Trinamic IDX 7507 User manual

MMODULES
MODULES FOR STEPPER MOTORS
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
V 1.17
HARDWARE MANUAL
+ + IDX 7507
1-axis stepper
motor driver
5A RMS (7A peak)
12… 75V DC
RS485
+ +

IDX 7505 Manual (V1.17 / 2011-APR-11) 2
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1 Life support policy............................................................................................................................ 3
2 Features ........................................................................................................................................... 6
3 Order codes...................................................................................................................................... 8
4 Electrical and mechanical interfacing .............................................................................................. 9
4.1 Pinning...................................................................................................................................... 9
4.2 Dimensions ............................................................................................................................. 11
4.3 Connectors ............................................................................................................................. 11
5 Operational ratings ........................................................................................................................ 12
5.1 Practical maximum motor current ratings ............................................................................. 14
5.2 Step, direction and disable inputs.......................................................................................... 15
6 Getting started ............................................................................................................................... 17
6.1 Motor...................................................................................................................................... 17
6.1.1 Motor choice ................................................................................................................. 17
6.1.1.1 Motor velocity ..................................................................................................... 17
6.1.1.2 Chopper modes 0 (SPI / default mode) and 1 (PWM)......................................... 18
6.1.1.3 Chopper Mode 2 (PHASE).................................................................................... 19
6.2 Connecting motor and power supply..................................................................................... 21
6.3 Power supply requirements ................................................................................................... 21
6.3.1 EMV considerations....................................................................................................... 22
6.4 Connections for step/dir mode .............................................................................................. 22
6.5 Connections for RS485 interface............................................................................................ 22
6.5.1 Interface installation...................................................................................................... 23
6.5.2 Control with terminal program...................................................................................... 24
7 Functional description ................................................................................................................... 25
7.1 Disable function...................................................................................................................... 25
7.2 RS485 interface ...................................................................................................................... 25
7.2.1 RS485 Commands .......................................................................................................... 27
7.2.1.1 Examples for test move....................................................................................... 28
7.2.1.2 Motor current (C) ................................................................................................ 28

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7.2.1.3 Failure readout (E)............................................................................................... 29
7.2.1.4 stallGuard™ (G).................................................................................................... 30
7.2.1.5 Limit switch (L)..................................................................................................... 30
7.2.1.6 Output setting (O) ............................................................................................... 32
7.2.1.7 I/Os readout (Q) .................................................................................................. 32
7.2.1.8 Baud rate (U) ....................................................................................................... 33
7.2.1.9 Velocity mode (V) ................................................................................................ 34
7.2.1.10 Store parameters to EEPROM (W) ...................................................................... 34
7.2.1.11 Microstep resolution (Z)...................................................................................... 35
7.2.2 Chopper modes ............................................................................................................. 35
7.2.2.1 Chopper mode 0 (SPI) / default mode ................................................................ 35
7.2.2.2 Chopper mode 1 (PWM)...................................................................................... 37
7.2.2.3 Chopper mode 2 (PHASE) .................................................................................... 37
7.2.2.4 Chopper mode 3 (phase and SPI) ........................................................................ 39
7.2.2.5 Chopper mode 4 (PWM and SPI)......................................................................... 39
7.3 Step/dir................................................................................................................................... 40
7.3.1 Direction ........................................................................................................................ 40
7.3.2 Step ................................................................................................................................ 42
7.4 Reset to factory default.......................................................................................................... 43
7.5 Firmware update .................................................................................................................... 43
8 Revision history.............................................................................................................................. 45
8.1 Document revision ................................................................................................................. 45
8.2 Firmware revision................................................................................................................... 45
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

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provided, can be reasonably expected to result in
personal injury or death.

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Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
© TRINAMIC Motion Control GmbH & Co. KG 2011
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 © 2011, TRINAMIC Motion Control GmbH & Co. KG
2Features
The TRINAMIC IDX 7505 is a small and rugged step/direction stepper motor driver system with a
supply voltage of up to up to 75V and up to 5A RMS motor coil current. It can be controlled via an
RS485 interface. Up to 256 micro steps are supported for either high accuracy or high speed. An
update of the firmware is possible via the serial interface. The system features sensorless stall
detection (stallGuard™) and full protection. The module is fully protected and comes with a stand-
alone reference search feature.
The motor, switches and power supply can be connected easily with screw terminal connectors.
The housing is based on a thick aluminum plate which is used as a heat sink.
Applications
•Step/dir stepper driver for industrial applications
•Robotics
•Remote diagnostics / feedback allows for high-reliability drives
•Centralized motor driver mounted in switchboard
•Decentralized motor driver mounted near motor
Motor types
•0.5… 5.0A RMS / 7A peak
•12… 75V DC nominal supply voltage
Highlights
•Remote controlled diagnostics and parameterization (RS485)
•Reference move and turn CW / CCW via RS485
•Stand-alone operation, adjusted via RS485
•Fully protected drive
•Digital selection of motor current and standby current
•Local reference move using sensorless stallGuard™ feature or reference switch
•All setup parameters are stored in internal EEPROM, no bus system required in end application
•Micro step resolution can be changed to get high accuracy or high speed with the possibility to
combine both

