Trinamic IDX 4803 User manual

IDX (IDX 4803 and IDX 7505)
Manual
STEPPER motor controller/driver modules
IDX / IDX 4803: 3.5A RMS (5A peak) / 48V
IDX 7505: 5.0A RMS (7A peak) / 75V
with RS485 and step-/ direction interface
Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg, Germany
Phone [phone] – 0
FAX: [phone] – 60
http://www.trinamic.com
[email protected]
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 2
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Table of Contents
1Features ........................................................................................................................................... 4
2Life support policy ............................................................................................................................ 5
3Electrical and Mechanical Interfacing............................................................................................... 6
3.1 Pinning ...................................................................................................................................... 6
3.2 Dimensions ............................................................................................................................... 7
3.3 Connectors................................................................................................................................ 7
4Operational Ratings ......................................................................................................................... 8
4.1 Practical maximum motor current ratings ................................................................................. 9
4.2 Step, Direction and Disable Inputs.......................................................................................... 10
5Getting Started ............................................................................................................................... 11
5.1 Motor ....................................................................................................................................... 11
5.1.1 Motor Choice...................................................................................................................... 11
5.1.1.1 Motor velocity.............................................................................................................. 11
5.1.1.2 Chopper Modes 0 (SPI / Default Mode) and 1 (PWM) ............................................... 11
5.1.1.3 Chopper Mode 2 (PHASE) ......................................................................................... 12
5.2 Connecting Motor and Power Supply ..................................................................................... 14
5.3 Power Supply Requirements .................................................................................................. 14
5.4 Connections for Step / Direction- Mode.................................................................................. 15
5.5 Connections for RS485 Interface............................................................................................ 16
5.5.1 Interface installation ........................................................................................................... 16
5.5.2 Control with terminal program............................................................................................ 16
6Functional Description.................................................................................................................... 17
6.1 Disable Function ..................................................................................................................... 17
6.2 RS485 Control Interface .........................................................................................................17
6.2.1 RS485 Commands............................................................................................................. 18
6.2.1.1 Examples for test move .............................................................................................. 19
6.2.1.2 Motor Current (C)........................................................................................................ 19
6.2.1.3 Failure Readout (E)..................................................................................................... 19
6.2.1.4 StallGuard (G)............................................................................................................. 20
6.2.1.5 Limit Switch (L) ........................................................................................................... 20
6.2.1.6 Output setting (O) ....................................................................................................... 20
6.2.1.7 I/Os Readout (Q)......................................................................................................... 21
6.2.1.8 Baud Rate (U) ............................................................................................................. 21
6.2.1.9 Velocity Mode (V)........................................................................................................ 21
6.2.1.10 Store Parameters to EEPROM (W) ............................................................................ 22
6.2.1.11 Microstep Resolution (Z)............................................................................................. 22
6.2.2 Chopper Modes ................................................................................................................. 22
6.2.2.1 Chopper Mode 0 (SPI) / Default Mode ....................................................................... 22
6.2.2.2 Chopper Mode 1 (PWM)............................................................................................. 23
6.2.2.3 Chopper Mode 2 (PHASE) ......................................................................................... 23
6.2.2.4 Chopper mode 3 (Phase and SPI).............................................................................. 24
6.2.2.5 Chopper mode 4 (PWM and SPI) ............................................................................... 24
6.3 Step / Direction........................................................................................................................ 25
6.3.1 Direction ............................................................................................................................. 25
6.3.2 Step.................................................................................................................................... 26
6.4 Reset to factory default ........................................................................................................... 26
6.5 Firmware Update..................................................................................................................... 27
6.6 Option: Pseudo DC-Motor mode (not supported by software yet).......................................... 28
6.6.1 Setting up the module ........................................................................................................ 28
6.6.2 Parameterizing with RS485 ............................................................................................... 28
6.6.3 Motion Control.................................................................................................................... 28
7Revision History ............................................................................................................................. 29
7.1 Documentation Revision ......................................................................................................... 29
7.2 Firmware Revision .................................................................................................................. 29
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 3
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
List of Figures
Figure 3.1: Pinning of IDX ....................................................................................................................... 6
Figure 3.2: Dimensions............................................................................................................................ 7
Figure 3.3: Base Plate Dimensions ......................................................................................................... 7
Figure 4.1: Step, Direction and Disable Inputs...................................................................................... 10
Figure 5.1: Maximum voltage regarding motor current and inductivity ................................................. 13
Figure 5.2: Connecting Motor and Power Supply ................................................................................. 14
Figure 5.3: Contacts for Step-Direction ................................................................................................. 15
Figure 5.4: Contacts for RS485 with an adapter ................................................................................... 16
Figure 5.5 : Connection settings for RS485 .......................................................................................... 16
Figure 6.1: GPO wiring scheme ............................................................................................................ 20
Figure 6.2: Step-Direction signals and motor reactions ........................................................................ 25
Figure 6.3: Step and Direction Signal.................................................................................................... 26
Figure 6.4: Reset to factory default ....................................................................................................... 26
Figure 6.5: Firmware update tool .......................................................................................................... 27
Figure 6.6: GPI wiring scheme .............................................................................................................. 28
Figure 6.7: Layout Changes for DC-Motor option ................................................................................. 28
List of Tables
Table 1.1: Order codes............................................................................................................................ 4
Table 3.1: Power and Motor Pinning ....................................................................................................... 6
Table 3.2: Controls Pinning ..................................................................................................................... 6
Table 4.1: Operational Ratings (Orange: Different values for IDX 7505)................................................ 8
Table 4.2.1: Practical motor current limitations for IDX 7505.................................................................. 9
Table 5.1: Maximum voltage regarding motor current and inductivity .................................................. 12
Table 6.1: RS485 Commands ............................................................................................................... 18
Table 6.2: Motor Current Examples for IDX / IDX 4803 ........................................................................ 19
Table 6.3: Failure readout in SPI mode................................................................................................. 19
Table 6.4: StallGuard............................................................................................................................. 20
Table 6.5: Limit switch ........................................................................................................................... 20
Table 6.6: Output adjustment ................................................................................................................ 20
Table 6.7: I/Os Readout ........................................................................................................................ 21
Table 6.8: Baud rate .............................................................................................................................. 21
Table 6.9: Adjustment of Microstep Resolution..................................................................................... 22
Table 6.10: Chopper mode 3 switching velocities.................................................................................24
Table 6.11: External signals and motor reactions ................................................................................. 25
Table 7.1: Documentation Revisions..................................................................................................... 29
Table 7.2: Firmware Revisions.............................................................................................................. 29
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 4
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
1 Features
The TRINAMIC IDX is a small and rugged step / direction stepper motor driver system with a supply
voltage of up to 50V and up to 3.5A RMS motor coil current (up to 75V and up to 5A RMS for
IDX 7505). It can be controlled via an RS-485 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 (StallGuardTM) 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 heatsink.
Applications
• Step-/ Direction 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 type
• Coil current from 500mA to 3.5A RMS (5A peak) (IDX / IDX 4803)
Coil current from 500mA to 5.0A RMS (7A peak) (IDX 7505)
• 12V to 50V nominal supply voltage (or any value in between) (IDX / IDX 4803)
12V to 75V nominal supply voltage (or any value in between) (IDX 7505)
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
• Different chopper modes allow best adaptation to application / motor
• Many adjustment possibilities make this module the solution for a great field of demands
Order code Description
IDX or IDX 4805 48V, 3.5A IDX module
IDX 7505 75V, 5A IDX module
(available anticipated Sept. 2006)
Table 1.1: Order codes
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 5
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
2 Life 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 2005
Information given in this data sheet is believed to be
accurate and reliable. However no responsibility is
assumed for the consequences of its use nor for any
infringement of patents or other rights of third parties,
which may result form its use.
Specifications subject to change without notice.
