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IDX Manual (V1.15 / September 26

, 2008)

Revision History

6.1

Documentation 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

5.1.1.3 Chopper Mode 2 – Inductivities, 5.8.1.11 Microstep
Resolution

1.11

Update

EMV / optocoupler reverse voltage

1.12

New style

1.13

Nov 7, 2007

Ground plate height has changed from 3mm to 2.5mm (see 3.2)

1.14

Nov 28, 2007

RS485 command ‘W’ clarified, Figure 5.3 corrected (disable)

1.15

Sep 16, 2008

New feature of firmware 1.12 added

Table 6.1: Documentation Revisions

6.2

Firmware Revision

Version

Comment

Description

Pre 1.07

Please update

1.07

First Release

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

1.08

Bug fix, new

options

Added chopper modes 3 and 4, modified V command, corrected RS485 bug
(always echoing of CR at earlier versions)

1.09

Bug fix

‘E’ command corrected (output was shifted by four bits)

1.10

New options

‘X’ command can also be iven 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

1.11

Improvement StallGuard improved by filtering

1.12

New option

StallGuard also usable in step/direction mode (controls GPO then)

Table 6.2: Firmware Revisions

Содержание IDX

Страница 1: ...STEPPER motor controller driver modules IDX 3 5A RMS 5A peak 48V IDX 7505 5 0A RMS 7A peak 75V with RS485 and step direction interface Trinamic Motion Control GmbH Co KG Sternstraße 67 D 20357 Hamburg Germany http www trinamic com ...

Страница 2: ...Functional Description 17 5 7 Disable Function 17 5 8 RS485 Control Interface 17 5 8 1 RS485 Commands 18 5 8 1 1 Examples for test move 19 5 8 1 2 Motor Current C 19 5 8 1 3 Failure Readout E 19 5 8 1 4 StallGuard G 20 5 8 1 5 Limit Switch L 20 5 8 1 6 Output setting O 21 5 8 1 7 I Os Readout Q 21 5 8 1 8 Baud Rate U 21 5 8 1 9 Velocity Mode V 22 5 8 1 10 Store Parameters to EEPROM W 22 5 8 1 11 M...

Страница 3: ... default 27 Figure 5 11 Firmware update tool 28 Figure 5 12 GPI wiring scheme 29 Figure 5 13 Layout Changes for DC Motor option 29 List of Tables Table 1 1 Order codes 4 Table 3 1 Power and Motor Pinning 6 Table 3 2 Controls Pinning 6 Table 4 1 Operational Ratings Orange Different values for IDX 7505 8 Table 4 2 1 Practical motor current limitations for IDX 7505 9 Table 5 1 Maximum voltage regardi...

Страница 4: ...lows for high reliability drives Centralized motor driver mounted in switchboard Decentralized motor driver mounted near motor Motor type Coil current from 500mA to 3 5A RMS 5A peak IDX Coil current from 500mA to 5 0A RMS 7A peak IDX 7505 12V to 50V nominal supply voltage or any value in between IDX 12V to 75V nominal supply voltage or any value in between IDX 7505 Highlights Remote controlled dia...

Страница 5: ...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 death TRINAMIC Motion Control GmbH Co KG 2008 Information given in this data sheet is believed to be accurate and reliable However no responsibility is assumed for the consequences of its use or for any inf...

Страница 6: ...TTL input RS485 2 4 RS485 remote control access TTL input GPO 5 General Purpose Output for wiring scheme see Figure 5 7 GPI 6 General Purpose Input for wiring scheme see Figure 5 12 GND 7 GND reference REF B 8 Reference signal B integrated 3 9 K pull up resistor to 5V REF A 9 Reference signal A integrated 3 9 K pull up resistor to 5V 5V 10 Constant 5V output reference Step 11 Opto decoupled input ...

Страница 7: ... 63 5mm 18 5mm 29 5mm 34mm 3mm Figure 3 2 Dimensions 7mm 12mm 6 5mm 4mm 4 5mm 63 5mm 29 5mm 2 5mm 63 0mm Figure 3 3 Base Plate Dimensions 3 3 Connectors Both connectors are RIA connectors Power and motor 6 pin connector RM 5 0 07_06_RM5 Control Two 4 pin and one 6 pin connectors RM 3 5 2x 166_04_RM3 5 1x 166_06_RM35 ...

Страница 8: ...tocoupler 42 100 V VCOM Supply voltage for step direction and disable inputs 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 disable step and direction input optocoupler off measured from UCOM to input 5 5 0 2 V IOPT Optocoupler current internally regulated 4...

Страница 9: ...ture well below 125 C Integrated thermal limit This especially becomes a limiting point for the IDX7505 because of its high voltage capability The following table gives some examples for the current capability in a typical mounting situation where the module is mounted to a metal base plate heat sink with fins overall dimensions 100 50 15mm In this situation the base plate was always kept at maxim...

Страница 10: ...sitive 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 avoid reverse polarity for the opto couplers OFF VCOM VIN 1 0V ON VCOM VIN 3 5V UCOM 5 24V Disable Dir Step C E A C C E A C C E A C GND µC A Anode C Cathode C Collector E Emitter 5V Figure 4 1 Step Direction and Disable Inputs Examples VOPTOFF VOPTON VSTEP...

Страница 11: ...tical information on the motor choice but you can skip it if you want to experiment with a given motor Normally best results will be achieved when operating the given motor in a range of 50 to 100 of nominal motor current see motor data sheet Mode 2 and mode 1 are mainly intended for slow smooth and very exact movements due to the high microstepping resolution For most dynamic operation choose mod...

Страница 12: ...cluding a formula and description how to calculate the maximum voltage for your setup refer to 5 8 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 mH 24 V 3 0 A 1 25 mH 75 V 0 8 mH 48 V 0 4 mH 24 V 2 0 A 1 875 mH 75 V 1 2 mH 48 V 0 6 mH 24 V 1 0 A 3 75 mH 75 V 2 4 mH 48 V 1 2 mH 24 V 0 5 A 7 5 mH 75 V 4 8 mH 48 V 2 4 mH 24 V 0 3 A 12 5 mH ...

Страница 13: ...mum voltage regarding 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 0 5 1 1 5 2 2 5 1 1 5 2 2 5 3 3 5 4 4 5 5 ICOIL A L mH Check your motor data sheet please If in doubt please start with a lower supply voltage and check motor heating when raising the voltage ...

Страница 14: ...at the desired maximum motor power In no case shall the supply value exceed the upper lower voltage limit To ensure reliable operation of the unit the power supply has to have a sufficient output capacitor and the supply cables should have a low resistance so that the chopper operation does not lead to an increased power supply ripple directly at the unit Power supply ripple due to the chopper ope...

Страница 15: ...e schematically see chapter 4 2 for more information Dir Common Disable Step PWR 12 50 V TMCM IDX 5 24 V Dir Common 0 V rotating direction Disable Common 0 V rotation on off at Vcommon or left open Step Common 0 V Velocity Deceleration Acceleration const Figure 5 3 Contacts for Step Direction The maximum step frequency is 350 kHz limited by the opto couplers 5 5 Connections for RS485 Interface The...

Страница 16: ...y Stop bits Flow control none none Figure 5 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 command and value With standard RS485 adapters the typed value may be echoed and lines like AAVV 5500000000 for the typed AV 50000 appear If this happens best is to pay no attention to the scree...

Страница 17: ... The disable works as an emergency shutdown Connected to ground all power to the motor will shut down independent of the current settings It is in the users responsibility to stop the step impulses or set the velocity to zero before enabling the motor again because it would start abrupt otherwise Function Table VOPTON open wire VOPTOFF motor disabled motor enabled 5 8 RS485 Control Interface The R...

Страница 18: ...sition Set position without moving the motor 32 bit Q Read I Os Provides out of the I O the values of the ports GPI REF_A REF_B GPO and ALARM Refer 5 8 1 7 R Read Current Position Provides the current position of the motor 32 bit S Changes address byte Capital letter followed by the command S makes this letter the new address byte Example SB makes B the new address byte A T t RS485 Timeout Sets th...

Страница 19: ...continuously driven at all supply voltages cooling circumstances Please refer to motor current limitations AC ICOIL PP IDX 7505 ICOIL RMS IDX 7505 ICOIL PP IDX ICOIL RMS IDX to max ICOIL 100 7 1A 5 0A 4 8A 3 4A 100 75 5 3A 3 8A 3 6A 2 6A 75 66 4 7A 3 3A 3 2A 2 2A 66 50 3 5A 2 5A 2 4A 1 7A 50 33 2 4A 1 7A 1 6A 1 1A 33 25 1 8A 1 26A 1 2A 0 85A 25 10 0 71A 0 50A 0 5A 0 35A 10 Table 5 3 Motor Current ...

Страница 20: ...n StallGuard value is reached and position is not set zero Table 5 5 StallGuard The StallGuard function can also be activated when using step direction mode In step direction mode the motor will not be stopped when the StallGuard value is reached but the general purpose output will be controlled by the StallGuard value when the actual load value is greater than the StallGuard value the GPO will be...

Страница 21: ...at end of reference run Table 5 7 Output adjustment Figure 5 7 GPO wiring scheme 5 8 1 7 I Os Readout Q Command AQ ENTER Bit 7 6 5 4 3 2 1 0 Port 0 0 0 GPI REF_B REF_A GPO ALARM Table 5 8 I Os Readout 5 8 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 baud 4 38400 baud 5 57600 baud 6 76...

Страница 22: ... 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 Carriage Return character at once If it is set to 1 sending back of the Carriage Return character is delayed until the target velocity is reached Example AV 50000 ENTER Accelerates motor to given velocity AV 0 1 ENTER Accelerates motor to velocity zero standstill and del...

Страница 23: ...on to a quarter of the maximum resolution 5 8 2 Chopper Modes 5 8 2 1 Chopper Mode 0 SPI Default Mode In this mode the motor coil current is regulated on a chopper cycle by chopper cycle bias This is the standard operation mode for most motor drivers It brings a medium microstep resolution of 16 microsteps and typically works good with most motors and a high range of supply voltage and motor curre...

Страница 24: ...ch is significantly lower than the motor maximum coil current If it is too high the motor has significant magnetization losses and coil power dissipation and would get much too hot even with zero average current The only possibility to limit this effect is to operate with a comparatively low supply voltage The following calculation is based on the assumption that full motor current is set Check li...

Страница 25: ...er mode 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 5 8 2 5 Chopper mode 4 PWM and SPI This mode combines the modes 1 PWM and 0 SPI in order to provide higher accuracy up to 64 microsteps at lower velocities and also the possibility for faster movements For higher velocities in...

Страница 26: ...ep frequency Direction open wired or connected to VCOM Direction connected to Ground Table 5 12 External signals and motor reactions Motor Speed Step Vcom 0 V Disable Vcom 0 V Velocity Deceleration Acceleration rotating on off const Direction Vcom 0 V rotating direction rotate left rotate right 0 Figure 5 8 Step Direction signals and motor reactions 5 9 1 Direction Description The Direction signal...

Страница 27: ...y the positive going edge of the signal switching off of opto coupler Maximum frequency at a duty cycle of 1 0 time is 2 0 µs and 1 time is 2 0 µs is 250 kHz Function Table Extern GND open wire VCOM 5 24V Intern HIGH LOW step pulse direction 0 7µs min 2 0µs min 0 7µs min tDIRHOLD tDIRSETUP Figure 5 9 Step and Direction Signal 5 10 Reset to factory default If the module seems to function weird this...

Страница 28: ...ot exe contained in the IDX Folder of your TMCTechLibCD or at www trinamic com Figure 5 11 Firmware update tool 1 Choose your RS485 connection 2 Select your Module ID default is A 3 Load the new firmware file e g IDX_V1 08 hex to download from www trinamic com 4 Start the update process At the end of the update process check your firmware version with command AX ...

Страница 29: ...o make changes on the board until you are absolutely sure be absolutely sure before making changes on board VS GND R 120k R 2 2k GPI 7V VS ATM 168 IC IC D D D T T T IC connector RM 3 5 mounting hole free Pads for 2 2k and 120k Figure 5 13 Layout Changes for DC Motor option 5 12 2Parameterizing with RS485 First set Parameters for minimum voltage maximum voltage and a zero point in between Other val...

Страница 30: ...MV optocoupler reverse voltage 1 12 New style 1 13 Nov 7 2007 HC Ground plate height has changed from 3mm to 2 5mm see 3 2 1 14 Nov 28 2007 HC RS485 command W clarified Figure 5 3 corrected disable 1 15 Sep 16 2008 OK New feature of firmware 1 12 added Table 6 1 Documentation Revisions 6 2 Firmware Revision Version Comment Description Pre 1 07 Please update 1 07 First Release Full functionality ex...

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