MECHATRONIC DRIVE WITH STEPPER MOTOR
PANdrive
Hardware Version V1.1
HARDWARE MANUAL
+
+
TMCM-1180
PD86-1180
1-Axis Stepper
Controller / Driver
5.5A RMS/ 24 or 48V DC
USB, RS232, RS485, and CAN
+
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
+
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
Table of Contents
2
3
4
Features ........................................................................................................................................................................... 3
Order Codes ................................................................................................................................................................... 4
Mechanical and Electrical Interfacing ..................................................................................................................... 5
4.1
TMCM-1180 Dimensions and Mounting Holes ............................................................................................. 5
4.2
PD86-1180 Dimensions and Motor Specifications ...................................................................................... 6
4.2.1 Dimensions of PD86-3-1180 ........................................................................................................................ 6
4.2.2 Motor Specifications of QSH8618-96-55-700 ........................................................................................... 7
4.2.3 Torque Figure of QSH8618-96-55-700 ....................................................................................................... 8
4.3
Connectors of TMCM-1180 ................................................................................................................................. 9
4.3.1 Power Connector ......................................................................................................................................... 10
4.3.2 Serial Communication Connector ........................................................................................................... 12
4.3.3 USB Connector .............................................................................................................................................. 12
4.3.4 Output Connector ........................................................................................................................................ 13
4.3.5 Input Connector ........................................................................................................................................... 14
4.3.6 Step/Direction Connector .......................................................................................................................... 16
4.3.7 Encoder Connector ...................................................................................................................................... 17
4.3.8 Motor Connector and Specifications ...................................................................................................... 18
5
Jumpers ......................................................................................................................................................................... 19
5.1
RS485 Bus Termination .................................................................................................................................... 19
5.2
CAN Bus Termination........................................................................................................................................ 19
6
Operational Ratings ................................................................................................................................................... 20
7
Functional Description .............................................................................................................................................. 21
7.1
System Architecture .......................................................................................................................................... 21
7.1.1 Microcontroller ............................................................................................................................................. 21
7.1.2 EEPROM ........................................................................................................................................................... 21
7.1.3 Motion Controller ........................................................................................................................................ 21
7.1.4 Stepper Motor Driver .................................................................................................................................. 22
7.1.5 sensOstep Encoder ...................................................................................................................................... 22
8
TMCM-1180 Operational Description ..................................................................................................................... 23
8.1
Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23
9
TMCL ............................................................................................................................................................................... 25
10 CANopen ....................................................................................................................................................................... 25
11 Life Support Policy ..................................................................................................................................................... 26
12 Revision History .......................................................................................................................................................... 27
12.1 Document Revision ........................................................................................................................................... 27
12.2 Hardware Revision ............................................................................................................................................ 27
13 References..................................................................................................................................................................... 27
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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3
Features
The PD86-1180 is a full mechatronic solution with state of the arte feature set. It is highly integrated and
offers a convenient handling. The PD86-1180 consists of a NEMA 34 (flange size 86mm) stepper motor,
controller/driver electronics and integrated encoder.
The TMCM-1180 is an intelligent stepper motor controller/driver module featuring the new outstanding
coolStep™ technology for sensorless load dependent current control. This allows energy efficient motor
operation. With the advanced stallGuard2™ feature the load of the motor can be detected with high
resolution. The module is designed to be mounted directly on an 86mm flange QMot stepper motor.
MAIN CHARACTERISTICS
Electrical data
Supply voltage: +24V DC or +48V DC nominal
Motor current: up to 5.5A RMS (programmable)
PANdrive motor
Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current
Holding torque: 7Nm
Encoder
Integrated sensOstep magnetic encoder (max. 256 increments per rotation) e.g. for step-loss detection
under all operating conditions and positioning
Integrated motion controller
Motion profile calculation in real-time (TMC428/429 motion controller)
On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
High performance microcontroller for overall system control and serial communication protocol
handling
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
Interfaces
inputs for stop switches (left and right) and home switch
general purpose inputs and 2 general purpose outputs
USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces
Safety features
Shutdown input. The driver will be disabled in hardware as long as this pin is left open or shorted to
ground
Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched off
externally while supply for digital logic and therefore digital logic remains active
Software
Available with TMCL™ or CANopen
Standalone TMCL operation or remote controlled operation
Program memory (non volatile) for up to 2048 TMCL commands
PC-based application development software TMCL-IDE available for free
CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported
Please see separate TMCL and CANopen Firmware Manuals for additional information
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4
Order Codes
Cables are not included. Add the appropriate cable loom to your order if required.
