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Trinamic PD1-113-57-SE, Hardware Manual

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Trinamic PD1-113-57-SE Hardware Manual Download Page 2

PD

x

-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 

2 

 

 

Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG 

 

Table of contents 

 
1

 

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

 

2

 

Features ........................................................................................................................................................................... 4

 

3

 

Order codes .................................................................................................................................................................... 5

 

4

 

Mechanical and electrical interfacing ..................................................................................................................... 6

 

4.1

 

Size of PDx-113-57-SE .......................................................................................................................................... 6

 

4.2

 

Size of PDx-113-60-SE .......................................................................................................................................... 7

 

4.3

 

Size of electronics (TMCM-113-57/60-SE) ........................................................................................................ 8

 

4.4

 

Motor ....................................................................................................................................................................... 9

 

4.5

 

Connectors ........................................................................................................................................................... 10

 

4.5.1

 

Power connector .......................................................................................................................................... 11

 

4.5.2

 

Serial communication connector ............................................................................................................ 11

 

4.5.3

 

I/O connector ................................................................................................................................................ 11

 

4.5.4

 

Motor connector........................................................................................................................................... 12

 

4.6

 

Serial communication interface ..................................................................................................................... 12

 

4.6.1

 

RS232 ............................................................................................................................................................... 12

 

4.6.2

 

RS485 ............................................................................................................................................................... 13

 

4.7

 

Reference switch inputs .................................................................................................................................. 15

 

4.8

 

General purpose inputs ................................................................................................................................... 15

 

4.9

 

General purpose outputs ................................................................................................................................. 16

 

5

 

Functional description .............................................................................................................................................. 17

 

6

 

Firmware ....................................................................................................................................................................... 18

 

7

 

Torque curves .............................................................................................................................................................. 19

 

7.1

 

PD1-113-60-SE ...................................................................................................................................................... 19

 

7.2

 

PD2-113-60-SE ...................................................................................................................................................... 20

 

7.3

 

PD3-113-60-SE ...................................................................................................................................................... 20

 

7.4

 

PD4-113-60-SE ...................................................................................................................................................... 21

 

8

 

Operational ratings .................................................................................................................................................... 22

 

9

 

Revision history .......................................................................................................................................................... 24

 

9.1

 

Document revision ............................................................................................................................................ 24

 

9.2

 

Hardware revision ............................................................................................................................................. 24

 

10

 

References..................................................................................................................................................................... 24

 

 

 

 

Summary of Contents for PD1-113-57-SE

Page 1: ...7 60 SE TMCM 113 57 60 SE Hardware Manual Version 1 30 2009 OCT 28 Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20 357 Hamburg Germany Phone 49 40 51 48 06 0 FAX 49 40 51 48 06 60 http www trin...

Page 2: ...nnectors 10 4 5 1 Power connector 11 4 5 2 Serial communication connector 11 4 5 3 I O connector 11 4 5 4 Motor connector 12 4 6 Serial communication interface 12 4 6 1 RS232 12 4 6 2 RS485 13 4 7 Ref...

Page 3: ...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 d...

Page 4: ...d sensOstep magnetic encoder max 256 increments per rotation for step loss detection under all operating conditions Integrated motion controller Motion profile calculation in real time TMC428 motion c...

Page 5: ...1 113 60 SE option PANdrive with 1 10Nm max holding torque 64mm PD2 113 60 SE option PANdrive with 1 65Nm max holding torque 75mm PD3 113 60 SE option PANdrive with 2 10Nm max holding torque 84mm PD4...

Page 6: ...urrently there is a choice between four NEMA 23 57mm bipolar stepper motors with different lengths and different holding torques Connectors 17 Length 56 4 1 38 1 0 025 1 6 5 20 6 1 6 35 0 013 60 38 1...

Page 7: ...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 Connectors 17 69 max 20 0 5 7 5 0 2 60 0 5 60 0 5 47...

Page 8: ...igure 4 3 There are four mounting holes altogether They have been designed in order to fit to the latest NEMA 23 57mm QSH5718 and NEMA 24 60mm QSH6018 stepper motors available from TRINAMIC Two mounti...

Page 9: ...al force 20mm from front flange N 75 75 75 75 Max axial force N 15 15 15 15 Weight kg 0 45 0 65 0 7 1 Length mm 41 51 56 76 Temp Rise rated current 2 phase on C 80 max 80 max 80 max 80 max Ambient Tem...

Page 10: ...otor STOPL STOPR GND VDD GPO_0 GPO_1 IN_0 IN_1 Left reference switch input Right reference switch input Supply and signal ground Power supply output General purpose output 0 General purpose output 1 G...

Page 11: ...ound Table 4 4 Connector for communication Mating connector from JST PHR 4 housing and SPH 002T P0 5S crimp contact for AWG 30 to 24 0 05mm2 to 0 22mm2 wires A mating connector together with a cable l...

Page 12: ...e PDx 113 57 60 SE is available with two serial interface options RS232 for point to point communication and RS485 for bus communication The two different interface options are assembly options depend...

Page 13: ...ne end of the communication bus using an on board jumper Figure 4 4 Figure 4 6 RS485 interface option transceiver and termination header marked red For proper operation of the RS485 bus the following...

Page 14: ...82ED has just 1 8 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 on...

Page 15: ...GND STOPR 1k 10k 5V 1nF GND Figure 4 10 Reference stop switch inputs STOPL STOPR 4 8 General purpose inputs There are 2 general purpose inputs IN_0 IN_1 Both inputs offer internal voltage divider and...

Page 16: ...tor outputs and can drive loads up to 100mA Especially for inductive loads a freewheeling diode to supply voltage VDD has been included This is also the reason why the external voltage at the general...

Page 17: ...the PC based software development environment TMCL IDE for the Trinamic Motion Control Language TMCL Using predefined TMCL high level commands like move to position or constant rotation a rapid and f...

Page 18: ...28 18 Copyright 2009 TRINAMIC Motion Control GmbH Co KG 6 Firmware Currently the standard TMCL firmware is available for both interface options and is supplied as default firmware Please refer to the...

Page 19: ...eachable velocity at the same supply voltage All measurements were taken at 24V driver supply voltage and max motor current The figures below include torque curves for microstep operation and full ste...

Page 20: ...applications where more torque is required than available with the PD1 113 60 SE the PD2 113 60 SE might be an option Figure 7 2 PD2 113 60 SE torque curve 7 3 PD3 113 60 SE For applications where mo...

Page 21: ...o KG 7 4 PD4 113 60 SE For applications where more torque is required than available with the PD3 113 60 SE the PD4 113 60 SE might be an option The PD4 113 60 SE is the version with highest holding t...

Page 22: ...ge and or max motor current Test set up procedure PANdrive PD4 113 60 SE mounted to a metal base plate in order to keep stepper motor temperature within limits for the motor during test table 4 2 test...

Page 23: ...as analogue input 0 10 V VIN_0 1_L Low level voltage for IN_0 and IN_1 when used as digital input internal 20k pull down 0 2 V VIN_0 1_H High level voltage for IN_0 and IN_1 when used as digital inpu...

Page 24: ...ble 9 1 Document revision 9 2 Hardware revision Version Date Description 1 00 2008 JUL 25 First three prototypes 1 10 2008 SEP 24 Minor corrections start of series production 1 20 2009 JUN 10 Optimisa...

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