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•Different chopper modes allow best adaptation to application / motor

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3Order codes
Order codes
Description
Dimensions [mm]
IDX 7505
75V, 5A RMS, 7A peak
63.5 x 63.5 x 18.5
Table 3.1: Order codes

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4Electrical and mechanical interfacing
4.1 Pinning
Pow er
&
Motor
Controls
OB2
OB1
OA2
OA1
GND
+VS
Common
Disable
Di r
St ep
+5V
Re f A
Re f B
GND
GPI
GPO
RS485A
RS485B
RS485A
RS485B
I DX
Figure 4.1: Pinning of IDX 7505
Pin
Label
Description
1, 2
OB1, OB2
Connections for motor coil B
3, 4
OA1, OA2
Connections for motor coil A
5
GND
GND, power
6
+VS
Positive power supply voltage
Table 4.1: Power and motor pinning
Pin
Label
Description
1, 3
RS485 -
RS485 remote control access -, TTL input
2, 4
RS485 +
RS485 remote control access +, TTL input
5
GPO
General Purpose Output, for wiring scheme see
Figure 7.2
6
GPI
General Purpose Input, for wiring scheme see Fehler!
Verweisquelle konnte nicht gefunden werden.

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7
GND
GND reference
8
REF B
Reference signal B (integrated 3.9 K pull up resistor to +5V)
9
REF A
Reference signal A (integrated 3.9 K pull up resistor to +5V)
10
+5V
Constant +5V output, reference
11
Step
Opto-decoupled input (negative terminal):
Each impulse causes one motor microstep
12
Direction
Opto-decoupled input (negative terminal):
Polarity determines motor direction
13
Disable
Opto-decoupled input (negative terminal):
Tie to opto-coupler negative supply voltage to disable motor driver
14
Common
5… 24V, optocoupler positive supply voltage
Table 4.2: Pinning for GPIOs, interfaces, and switches

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4.2 Dimensions
63.5mm
63.5mm
18.5mm
29.5mm
34mm
3mm
Figure 4.2: Dimensions of IDX
7mm
12mm
6.5mm
4mm
4.5mm
63.5mm
29.5mm
2.5mm
63.0mm
Figure 4.3: Base plate dimensions
4.3 Connectors
Power and motor: 6 pin connector RM 5.0 (07_06_RM5)
Control: Two 4 pin and one 6 pin connectors RM 3.5,
(2x 166_04_RM3.5, 1x 166_06_RM35)
Both connectors are RIA connectors.

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5Operational ratings
The operational ratings show the intended / the characteristic range for the values and should be
used as design values. In no case shall the maximum values be exceeded.
Symbol Parameter Min Typ Max Unit
VSPower supply voltage 12… 75 78.5 V
ICOIL Motor peak coil current 0.7… 6.4 7.1 A
IMC Nominal motor current 0.5… 4.5 5 A
fCHOP Motor chopper frequency (actual
frequency depends on operation mode)
20 or 36 kHz
tSLP Coil output slope 300 ns
ISPower 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 negative logic)
5… 24 30 V
VOPTON Signal active voltage at disable, step and
direction input (optocoupler on,
measured from UCOM to input)
3.5 4.5… 24 30 V
VOPTOFF Signal inactive voltage at disable, step
and direction input (optocoupler off,
measured from UCOM to input)
-5.5 0 2 V
IOPT Optocoupler current (internally
regulated)
4 8 mA
tSTEPLO Step impulse low time (optocoupler on) 0.7 µs
tSTEPHI Step impulse high time (optocoupler off) 2.0 µs
tDIRSETUP Direction setup time to rising edge of
step input
0 µs
tDIRHOLD Direction hold time after rising edge of
step input
3.0 µs
VREF Input low voltage on REFA / REFB -2 0 0.8 V
VREF Input high voltage on REFA / REFB 2.4 5 30 V
VGPI Input voltage on GPI -2 0… 5 30 V
VGPO Output voltage on GPO (open collector) -1 100 V
IGPO Output current on GPO (open collector) -150 mA
TENV Environment temperature -25 70 °C
TCTemperature of case back (cooling
plate)
-25 85 °C

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Table 5.1: Operational ratings

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5.1 Practical maximum motor current ratings
The IDX 7505 uses eight high power 80V transistors with low internal on resistance of only 15mOhm
to drive the motor. Due to this, power loss is just a few watts at maximum current. In order to avoid
EMV problems and to keep electromagnetic emission low, the transistors are switched smoothly on
and off with 300ns transitions. On the other hand, this produces dynamic losses and thus additional
power dissipation. The resulting power dissipation has to be cooled away by air convection and via
the metal base plate, in order to keep transistor and board temperature well below 125°C
(Integrated thermal limit). This becomes a limiting point, because of its high voltage capability. The
following table gives some examples for the current capability in a typical mounting situation, where
the module is mounted to a metal base plate (heat sink with fins, overall dimensions
100*50*15mm³). In this situation the base plate was always kept at maximum 60°C. However, the
actual motor type and velocity setting also influences power dissipation of the module.
Chopper
mode
Supply
voltage
Maximum I
COIL
RMS
for continuous operation
Maximum duty cycle
for full current
0, 1
75V
3.5A
50%
0, 1
70V
4A
60%
0, 1
60V
4.5A
80%
0, 1
≤50V
5A
100%
2
15V … 75V
4A *)
n/a
Table 5.2.1: Practical motor current limitations for IDX 7505
*) This limit is due to the higher current ripple in chopper mode 2, which allows a maximum of 75%
to 90% of the maximum current setting. It is not a thermal limit.