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 6
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3 Electrical and Mechanical Interfacing
3.1 Pinning
Power
&
Motor
Controls
OB2
OB1
OA2
OA1
GND
+VS
Common
Disable
Dir
Step
+5V
RefA
RefB
GND
GPI
GPO
RS485A
RS485B
RS485A
RS485B
IDX
Figure 3.1: Pinning of IDX
Pin Number Function
OB1, OB2 1, 2 Connections for motor coil B
OA1, OA2 3, 4 Connections for motor coil A
GND 5 GND, power
+VS 6 Positive power supply voltage
Table 3.1: Power and Motor Pinning
Pin Number Function
RS485 - 1, 3 RS485 remote control access -, TTL input
RS485 + 2, 4 RS485 remote control access +, TTL input
GPO 5 General Purpose Output, for wiring scheme see Figure 6.1
GPI 6 General Purpose Input, for wiring scheme see Figure 6.6
GND 7 GND reference
REF B 8 Reference signal B (integrated 3.9 K pull up resistor to +5V)
REF A 9 Reference signal A (integrated 3.9 K pull up resistor to +5V)
+5V 10 Constant +5V output, reference
Step 11 Opto-decoupled input (negative terminal):
Each impulse causes one motor microstep
Direction 12 Opto-decoupled input (negative terminal):
Polarity determines motor direction
Disable 13 Opto-decoupled input (negative terminal):
Tie to opto-coupler negative supply voltage to disable motor driver
Common 14 5…24V, Opto-coupler positive supply voltage
Table 3.2: Controls Pinning
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 7
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.2 Dimensions
63.5mm
63.5mm
19mm
29.5mm
34mm
3mm
Figure 3.2: Dimensions
7mm
12mm
6.5mm
4mm
4.5mm
63.5mm
29.5mm
3mm
63.0mm
Figure 3.3: Base Plate Dimensions
3.3 Connectors
Both connectors are RIA 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)
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 8
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
4 Operational 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 (IDX 4803) 12 ... 48 58.5 V
VSPower supply voltage (IDX 7505) 12 ... 75 78.5 V
ICOIL Motor coil current for sine wave peak
(chopper regulated, adjustable via
software) (IDX 4803)
0.7 … 4.3 5 A
ICOIL Motor peak coil current (IDX 7505) 0.7 … 6.4 7.1 A
IMC Nominal RMS motor current (IDX 4803) 0.5 ... 3 3.5 A
IMC Nominal motor current (IDX 7505) 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 27 V
VOPTON Signal active voltage at disable, step and
direction input (optocoupler on,
measured from UCOM to input)
3.5 4.5 .. 24 27 V
VOPTOFF Signal inactive voltage at disable, step
and direction input (optocoupler off,
measured from UCOM to input))
-3 0 2 V
IOPT Optocoupler current (internally
regulated)
4 8 mA
fStep Step frequency via step input 350 kHz
tdelay Direction hold time after step impulse
active (falling) edge
0.7 µs
tsetup setup time before step impulse 2.0 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), operating
-25 85 °C
Table 4.1: Operational Ratings (Orange: Different values for IDX 7505)
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 9
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
4.1 Practical maximum motor current ratings
The IDX 7505 (IDX 4803) uses eight high power 80V (60V) transistors with low internal on resistance
of only 15mOhm (24mOhm) 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 especially becomes a limiting point for the IDX7505, 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
ICOIL 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 4.2.1: 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.
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 10
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
4.2 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 opto couplers.
OFF: VCOM - VIN < 1.0V
ON: VCOM - VIN >= 3.5V
U
COM
5..24V
Disable
Dir
Step
C
E
A
C
C
E
A
C
C
E
A
C
GND
µC
A: Anode
C: Cathode
C: Collector
E: Emitter
+5V
Figure 4.1: Step, Direction and Disable Inputs
Examples:
V
OPTOFF
V
OPTON
V
STEP
= 0V 1.5V 4.0V 5V
undefined
20V19.0V16.5V
V
OPTON
V
OPTOFF
undefined
V
COM
= 5V
V
COM
= 20V
V
STEP
= 0V
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 11
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5 Getting Started
5.1 Motor
Attention: Do not connect or disconnect the motor while power on. Damage to the module may occur.
Attention: 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.
5.1.1 Motor Choice
Care has to be taken concerning the selection of motor and supply voltage. In the different chopper
modes different criteria apply. 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 microstepping 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.
5.1.1.1 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.
5.1.1.2 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
RIV
V25...22VV2
⋅=
⋅≤≤⋅
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 12
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5.1.1.3 Chopper Mode 2 (PHASE)
In Table 5.1 and Figure 5.1 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 6.2.2.3
ICOIL (RMS) L (min.) VS(max.)
456 mH 48 V
342 mH 36 V
228 mH 24 V
3.5 A
114 mH 12 V
533 mH 48 V
400 mH 36 V
266 mH 24 V
3.0 A
133 mH 12 V
800 mH 48 V
600 mH 36 V
400 mH 24 V
2.0 A
200 mH 12 V
1600 mH 48 V
1200 mH 36 V
800 mH 24 V
1.0 A
400 mH 12 V
3200 mH 48 V
2400 mH 36 V
1600 mH 24 V
0.5 A
800 mH 12 V
5333 mH 48 V
4000 mH 36 V
2666 mH 24 V
0.3 A
1333 mH 12 V
Table 5.1: Maximum voltage regarding motor current and inductivity
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 13
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
0.0
1000.0
2000.0
3000.0
4000.0
5000.0
0.3 0.8 1.3 1.8 2.3 2.8 3.3
ICOIL /A
L /mH
VS = 48V VS = 36V VS = 24V VS = 12V
Figure 5.1: 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.
