Trinamic PD 108-28-SE-485 Series User manual

PDx-108-28-SE-485
Hardware Manual
Version: 1.00
2010-MAY-31
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D - 20 357 Hamburg, Germany
Phone [phone] - 0
FAX: [phone] - 60
http://www.trinamic.com

PDx-108-28-SE-485 Hardware Manual (V1.00 / 2010-May-31) 2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Contents
1Life support policy ............................................................................................................................ 3
2Features ............................................................................................................................................ 4
3Order codes....................................................................................................................................... 5
4Electrical and mechanical interfacing ................................................................................................ 6
4.1 Size of board.............................................................................................................................. 6
4.2 Size of unit ................................................................................................................................ 7
4.3 Torque curves ............................................................................................................................ 8
4.3.1 PD1-108-28-SE-485 ................................................................................................................. 8
4.4 Connectors ................................................................................................................................. 9
4.4.1 Power and I/O connector...................................................................................................... 9
4.4.2 Motor connector ................................................................................................................... 9
4.5 Power supply ........................................................................................................................... 10
4.6 Inputs and outputs .................................................................................................................. 11
4.6.1 RS485 .................................................................................................................................. 11
4.6.2 General purpose inputs ...................................................................................................... 13
4.6.3 General purpose outputs .................................................................................................... 13
5Functional description..................................................................................................................... 14
6Operational ratings ......................................................................................................................... 15
7Revision History .............................................................................................................................. 16
7.1 Hardware revision.................................................................................................................... 16
7.2 Document revision................................................................................................................... 16
8References....................................................................................................................................... 17

PDx-108-28-SE-485 Hardware Manual (V1.00 / 2010-May-31) 3
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
1Life support policy
TRINAMIC Motion Control GmbH & Co. KG does not authorize
or warrant any of its products for use in life support systems,
without the specific written consent of TRINAMIC Motion
Control GmbH & Co. KG.
Life support systems are equipment 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 2010
Information given in this data sheet is believed to be accurate
and reliable. However neither responsibility is assumed for
the consequences of its use nor for any infringement of
patents or other rights of third parties, which may result from
its use.
Specifications are subject to change without notice.

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
2Features
The PDx-108-28-SE-485 is a full mechatronic device consisting of a NEMA 11 (flange size 28mm) stepper
motor, controller/driver electronics and integrated sensOstepTM encoder.
Applications
Extremely compact and decentralized stepper motor solution
Position movement applications, where larger motors do not fit and higher torques are not required
Electrical data
Supply voltage: +9V… +28V DC
Motor current: up to 800mA peak / 560mA RMS (programmable)
Stepper motor data
NEMA 11 (28mm flange size) two phase bipolar stepper motors
Please also refer to the associated motor manual for more detailed information [QSH2818]
Interfaces
2 general purpose inputs
2 general purpose outputs
RS485 2-wire communication interface
Features
PD1-108-28-SE-485: smallest PANdrive™available from TRINAMIC
High-efficient operation, low power-dissipation
Uses TMC222-SI highly integrated controller/driver IC
Up to 16 microsteps per fullstep
Integrated sensOstepTM magnetic encoder (max. 256 increments per rotation) for step-loss detection and
absolute position information
Integrated protection: overtemperature/undervoltage
Software
TMCL™remote (direct mode) and stand-alone operation (memory for 64 TMCL™commands)
Fully supported by TMCL-IDE (PC based integrated development environment)

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
3Order codes
The combination of motor and motor mounted controller/driver electronic is currently available with two
stepper motors (different length and holding torque):
Order code
Description
Dimensions [mm3]
PD1-108-28-SE-485
PANdrive 0.05Nm max. holding torque*)
28 x 28 x 45
PD3-108-28-SE-485
PANdrive 0.10Nm max. holding torque*)
28 x 28 x 64
Table 3.1: Order codes
*) Max. holding torque at max. current (800mA peak / 560mA RMS) of the driver electronics

