Trinamic PANdrive PD42-1- 1243-IOLINK Safety guide

How to connect the PANdrive PD42-1-
1243-IOLINK with the MAXREFDES145#
via
IO-Link Control Tool
Content
General.................................................................................................................................................... 2
PD42-1-1243-IOLINK............................................................................................................................ 2
MAXREFDES145#................................................................................................................................. 2
IO-Link Control Tool............................................................................................................................. 2
Connect to the master............................................................................................................................. 3
Connect a device to the master .............................................................................................................. 4
Import IODD ........................................................................................................................................ 4
Connect the device.............................................................................................................................. 5
Motor control.......................................................................................................................................... 6
Position Control................................................................................................................................... 6
Velocity Control................................................................................................................................... 7
ISDU-Parameter....................................................................................................................................... 8
Disconnect the device and the master.................................................................................................... 9

General
PD42-1-1243-IOLINK
The PANdrive PD42-1-1243-IOLINK is a stepper motor system that communicates over IO-Link.
For the communication with the PANdrive is an IODD-File required. The IODD-File can be found on the
Trinamic website.
https://www.trinamic.com/products/drives/details/pd42-1-1243-iolink/
MAXREFDES145#
The MAXREFDES145# is a reference design for an 8 Port IO-Link master from Maxim Integrated.
The master required a 24V power supply and an USB-Type-B cable for the communication.
IO-Link Control Tool
The IO-Link Control Tool is a program from TEConcept. The program can communicate with IO-Link
devices with the help of the MAXREFDES145#.
The installation file is saved under:
Y:\Syslab\Projekte\IO-Link\IO-Link Software Tools\TEConcept - IO-Link Control Tool\ TC_installer_v3.9.7136.zip
Port 7
24 V
USB
Port 1
Port 2
Port 8
. . .
. . .

Connect to the master
Connect the PANdrive to the master before connecting the power supply. The port of the PANdrive
can freely selected. If the PANdrive connected the power supply and the USB-cable can be plugged in.
On both ports (24V and USB) should glow a green led. The led indicates a proper connection. At least
open the IO-Link Control tool.
The following steps connects the Master to the IO-Link Control Tool:
1. choose the communication interface:
„Serial Test Interface “
2. choose the Com-Port:
„FTDI-USB-SPI “
3. update the FTDI USB-SPI Interface and choose:
„MAX14819-REFDES A “
4. start the connection
The Tool after a successful connection:
1.
3.
2.
4.
Topology
Device
Control
Process data
input
Process data
output
ISDU-Parameter

Connect a device to the master
The following steps explain how to connect the PD42-1-1243-IOLINK with the IO-Link Master. At first
choose the port of the IO-Link device. The available ports are listed under “Topology” on the left side
of the program. Select the port where the device is connected to.
Import IODD
Before the device can connect to the master the IODD-File should be imported. With the information’s
in the IODD-File knows the tool the parameter of the device.
1. press „Select device “
2. A new window opens. Over “Import” you can choose the location of the IODD-File.
2.
1.

3. Under “IO-Link Devices” is a list with all imported IODD-Files. Choose the IODD-File from the
PANdrive. The “Device selector” shows now general information’s about the device. With a
click on “Select device” the device will be selected. The “Device selector” closes automatically.
Connect the device
The device can be connected if the IODD-File is chosen.
1. Enable the powerline:
„Power ON “
2. Start communication:
„IO-Link “
If the master is connected to the device the section “Connected device state” should look like this:
1.
2.
3.

Motor control
An IO-Link device is controlled via the process data. The process data also contains information about
the actual state of the device.
There are two modes to control the PANdrive. The first mode is “Position Control”. In this mode the
PANdrive drive to a fixed position. The other mode is “Velocity Control.” In “Velocity Control” rotates
the PANdrive with a fixed velocity.
Position Control
The position is given in microsteps from the zero position. If the input is “51200” the PANdrive will
make 51200 microsteps. These is equal to one turn with default settings.
1. Set mode to “Position Control “ (double click on the value).
2. Enter the desired position to “Target Position” (e.g. 51200). Confirm with “Enter”.
3. With the confirmation starts the motor.
The left section (“PD Input”) shows actual information’s about the PANdrive. If the PANdrive reached
the target position the section should look like this:
The value “Custom”is dependent from the ISDU-Parameter “Custom Process Data Select “(Index: 66).
You can choose one of the following parameters for the “Custom”-Field: Actual Load Value, PWM Scale
Value, Motor Supply Voltage, Actual Current, Encoder Position
2.
1.

Velocity Control
The target velocity is given in microsteps per second. The PANdrive turns with one turn per second if
“Target Velocity” is 51200.
1. Set mode to “Velocity Control “. (double click on the value)
2. Enter the desired velocity to “Target Velocity” (e.g. 51200). Confirm with “Enter”.
3. With the confirmation starts the motor.
The „PD Input “-Data:
2.
1.

ISDU-Parameter
The IO-Link device can be configured with the help of the ISDU-Parameters.
The user role should change before the ISDU-Parameters will be edited. The user role can changed to
“Maintenance “or “Specialist“ with the Button in the upper right corner.
After the role change you should read out all ISDU-Parameter from the device. Press the button “Read
All”. The data transmission can take a while.
The button “Read Selected” read out all selected parameters.
The button “Write Selected” writes the selected parameters to the device.
The value of a parameter can be changed as follow:
1. Change value of the parameter (double click on the value).
2. The value is now blue, and the row is marked.
3. Press “Write Selected” to start the transmission.
4. The value is green if the transmission is successful.
1.
2.
4.
3.

Disconnect the device and the master
Make sure that the PANdrive does not turn before you disconnect the device.
Change the “Mode” in “PD-Input” to “Off” to stop the motion of the PANdrive.
Disconnect the device from the master:
1. deactivate the device
“Inactive “
2. Disable the powerline:
“Power Off “
Press the following button to disconnect the IO-Link Control tool from the master.
1.
2.