background image

PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23)      

10 

 
 
www.trinamic.com 

3.3.1.2

 

RS485

 

For remote control and communication with a host system the PD-1141 provides a two wire RS485 bus 
interface.  For  proper  operation  the  following  items  should  be  taken  into  account  when  setting  up  an 
RS485 network: 
 

1.

 

BUS STRUCTURE

:  

The  network  topology  should  follow  a  bus  structure  as  closely  as  possible.  That  is,  the 
connection  between  each  node  and  the  bus  itself  should  be  as  short  as  possible.  Basically,  it 
should be short compared to the length of the bus. 

 

c:>

node

1

node

n

 - 1

node

n

Host

Slave

Slave

Slave

RS485

termination

resistor

(120 Ohm)

termination

resistor

(120 Ohm)

}

keep distance as

short as possible

 

Figure 3.3 Bus structure 

 

2.

 

BUS TERMINATION

:  

Especially  for  longer  busses  and/or  multiple  nodes  connected  to  the  bus  and/or  high 
communication speeds, the bus should be properly terminated at both ends. The PD-1141 does 
not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of 
the bus have to be added externally. 

 

3.

 

NUMBER OF NODES

:  

The  RS485  electrical  interface  standard  (EIA-485)  allows  up  to  32  nodes  to  be  connected  to  a 
single bus. The bus transceiver used on the PD-1141 units (SN65HVD3082ED) has just 1/8th of the 
standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus. 

 

4.

 

NO FLOATING BUS LINES: 

 

Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is 
transmitting  data  (all  bus  nodes  switched  to  receive  mode).  Floating  bus  lines  may  lead  to 
communication errors. In order to ensure valid signals on the bus  it is recommended to use a 
resistor  network  connecting  both  bus  lines  to  well  defined  logic  levels.  In  contrast  to  the 
termination resistors this network is normally required just once per bus. Certain RS485 interface 
converters available for PCs already include these additional resistors (e.g. USB-2-485). 
 

node

n

 - 1

node

n

Slave

Slave

termination

resistor

(120 Ohm)

+5V

GND

pull-up (1k)

pull-down (1k)

RS485- / RS485B

RS485+ / RS485A

 

Figure 3.4 Bus lines with resistor network 

 
 

 

Summary of Contents for PD-1141

Page 1: ...MOTOR PANdrive TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com Hardware Version V1 2 HARDWARE MANUAL PD 1141 UNIQUE FEATURES Stepper Motor with Controller Driver 0 27 0 49 Nm 24 V...

Page 2: ...2 3 Outputs OUT_0 OUT_1 13 3 3 3 Step Direction Connector 14 3 3 3 1 Step Direction Enable inputs 14 3 3 4 Motor Connector 15 3 3 5 Mini USB Connector 16 4 Reset to Factory Defaults 17 5 On Board LED...

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: ...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 to...

Page 5: ...2 3 1141 option PANdrive 0 49Nm max holding torque 42 x 42 x 60 Table 2 1 PD 1141 order codes The following options are available Firmware option Description Order code example TMCL Module pre program...

Page 6: ...le and a NEMA17 bipolar stepper motor Currently there is a choice between three NEMA 17 42mm bipolar stepper motors with different lengths and different holding torques Length 42 1 2 22 0 05 24 1 20 5...

Page 7: ...cm2 35 54 68 Weight Mass Kg 0 22 0 28 0 35 Insulation Class B B B Dielectic Strength for one minute VAC 500 500 500 Connection Wires N 4 4 4 Step Angle 1 8 1 8 1 8 Step angle Accuracy max 5 5 5 Flang...

Page 8: ...CVIlux CI01055000 A Contacts CVIlux CI01T011PE0 A or Connector housing JST PHR 5 Contacts JST SPH 002T P0 5S Wire 0 22mm2 Multi purpose I O Connector CI0108P1VK0 LF CVIlux CI01 series 8 pins 2mm pitc...

Page 9: ...de circuitry might be required in order to limit the maximum voltage when the motor is operated at high velocities Rule of thumb for size of electrolytic capacitor In addition to power stabilization b...

Page 10: ...resistor Therefore 120 Ohm termination resistors at both ends of the bus have to be added externally 3 NUMBER OF NODES The RS485 electrical interface standard EIA 485 allows up to 32 nodes to be conne...

Page 11: ...IN_1 Input General purpose digital input 24 V compatible Alternate function left stop switch input 7 IN_2 Input General purpose digital input 24 V compatible Alternate function right stop switch inpu...

Page 12: ...ther information about switching the pull up resistors for all digital inputs on off The three digital inputs have alternate functionality depending on configuration in software The following function...

Page 13: ...IN_1 ADC input microcontroller 22k 10k 10nF GND GND GND Figure 3 6 General purpose inputs simplified input circuit 3 3 2 3 Outputs OUT_0 OUT_1 The eight pin connector of the PD 1141 offers two general...

Page 14: ...put function depends on firmware 3 STEP Input Step pulse input connected to step input of TMC262 driver IC 4 DIRECTION Input Direction input connected to direction input of TMC262 driver IC Table 3 5...

Page 15: ...tronics 4 1 Pin Label Direction Description 1 OB2 Output Pin 2 of motor coil B 2 OB1 Output Pin 1 of motor coil B 3 OA2 Output Pin 2 of motor coil A 4 OA1 Output Pin 1 of motor coil A Table 3 5 Motor...

Page 16: ...ATION MODE The PD 1141 supports both USB self powered operation when an external power is supplied via the power supply connector and USB bus powered operation no external power supply via power suppl...

Page 17: ...board red and green LEDs start flashing fast this might take a while 5 Power off board disconnect USB cable 6 Remove short between pads 7 After switching on power supply connecting USB cable all perm...

Page 18: ...mperature at rated current no forced cooling required Tbd 40 C Table 6 1 General operational ratings of module OPERATIONAL RATINGS OF MULTIPURPOSE I OS Symbol Parameter Min Typ Max Unit VOUT_0 1 Volta...

Page 19: ...141 torque vs velocity 24V 1 1 A 256 steps 7 1 2 PD42 2 1141 Torque Curves Figure 7 2 PD42 2 1141 torque vs velocity 24V 1 1 A 256 steps 0 00 0 05 0 10 0 15 0 20 0 25 0 30 0 35 10 100 1000 10000 torqu...

Page 20: ...23 20 www trinamic com 7 1 3 PD42 3 1141 Torque Curves Figure 7 3 PD42 3 1141 torque vs velocity 24V 1 1A 256 steps 0 00 0 10 0 20 0 30 0 40 0 50 0 60 0 70 10 100 1000 10000 torque Nm speed rpm PD42...

Page 21: ...e motion controller which calculates ramps and speed profiles internally by hardware the power driver with stallGuard2 and its energy efficient coolStep feature the MOSFET driver stage the QSH stepper...

Page 22: ...n 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 a value of 7 or 8 is internally mapped to 6 by the TMC42...

Page 23: ...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 stepper...

Page 24: ...d 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 Informat...

Page 25: ...mation about power supply updated Table 11 1 Document revision 11 2Hardware Revision Version Date Description TMCM 1041_V10 2011 MAR 03 Initial version TMCM 1141_V10 2011 AUG 12 Clock generation and d...

Reviews: