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TMCM-013 Manual (V1.14 / January 17th, 2006)

Table of Contents

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

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

Outer Description ............................................................................................................................. 6

3.1

Pinning ...................................................................................................................................... 6

3.2

Dimensions ............................................................................................................................... 7

3.3

Connectors................................................................................................................................ 7

Operational Ratings.......................................................................................................................... 8

4.1

Step, Direction and Disable Inputs............................................................................................ 9

Getting Started ............................................................................................................................... 10

5.1

Assembly of Parts ................................................................................................................... 10

5.2

Motor ....................................................................................................................................... 10

5.2.1

Motor Choice...................................................................................................................... 10

5.2.1.1

Chopper Modes 0 (SPI / Default Mode) and 1 (PWM)............................................. 11

5.2.1.2

Chopper Mode 2 (PHASE) ....................................................................................... 11

5.2.2

Motor Contact..................................................................................................................... 13

5.3

Connections for Step-Direction-Mode..................................................................................... 13

5.4

Connections for RS485-Mode................................................................................................. 14

Functional Description.................................................................................................................... 15

6.1

Disable .................................................................................................................................... 15

6.2

RS485 Control Interface ......................................................................................................... 15

6.2.1

RS485 Commands............................................................................................................. 16

6.2.1.1

Example for test move:............................................................................................. 17

6.2.1.2

Motor Current (C) ..................................................................................................... 17

6.2.1.3

StallGuard (G) .......................................................................................................... 17

6.2.1.4

Limit Switch (L) ......................................................................................................... 18

6.2.1.5

I/Os Readout (Q) ...................................................................................................... 18

6.2.1.6

Baud Rate (U)........................................................................................................... 18

6.2.1.7

Store Parameters to EEPROM (W).......................................................................... 19

6.2.1.8

Microstep Resolution (Z) .......................................................................................... 19

6.2.2

Chopper Modes ................................................................................................................. 19

6.2.2.1

Chopper Mode 0 (SPI) / Default Mode ..................................................................... 19

6.2.2.2

Chopper Mode 1 (PWM)........................................................................................... 20

6.2.2.3

Chopper Mode 2 (PHASE) ....................................................................................... 20

6.3

Step-Direction ......................................................................................................................... 21

6.3.1

Direction ............................................................................................................................. 21

6.3.2

Step.................................................................................................................................... 22

6.4

Reset to factory default ........................................................................................................... 22

6.5

Option: Pseudo DC-Motor mode............................................................................................. 23

6.5.1

Changes required for DC motor mode operation............................................................... 23

6.5.2

Parameterizing with RS485 ............................................................................................... 24

6.5.3

Motion Control.................................................................................................................... 24

Revision History ............................................................................................................................. 25

7.1

Documentation Revision ......................................................................................................... 25

7.2

Firmware Revision .................................................................................................................. 25

References ..................................................................................................................................... 26

Содержание PANdrive PD013-42

Страница 1: ...EPPER motor controller driver module 1A RMS 1 5A peak 30V with RS485 and step direction interface Trinamic Motion Control GmbH Co KG Sternstra e 67 D 20357 Hamburg Germany Phone 49 40 51 48 06 0 FAX 4...

Страница 2: ...ption 15 6 1 Disable 15 6 2 RS485 Control Interface 15 6 2 1 RS485 Commands 16 6 2 1 1 Example for test move 17 6 2 1 2 Motor Current C 17 6 2 1 3 StallGuard G 17 6 2 1 4 Limit Switch L 18 6 2 1 5 I O...

Страница 3: ...tep Direction signals and motor reactions 21 Figure 6 2 Step and Direction Signal 22 Figure 6 3 Reset to factory default 22 Figure 6 3 Layout Changes for act like DC Motor option 23 List of Tables Tab...

Страница 4: ...current from 300mA to 1A RMS 1 5A peak 7V to 30V nominal supply voltage PANdrive Motor data all PANdrive motors optimized for 1A RMS coil current please refer to motor data sheet for detailed motor in...

Страница 5: ...quipment 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 T...

Страница 6: ...eference voltage for step direction inputs Positive optocoupler supply Required for negative logic Disable 4 Tie to GND to shut down motor power leave open or at VCOM otherwise Direction 5 Tie to GND...

