Trinamic PD28-1-1021 Manual de usuario

MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

www.trinamic.com

Hardware Version V1.4

HARDWARE MANUAL

++PD28-1-1021

PD28-3-1021

+ +

UNIQUE FEATURES:

Stepper Motor NEMA11 / 28mm

0.06 - 0.12Nm

with Controller / Driver

up-to 0.7A RMS / 24V DC

sensOstep™Encoder

RS485 Interface

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)2

www.trinamic.com

Table of Contents

1Features........................................................................................................................................................................... 3

2Order Codes ................................................................................................................................................................... 5

3Mechanical and Electrical Interfacing..................................................................................................................... 6

3.1.1 Dimensions of PD28-1-1021 ....................................................................................................................... 6

3.1.2 Dimensions of PD28-3-1021 ....................................................................................................................... 7

3.2 Motor Characteristics .......................................................................................................................................... 8

3.3 Integrated sensOstep™ encoder .................................................................................................................... 9

3.4 Connectors........................................................................................................................................................... 10

3.4.1 Power, Communication and I/O Connector ........................................................................................ 11

3.4.2 Motor Connector.......................................................................................................................................... 17

4Motor driver current .................................................................................................................................................. 18

5Reset to Factory Defaults......................................................................................................................................... 21

6On-board LED............................................................................................................................................................... 21

7Operational Ratings ................................................................................................................................................... 22

8Torque Curves ............................................................................................................................................................. 24

9Functional description .............................................................................................................................................. 25

10 Life Support Policy..................................................................................................................................................... 26

11 Revision History.......................................................................................................................................................... 27

11.1 Document Revision........................................................................................................................................... 27

11.2 Hardware Revision ............................................................................................................................................ 27

12 References .................................................................................................................................................................... 28

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)3

www.trinamic.com

1Features

The PANdrive™ PD28-1-1021 and PD28-3-1021 are small and compact full mechatronic solutions including

NEMA11 / 28mm flange size stepper motors, the TMCM-1021 controller/ driver electronics and TRINAMIC

sensOstep™ encoder for step-loss detection. The two PANdrives include stepper motor with different

lengths and different holding torques (PD28-1-1021: 0.06Nm, PD28-3-1021: 0.12Nm) but, same electronics

and encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os

together with the build-in TMCL scripting feature and remote control operation using the RS485 2-wire

communication bus interface and even a mixture of both.

MAIN CHARACTERISTICS

Highlights

-Motion profile calculation in real-time

-On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

-High performance microcontroller for overall system control and serial communication protocol

handling

-For position movement applications, where larger motors do not fit and higher torques are not

required

Bipolar stepper motor driver

-Up to 256 microsteps per full step

-High-efficient operation, low power dissipation

-Dynamic current control

-Integrated protection

-stallGuard2™feature for stall detection

-coolStep™feature for reduced power consumption and heat dissipation

Encoder

-sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under all

operating conditions and positioning supervision

Interfaces

-Up to 4 multi-purpose inputs (2 shared with outputs)

-2 general purpose outputs

-RS485 2-wire communication interface

Software

-TMCL: standalone operation or remote controlled operation,

program memory (non volatile) for up to 876 TMCL commands, and

PC-based application development software TMCL-IDE available for free.

Electrical and mechanical data

-Supply voltage: +24V DC nominal (9… 28V DC)

-Motor current: up to 0.7A RMS (programmable)

-max. holding torque: 0.06Nm (PD28-1-1021) or 0.12Nm (PD28-3-1024)

Refer to separate TMCL Firmware Manual, too.

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)4

www.trinamic.com

TRINAMICS UNIQUE FEATURES –EASY TO USE WITH TMCL

stallGuard2™stallGuard2 is a high-precision sensorless load measurement using the back EMF on the

coils. It can be used for stall detection as well as other uses at loads below those which

stall the motor. The stallGuard2 measurement value changes linearly over a wide range of

load, velocity, and current settings. At maximum motor load, the value goes to zero or

near to zero. This is the most energy-efficient point of operation for the motor.

Load

[Nm]

stallGuard2

Initial stallGuard2

(SG) value: 100%

Max. load

stallGuard2 (SG) value: 0

Maximum load reached.

Motor close to stall.

