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Trinamic PANdrive PD-111-56, Руководство пользователя

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TMCM-111-56 Manual 

 

2 

 

 
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG 

 

 Contents 

1

 

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

 

2

 

Life support policy........................................................................................................................................................5

 

3

 

Electrical and Mechanical Interfacing .....................................................................................................................6

 

3.1

 

Dimensions............................................................................................................................................................6

 

3.1.1

 

TMCM-111-56 dimensions........................................................................................................................6

 

3.1.2

 

PD-111-56 motor information................................................................................................................7

 

3.2

 

Connectors.............................................................................................................................................................8

 

3.3

 

Connecting the module .....................................................................................................................................8

 

3.3.1

 

Screw connector X1: Power supply / motor connector.................................................................8

 

3.3.2

 

Connector X2: Additional I/O.................................................................................................................9

 

3.3.3

 

Connector X3: RS232, RS485 Interface and Step/Direction ...........................................................9

 

3.3.4

 

Connector X4: IIC Interface................................................................................................................. 10

 

3.3.5

 

Connector X5: ISP Connector.............................................................................................................. 10

 

3.3.6

 

Jumpers J1, J2, J3 and J4 ...................................................................................................................... 10

 

3.3.7

 

Resistor array R1 .................................................................................................................................... 10

 

4

 

Operational Ratings................................................................................................................................................... 11

 

5

 

Functional Description ............................................................................................................................................. 12

 

5.1

 

System Architecture ......................................................................................................................................... 12

 

5.1.1

 

Microcontroller ........................................................................................................................................ 12

 

5.1.2

 

EEPROM ..................................................................................................................................................... 12

 

5.1.3

 

TMC428 Motion Controller ................................................................................................................... 12

 

5.1.4

 

TMC249 Motor Driver............................................................................................................................. 13

 

5.2

 

Power Supply..................................................................................................................................................... 13

 

5.3

 

Communication Interface............................................................................................................................... 13

 

5.4

 

Reference Switches .......................................................................................................................................... 13

 

5.5

 

StallGuard™ - Sensorless Motor Stall Detection ......................................................................................14

 

5.6

 

Thermal protection feature.............................................................................................................................14

 

5.7

 

Motor current setting .......................................................................................................................................14

 

5.8

 

Continuous Current restrictions ................................................................................................................... 15

 

6

 

Putting the TMCM-111 into Operation ................................................................................................................. 16

 

7

 

TMCM-111 Operational Description....................................................................................................................... 17

 

7.1

 

Calculation: Velocity and Acceleration vs. Microstep- and Fullstep Frequency.............................. 17

 

8

 

Software ....................................................................................................................................................................... 18

 

9

 

Revision History ......................................................................................................................................................... 19

 

9.1

 

Documentation Revision ................................................................................................................................ 19

 

9.2

 

Firmware Revision............................................................................................................................................ 19

 

10

 

References.................................................................................................................................................................... 19

 

 

Содержание PANdrive PD-111-56

Страница 1: ... and TMCM 111 56 56mm NEMA 23 Stepper Motor Mechatronic Module TMCM 110 42 Electronics Manual Version 1 22 October 30th 2007 Trinamic Motion Control GmbH Co KG Sternstraße 67 D 20357 Hamburg Germany http www trinamic com ...

Страница 2: ... J1 J2 J3 and J4 10 3 3 7 Resistor array R1 10 4 Operational Ratings 11 5 Functional Description 12 5 1 System Architecture 12 5 1 1 Microcontroller 12 5 1 2 EEPROM 12 5 1 3 TMC428 Motion Controller 12 5 1 4 TMC249 Motor Driver 13 5 2 Power Supply 13 5 3 Communication Interface 13 5 4 Reference Switches 13 5 5 StallGuard Sensorless Motor Stall Detection 14 5 6 Thermal protection feature 14 5 7 Mot...

Страница 3: ... Tables Table 1 1 Order codes 4 Table 3 1 ConnectorX1 Power supply motor connector 8 Table 3 2 Connector X2 Additional I O 9 Table 3 3 Connector X3 Interfaces 9 Table 3 4 Connector X4 Interface I C 10 Table 4 1 Operational Ratings 11 Table 5 1 Motor Current Examples 14 Table 5 2 Continuous current restrictions 15 Table 7 1 TMC428 Velocity parameters 17 Table 9 1 Documentation Revisions 19 Table 9 ...

Страница 4: ...updated via the serial interface With the StallGuard feature it is possible to detect motor overload or motor stall Electrical data up to 5A coil current RMS 7 1A peak 15V to 36V motor supply voltage supports two phase bipolar motors with 2A to 5A RMS coil current Interface RS232 RS485 I C or CAN 2 0b host interface Step Direction interface upon request 2 inputs for reference and stop switches 1 g...

Страница 5: ...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 2006 Information given in this data sheet is believed to be accurate and reliable However no responsibility is assumed for the consequences of its use nor for any infringement...

Страница 6: ... be brought into thermal contact to a metallic surface using a non conducting gap pad in order to cool the driver transistors Sideview Diameter 55mm All dimensions in millimeters Eight sinked M3 holes for mount on NEMA23 motors on mounting plate Topview 51 00 4 50 38 50 55 00 3 2 0 41 00 Circuit board 64 00 32 00 49 00 32 00 49 00 3 2 0 Housing with upright D_Sub connector 20 80 8 00 51 00 37 00 c...