Страница 7: ...or TMCM 013 are 3 2mm The center hole of the TMCM 013 42 is 6 0mm and of the TMCM 013LA 12 5mm TMCM 013 36 5 mm 42 mm 5 5 mm 42 mm 36 5 mm 36 5 mm 21 0 mm 21 0 mm Figure 3 2 Dimensions for TMCM 013 TM...

Страница 8: ...al frequency depends on operation mode 20 36 kHz IS Power supply current ICOIL 1 4 ICOIL A VISO Isolation voltage of optocoupler 42 100 V VCOM Supply voltage for step direction and disable inputs have...

Страница 9: ...le the difference between VOPTOFF and VCOM has to be less than 1 0V and to interconnect the difference between VCOM and VOPTON has to exceed 3 5V VOPTOFF and VOPTON must not exceed VCOM VCOM VOPTOFF 1...

Страница 10: ...ile power on Damage to the module may occur 5 2 1 Motor Choice Care has to be taken concerning the selection of motor and supply voltage In the different chopper modes different criteria apply Modes 0...

Страница 11: ...MAX COIL N N S N R I V V 25 22 V V 2 5 2 1 2 Chopper Mode 2 PHASE In Table 5 1 and Figure 5 2 examples of maximum supply voltages VS regarding the current ICOIL and inductivity L of your motor are sp...

Страница 12: ...550 650 750 850 950 ICOIL mA L mH VS 24V VS 18V VS 12V VS 7V Figure 5 2 Maximum Supply Voltage regarding Motor Current and Inductivity Any combination of motor coil current and inductivity witch is ab...

Страница 13: ...e The step direction mode is enabled if the acceleration command is set to 0 default using the RS485 5 28 V GND GND GND Disable Common 0 V rotation off on Step Common 0 V Velocity Deceleration Acceler...

Страница 14: ...s for RS485 Mode The RS485 Mode is enabled if the acceleration command differs from 0 TMCM 013 Pin 1 PWR 7 28 V Pin 2 Pin 14 Pin 15 Pin 16 GND optional Example Current AC 50 Acceleration AA 400 Veloci...

Страница 15: ...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 th...

Страница 16: ...tor 32 bit 0 Q Read I Os Provides out of the I O the values of the ports GPI REF_A REF_B GPO and ALARM Refer to 6 2 1 5 R Read Current Position Provides the current position of the motor 32 bit S Chan...

Страница 17: ...maximum depends upon the actual motor This is due to some internal restrictions AC ICOIL PP ICOIL RMS to max ICOIL 100 1 50A 1 06A 100 80 1 20A 0 85A 75 66 1 00A 0 71A 66 50 0 75A 0 53A 50 33 0 50A 0...

Страница 18: ...witch To activate a reference switch set the appropriate bit to 1 When motor stops the position counter is set to zero Example AL 8 ENTER Activates REF_B 1 When destination reached motor stops and pos...

Страница 19: ...32 4 1 16 max 4 4 16 Table 6 7 Adjusting of Microstep Resolution Example AZ 2 ENTER Sets the microstep resolution to a quarter of the maximum resolution 6 2 2 Chopper Modes 6 2 2 1 Chopper Mode 0 SPI...

Страница 20: ...h is significantly lower than the motor maximum coil current If it is to high the motor has significant magnetization losses and coil power dissipation and would get much too hot even with zero averag...

Страница 21: ...Step frequency Direction open wired or connected to VCOM Direction connected to Ground Table 6 8 External signals and motor reactions Motor Speed Step Vcom 0 V Disable Vcom 0 V Velocity Deceleration A...

Страница 22: ...en wire VCOM 5 24V Intern HIGH LOW step pulse direction 0 7 s min 2 0 s min 2 0 s min 0 7 s min same minimum times as above Figure 6 2 Step and Direction Signal 6 4 Reset to factory default If the mod...

Страница 23: ...advised to connect an external voltage divider to the GPI pin as depicted However there are two free places for 0805 SMD resistors to be equipped directly on the module TMCM 013 To enable this mode so...

Страница 24: ...like max acceleration max velocity microsteps Before enabling this mode with the RS485 command connect a voltage of 7 28V to General Purpose Input GPI The voltage has to exceed zero point voltage befo...

Страница 25: ...1 PD release Includes PANDrive order codes 1 12 Limit switch Added Limit switch documentation 1 13 Additions StallGuard added with RS485 command G formerly used for output setting LED now command O Sw...

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