Trinamic PANdrive PD-1161 Hardware Manual Download

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MECHATRONIC DRIVES WITH STEPPER MOTOR

PANdrive

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Hardware Version V1.0

HARDWARE MANUAL

PD-1161

NIQUE

EATURES

Stepper Motor with
Controller/Driver

0.55… 3.1Nm / 24V DC
sensOstep

™

Encoder

USB, RS485, and RS232

Summary of Contents for PANdrive PD-1161

Page 1: ...OR PANdrive TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com Hardware Version V1 0 HARDWARE MANUAL PD 1161 UNIQUE FEATURES Stepper Motor with Controller Driver 0 55 3 1Nm 24V DC sen...

Page 2: ...2 4 Motor Connector 13 4 Reset to Factory Defaults 14 5 On board LEDs 15 6 Operational Ratings 16 7 Torque Curves 17 7 1 Curves of PD57 1161 17 7 1 1 PD57 1 1161 Torque Curves 17 7 1 2 PD57 2 1161 To...

Page 3: ...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 co...

Page 4: ...re 1 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...

Page 5: ...ax holding torque 60 x 60 x 68 Table 2 1 Order codes PD57 1161 With NEMA 24 60mm flange size motor The length of the PANdrives is specified without the length of the axis For the total length of the p...

Page 6: ...module the magnetic encoder based on sensOstep technology and a NEMA23 bipolar stepper motor Currently there is a choice between four NEMA 23 57mm bipolar stepper motors with different lengths and di...

Page 7: ...e is a choice between four NEMA 24 60mm bipolar stepper motors with different lengths and different holding torques Length 5 9 38 1 0 025 1 6 24 1 8 0 013 20 0 5 7 5 0 2 60 0 5 60 17 6 60 47 14 0 2 60...

Page 8: ...switches In Out Interface USB Motor 1 1 1 1 Figure 3 3 Overview connectors Domain Connector type Mating connector type Interface Power JST B6B EH A 2 5mm pitch connector header vertical JST EHR 6 fema...

Page 9: ...of significant size 2200 F or larger recommended to the power supply lines next to the TMCM 1161 especially if the distance to the power supply is large i e more than 2 3m Rule of thumb for size of e...

Page 10: ...n resistor Therefore 120 Ohm termination resistors at both ends of the bus have to be added externally 3 NUMBER OF NODES The RS 485 electrical interface standard EIA 485 allows up to 32 nodes to be co...

Page 11: ...1161 V1 0 Hardware Manual Rev 1 15 2013 JUL 23 11 www trinamic com 3 2 2 USB Connector Pin Label Description 1 VBUS 5V power 2 D Data 3 D Data 4 ID not connected 5 GND ground Table 3 2 Mini USB connec...

Page 12: ...processor 7 STOP_R DIR IN_2 Digital input 24V compatible programmable internal pull up Functionality can be selected in software a Right stop switch input connected to REF3 input of TMC429 motion con...

Page 13: ...r STOP_R HOME Figure 3 7 Limit switches and home switch 3 2 4 Motor Connector Pin Label Description 1 OA1 Motor coil A 2 OA2 Motor coil A 3 OB1 Motor coil B 4 OB2 Motor coil B Table 3 4 Motor connecto...

Page 14: ...tom side of the board have to be shortened see figure 4 12 Please perform the following steps 1 Power supply off and USB cable disconnected 2 Short two pads as marked in Figure 4 1 3 Power up board po...

Page 15: ...green LED should be slowly flashing during operation and the red LED should be off When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are perman...

Page 16: ...g at full current without proper cooling This might substantially increase the environmental temperature for the electronics When using the coolStep operation mode the actual motor current might be su...

Page 17: ...18 and QSH6018 The following paragraphes will show you the curves of each PANdrive 7 1 Curves of PD57 1161 7 1 1 PD57 1 1161 Torque Curves TMCM 1161 QSH5718 41 28 055 Torque versus Velocity VS 24V Ico...

Page 18: ...7 1 2 PD57 2 1161 Torque Curves TMCM 1161 QSH5718 51 28 101 Torque versus Velocity VS 24V Icoil 2 8A RMS 256 Microsteps TMCM 1161 QSH5718 51 28 101 Torque versus Velocity VS 24V Icoil 2 8A RMS 256 Mi...

Page 19: ...0 3 1161 Torque Curves TMCM 1161 QSH6018 65 28 210 Torque versus Velocity VS 24V Icoil 2 8A RMS Figure 7 3 PD60 3 1161 torque vs velocity 24V 2 8A 7 2 2 PD60 4 1161 Torque Curves TMCM 1161 QSH6018 86...

Page 20: ...y by hardware the power driver with its energy efficient coolStep feature the MOSFET driver stage the QSH stepper motor and the sensOstep encoder with resolutions of 10bit 1024 steps per revolution 10...

Page 21: ...t value 0 0 13 ramp_div divider for the acceleration The higher the value is the less is the maximum acceleration default value 0 0 13 Usrs microstep resolution microsteps per fullstep 2usrs 0 8 Table...

Page 22: ...iv 1 usrs 6 Hz MHz msf 31 122070 32 2048 2 1000 16 1 Hz Hz fsf 34 1907 2 31 122070 6 s MHz Mhz a 21 119 2 1000 16 29 1 1 2 s MHz s MHz af 863 1 2 21 119 6 Calculation of the number of rotations A step...

Page 23: ...and whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control GmbH Co KG 2013 Infor...

Page 24: ...g and digital inputs corrected 1 14 2013 MAR 27 SD AIN_0 renamed IN_0 1 15 2013 JUL 05 SD Chapter 3 2 1 1 power supply updated Table 11 1 Document revision 11 2Hardware Revision Version Date Descripti...

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