Trinamic PANdrive PD42-1-1370 User manual

PANdrive™for Stepper PANDRIVE™
PD42-x-1370 Hardware Manual
Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18
The PANdrive™PD42-1-1370, PD42-2-1370, PD42-3-1370 amd PD42-4-1370 are small and compact full
mechatronic solutions including NEMA17 / 42mm flange size stepper motors. The PANdrives™are
controlled via RS485 bus interface using TMCL protocol. They feature an integrated magnetic en-
coder for position feedback, spreadCycle™chopper for high speed stepper motor commutation, a
fully integrated hardware motion controller with s-shaped motion ramps, as well as stallGuard2™
and coolStep™.
Features
• Stepper Motor NEMA17 with con-
troller / driver
•0.22 - 0.7Nm holding torque
• Supply Voltage +9. . . 28V DC supply
voltage
•Up to 2A RMS motor current
•RS485 bus interface
• integrated s-shaped ramp motion
controller in hardware
•magnetic encoder IC
•spreadCycle™smart mixed decay
•stallGuard2™load detection
•coolStep™ automatic current scal-
ing
Applications
•Laboratory Automation
•Manufacturing
•Semiconductor Handling
•Robotics
•Factory Automation
•Test & Measurement
•Life Science
•Biotechnology
•Liquid Handling
Simplified Block Diagram
9
…
28
V DC
Microcontroller
EEPROM
4
IN
_
0
..
IN
_
3
Step
Motor
RS
485
MOSFET
Driver
Stage
Energy Efficient
Driver
TMC
262
Pre
-
Driver
SPI
PD
42
-
x
-
1370
Motion
Controller
DC
/
DC
Magnetic
Encoder
OUT
_
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 2 / 27
Contents
1 Features 3
2 Order Codes 4
3 Mechanical and Electrical Interfacing 5
3.1 Dimensions of PD42-x-1370 ....................................... 5
3.2 Stepper motor ............................................... 6
3.3 Integrated Encoder ............................................ 7
4 Connectors 9
4.1 Power Supply, RS485 and I/O Connector ............................... 10
4.2 Motor Connector ............................................. 11
5 On-Board LEDs 12
6I/Os 13
6.1 Digital inputs HOME, STOP_L, STOP_R and /ENABLE ......................... 13
6.2 Digital output (open-drain) ....................................... 13
7 Communication 14
7.1 RS485 .................................................... 14
8 Motor driver current 16
9 Torque curves 18
9.1 PD42-1-1370 Torque Curve ....................................... 18
9.2 PD42-2-1370 Torque Curve ....................................... 18
9.3 PD42-3-1370 Torque Curve ....................................... 19
9.4 PD42-4-1370 Torque Curve ....................................... 19
10 Functional Description 20
11 Operational Ratings and Characteristics 21
12 Abbreviations used in this Manual 22
13 Figures Index 23
14 Tables Index 24
15 Supplemental Directives 25
15.1 Producer Information .......................................... 25
15.2 Copyright .................................................. 25
15.3 Trademark Designations and Symbols ................................. 25
15.4 Target User ................................................. 25
15.5 Disclaimer: Life Support Systems .................................... 25
15.6 Disclaimer: Intended Use ........................................ 25
15.7 Collateral Documents & Tools ...................................... 26
16 Revision History 27
16.1 Hardware Revision ............................................ 27
16.2 Document Revision ............................................ 27
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 3 / 27
1 Features
The PANdrive ™ PD42-1-1370, PD42-2-1370, PD42-3-1370 amd PD42-4-1370 are small and compact full
mechatronic solutions including NEMA17 / 42mm flange size stepper motors, the TMCM-1370 controller /
driver electronics and magnetic encoder for position feedback and optional closed-loop operation. The
four PANdrives include stepper motor with different lengths and different holding torques (PD42-1-1370:
0.22Nm, PD42-2-1370: 0.36Nm, PD42-3-1370: 0.44Nm and PD42-4-1370: 0.7Nm) but, same electronics and
encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os together
with the build-in TMCL scripting feature and remote operation using one of the available communication
interfaces and even a mixture of both.
Motion Controller
•Fully integrated hardware motion controller with s-shaped motion ramp support
•Motion profile calculation in real-time
•On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
•Automatic position regulation in hardware (optional, with integrated encoder)
Driver
•Motor current: up to 2A RMS (2.8A peak, programmable in software)
•Supply voltage: +24V DC (+9. . . +28V DC)
•256 microsteps per fullstep
•spreadCycle™highly dynamic current control chopper
Encoder
•integrated magnetic / hall sensor based absolut position encoder
Interfaces
•RS485 interface (up-to 1Mbit/s)
•HOME, Left and Right STOP switch inputs
•Driver enable input
•Digital output (open-drain)
Software
• TMCL ™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL ™ commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see PD42-x-
1370 TMCL firmware manual for more details
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 4 / 27
2 Order Codes
The combination of motor and motor mounted controller/driver electronic is currently available with four
stepper motors (different length and holding torque):
The length of the PANdrives is specified without the length of the axis. For the overall length of the prod-
uct please add 24mm
Order Code Description Size (LxWxH)
PD42-1-1370 PANdrive ™ with NEMA17 stepper motor, 0.22Nm
max., 2A RMS, +24V, S-ramps, magnetic encoder,
RS485, TMCL firmware
42mm x 42mm x 47mm
PD42-2-1370 PANdrive ™ with NEMA17 stepper motor, 0.36Nm
max., 2A RMS, +24V, S-ramps, magnetic encoder,
RS485, TMCL firmware
42mm x 42mm x 51mm
PD42-3-1370 PANdrive ™ with NEMA17 stepper motor, 0.44Nm
max., 2A RMS, +24V, S-ramps, magnetic encoder,
RS485, TMCL firmware
42mm x 42mm x 60mm
PD42-4-1370 PANdrive ™ with NEMA17 stepper motor, 0.7Nm
max., 2A RMS, +24V, S-ramps, magnetic encoder,
RS485, TMCL firmware
42mm x 42mm x 73mm
Table 1: Order Code
A cable loom set is available for this module:
Order Code Description
PD42-1370-CABLE Cable loom for PD42-1370:
• 1x cable loom for power supply, RS485 and I/O connector (cable length
200mm, 10pin JST PH connector at one end, open wires at the other
end)
Table 2: PD42-x-1370 Cable Loom
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 5 / 27
3 Mechanical and Electrical Interfacing
All PD42-x-1370 consist of one out of four available NEMA17 / 42mm stepper motors with 2A RMS rated
coil current with the same controller / driver electronics mounted on its backside and integrated magnetic
encoder. The PD42-1-1370 uses the QSH4218-34-20-022 stepper motor with 0.22Nm holding torque, the
PD42-2-1370 uses the QSH4218-38-20-036 stepper motor with 0.36Nm holding torque, the PD42-3-1370
uses the QSH4218-47-20-044 stepper motor with 0.44Nm holding torque and the PD42-4-1370 uses the
QSH4218-60-20-070 stepper motor with 0.7Nm holding torque.
NOTICE Note:
In order to make proper use of the integrated magnetic encoder (the
sensor IC is placed on the bottom of the pcb) the controller /driver electronics
should not be removed/moved relative to the motor. In case the integrated
encoder feature is not used, the electronics may be moved or even removed from
the motor and placed somewhere else according to application requirements.
3.1 Dimensions of PD42-x-1370
Length
Figure 1: PD42-x-1370 with different NEMA17 / 42mm stepper motors (all dimensions in mm)
PANdrive Overall length of unit
PD42-1-1370 46.5 ±1 mm
PD42-2-1370 51 ±1 mm
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 6 / 27
PANdrive Overall length of unit
PD42-3-1370 60 ±1 mm
PD42-3-1370 73 ±1 mm
Table 3: Overall length of PANdrive units (body without motor axis)
3.2 Stepper motor
Main characteristics of the four different motors available as part of the PD42-x-1370 PANdrive™:
Specifications Unit PD42-1-1370 PD42-2-1370 PD42-3-1370 PD42-4-1370
Step angle ° 1.8 1.8 1.8 1.8
Step angle accuracy % +/-5 +/-5 +/-5 +/-5
Ambient temperature °C -20. . . +50 -20. . . +50 -20. . . +50 -20. . . +50
Max. motor temperature °C 80 80 80 80
Shaft radial play (450g load) mm 0.02 0.02 0.02 0.02
Shaft axial play (450g load) mm 0.08 0.08 0.08 0.08
Max radial force (20mm
from front flange)
N 28 28 28 28
Max axial force N 10 10 10 10
Rated voltage V 2.0 2.4 2.4 4.4
Rated phase current A 2.0 2.0 2.0 2.0
Phase resistance at 20°C Ω1.0 1.2 1.4 2.3
Phase inductance (typ.) mH 1.6 2.2 2.1 6.0
Holding torque Nm 0.22 0.36 0.44 0.70
Insulation class B B B B
Rotor inertia g cm235 57 68 102
Weight kg 0.22 0.24 0.35 0.5
Table 4: NEMA17 / 42mm stepper motor technical data
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3.3 Integrated Encoder
The PD42-x-1370 line of PANdrives ™ offers an integrated encoder based on hall sensor technology with
a resolution of 12bit per rotation. When comparing with our sensOstep ™ solutions which are also hall
sensor based this encoder offers superior performance with comparatively high update rates and low
latency.
In combination with our latest generation of hardware motion controller ICs this architecture offers cost
optimized closed-loop support. In order to enable closed-loop operation the following sequence of TMCL
commands may be used:
1 SAP 6, 0, 255 // set run current to 2A (RMS)
3 // closed loop field weakening settings
SAP 108, 0, 300000 // gamma Vmin
5 SAP 109, 0, 600000 // gamma Vmax
7 SAP 115, 0, 2000 //set closed loop correction velocity P
SAP 116, 0, 20 //set closed loop correction velocity I
9
SAP 117, 0, 2000 //set closed loop correction velocity I clipping
11 SAP 118, 0, 0 //set closed loop correction velocity DV clock
SAP 119, 0, 200000 //set closed loop correction velocity DV clipping
13
SAP 129, 0, 1 // Turn on closed loop
15
WaitInit:
17 GAP 133, 0 // Wait until closed loop init finished
JC ZE, WaitInit
19
// acceleration , velocity settings (example )
21 SAP 4, 0, 600000
SAP 5, 0, 800000 // set acceleration
23 SAP 17, 0, 800000 // set deceleration
Stop
Please note that this code snippet should be regarded as starting point for application specific optimiza-
tions of regulation parameters.
Field weakening is mandatory for higher speed operation in closed loop mode. As torque curve decreases
earlier when ramping up speed for the longer motors with higher holding torque field weakening may
be applied earlier, already. Therefore, for the PANdrive ™ with the longest motor (PD42-4-1370) the field
weakening parameters should be adjusted accordingly:
SAP 6, 0, 255 // set run current to 2A (RMS)
2
// closed loop field weakening settings
4 SAP 108, 0, 110000 // gamma Vmin
SAP 109, 0, 400000 // gamma Vmax
6
SAP 115, 0, 2000 // set closed loop correction velocity P
8 SAP 116, 0, 20 // set closed loop correction velocity I
10 SAP 117, 0, 2000 // set closed loop correction velocity I clipping
SAP 118, 0, 0 //set closed loop correction velocity DV clock
12 SAP 119, 0, 200000 //set closed loop correction velocity DV clipping
14 SAP 129, 0, 1 // Turn on closed loop
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 8 / 27
16 WaitInit:
GAP 133, 0 // Wait until closed loop init finished
18 JC ZE, WaitInit
20 // acceleration , velocity settings (example )
SAP 4, 0, 600000
22 SAP 5, 0, 800000 // set acceleration
SAP 17, 0, 800000 // set deceleration
24 Stop
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 9 / 27
4 Connectors
The PD42-x-1370 offers two connectors - one 10 pin connector for power supply, communication (RS485)
and IOs and one 4 pin connector for connecting the stepper motor.
NOTICE Start with power supply OFF and do not connect or disconnect motor dur-
ing operation! Motor cable and motor inductivity might lead to voltage spikes
when the motor is (dis)connected while energized. These voltage spikes might
exceed voltage limits of the driver MOSFETs and might permanently damage
them. Therefore, always switch off/ disconnect power supply or at least disable
driver stage before connecting / disconnecting motor.
110
1
4
Motor
Power, RS485 and I/O
Figure 2: PD42-x-1370 connectors
Connector Types and Mating Connectors
Connector Connector type on-board Mating connector type
Power, RS485 and I/O JST B10B-PH-K-S
(JST PH series, 10pins, 2mm pitch)
Connector housing: JST PHR-10
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Motor JST B4B-PH-K-S
(JST PH series, 4pins, 2mm pitch)
Connector housing: JST PHR-4
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
Table 5: Connector Types and Mating Connectors of the PD42-x-1370
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4.1 Power Supply, RS485 and I/O Connector
The PD42-x-1370 offers one 10pin JST PH connector for power supply input, communication and I/O. For
communication a 2-wire RS485 bus interface is available. The four digital inputs have dedicated functions
as HOME, STOP_L and STOP_R inputs and one driver enable input (active low). All four inputs offer internal
pull-ups to approx. +5V. The HOME, STOP_L and STOP_R inputs may be used as general purpose inputs,
also - configurable in software depending on application. In addition to the four inputs one general
purpose digital output (open drain) is available. This output offers an internal pull-up reistor to +5V in
order to maintain a valid logic level while the internal transistor is disabled. The output transistor (MOSFET)
may sink up-to 100mA when activated and can withstand voltages up-to 30V.
Power Supply, Communication and I/O Connector Pin Assigment
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2 VMAINPower (input) Main power supply input for the driver and on-board logic
9. . . 28V
3 RS485+ Bidirectional RS485 interface, diff. signal (non-inverting)
4 RS485- Bidirectional RS485 interface, diff. signal (inverting)
5 GND Power (GND) Common system supply and signal ground
6 OUT0 Output (OD) Open-Drain output. Output will be pulled low when activated.
Voltages up-to logic supply input level are supported here. Max.
continuous pull-down current: 100mA
7 HOME Input Digital input +5V and +3V3 level compatible. Internal pull-up
to approx. +5V. Can be used as dedicated HOME sensor input
or as general purpose digital input (application and firmware
dependent)
8 STOP_L Input Digital input +5V and +3V3 level compatible. Internal pull-up to
approx. +5V. Can be used as dedicated STOP left sensor input
or as general purpose digital input (application and firmware
dependent)
9 STOP_R Input Digital input +5V and +3V3 level compatible. Internal pull-up to
approx. +5V. Can be used as dedicated STOP right sensor input
or as general purpose digital input (application and firmware
dependent)
10 /ENABLE Input Digital input +5V and +3V3 level compatible. Internal pull-up to
approx. +5V. Driver enable input (active low). Has to be pulled
low / connected to GND in order to activate driver stage
Table 6: Power supply, communication and I/O connector pin assignment
NOTICE Do not connect or disconnect motor during operation!
Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
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NOTICE Take care of polarity, wrong polarity can destroy the board!
NOTICE Connect Enable pin to GND in order to enable motor movements!
4.2 Motor Connector
A second 4pin JST PH series connector is available for connection of a 2-phase bipolar stepper motor. This
connector is usually connected to the attached motor already.
Motor Connector Pin Assignment
Pin Label Direction Description
1 OB1 out Pin 1 of motor coil B (red)
2 OB2 out Pin 2 of motor coil B (blue)
3 OA1 out Pin 1 of motor coil A (green)
4 OA2 out Pin 2 of motor coil A (black)
Table 7: Motor Connector Pin Assignment
NOTICE Do not connect or disconnect motor during operation!
Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 12 / 27
5 On-Board LEDs
The board offers one green LED in order to indicate board status. The function of the LED is dependent
on the firmware version. With standard TMCL firmware the green LED should be flashing slowly during
operation. When there is no valid firmware programmed into the board or during firmware update the
green LED is switched on, permanently. During reset to factory default values the green LED will be flashing
fast.
LED
Figure 3: PD42-x-1370 LEDs
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6I/Os
The power supply, communicaiton and I/O connector (10pin JST PH series) offers four digital inputs with
integrated pull-ups and and one output (open-drain).
6.1 Digital inputs HOME, STOP_L, STOP_R and /ENABLE
The PD42-x-1370 offers four digital inputs IN0. . . IN3 which accept signals between 0 and 28V (positive
supply voltage limit) with voltages above approx. 2V recognized as logical ’1’and below 0.8V as logical ’0’.
All four inputs offer intergated pull-ups to +5V (fixed). Depending on configuration in software these four
inputs also offer dedicated functionality as HOME, STOP_L, STOP_R and /ENABLE inputs.