Страница 7: ... are mounted using adapter plate see 3 1 1 Figure 3 2 PD 111 56 motor dimensions in inch Conversion inch to mm mm are calculated and all terms from Figure 3 2 apply 2 25 1 86 1 500 0 20 0 220 0 118 0 27 3 03 0 308 0 20 0 06 inch 57 15 47 22 38 1 5 08 5 588 3 00 6 86 76 96 7 823 5 08 1 52 mm Table 3 1 PD 111 56 motor dimensions converted from inch to mm Figure 3 3 PD 111 56 motor torque ...

Страница 8: ... supply Never connect or disconnect a motor when the module is powered as this may damage the module Also the motor driver is not protected against short circuits to ground Please do not mix up the additional I O connector X2 and the interface connector X3 1 1 1 1 X1 X2 X3 X4 J1 J3 J2 J4 R1 Figure 3 4 The TMCM 111 42 module 3 3 1 Screw connector X1 Power supply motor connector Use this screw conne...

Страница 9: ...ode must be connected externally The pin assignment of this connector is as follows Pin Function 1 Left limit switch input integrated pullup to 5V 2 Right limit switch input integrated pullup to 5V 3 GND 0V 4 General purpose output open collector max 100mA freewheeling diode included 5 VDD same as connector X1 pin 1 2 6 GND 7 General purpose input Analog 0 5V or Digital TTL 8 5V DC output max 20mA...

Страница 10: ... a jumper that links pin 1 and pin 3 of this connector Then connect the power supply again The activity LED now flashes very quickly Now disconnect the power supply again and remove the jumper When the module is now switched on again all settings will be restored to their factory defaults 3 3 6 Jumpers J1 J2 J3 and J4 These three jumpers have the following functionality J1 Interface selection This...

Страница 11: ... 5 5 0 A fCHOP Motor chopper frequency 36 8 kHz IS Power supply current ICOIL 1 4 ICOIL A U 5V 5V output max 20mA load 4 8 5 0 5 2 V VGPO Open collector output max 100mA freewheeling diode included VS V VINPROT Input voltage for StopL StopR GPI internal protection DC 24 0 5 24 V VANA GPI analog measurement range Range switchable 24 0 5 0 10 24 V VSTOPLO StopL StopR low level input 0 0 9 V VSTOPHI ...

Страница 12: ...kes it possible to execute TMCL commands that are sent to the module from the host via the interface The microcontroller interprets the TMCL commands and controls the TMC428 which executes the motion commands The flash ROM of the microcontroller holds the TMCL operating system and the EEPROM memory of the microcontroller is used to permanently store configuration data The TMCL operating system can...

Страница 13: ...ly 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 operation should be kept at a maximum of a few 100mV This also is important in order to make the users application compatible to any applicable EMC guidelines Therefore we recommend to a keep power supply cables as short ...

Страница 14: ...t you try out and adjust the StallGuard function in an easy way This is also described in the TMCL Reference and Programming Manual Mixed decay should be switched off when StallGuard operational in order to get usable results 5 6 Thermal protection feature The module is protected against over temperature of the power stage to give reliable operation and a long life time If the temperature of the p...

Страница 15: ...peration also shortens the lifetime of the motor this is in most cases no restriction Operation at or near the limiting values for an extended period of time should be avoided Please also refer to the comment on the thermal protection feature The following limits apply Environment conditions Mounting conditions RMS current 24V supply RMS current 36V supply free air convection possible env Temp max...

Страница 16: ...onnector Step 3 Connect the power supply voltage to the module Step 4 Switch on the power supply The activity LED should start to flash This indicates the correct configuration of the microcontroller Step 5 Start the TMCL IDE Software development environment Enter the program shown in the following listing A description of the TMCL commands can be found in the TMCL Reference and Programming Manual...

Страница 17: ...0 13 ramp_div Acceleration pre divider The higher the value is the less is the maximum acceleration default value 7 Can be change in TMCL using SAP 153 0 13 Usrs Microstep resolution microsteps per fullstep 2usrs Can be changed in TMCL using SAP 140 0 6 Table 7 1 TMC428 Velocity parameters The microstep frequency of the stepper motor is calculated with 32 2048 2 velocity Hz f Hz usf div _ pulse CL...

Страница 18: ... TMCL the Trinamic Motion Control Language is used to send commands from the host to the TMCM 111 module and to write programs that can be stored in the EEPROM of the module so that the module can execute the TMCL commands in a stand alone mode TMCL is described in a separate documentation the TMCL Reference and Programming Manual This document also describes the TMCL Integrated Development Enviro...

Страница 19: ...nning changed ordering information added 1 20 9 Jun 06 HC Major revision 1 21 25 Oct 06 HC Corrected Resistor R1 information and dimensions mounting 1 22 30 Oct 07 HC PD 111 56 motor data added Table 9 1 Documentation Revisions 9 2 Firmware Revision Version Comment Description 3 24 Initial Release Please refer to TMCL documentation Table 9 2 Firmware Revisions 10 References TMCL TMCL manual see ht...

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