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4Electrical and mechanical interfacing
The PDx-108-28-SE-485 consists of a 28mm / NEMA 11 stepper motor with controller/driver electronics
mounted to the back of the motor. In order to make proper use of the integrated sensOstepTM encoder (the
sensor IC is placed on the bottom of the pcb) the electronics should not be removed/moved relative to the
motor (e.g. mounting it at a different location or with a different distance towards the motor). In case this
encoder feature is not used, the electronics may be mounted according to different user requirements.
4.1 Size of board
The board with the controller/driver electronics has a size of 28mm x 28mm in order to fit on the back side
of a NEMA11 (28mm flange size) stepper motor.
28mm
28mm
Motor
Power and I/O
1
1
Figure 4.1: Top side of the board with connectors (all values in mm).

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.2 Size of unit
Currently, there is a choice between two 28mm stepper motors of different lengths and different torques.
Please also refer to the manuals of the related stepper motors QSH2818-32-07-006 and QSH2818-51-07-012.
Connector
43 max20±1
15±0.2
2 max
4.5
Ø05-0.02
Ø022-0.03
28 max
23±0.2
4 x M2.4
deep 3.5
28 max
23±0.2
Figure 4.2: PD1-108-28-SE-485 with 2-phase 28mm stepper motor QSH2818-32-07-006
Connector
62 max20±1
15±0.2
2 max
4.5
Ø05-0.02
Ø022-0.03
28 max
23±0.2
4 x M2.4
deep 3.5
28 max
23±0.2
Figure 4.3: PD3-108-28-SE-485 with 2-phase 28mm stepper motor QSH2818-51-07-012

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.3 Torque curves
4.3.1 PD1-108-28-SE-485
Please find below the pull-out torque curve for the PD1-108-28-SE-485 integrated motor / electronics unit.
The speed (x-axis) is defined as full steps per second. As the integrated motor offers 200 full steps per
rotation, e.g. 200 full steps per second is equivalent to one rotation per second (rps) or 60 rotations per
minute (rpm).
Figure 4.4: Torque curve for PD1-108-28-SE-485
0
5
10
15
20
25
30
35
40
45
50
100 1000
torque[mNm]
speed[Fullsteps/s]
Unit: PD1-108-28-SE-485, QMOT Motor: QSH2818-32-07-006

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.4 Connectors
Due to the size of the module the space for connectors is rather limited. The PDx-108-28-SE-485 provides just
one connector with 8 pins for power, communication and general purpose inputs and outputs. A second
connector with 4 pins is used internally for connecting the motor wires.
4.4.1 Power and I/O connector
An 8-pin JST PH-series 2mm pitch single row connector [JST] is used on the board.
18
Pin
Label
Direction
Description
1
GND
Power (GND)
GND
2
VDD
Power (Supply)
VDD (+9V…+28V)
3
RS485
A
Bidirectional
RS-485 interface (+)
4
RS485
B
Bidirectional
RS-485 interface (-)
5
GPI0
Input
Digital (0..+5V, up to +/-28V), analog (0..+5V)
6
GPI1
Input
Digital (0..+5V, up to +/-28V), analog (0..+5V)
7
GPO0
Output
Open collector, max. , 150mA
8
GPO1
Output
Open collector, max. , 150mA
Table 4.1: Power and I/O connector
Mating connector from JST: PHR-8 (housing) and SPH-002T-P0.5S (crimp contact for AWG #30 to 24 / 0.05mm2
to 0.22mm2wires).
4.4.2 Motor connector
The motor connector is used internally for connecting the four motor wires to the electronics.
1
4
Pin
Label
Direction
Description
1
OA1
Output
Pin 1, motor coil 1
2
OA2
Output
Pin 2, motor coil 2
3
OB1
Output
Pin 1, motor coil 1
4
OB2
Output
Pin 2, motor coil 2
Table 4.2: Motor connector