Motor stalls

Figure 1.1 stallGuard2 load measurement SG as a function of load

coolStep™coolStep is a load-adaptive automatic current scaling based on the load measurement via

stallGuard2 adapting the required current to the load. Energy consumption can be reduced

by as much as 75%. coolStep allows substantial energy savings, especially for motors which

see varying loads or operate at a high duty cycle. Because a stepper motor application

needs to work with a torque reserve of 30% to 50%, even a constant-load application

allows significant energy savings because coolStep automatically enables torque reserve

when required. Reducing power consumption keeps the system cooler, increases motor

life, and allows reducing cost.

0,1

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

0 50 100 150 200 250 300 350

Efficiency

Velocity [RPM]

Efficiency with coolStep

Efficiency with 50% torque reserve

Figure 1.2 Energy efficiency example with coolStep

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)5

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2Order Codes

The combination of motor and motor mounted controller/driver electronic is currently available with two

stepper motors (different length and holding torque).

The length of the PANdrives™ is specified without the length of the axis. For the overall length of the

product please add 21 mm (see detailed drawings in chapter 3).

Order code

Description

Size of unit [mm3]

PD28-1-1021-option

PANdrive with NEMA11 stepper motor, 0.06Nm max.

holding torque, TMCM-1021 electronics, 0.7A RMS, +24V,

RS485, sensOstep™ encoder

28 x 28 x 43 max.

PD28-3-1021-option

PANdrive with NEMA11 stepper motor, 0.12Nm max.

holding torque, TMCM-1021 electronics, 0.7A RMS, +24V,

RS485, sensOstep™ encoder

28 x 28 x 62 max.

Table 2.1 Order codes

The following options are currently available:

Firmware option

Description

Order code example:

-TMCL

Module pre-programmed with TMCL firmware

PD28-1-1021-TMCL

Table 2.2 PD28-1-1021 / PD28-3-1021 firmware options

A cable loom set is available for this module:

Order code

Description

TMCM-1021-CABLE

Cable loom for TMCM-1021

-1x cable loom for power, communication and I/O connector

(cable length approx. 200mm)

-1x cable loom for motor connector (cable length ca. 200mm)

Table 2.5 Cable loom order code

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)6

www.trinamic.com

3Mechanical and Electrical Interfacing

The PD28-1-1021 consists of the NEMA11 / 28mm flange size stepper motor QSH2818-32-07-006 with

controller / driver electronics TMCM-1021 mounted on its backside and integrated sensOstep™ encoder. The

PD28-3-1021 uses the longer QSH2818-51-07-012 NEMA11 / 28mm stepper motor together with the same

electronics and encoder.

Please see also stepper motor manuals and TMCM-1021 hardware and firmware manuals for more details.

Note:

In order to make proper use of the integrated sensOstep™encoder (the sensor IC is placed on the bottom

of the pcb) the TMCM-1021 electronics should not be removed/moved relative to the motor.

In case the integrated encoder feature is not used, the electronics may be moved or even removed from

the motor and placed somewhere else according to application requirements.

3.1.1 Dimensions of PD28-1-1021

The PD28-1-1021 consists of the stepper motor QSH2818-32-07-006, the TMCM-1021 controller / driver

electronics and integrated sensOstep™ encoder.

Figure 3.1 PD28-1-1021 dimensions (all dimensions in mm)

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)7

www.trinamic.com

3.1.2 Dimensions of PD28-3-1021

The PD28-3-1021 consists of the stepper motor QSH2818-51-07-012, the TMCM-1021 controller / driver

electronics and integrated sensOstep™ encoder.

Figure 3.2 PD28-3-1021 dimensions (all dimensions in mm)

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)8

www.trinamic.com

3.2 Motor Characteristics

Main characteristics of the two different motors available as part of the PD28-1-1021 (QSH2818-32-07-006)

and PD28-3-1021 (QSH2818-51-07-012):

Specification

Paramete

Units

QSH2818-32-07-006

QSH2818-51-07-012

Related PANdrive

PD28-1-1021

PD28-3-1021

Rated Voltage

VRATED

3.8

6.2

Rated Phase Current

IRMS_RATED

0.67

Phase Resistance at 20°C

RCOIL

5.6

9.2

Phase Inductance (typ.)