Order code
TMCM-1180 (-option)
PD86-3-1180 (-option)
Description
TMCM-1180 with coolStep, sensOstep
PD86-3-1180 with coolStep, sensOstep, 7.0 Nm
Table 3.1 PANdrive or module order codes
Option
-TMCL
-CANopen
Firmware
TMCL firmware
CANopen firmware
Table 3.2 Options for order codes
Component part
TMCM-1180-CABLE
Description
Cable loom for module and PANdrive
Table 3.3 Order codes for component parts
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Dimensions [mm³]
85.9 x 85.9 x 21.5
85.9 x 85.9 x 118.5
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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5
Mechanical and Electrical Interfacing
4.1 TMCM-1180 Dimensions and Mounting Holes
The dimensions of the controller/driver board (TMCM-1180) are approx. 86mm x 86mm in order to fit to the
back side of the 86mm stepper motor. The TMCM-1180 is 21.5mm high without matching connectors. There
are four mounting holes for M4 screws.
85.9
4.55
67.45
8
2
8
2
R5.9
M4
TMCM-1180
85.9
81.35
72
67.45
18.45
13.9
4.55
13.9
18.45
72
81.35
Figure 4.1 Dimensions of TMCM-1180 and mounting holes
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.2 PD86-1180 Dimensions and Motor Specifications
The PD86-1180 includes the TMCM-1180 stepper motor controller/driver electronic module, a magnetic
encoder based on sensOstep technology and an 86mm flange size bipolar hybrid stepper motor.
4.2.1 Dimensions of PD86-3-1180
96
4.1
22.5 max
1.4
17
1.1
25
73.02±0.05
12.7
11.6
85.85
31.75±1
1.52
8.38
69.5±0.2
85.9
73.02±0.05
11.6
12.7
4 x ø 5.5
400 min.
Figure 4.2 PD86-3-1180 dimensions
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85.9
69.5±0.2
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
4.2.2 Motor Specifications of QSH8618-96-55-700
Specifications
Units
Wiring
Rated Voltage
V
Rated Phase Current (nominal)
A
Phase Resistance at 20°C
Ω
Phase Inductance (typ.)
mH
Holding Torque (typ.)
Nm
Detent Torque
Nm
Rotor Inertia
gcm2
Weight (Mass)
Kg
Insulation Class
Insulation Resistance
Ω
Dialectic Strength (for one
VAC
minute)
Connection Wires
N°
Max applicable Voltage
V
Step Angle
°
Step angle Accuracy
%
Flange Size (max.)
mm
Motor Length (max.)
mm
Axis Diameter
mm
Axis Length (visible part, typ.)
mm
Axis D-cut (1.1mm depth)
mm
Shaft Radial Play (450g load)
mm
Shaft Axial Play (450g load)
mm
Maximum Radial Force
N
(20 mm from front flange)
Maximum Axial Force
N
Ambient Temperature
°C
Temp Rise
°C
(rated current, 2 phase on)
QSH8618-96-55-700
2.56
5.5
0.45
4.5
7.0
2700
2.8
B
100M
500
4
140
1.8
5
85.85
96
12.7
31.75
25.0
0.02
0.08
220
60
-20… +50
max. 80
Table 4.1 Motor specifications of QSH8618-96-55-700
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.2.3 Torque Figure of QSH8618-96-55-700
The torque figure details the motor torque characteristics for full step operation in order to allow simple
comparison. For full step operation there are always a number of resonance points (with less torque) which
are not depicted. These will be minimized by microstep operation.
Testing conditions: 48V; 5,5A
Torque
6
Full step
[Nm]
5
4
3
2
1
0
100
1000
Figure 4.3 QSH8618-96-55-700 speed vs. torque characteristics
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10000
Speed [Pps]
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.3 Connectors of TMCM-1180
The controller/driver board of the PD86-1180 offers eight connectors including the motor connector which is
used internally for attaching the motor coils to the electronics. In addition to the power connector there are
two connectors for serial communication (one for mini-USB and one for RS232/RS485/CAN) and two
connectors for additional input and output signals. Further there is one connector for Step/Direction and
another for the encoder.
The output connector offers two general purpose outputs, one power supply voltage output, and one
hardware shutdown input. Leaving the shutdown input open or tying it to ground will disable the motor
driver stage in hardware. For operation, this input should be tied to the supply voltage.
The input connector offers two inputs for stop switches (left and right), one home switch input, two general
purpose inputs and one connection to the system or signal ground.
Encoder Step/Dir Input Output
1
1
1
1
Serial
communication
1
Power
USB
1
1
Motor
Figure 4.4 Overview connectors
Label
Power
Motor
Mini-USB
Connector type
Mating connector type
JST
JST
JST
JST
Connector housing JST: VHR-4N
Contacts JST: BVH-21T-P1.1
Connector housing JST: VHR-4N
Contacts JST: BVH-21T-P1.1
B4P-VH
VH series, 4 pins, 3.96mm pitch
B4P-VH
VH series, 4 pins, 3.96mm pitch
Molex 500075-1517
Mini USB Type B vertical receptacle
Any standard mini-USB plug
Connector housing CVIlux: CI01085000-A
Contacts CVIlux: CI01T011PE0-A
Serial
communication
CI0108P1VK0-LF
CVIlux CI01 series, 8 pins, 2mm pitch
or
Connector housing JST: PHR-8
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
Label
Connector type
10
Mating connector type
Connector housing CVIlux: CI01065000-A
Contacts CVIlux: CI01T011PE0-A
CI0106P1VK0-LF
CVIlux CI01 series, 6 pins, 2mm pitch
Inputs
or
Connector housing JST: PHR-6
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch
Outputs
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Connector housing CVIlux: CI01055000-A
Contacts CVIlux: CI01T011PE0-A
CI0105P1VK0-LF
CVIlux CI01 series, 5 pins, 2mm pitch
Encoder
or
Connector housing JST: PHR-5
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm pitch
Step/Dir
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Table 4.2 Connectors and mating connectors, contacts and applicable wire
4.3.1 Power Connector
This module offers separate power supply inputs for digital logic (pin 2) and driver/power stage (pin 1). Both
supply inputs use common ground connections (pin 3 and 4). This way, power supply for the driver stage
may be switched off while still maintaining position and status information when keeping digital logic
supply active.
+UDRIVER SUPPLY ONLY
In case power supply is provided to the power section only, an internal diode will distribute power to the
logic section also. So, when separate power supplies are not required it is possible to just use pin 1 and 4
for powering the module.
1
4
Pin
Label
Description
Module + driver stage power supply input
(nom. +48V DC)
(Optional) separate digital logic power supply input
(nom. +48V DC)
1
+UDriver
2
+ULogic
3
GND
Module ground (power supply and signal ground)
4
GND
Module ground (power supply and signal ground)
Table 4.3 Connector for power supply
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 operation should be kept at
a maximum of a few 100mV.
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
HINTS FOR POWER SUPPLY
-
keep power supply cables as short as possible
use large diameters for power supply cables
CAUTION!
Add external power supply capacitors!
It is recommended to connect an electrolytic capacitor of significant size (e.g. 4700 µF / 63
V) to the power supply lines next to the PD-1180 especially if the distance to the power
supply is large (i.e. more than 2-3m)! In larger systems a zener diode circuitry might be
required in order to limit the maximum voltage when the motor is operated at high
velocities.
Rule of thumb for size of electrolytic capacitor:
In addition to power stabilization (buffer) and filtering this added capacitor will also
reduce any voltage spikes which might otherwise occur from a combination of high
inductance power supply wires and the ceramic capacitors. In addition it will limit slewrate of power supply voltage at the module. The low ESR of ceramic-only filter capacitors
may cause stability problems with some switching power supplies.
Do not connect or disconnect motor during operation!
Motor cable and motor inductivity might lead to voltage spikes when the motor is
disconnected / connected while energized. These voltage spikes might exceed voltage
limits of the driver MOSFETs and might permanently damage them. Therefore, always
disconnect power supply before connecting / disconnecting the motor.
Keep the power supply voltage below the upper limit of 55V!
Otherwise the driver electronics will seriously be damaged! Especially, when the selected
operating voltage is near the upper limit a regulated power supply is highly
recommended. Please see also chapter 6 (operating values).
There is no reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver
transistors.
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.3.2 Serial Communication Connector
A 2mm pitch 8 pin connector is used for serial communication. With this connector the module supports
RS232, RS485 and CAN communication.
1
8
Pin
1
2
3
4
5
6
7
8
Label
RS232_TxD
RS232_RxD
GND
CAN_H
CAN_L
GND
RS485+
RS485-
Description
RS232 transmit data
RS232 receive data
Module ground (system and signal ground)
CAN_H bus line (dominant high)
CAN_L bus line (dominant low)
Module ground (system and signal ground)
RS485 non-inverted bus signal
RS485 inverted bus signal
Table 3.3 Connector for serial communication
4.3.3 USB Connector
A 5-pin mini-USB connector is available on board (might depend on assembly option).
1
5
Pin
1
2
3
4
5
Table 3.4 Mini USB connector
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Label
VBUS
DD+
ID
GND
Description
+5V power
Data –
Data +
Not connected
ground
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.3.4 Output Connector
A 2mm pitch 4 pin connector is used for connecting the two general purpose outputs and the driver stage
hardware shutdown input pin to the unit.
In order to enable the motor driver stage connect /Shutdown (pin 2) to +ULogic (pin 1)!
1
4
Pin
Label
1
+ULogic
2
/Shutdown
3
OUT_0
4
OUT_1
Description
Module digital logic power supply – connected to
pin 2 of power supply connector
/Shutdown input – has to be connected to power
supply (e.g. pin 1 of this connector) in order to
enable driver. Connecting this input to ground or
leaving it unconnected will disable driver stage
Open collector output with integrated freewheeling
diode, +24V compatible
Open collector output with integrated freewheeling
diode, +24V compatible
Table 4.4 Output / /Shutdown connector
supply voltage
e.g. +24V
supply voltage
e.g. +24V
supply voltage
e.g. +24V
galvanic isolation
freewheeling
diode
integrated
on-board
opto-coupler
GPO
GPO
GPO
Figure 4.5 Possible circuits for GPO
+ULogic
+ULogic
OUT_0
OUT_1
OUT_0
1k00
OUT_1
1k00
GND
GND
Figure 4.6 Internal circuit of the outputs
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.3.5 Input Connector
A 2mm pitch 6 pin connector is used for connecting general purpose inputs, home and stop switches to the
unit.
Mating connector housing: PHR-6
Mating connector contacts: SPH-002T-P0.5S
6
1
Pin
1
2
Label
IN_0
IN_1
3
STOP_L
4
STOP_R
5
HOME
6
GND
Table 4.5 Input / Stop / Home switch connector
+24V
GPI
Figure 4.7 Possible circuit for GPI
IN_0/1
22kO
+3.3V
GND
GND
100nF
10kO
IN_0/1
GND
Figure 4.8 Internal circuit of the inputs
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Description
General purpose input, +24V compatible
General purpose input, +24V compatible
Left stop switch input, +24V compatible,
programmable internal pull-up (1k to +5V)
Right stop switch input, +24V compatible,
programmable internal pull-up (1k to +5V)
Home
switch
input,
+24V
compatible,
programmable internal pull-up (1k to +5V)
Module ground (system and signal ground)
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.3.5.1 Left and Right Limit Switches
The TMCM-1180 can be configured so that a motor has a left and a right limit switch (Figure 4.9).
The motor stops when the traveler has reached one of the limit switches.