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5.2 Step, direction and disable inputs
The inputs disable, dir and step are electrically isolated from the module. The inputs are related to
VCOM. In a typical application, UCOM shall be tied to the positive supply voltage of the master and the
inputs are driven by open collector or push/pull outputs. VOPTOFF and VOPTON must not exceed VCOM to
avoid reverse polarity for the optocouplers.
OFF: VCOM - VIN < 1.0V
ON: VCOM - VIN >= 3.5V
U
COM
5..24V
Disable
Di r
St ep
C
E
A
C
C
E
A
C
C
E
A
C
GND
µC
A: Anode
C: Ca t h o d e
C: Collector
E: Emitter
+5V
Figure 5.1: Step, Direction and Disable Inputs
Examples:

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VOPTOFF
VOPTON
VSTEP
= 0V 1.5V 4.0V 5V
undefined
20V19.0V16.5V
VOPTON VOPTOFF
undefined
VCOM = 5V
VCOM = 20V
VSTEP = 0V

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6Getting started
6.1 Motor
Attention:
˗Do not connect or disconnect the motor while power on. Damage to the module may occur.
˗A too high motor current setting can damage you motor! If in doubt, start with a low current setting
and check motor temperature.
˗If the motor heats up very quickly, check all settings. The motor shall never reach a temperature above
100°C under any circumstances.
˗Some stepper motors need contact to metallic parts to allow continuous operation. Mind the default
settings, when you operate in step/direction mode the first time! (You can store your own settings in
the module permanently.)
6.1.1 Motor choice
Care has to be taken concerning the selection of motor and supply voltage. In the different chopper
modes different criteria apply.
Attention:
Modes 0 and 1 are quite insensitive to the motor choice, while mode 2 is very sensitive, because it
uses a different motor current regulation scheme.
This chapter gives some mathematical information on the motor choice, but you can skip it if you
want to experiment with a given motor. Normally, best results will be achieved when operating the
given motor in a range of 50 to 100% of nominal motor current (see motor data sheet).
Mode 2 and mode 1 are mainly intended for slow, smooth and very exact movements, due to the
high micro stepping resolution. For most dynamic operation choose mode 0 or the combined modes
3 and 4 which use mode 1 or 2 for slow movements and switch to mode 0 at a defined velocity.
6.1.1.1 Motor velocity
Whenever it is desired to maximize the motor velocity in a given application, it is important to
understand limitations due to supply voltage and motor inductivity. Please consult your motor data
sheet for this, as well as the choice of the chopper mode. Chopper mode 0 allows maximum motor
velocity.

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6.1.1.2 Chopper modes 0 (SPI / default mode) and 1 (PWM)
In these two modes the maximum supply voltage (VS) of the motor must not exceed 22-25 times the
nominal motor voltage (VN), regarding the multiplication of ICOIL, MAX and RMOTOR. A higher value would
lead to an excess of motor rating.
The minimum supply voltage has to be above two times the nominal motor voltage.
MOTORMAX,COILN
NSN
RI
V
V25
...
22VV2
⋅=
⋅≤
≤⋅

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6.1.1.3 Chopper Mode 2 (PHASE)
In Table 6.1 and Figure 6.1 examples of maximum power supply voltages regarding current ICOIL and
inductivity of your motor are specified.
For further information, including a formula and description how to calculate the maximum voltage
for your setup, refer to 7.2.2.3
I
COIL
(RMS)
L (min.)
V
S
(max.)
5.0 A
0.75 mH
75 V
0.48 mH
48 V
0.24 mH
24 V
4.0 A
0.94 mH
75 V
0.6 mH
48 V
0.3 mH
24 V
3.0 A
1.25 mH
75 V
0.8 mH
48 V
0.4 mH
24 V
2.0 A
1.875 mH
75 V
1.2 mH
48 V
0.6 mH
24 V
1.0 A
3.75 mH
75 V
2.4 mH
48 V
1.2 mH
24 V
0.5 A
7.5 mH
75 V
4.8 mH
48 V
2.4 mH
24 V
0.3 A
12.5 mH
75 V
8 mH
48 V
4 mH
24 V
Table 6.1: Maximum voltage regarding motor current and inductivity

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Figure 6.1: Maximum voltage regarding motor current and inductivity
Any combination of motor coil current and inductivity which is above the curve for
maximum supply voltage (VS) is possible to drive the motor in this mode.
0
2
4
6
8
10
12
14
0,3 1,3 2,3 3,3 4,3
L /mH
ICOIL /A
75 V 48 V 24 V
0
0,5
1
1,5
2
2,5
11,5 22,5 33,5 44,5 5
L /mH
ICOIL /A