Check your motor data sheet, please.
If in doubt, please start with a lower supply voltage and check motor heating when raising the voltage.
0.0
200.0
400.0
600.0
800.0
1000.0
1200.0
1400.0
1600.0
11.522.533.5
ICOIL /A
L /mH
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 14
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5.2 Connecting Motor and Power Supply
Power supply
IDX
C
keep distance
short
Figure 5.2: Connecting Motor and Power Supply
5.3 Power Supply Requirements
The power supply voltage shall be in the limits as given in the chapter 4 under operational ratings.
Please note that there is no protection against reverse polarity or too high voltage. The power supply
typically should be within a range which fits the motor requirements, as described in chapter 5.1.1.
When using supply voltages near the upper limit, a regulated power supply becomes a must. Please
ensure, that enough power filtering capacitors are provided in the system (1000µF for each ampere of
RMS motor current or more recommended), in order to absorb mechanical energy fed back by the
motor in stalling conditions. In larger systems a zener diode circuitry might be required, when motors
are operated at high velocities.
The power supply should be designed in a way, that it supplies the nominal motor voltage at the
desired maximum motor power. In no case shall the supply value exceed the upper / lower voltage
limit. 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.
Therefore we recommend to
a) keep power supply cables as short as possible
b) use large diameter for power supply cables
c) if the distance to the power supply is large (i.e. more than 2-3m), use a robust 4700µF (IDX
7505) or 2200µF (IDX 4803) or similar additional filtering capacitor located near to the motor
driver unit. Choose the capacitor voltage rating fitting to the maximum operating voltage.
The overall power rating mainly depends on the motor used and on the mechanical output power, i.e.
the motor velocity and desired torque. As a thumb rule, a 42mm class motor will require a 10W (short
motor) to 20W (long motor) power supply, while a 57mm motor will require 15W to 30W, when
operated at maximum rated current and low velocities. Operation at very high velocities will increase
the power demand up to the double value.
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 15
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5.4 Connections for Step / Direction- Mode
The step-direction-mode is enabled if the acceleration is set to 0 (default) using the RS485 interface.
Dir
Common
Disable
Step
PWR 12...50 V
TMCM-IDX
5 ... 24 V
GND
GND
GND
Dir
Common
0 V
rotating direction
Disable
Common
0 V
rotation off on
Step
Common
0 V
Velocity Deceleration Acceleration
const.
Figure 5.3: Contacts for Step-Direction
The maximum step frequency is 350 kHz (limited by the opto couplers).
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 16
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
5.5 Connections for RS485 Interface
The RS485-mode allows for configuration of motor parameters as well as remote control of the motor.
5.5.1 Interface installation
To connect the module to a PC a RS485 interface is required, for example TRINAMIC’s new USB-2-
485 or any other RS485 adapter, like the standard RS232 to RS485-converters. Input A has to be
connected to RS485A of the IDX and Input B with RS485B.
TMCM-IDX
RS-232-port
USB-port
Terminal
alternative
RS232
to
RS485
4 3 2 1
USB
to
RS485
+ -
Either use a RS232 to
RS485 or alternatively
a USB to RS485 adapter
+
-
+
-
Figure 5.4: Contacts for RS485 with an adapter
5.5.2 Control with terminal program
Having installed the hardware, the IDX can be controlled with any terminal program, like
HyperTerminal that comes with MS-Windows. Following steps are described for HyperTerminal but
are similar for the other terminal programs:
1. Start HyperTerminal
2. A window for a new connection opens. Fill in a name and press OK.
3. Select the appropriate COM-port and press OK.
4. Fill in the values like in Figure 5.5 and confirm with OK.
Bit rate:
Data bits:
Parity:
Stop bits:
Flow control: none
none
Figure 5.5 : Connection settings for RS485
Type into the terminal window commands like “AV 50000”, “AA 300” or “Ac” and execute each with
ENTER. Pay attention to the spaces between command and value. With standard RS485 adapters the
typed value may be echoed and lines like AAVV 5500000000 for the typed AV 50000 appear. If this
happens best is to pay no attention to the screen and just type in the commands and press ENTER.
The value sent to the module is only the typed and not the displayed. First command to the module
should be an acceleration differing from 0 to enable RS485 mode. If this value is stored to the
EEPROM step/direction control is not possible until acceleration is set to zero again (and eventually
stored) or the board is reset to factory default.
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 17
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6 Functional Description
The IDX module has three different modes to control a stepper motor: step-direction, RS485 and
stand alone. With the RS485 it is possible to change parameters and save them to the EEPROM of
the module to have all options in any mode. Therefore there are different settings like microstep
resolution possible in step-direction mode also.
6.1 Disable Function
Description: The disable works as an emergency shutdown. Connected to ground all power to the
motor will shut down independent of the current settings.
It is in the users responsibility to stop the step impulses or set the velocity to zero before enabling the
motor again, because it would start abrupt otherwise.
Function Table:
VOPTON open wire VOPTOFF
motor disabled motor enabled
6.2 RS485 Control Interface
The RS485 interface can control all functions of the IDX. It is possible to change parameters, with this
interface which are also valid in the other modes like max. velocity or acceleration. The parameters
can be written to the EEPROM to obtain the changes after a restart.
A Reset to factory default is possible. Default address byte is “A” and default baud rate is 9600 baud.
This mode can only be used with an appropriate RS485 interface. Commands are sent with a terminal
program, refer 5.5.
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 18
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1 RS485 Commands
For RS485 commands write the address byte (default is A) first, followed by an command from the
following list. A small command letter provides the actual setting. All values are ASCII.
Command Function Description Range Factory
Default
A, a Acceleration Acceleration: v = 28.96 * a 0..2500000 0
C, c Set Motor
Current
Motor current in percentage of maximum
current
(0..100% * IDX max. current). Refer 6.2.1.2
0..100 50
E Failure
readout Provides failure readout. Refer 6.2.1.3 8 Bit (SPI) 1 Bit (others)
G, g StallGuard
In mode 0 (SPI) the StallGuard feature is
functional. ‘g’ provides the actual StallGuard
value, not the setting. Refer 6.2.1.4
-7..0..+7 0
L, l Limit switch Used to switch on and off reference run
values. Refer 6.2.1.5 byte -
M, m Select
Mode
Select chopper mode: 0:SPI (default), 1:PWM,
2:PHASE, 3 & 4: Combinations, Refer 6.2.2 0, 1, 2, 3, 4 0
O, o Set Output Output adjustments, Refer 6.2.1.6 2 bit 0
P Set Position Set position without moving the motor 32 bit
Q Read I/Os
Provides out of the I/O the values of the ports
GPI, REF_A, REF_B, GPO and ALARM. Refer
6.2.1.7
R
Read
Current
Position
Provides the current position of the motor 32 bit
S
Changes
address
byte
Capital letter followed by the command ‘S’
makes this letter the new address byte A
T, t RS485-
Timeout Sets the RS485-Timeout
U, u Set baud
rate
Sets baud rate for RS485 communication.
Refer to 6.2.1.8 0…7 0
V, v Velocity for
Rotation
Velocity for rotation / reference run
v = n * 0.149157 usteps/s
Additional Parameter is 0 or missing: Carriage
Return (CR) comes after acceleration phase
Additional Parameter is 1: no delay of CR
+/- 2500000,
0 or 1 0
W
Store
parameters
to EEPROM
Stores different parameters to the EEPROM to
restart with the same performance. Refer
6.2.1.9
X Version
number
Provides version number of implemented
Software
Y, y Standby
current
Sets 0..100% of maximum current after 1
second motor inactivity. For no standby current
use the same value as for “Set motor current”.
0..100 20
Z, z Microstep
Resolution
Sets the maximum microstep resolution (0:
max; 4: min), Refer 6.2.1.11 0..4 0
Table 6.1: RS485 Commands
Examples:
1. Set chopper mode to SPI Mode:
AM 0 ⇒ENTER
2. Read out the actual mode
Am
⇒ENTER
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 19
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1.1 Examples for test move
• Different accelerations and velocities
AA 500, AV 50000, AV –50000 ⇒try other AA 100…8000, AV 0…400000
• Max. current – test of torque
AA 500, AV 50000, AC 255 ⇒test torque manually ⇒AC 50 ⇒test torque
• Coil current change
AV 0, AA 500, AV 50000, AC 200, AI 0 (100%), AI 18 (50%), AI 45 (33%), AI 63 (25%)
AC 100, AI 0, AI 18, AI 45, AI 63
• Read and set position
AR, AP 0, AR, AA 500, AV 50000, AR
6.2.1.2 Motor Current (C)
The motor current can be set by the user. To do this use the RS485 command “AC” in addition with a
percent value. To calculate the actual setting, please use the 100% values as shown in the table.
Internally the current is regulated by two independent parameters for the best module/motor
performance possible.
For chopper mode 2, the maximum setting is about 75% to 90% - at higher settings, motor microstep
behaviour may become harsh. The actual maximum depends upon the actual motor. This is to avoid
the motor coil current raising above the 100% setting at any time. Not all currents can be continuously
driven at all supply voltages / cooling circumstances. Please refer to motor current limitations.
AC ICOIL,PP
IDX 7505
ICOIL,RMS
IDX 7505 ICOIL,PP
IDX 4803
ICOIL,RMS
IDX 4803
% to max.
ICOIL
100 7.1A 5.0A 4.8A 3.4A 100% *)
75 5.3A 3.8A 3.6A 2.6A 75%
66 4.7A 3.3A 3.2A 2.2A 66%
50 3.5A 2.5A 2.4A 1.7A 50%
33 2.4A 1.7A 1.6A 1.1A 33%
25 1.8A 1.26A 1.2A 0.85A 25%
10 0.71A 0.50A 0.5A 0.35A 10%
Table 6.2: Motor Current Examples for IDX / IDX 4803
*) Not possible for chopper mode 2.
6.2.1.3 Failure Readout (E)
The IDX provides a full driver failure analysis in SPI mode (8 Bit). The returned bit assignments are as
follows:
Bit Name Function Remark
7 OT Overtemperature “1” = driver chip off due to overtemperature
6 OTPW temperature prewarning “1” = driver chip prewarning temperature exceeded
5 UV driver undervoltage “1” = undervoltage on VS – does not cover all cases
4 OCHS overcurrent high side (not available in current hardware implementation)
3 OLB open load bridge B Open load detection can occur at fast motion also.
2 OLA open load bridge B Open load detection can occur at fast motion also.
1 OCB overcurrent bridge B low side Short circuit detected. Please check motor wiring.
0 OCA overcurrent bridge A low side Short circuit detected. Please check motor wiring.
Table 6.3: Failure readout in SPI mode
In the other two modes the failure analysis consists of only one bit:
1: short circuit or overtemperature
0: no failure
Downloaded from Elcodis.com electronic components distributor

IDX Manual (V1.08 / August 30th, 2006) 20
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1.4 StallGuard (G)
The StallGuard feature is available in the default mode 0 (SPI) only. It is a sensorless load
measurement and stall-detection. Overload is indicated before steps are lost. The command letter ‘g’
provides the actual StallGuard value of the motor so easy calibration is possible. To use StallGuard in
an actual application, some manual tests should be done first, because the StallGuard level depends
upon the motor velocities and on the occurrence of resonances. When switching on StallGuard, the
motor operation mode is changed and microstep resolution may be worse. Thus, StallGuard should be
switched off when not in use.
Value Description
-7..-1 Motor stops when StallGuard value is reached and position is set zero
(useful for reference run).
0 StallGuard function is deactivated (default)
1..7 Motor stops when StallGuard value is reached and position is not set zero.
Table 6.4: StallGuard
6.2.1.5 Limit Switch (L)
The parameter ‘L’ defines the different reference entrances of the module. The motor stops when the
defined position is reached.
Bit Motor stops at
0 REF_B = 0
1 REF_A = 0
2 GPI = 0
3 REF_B = 1
4 REF_A = 1
5 GPI = 1
6 0: soft stop, 1: hard stop
7 0: sets position zero
1: sets position not to zero
Table 6.5: Limit switch
To activate a reference switch set the appropriate bit to 1. When motor stops the position counter is
set to zero.
Example:
AL 8 ⇒ENTER : Activates REF_B = 1. When destination reached motor stops and position counter is
set to zero.
6.2.1.6 Output setting (O)
The bit settings are as follows:
Bit Description
0: GPO is inactive (LED off)
0 1: GPO is active (LED on)
1 1: Output is changed at end of reference run
Table 6.6: Output adjustment
Figure 6.1: GPO wiring scheme
Downloaded from Elcodis.com electronic components distributor