REF _ R _x
REF _ L _x
motor
right stop
switch
left stop
switch
traveler
Figure 4.9 Left and right limit switches
4.3.5.2 Triple Switch Configuration
It is possible to program a tolerance range around the reference switch position. This is useful for a triple
switch configuration, as outlined in Figure 4.10. In that configuration two switches are used as automatic
stop switches, and one additional switch is used as the reference switch between the left stop switch and
the right stop switch. The left stop switch and the reference switch are wired together. The center switch
(travel switch) allows for a monitoring of the axis in order to detect a step loss.
REF _ L _x
REF _ R_x
motor
left stop
reference
switch
switch
right stop
switch
traveler
Figure 4.10 Limit switch and reference switch
4.3.5.3 One Limit Switch for Circular Systems
If a circular system is used (Figure 4.11), only one reference switch is necessary, because there are no endpoints in such a system.
motor
REF _ L _x
ref switch
eccentric
Figure 4.11 One reference switch
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.3.6 Step/Direction Connector
A 2mm pitch 4 pin connector is used for connecting the Step/Dir interface.
1
4
Pin
1
2
3
4
Label
OC_COM
OC_EN
OC_STEP
OC_DIR
Description
Common supply / opto-coupler (+5V .. +24V)
Enable signal
Step signal
Direction signal
Table 4.6 Step/Dir connector
C
4k75
EN
+3.3V
Iconst = 8mA
K
E
GND
Iconst = 8mA
4k75
OC_EN
4k75
A
OC_COM
DIR
OC_DIR
OC_STEP
STEP
GND
Figure 4.12 Internal circuit of the Step/Dir interface
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.3.7 Encoder Connector
A 2mm pitch 5 pin connector is used for connecting the Encoder.
Mating connector housing: PHR-5
Mating connector contacts: SPH-002T-P0.5S
1
Pin
1
2
3
4
5
5
Label
ENC_A
ENC_B
ENC_N
GND
+5V_output
Description
Encoder A-channel
Encoder B-channel
Encoder N-channel
Power and signal ground
+5V output for encoder power supply (max. 100mA)
Table 4.7 Encoder connector
+5V
+5V
+5V
GND
GND
GND
2k2
2k2
2k2
0.1A
+5V
1
ENC_A
2k2
2k2
100pF
2k2
GND
1
1
ENC_B
ENC_N
GND
Figure 4.13 Internal circuit of encoder interface
Keep the electronics free of (metal) particles! The encoder uses a magnet at the end of the
motor axis in order to monitor position. 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.
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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4.3.8 Motor Connector and Specifications
A 3.96mm pitch 4 pin connector is used for motor connection. Both motor coil windings (bipolar stepper
motor) are connected to this connector.
Mating connector housing: VHR-4N
Mating connector contacts: BVH-21T-P1.1
1
4
Table 4.8 Connector for motor
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Pin
Label
Description
1
2
3
4
OA1
OA2
OB1
OB2
Motor
Motor
Motor
Motor
coil
coil
coil
coil
A
A
B
B
TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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Jumpers
Most settings of the board are done through the software. Nevertheless, a few jumpers are available for
configuration.
CAN bus
termination
RS485 bus
termination
Figure 5.1 RS485 and CAN bus termination
5.1 RS485 Bus Termination
The board includes a 120 Ohm resistor for proper bus termination of the RS485 interface. When this jumper
is closed, the resistor will be placed between the two differential bus lines RS485+ and RS485-.
5.2 CAN Bus Termination
The board includes a 120 Ohm resistor for proper bus termination of the CAN interface. When this jumper is
closed, the resistor will be placed between the two differential bus lines CAN_H and CAN_L.
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TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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Operational Ratings
The operational ratings shown below should be used as design values. In no case should the maximum
values been exceeded during operation.
Symbol
Parameter
+UDriver / +ULogic Power supply voltage for operation
ICOIL_peak
Motor coil current for sine wave peak
(chopper regulated, adjustable via
software)
ICOIL_RMS
Continuous motor current (RMS)
ISUPPLY
Power supply current
TENV
Environment temperature at rated
current (no forced cooling required)
Min
18
0
Typ
24 or 48
0
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