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IDX 7505 Manual (V1.17 / 2011-APR-11)

Revision history

8.1

Document revision

Version Comment/Date Author Description

1.00

First Release

Full functionality for Firmware V1.05

1.01

Limit switch

Added limit switch to documentation

1.02

Additions

stallGuard™ added with RS485 command ‘G’, formerly used for

output setting (LED) now command ‘O’. Switched default mode to

SPI.

1.04

Updates

Added / modified some details

1.05

Updates

RS485 connection documentation revised

1.06

Updates

Corrected current default value, included IDX 7505 information

1.07

Updates

Modes 3, 4 and GPO, GPI wiring scheme included

1.08

Updates

Firmware update included

1.09

Corrections

Step / direction timing

1.10

Corrections

6.1.1.3 Chopper Mode 2 – Inductivities, 7.2.1.11 Microstep

Resolution

1.11

Update

EMV / optocoupler reverse voltage

1.12

New style

1.13

Nov 7, 2007

HC Ground plate height has changed from 3mm to 2.5mm (see 4.2)

1.14

Nov 28, 2007

HC RS485 command ‘W’ clarified, Figure 6.3 corrected (disable)

1.15

Sep 16, 2008

OK New feature of firmware 1.12 added

1.16

Dec 3, 2008

OK Address setting procedure corrected

1.17

2011-APR-11

New front page, new design, minor changes. Special information

about outdated IDX with less performance deleted. Figure 7.1

new (functional description).

Table 8.1: Document revision

8.2

Firmware revision

Version

Comment

Description

Pre 1.07

Please update

1.07

First Release Full functionality (except DC-Motor) with some possibilities to expand

Содержание IDX 7507

Страница 1: ...M MODULES MODULES FOR STEPPER MOTORS TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com V 1 17 HARDWARE MANUAL IDX 7507 1 axis stepper motor driver 5A RMS 7A peak 12 75V DC RS485...

Страница 2: ...ng started 17 6 1 Motor 17 6 1 1 Motor choice 17 6 1 1 1 Motor velocity 17 6 1 1 2 Chopper modes 0 SPI default mode and 1 PWM 18 6 1 1 3 Chopper Mode 2 PHASE 19 6 2 Connecting motor and power supply 2...

Страница 3: ...3 Chopper mode 2 PHASE 37 7 2 2 4 Chopper mode 3 phase and SPI 39 7 2 2 5 Chopper mode 4 PWM and SPI 39 7 3 Step dir 40 7 3 1 Direction 40 7 3 2 Step 42 7 4 Reset to factory default 43 7 5 Firmware u...

Страница 5: ...Co KG 2011 Information given in this data sheet is believed to be accurate and reliable However neither responsibility is assumed for the consequences of its use nor for any infringement of patents o...

Страница 6: ...nnectors The housing is based on a thick aluminum plate which is used as a heat sink Applications Step dir stepper driver for industrial applications Robotics Remote diagnostics feedback allows for hi...

Страница 8: ...7505 Manual V1 17 2011 APR 11 8 Copyright 2011 TRINAMIC Motion Control GmbH Co KG 3 Order codes Order codes Description Dimensions mm IDX 7505 75V 5A RMS 7A peak 63 5 x 63 5 x 18 5 Table 3 1 Order co...

Страница 9: ...of IDX 7505 Pin Label Description 1 2 OB1 OB2 Connections for motor coil B 3 4 OA1 OA2 Connections for motor coil A 5 GND GND power 6 VS Positive power supply voltage Table 4 1 Power and motor pinnin...

Страница 10: ...o 5V 10 5V Constant 5V output reference 11 Step Opto decoupled input negative terminal Each impulse causes one motor microstep 12 Direction Opto decoupled input negative terminal Polarity determines m...

Страница 11: ...18 5mm 29 5mm 34mm 3mm Figure 4 2 Dimensions of IDX 7mm 12mm 6 5mm 4mm 4 5mm 63 5mm 29 5mm 2 5mm 63 0mm Figure 4 3 Base plate dimensions 4 3 Connectors Power and motor 6 pin connector RM 5 0 07_06_RM5...

Страница 12: ...puts have negative logic 5 24 30 V VOPTON Signal active voltage at disable step and direction input optocoupler on measured from UCOM to input 3 5 4 5 24 30 V VOPTOFF Signal inactive voltage at disabl...

Страница 14: ...ature well below 125 C Integrated thermal limit This becomes a limiting point because of its high voltage capability The following table gives some examples for the current capability in a typical mou...

Страница 15: ...In a typical application UCOM shall be tied to the positive supply voltage of the master and the inputs are driven by open collector or push pull outputs VOPTOFF and VOPTON must not exceed VCOM to avo...

Страница 16: ...IDX 7505 Manual V1 17 2011 APR 11 16 Copyright 2011 TRINAMIC Motion Control GmbH Co KG VOPTOFF VOPTON VSTEP 0V 1 5V 4 0V 5V undefined 20V 19 0V 16 5V VOPTON VOPTOFF undefined VCOM 5V VCOM 20V VSTEP 0V...

Страница 17: ...apply Attention Modes 0 and 1 are quite insensitive to the motor choice while mode 2 is very sensitive because it uses a different motor current regulation scheme This chapter gives some mathematical...

Страница 18: ...ese two modes the maximum supply voltage VS of the motor must not exceed 22 25 times the nominal motor voltage VN regarding the multiplication of ICOIL MAX and RMOTOR A higher value would lead to an e...

Страница 19: ...ng a formula and description how to calculate the maximum voltage for your setup refer to 7 2 2 3 ICOIL RMS L min VS max 5 0 A 0 75 mH 75 V 0 48 mH 48 V 0 24 mH 24 V 4 0 A 0 94 mH 75 V 0 6 mH 48 V 0 3...