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4.5 Power supply
For proper operation care has to be taken with regard to power supply concept and design. Due to space
restrictions the PDx-108-28-SE-485 electronics includes just about 30µF/35V of supply filter capacitors. These
are ceramic capacitors which have been selected for high reliability and long life time. The module does not
include any protection against over-voltage or reverse polarity.
It is absolutely necessary that the power supply voltage is kept below the upper limit of 29V under all
circumstances (please see also chapter 6, operating values). Otherwise the driver electronics might be
seriously damaged! Especially, when the selected operating voltage is near the upper limit a regulated
power supply is highly recommended.
It is recommended to connect an electrolytic capacitor of significant size (e.g. 470µF/35V) to the power
supply lines next to the PDx-108-28-SE-485!
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 slew-rate of power supply voltage at the module. The low ESR of
ceramic-only filter capacitors can cause stability problems with some switching power supplies.

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.6 Inputs and outputs
4.6.1 RS485
For remote control and communication with a host system the PDx-108-28-SE-485 provides a two wire RS485
bus interface. For proper operation the following items should be taken into account when setting up an
RS485 network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection
between each node and the bus itself should be as short as possible. Basically, it should be short
compared to the length of the bus.
c:> node
1
node
n- 1
node
n
Host Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 4.5: Bus structure
2. BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication
speeds, the bus should be properly terminated at both ends of the bus. The PDx-108-28-SE-485
integrates a 120 Ohm termination resistor that is placed between both RS485 bus wires by
shortening two soldering pads (e.g. soldering dot or zero Ohm SMD resistor (0603)) on the pcb as
shown below.
open: no termination resistor
closed: 120 Ohm termination resistor
Figure 4.6: RS485 termination
As default a zero Ohm resistor is assembled in order to activate 120 Ohm line termination on-board.
This will simplify set-up in case the PDx-108-SE-485 is connected as last / first node in an RS485

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network as there is no additional termination resistor necessary. Nevertheless, in any other case
(e.g. separate bus termination, unit placed somewhere in the middle of the bus, several PDx-108-28-
485 connected together) please make sure the zero Ohm resistor will be removed for proper RS485
operation!
3. NUMBER OF NODES:
The RS-485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single
bus. The bus transceiver used for the PDx-108-28-SE units (SN65HVD485ED) has just half of the
standard bus load and allows a maximum of 64 units to be connected to a single RS485 bus.
4. NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is
transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to
communication errors. In order to ensure valid signals on the bus it is recommended to use a
resistor network connecting both bus lines to well defined logic levels. In contrast to the
termination resistors this network is normally required just once for a bus. Certain RS485 interface
converters available for a PC already include these additional resistors (e.g. USB-2-485).
node
n- 1
node
n
Slave Slave
termination
resistor
(120 Ohm)
+5V
GND
pull-up (1k)
pull-down (1k)
RS485- / RS485B
RS485+ / RS485A
Figure 4.7: Bus lines with resistor network

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.6.2 General purpose inputs
The eight pin connector of the PDx-108-28-SE provides two general purpose inputs. These two inputs can be
programmed in order to accept digital signals as well as analogue signals.
Both inputs are protected with 10k series resistors together with limiting diodes against voltages below 0V
(GND) and above +5V DC.
Figure 4.8: General purpose inputs
4.6.3 General purpose outputs
The eight pin connector of the PDx-108-28-SE provides two general purpose outputs. These two outputs are
open-collector outputs and can sink up to 150mA each. The N-channel MOSFET transistors used [BSS123] can
withstand voltages up to 100V at the outputs when switched off. Nevertheless, the voltages should be
normally limited to the supply voltage of the unit.
Figure 4.9: General purpose outputs
Attention: Please make sure to add external freewheeling diodes when connecting an inductive load (relays
etc.).

