinamic PANDrive PD-109-57 Electronic Manual Download Page 21

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PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007)

9 Revision History

9.1 Documentation

Revision

Version

Comment

Author

Description

1.00

Initial Release OK

1.01

29-Jun-2005

Added technical specs

1.03

09-Dec-2005

BD, HC

Added Pan-Drive documentation

1.04

23-Dec-05

Added ordering info

1.06

30-Mar-2006

Added mechanical dimensions for PANDrive

1.07

18-Jul-06

Corrected mechanical dimensions

1.08

18-Oct-2006

Added resetting information

1.09

20-June-2007

Chapter 5.6 “Microstep resolution”, 7 “Operational Description”
and 5.7 “Optimum motor settings” added

1.10

17-October-2007 HC

Step / Direction firmware information (chapter 4.1 and 5.8)

Table 9.1: Documentation Revisions

9.2 Firmware

Revision

Version

Comment

Description

3.24

Initial Release Please refer to TMCL documentation

Table 9.2: Firmware Revisions

10 References

[TMCL] TMCL

manual

(see

http://www.trinamic.com

)

Summary of Contents for PANDrive PD-109-57

Page 1: ...109 57 57mm NEMA 23 Stepper Motor Mechatronic Module TMCM 109 57 Electronics Manual Version 1 10 October 17th 2007 Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20 357 Hamburg Germany http www t...

Page 2: ...1 2 TMCL EEPROM 12 5 1 3 TMC428 Motion Controller 12 5 1 4 TMC249 Motor Driver 12 5 2 Power Supply Requirements 13 5 3 Disable 13 5 4 Communication Interface RS232 and RS485 13 5 5 Motor Current setti...

Page 3: ...irection and Disable Inputs 11 Figure 4 2 Example for Step Direction and Disable inputs 11 Figure 5 1 Main parts of the TMCM 109 12 Figure 5 2 Step and Direction Signal 16 List of Tables Table 1 1 Ord...

Page 4: ...ated intelligence high precision drives with high dynamics and torque Electrical data 18V to 55V motor supply voltage for highest motor dynamics up to 3 5A RMS nominal motor current Motor data all PAN...

Page 5: ...s 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...

Page 6: ...al Interfacing 3 1 Dimensions 3 1 1 PCB Dimensions Height 22mm allow for a minimum additional 3mm distance to the motor 4 5mm are recommended Four mounting holes in QMOT motor configuration M3 86 0 mm...

Page 7: ...tual and exact motor dimensions Figure 3 2 Front view of PANDrive Figure 3 3 Side and rear view of PANDrive 108mm refers to PD3 motor 3 2 Connectors The connectors onboard of the module are 10 and a 1...

Page 8: ...please see connector 2 pinning The polarity of the shutdown input can be configured using TMCL please see the TMCL Reference and Programming Manual for details Please note that the shutdown input the...

Page 9: ...RS232 RxD input 5 GPO0 General purpose output 0 same as connector 1 terminal 1 open collector max 250mA max 40V 1K pullup to 5V integrated 6 GPI0 General purpose input 0 max 5V 7 StopR Right limit sw...

Page 10: ...voltage of optocoupler 42 100 V VOPTON Signal active voltage at enable step and direction input optocoupler on 4 5 24 27 V IOPTON Signal current for optocoupler internally limited meas at 24V 11 15 18...

Page 11: ...pter 5 13 It is available on TechLibCD and www trinamic com The inputs disable dir and step are electrically isolated from the module Their functional voltages VOPTON and VOPTOFF are directly dependin...

Page 12: ...MCL programs The TMCL operating system can be updated only via the host interfaces Please use the latest version of the TMCL IDE to do this 5 1 2 TMCL EEPROM To store TMCL programs for stand alone ope...

Page 13: ...should be kept at a maximum of a few 100mV Therefore we recommend to a keep power supply cables as short as possible b use large diameter for power supply cables c if the distance to the power supply...

Page 14: ...Examples 5 6 Microstep Resolution The microstep resolution can be set using TMCL software The default setting is 64 microsteps which is the highest resolution To set the microstep resolution with TMC...

Page 15: ...are used as general purpose inputs Movements are controlled by TMCL motion commands and no step direction operation is possible To activate the step direction feature of the TMCM 109 install the extra...

Page 16: ...too high Just activate StallGuard and then let the traveler run against a mechanical obstacle that is placed at the end of the operation area When the motor has stopped it is definitely at the end of...

Page 17: ...ut Table 5 4 LEDs 5 13 Firmware update Use the Install OS function of the TMCL IDE It is located in the Setup menu 5 14 Resetting the module The reset to factory default values can be done using the T...

Page 18: ...voltage to the module Step 4 Switch on the power supply The activity LED should start to flash This indicates the correct configuration of the microcontroller Step 5 Start the TMCL IDE Software develo...

Page 19: ...L using SAP 154 0 13 ramp_div Acceleration pre divider The higher the value is the less is the maximum acceleration default value 7 Can be change in TMCL using SAP 153 0 13 Usrs Microstep resolution m...

Page 20: ...f RPM 8 Software TMCL the Trinamic Motion Control Language is used to send commands from the host to the TMCM 109 module and to write programs that can be stored in the EEPROM of the module so that th...

Page 21: ...Added mechanical dimensions for PANDrive 1 07 18 Jul 06 BD Corrected mechanical dimensions 1 08 18 Oct 2006 HC Added resetting information 1 09 20 June 2007 HC Chapter 5 6 Microstep resolution 7 Oper...

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