Trinamic CoolStep StallGuard2 TMCM-1180 Скачать руководство пользователя страница 1

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MECHATRONIC DRIVE WITH STEPPER MOTOR

PANdrive

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Hardware Version V1.1

HARDWARE MANUAL

TMCM-1180

PD86-1180

1-Axis Stepper

Controller / Driver

5.5A RMS/ 24 or 48V DC

USB, RS232, RS485, and CAN

Содержание CoolStep StallGuard2 TMCM-1180

Страница 1: ...EPPER MOTOR PANdrive TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com Hardware Version V1 1 HARDWARE MANUAL TMCM 1180 PD86 1180 1 Axis Stepper Controller Driver 5 5A RMS 24 or 48V D...

Страница 2: ...ector 12 4 3 4 Output Connector 13 4 3 5 Input Connector 14 4 3 6 Step Direction Connector 16 4 3 7 Encoder Connector 17 4 3 8 Motor Connector and Specifications 18 5 Jumpers 19 5 1 RS485 Bus Terminat...

Страница 3: ...al time TMC428 429 motion controller On the fly alteration of motor parameters e g position velocity acceleration High performance microcontroller for overall system control and serial communication p...

Страница 4: ...TMCM 1180 option TMCM 1180 with coolStep sensOstep 85 9 x 85 9 x 21 5 PD86 3 1180 option PD86 3 1180 with coolStep sensOstep 7 0 Nm 85 9 x 85 9 x 118 5 Table 3 1 PANdrive or module order codes Option...

Страница 5: ...of the controller driver board TMCM 1180 are approx 86mm x 86mm in order to fit to the back side of the 86mm stepper motor The TMCM 1180 is 21 5mm high without matching connectors There are four mount...

Страница 6: ...80 stepper motor controller driver electronic module a magnetic encoder based on sensOstep technology and an 86mm flange size bipolar hybrid stepper motor 4 2 1 Dimensions of PD86 3 1180 96 8 38 73 02...

Страница 7: ...ion Class B Insulation Resistance 100M Dialectic Strength for one minute VAC 500 Connection Wires N 4 Max applicable Voltage V 140 Step Angle 1 8 Step angle Accuracy 5 Flange Size max mm 85 85 Motor L...

Страница 8: ...stics for full step operation in order to allow simple comparison For full step operation there are always a number of resonance points with less torque which are not depicted These will be minimized...

Страница 9: ...e motor driver stage in hardware For operation this input should be tied to the supply voltage The input connector offers two inputs for stop switches left and right one home switch input two general...

Страница 10: ...module offers separate power supply inputs for digital logic pin 2 and driver power stage pin 1 Both supply inputs use common ground connections pin 3 and 4 This way power supply for the driver stage...

Страница 11: ...tance power supply wires and the ceramic capacitors In addition it will limit slew rate of power supply voltage at the module The low ESR of ceramic only filter capacitors may cause stability problems...

Страница 12: ...RS232 receive data 3 GND Module ground system and signal ground 4 CAN_H CAN_H bus line dominant high 5 CAN_L CAN_L bus line dominant low 6 GND Module ground system and signal ground 7 RS485 RS485 non...

Страница 13: ...put has to be connected to power supply e g pin 1 of this connector in order to enable driver Connecting this input to ground or leaving it unconnected will disable driver stage 3 OUT_0 Open collector...

Страница 14: ...t 24V compatible 2 IN_1 General purpose input 24V compatible 3 STOP_L Left stop switch input 24V compatible programmable internal pull up 1k to 5V 4 STOP_R Right stop switch input 24V compatible progr...

Страница 15: ...ion as outlined in Figure 4 10 In that configuration two switches are used as automatic stop switches and one additional switch is used as the reference switch between the left stop switch and the rig...

Страница 16: ...necting the Step Dir interface 4 1 Pin Label Description 1 OC_COM Common supply opto coupler 5V 24V 2 OC_EN Enable signal 3 OC_STEP Step signal 4 OC_DIR Direction signal Table 4 6 Step Dir connector C...

Страница 17: ...ND GND 2k2 2k2 2k2 0 1A 2k2 2k2 2k2 5V 5V 5V 5V GND GND GND 1 1 1 1 1 ENC_A ENC_B ENC_N Figure 4 13 Internal circuit of encoder interface Keep the electronics free of metal particles The encoder uses...

Страница 18: ...tch 4 pin connector is used for motor connection Both motor coil windings bipolar stepper motor are connected to this connector Mating connector housing VHR 4N Mating connector contacts BVH 21T P1 1 1...

Страница 19: ...d CAN bus termination 5 1 RS485 Bus Termination The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface When this jumper is closed the resistor will be placed between t...

Страница 20: ...0 5 5 A ISUPPLY Power supply current ICOIL 1 4 ICOIL A TENV Environment temperature at rated current no forced cooling required 20 50 C Table 6 1 General operational ratings of the module The controll...

Страница 21: ...CL operating system and to control the TMC428 429 The CPU has 256KB flash memory and a 64KB RAM The microcontroller runs the TMCL Trinamic Motion Control Language operating system which makes it possi...

Страница 22: ...uced motor load load angle optimized load angle optimized load angle optimized Figure 7 2 Motor current control via coolStep adapts motor current to motor load The coolStep current regulator allows to...

Страница 23: ...ocity default 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 2us...

Страница 24: ...mp_div 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...

Страница 25: ...fic products e g TMCM 1180 TMCL Firmware Manual The manuals are provided on www trinamic com Please refer to these source for updated data sheets and application notes 10 CANopen The TMCM 1180 module...

Страница 26: ...ife 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 In...

Страница 27: ...D New front page minor changes 1 02 2011 JUN 08 SD Minor changes 1 03 2011 DEC 02 SD Order codes new minor changes 1 04 2012 DEC 15 SD Changes related to the design 1 05 2013 JUL 26 SD Connector descr...

Страница 28: ...TMCL TMC4361A EVAL TMCM 1270 TMCL TMCM 3214 CANOPEN TMCM 3230 CANOPEN TMCM 3312 TMCL TMCM 3313 TMCM 6213 TMC4330 EVAL PD42 1 1070 PD42 3 1241 CANOPEN TMCM 1241 CANOPEN PD 1276 CABLE PD57 2 1276 CANOPE...

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