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
5Functional description
The PDx-108-28-SE-485 is a full mechatronic solution including a 28mm flange (NEMA11) bipolar stepper
motor. It includes the controller/driver electronics, a sensOstep™ encoder and two different motors of
different length and torque.
The PDx-108-28-SE-485 can be controlled via RS485 serial interface. The power supply, interface and the
multipurpose I/Os can be connected via single small JST connectors.
The PDx-108-28-SE-485 comes with the PC based software development environment TMCL-IDE for the
Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level commands like move to
position a rapid and fast development of motion control applications is guaranteed. Please refer to the PDx-
108-28-SE-485 Firmware Manual for more information about TMCL™ commands.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation are performed on
board. Full remote control of device with feedback is possible. The firmware of the module can be updated
via the serial interface.
9… 28V DC
µC
TMCL™ Memory
TMCL™ Interpreter
4
I/Os
Step
Motor
RS485
sensOstep™
Encoder
PDx-108-28-SE-485
TMCM-108
Motion
controller
Power
Driver
TMC222
Figure 5.1: Main parts of PDx-108-28-SE-485

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6Operational ratings
The operational ratings show the intended or the characteristic ranges and should be used as design values.
In no case shall the maximum values be exceeded.
Symbol
Parameter
Min
Typ
Max
Unit
Vcc
Power supply voltage for operation
9
12 ... 24
28
V
ICOIL
Motor coil current for sine wave
peak (chopper regulated, adjustable
via software)
0
800
mA
IMC
Continuous motor current (RMS)
0
560
mA
fCHOP
Motor chopper frequency
18
20
22
kHz
IS
Power supply current
<< ICOIL
1.4 * ICOIL
A
TENV
Environment temperature at rated
current (no forced cooling required)
-40
45
°C
Environment temperature at 80% of
rated current or 50% duty cycle
(no forced cooling required)
-40
60
°C
Table 6.1: General operational ratings of the module
Symbol
Parameter
Min
Typ
Max
Unit
VGPO 0/1
Voltage at open collector output
0
+ Vcc
V
IGPO 0/1
Output sink current
150
mA
VGPI_digital 0/1
Input voltage for GPI0 and GPI1
when used as digital input
- Vcc
+ Vcc
V
VGPI_digital_L 0/1
Low level voltage for GPI0 and GPI1
when used as digital input
- Vcc
1,5
V
VGPI_digital_L 0/1
High level voltage for GPI0 and GPI1
when used as digital input
3
+ Vcc
V
VGPI_analogue 0/1
Measurement range for GPI0 and
GPI1 when used as analogue input
0 .. +5
V
Table 6.2: Operational ratings of the general purpost I/Os
Symbol
Parameter
Min
Typ
Max
Unit
NRS485
Number of nodes connected to
single RS485 network
64
Table 6.3: Operational ratings of the RS485 interface

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
7Revision History
7.1 Hardware revision
Version
Date
Description
1.00
2007-JAN-19
Initial release
1.10
2007-OCT-22
Electrolytic capacitor has been replaced by ceramic capacitors
1.20
2008-JUN-16
Soldering holes for motor wires have been replaced by JST connector
Figure 7.1: Hardware revision
7.2 Document revision
Version
Date
Author
Description
0.90
2007-JAN-12
GE
Initial version
0.91
2007-SEP-06
GE
Major update
0.92
2008-MAR-27
GE
TMCL™support added
0.93
2008-JUN-23
GE
RS485 pin assignment corrected + TMCL™stand-alone support
0.94
2008-SEP-01
GE
Separate hardware and TMCL™firmware manuals
1.00
2010-MAY-31
SD
Minor corrections
Figure 7.2: Document revision

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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
8References
[TMCL] TMCL™Reference and Programming Manual (see http://www.trinamic.com)
[QSH2818-32-07-006] NEMA11 / 28mm bipolar stepper motor used in PD1
(reference manual please download from http://www.trinamic.com)
[QSH2818-51-07-012] NEMA11 / 28mm bipolar stepper motor used in PD3
(reference manual please download from http://www.trinamic.com)
[JST] JST PH connector (2.0mm pitch, disconnectable crimp style)
http://www.jst.com
[USB-2-485] USB-2-485 interface converter
(reference manual please download from http://www.trinamic.com)
[BSS123] N-Channel Logic Level Enhancement Mode Field Effect Transistor
(Fairchild Semiconductor http://www.fairchildsemi.com/)
[TMC222] TMC222 datasheet
(please download latest version from http://www.trinamic.com)