3.4

7.2

Holding Torque (typ.)

Ncm

oz in

8.5

17.0

Detent Torque

Ncm

Rotor Inertia

g cm2

Weight (Mass)

0.11

0.2

Insulation Class

Insulation Resistance

100M

Dialectic Strength (for one minute)

VAC

500

Connection Wires

N°

Step Angle

1.8

Step angle Accuracy (max.)

Flange Size (max.)

28.0

Motor Length (max.)

LMAX

Axis Diameter

5.0

Axis Length (typ.)

20.0

Shaft Radial Play (450g load)

0.02

Shaft Axial Play (450g load)

0.08

Maximum Radial Force

(20 mm from front flange)

Maximum Axial Force

Ambient Temperature

°C

-20…+50

Temp Rise (rated current, 2phase on)

°C

max. 80

Table 3.1 NEMA 11 / 28mm technical motor data

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)9

www.trinamic.com

3.3 Integrated sensOstep™ encoder

The PD28-1-1021 and PD28-3-1021 PANdrive offer integrated sensOstep™ encoders based on hall sensor

technology. As the name “sensOstep™” already indicates intended use of this type of compact and highly

integrated encoder is step loss detection of motor movements. As soon as the motor has been moved to

a new location the position may be verified using this encoder feedback. In case the stepper motor has

lost one or multiple steps during movement e.g. due to overload / any obstacle encountered during

movement the motor axes will jump for at least one electrical period / 4 full steps. This can be detected

using the integrated encoder. In addition, step losses may be already detected during motor movements

using the “deviation” setting available as part of the TMCL firmware (see TMCM-1021 firmware manual for

more details).

While the encoder offers 10bit (1024 steps) resolution per motor revolution the absolute position

information is less accurate and depends on the displacement of the hall sensor based encoder IC relative

to the magnet and motor axis among other factors. Every PANdrive™ has been tested for maximum

deviation of +/- 5 encoder steps (static performance) relative to commanded microstep target position

during final tests after assembly at our factory. This will ensure more than adequate performance of the

integrated sensOstep™ encoder for step loss detection during motor movements.

Do not disassemble PANdrive™ when using integrated encoder

In order to make proper use of the integrated sensOstep™encoder (the sensor IC is placed

on the bottom center of the pcb) the TMCM-1021 electronics should not be removed/moved

relative to the motor! Otherwise encoder performance might suffer / not work.

Note: In case the integrated encoder feature is not used, the TMCM-1021 electronics may

be moved or even removed from the motor and placed somewhere else according to

application requirements.

Keep the electronics free of (metal) particles!

The integrated sensOstep™ encoder uses a magnet at the end of the motor axis in order

to monitor position of the motor axis. The magnet naturally attracts especially tiny metal

particles. These particles might be held on the top side of the PCB and even worse –start

moving in accordance with the rotating magnetic field as soon as the motor starts moving.

This might lead to shorts of electronic contacts / wires on the board and totally erratic

behavior of the module! Use compressed air for cleaning the module if necessary

(especially in prototype setups).

In order to prevent shorts and better protect the electronics the TMCM-1021 printed circuit

board is coated after assembly of components since hardware version V1.4.

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25)10

www.trinamic.com

3.4 Connectors

The PD-1021 has two connectors, an 8-pin power and input/output connector and a 4-pin motor connector

(used to connect the attached motor).

Motor

Power / communication / I/Os

Figure 3.3 PD-1021 connectors

Overview of connector and mating connector types:

Label

Connector type

Mating connector types

Power,

communication

and I/O

CI0108P1VK0-LF

CVIlux CI01 series, 8pins, 2mm

pitch

Connector housing CVIlux: CI01085000-A

Contacts CVIlux: CI01T011PE0-A

Connector housing JST: PHR-8

Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Motor

CI0104P1VK0-LF

CVIlux CI01 series, 4 pins, 2mm

pitch

Connector housing CVIlux: CI01045000-A

Contacts CVIlux: CI01T011PE0-A

Connector housing JST: PHR-4

Contacts JST: SPH-002T-P0.5S

Wire: 0.22mm2

Table 3.2 Connectors and mating connectors, contacts and applicable wire

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