Страница 20: ...egarding motor current and inductivity Any combination of motor coil current and inductivity which is above the curve for maximum supply voltage VS is possible to drive the motor in this mode 0 2 4 6...

Страница 21: ...e that enough power filtering capacitors are provided in the system 1000 F for each ampere of RMS motor current or more recommended in order to absorb mechanical energy fed back by the motor in stalli...

Страница 22: ...gainst electromagnetic emissions resulting from switching operation If your system is subject to CE testing and shows EMV problems i e due to some parts of the housing cabling not being shielded provi...

Страница 23: ...example TRINAMIC s new USB 2 485 or any other RS485 adapter like the standard RS232 to RS485 converters Input A has to be connected to RS485A of the IDX and Input B with RS485B TMCM IDX RS 232 port U...

Страница 24: ...p bits Flow control none none Figure 6 5 Connection settings for RS485 Type into the terminal window commands like AV 50000 AA 300 or Ac and execute each with ENTER Pay attention to the spaces between...

Страница 25: ...r step dir Stop Switches 5V RS485 GPIOs 2 MOSFET Driver Stage Opto isolation Figure 7 1 Main parts of the IDX 7505 7 1 Disable function The disable works as an emergency shutdown Connected to ground a...

Страница 26: ...TRINAMIC Motion Control GmbH Co KG A Reset to factory default is possible Default address byte is A and default baud rate is 9600 baud This mode can only be used with an appropriate RS485 interface C...

Страница 27: ...nctional g provides the actual StallGuard value not the setting Refer 7 2 1 4 7 0 7 0 L l Limit switch Used to switch on and off reference run values Refer 7 2 1 5 byte M m Select Mode Select chopper...

Страница 28: ...ctivity For no standby current use the same value as for Set motor current 0 100 20 Z z Microstep Resolution Sets the maximum microstep resolution 0 max 6 min Refer 7 2 1 11 0 6 0 Table 7 1 RS485 comm...

Страница 29: ...8A 1 26A 25 10 0 71A 0 50A 10 Table 7 2 Motor Current Examples for IDX except chopper mode 2 7 2 1 3 Failure readout E The IDX provides a full driver failure analysis in SPI mode 8 Bit The returned b...

Страница 30: ...escription 7 1 Motor stops when stallGuard value is reached and position is set zero useful for reference run 0 StallGuard function is deactivated default 1 7 Motor stops when stallGuard value is reac...

Страница 31: ...stop 1 hard stop 7 0 sets position zero 1 sets position not to zero Table 7 5 Limit switch To activate a reference switch set the appropriate bit to 1 When motor stops the position counter is set to z...

Страница 32: ...ting O The bit settings are as follows Bit Description 0 0 GPO is inactive LED off 1 GPO is active LED on 1 1 Output is changed at end of reference run Table 7 6 Output adjustment Figure 7 2 GPO wirin...

Страница 33: ...GmbH Co KG Table 7 7 I Os readout 7 2 1 8 Baud rate U The parameter U changes the baud rate of the module for RS485 communication Parameter U Baud rate 0 9600 baud 1 14400 baud 2 19200 baud 3 28800 ba...

Страница 34: ...with most stepper motor types is about 20 rotations second in chopper mode 0 and 5 rotations second in chopper mode 2 As a second parameter value 0 or 1 is optional Standard is 0 and sends back the Ca...

Страница 35: ...justment of microstep resolution Simulated microsteps the actual microsteps of the motor are not improved compared to Z 1 Simulated microsteps the actual microsteps are improves but do not reach 32 mi...

Страница 36: ...must not exceed 22 25 times the nominal motor voltage VN regarding the multiplication of ICOIL MAX and RMOTOR A higher value would lead to an excess of motor rating The minimum supply voltage has to b...

Страница 37: ...n alternating current and thus an alternating magnetic field Now care has to be taken in order to keep this current to a value which is significantly lower than the motor maximum coil current If it is...

Страница 38: ...H Co KG Calculate x mH L 025 0 I V x COIL S If x is below 0 5 everything is OK If x is in the range 0 5 to 1 0 try operating your motor and check if motor or driver gets too hot If x is above 1 0 choo...

Страница 39: ...e 3 switching velocities Conversion of values above to motors with different fullstep resolutions revolution per fullsteps motors 200 s rounds v s rounds v table motor 7 2 2 5 Chopper mode 4 PWM and S...

Страница 40: ...ep frequency Direction open wired or connected to VCOM Direction connected to ground Table 7 11 External signals and motor reactions Motor Speed Step Vcom 0V Disable Vcom 0V Velocity Deceleration Acce...

Страница 42: ...resolution Microstep Fullsteps frequency input Step s rotations v Frequency The maximum Step input frequency is 350 kHz aligned to the Direction signal The minimum logic 0 time is 0 7 s and the minim...

Страница 43: ...he module and switch it off again to remove the short circuit All settings are now at factory default 1 3 Figure 7 5 Reset to factory default 7 5 Firmware update For Firmware update start the program...

Страница 44: ...IDX 7505 Manual V1 17 2011 APR 11 44 Copyright 2011 TRINAMIC Motion Control GmbH Co KG 4 Start the update process At the end of the update process check your firmware version with command AX...

Страница 45: ...1 08 Updates Firmware update included 1 09 Corrections Step direction timing 1 10 Corrections 6 1 1 3 Chopper Mode 2 Inductivities 7 2 1 11 Microstep Resolution 1 11 Update EMV optocoupler reverse vol...

Страница 46: ...mand can also be given as a lower case letter Option 2 for command O added Mixed decay automatically disabled when stallGuard enabled Mixed decay can be disabled without turning on stallGuard using G8...

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