100pF
27k
4k7
+3V3
microcontroller
IN0...IN3
+5V
TMCM-1370
Figure 4: Digital inputs HOME, STOP_L, STOP_R and /ENABLE
6.2 Digital output (open-drain)
The PD42-x-1370 offers one digital output (open-drain). The output offers an integrated pull-up to +5V in
order to ensure valid signal levels even while the output is switched off. The oputput can sink up-to 100mA
and withstand voltages up-to 28V (positive supply voltage limit) while switched off.
4k7
microcontroller
OUT
+5V
TMCM-1370
4k7
Figure 5: External encoder input
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7 Communication
7.1 RS485
For remote control and communication with a host system the PD42-x-1370 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 6: RS485 bus structure with termination resistors
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. The PD42-x-1370 does not integrate
any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to
be added externally.
3. NUMBER OF NODES:
The RS485 electrical interface stadard (EIA-485) allows up to 32 nodes to be connected to a single bus.
The bus transceiver used on the PD42-x-1370 units (SN65HVD1781D) offers a significantly reduced
bus load compared to the standard and allows a maximum of 255 units to be connected to a single
RS485 bus using standard TMCL firmware. Please note: usually it cannot be expected to get reliable
communication with the maximum number of nodes connected to one bus and maximum supported
communication speed at the same time. Instead, a compromise has to be found between bus cable length,
communication speed and number of nodes.
4. COMMUNICATION SPEED:
The maximum RS485 communication speed supported by the PD42-x-1370 hardware is 1Mbit/s.
Factory default is 9600 bit/s. Please see separate PD42-x-1370 TMCL firmware manual for information
regarding other possible communication speeds below the upper hardware limit.
5. 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.
There are actually two options which can be recommended: Add resistor (bias) network on one side
of the bus, only (120R termination resistor still at both ends):
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node
n- 1
node
n
Slave Slave
termination
resistor
(120R)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
termination
resistor
(120R)
RS485+ / RS485A
Figure 7: RS485 bus lines with resistor (bias) network on one side, only
Or add resistor network at both ends of the bus (like Profibus™termination):
node
n- 1
node
n
Slave Slave
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
RS485- / RS485B
RS485+ / RS485A
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
Figure 8: RS485 bus lines with Profibus™recommended line termination
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8 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed
in software with 32 effective scaling steps in hardware.
Explanation of different columns in table below:
Motor current set-
ting in software
(TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and
7 (motor standby current). They are used to set the run / standby current
using the following TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate PD42-x-1370
firmware manual for further information)
Motor current IRMS
[A] Resulting motor current based on motor current setting
Motor Current Setting
Motor current setting
in software (TMCL)
Current scaling step
(CS)
Motor current I
COIL
[A]
peak
Motor current I
COIL
[A]
RMS
0. . . 7 0 0.092 0.065
8. . . 15 1 0.184 0.130
16. . . 23 2 0.276 0.195
24. . . 31 3 0.368 0.260
32. . . 39 4 0.460 0.326
40. . . 47 5 0.552 0.391
48. . . 55 6 0.645 0.456
56. . . 63 7 0.737 0.521
64. . . 71 8 0.829 0.586
72. . . 79 9 0.921 0.651
80. . . 87 10 1.013 0.716
88. . . 95 11 1.105 0.781
96. . . 103 12 1.197 0.846
104. . . 111 13 1.289 0.912
112. . . 119 14 1.381 0.977
120. . . 127 15 1.473 1.042
128. . . 135 16 1.565 1.107
136. . . 143 17 1.657 1.172
144. . . 151 18 1.749 1.237
152. . . 159 19 1.842 1.302
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 17 / 27
Motor current setting
in software (TMCL)
Current scaling step
(CS)
Motor current I
COIL
[A]
peak
Motor current I
COIL
[A]
RMS
160. . . 167 20 1.934 1.367
168. . . 175 21 2.026 1.432
176. . . 183 22 2.118 1.497
184. . . 191 23 2.210 1.563
192. . . 199 24 2.302 1.628
200. . . 207 25 2.394 1.693
208. . . 215 26 2.486 1.758
216. . . 223 27 2.578 1.823
224. . . 231 28 2.670 1.888
232. . . 239 29 2.762 1.953
240. . . 247 30 2.854 2.018
248. . . 255 31 2.946 2.083
Table 9: Available motor current settings
In addition to the settings in the table the motor current may be switched offcompletely (free-wheeling)
using axis parameter 204 (see PD42-x-1370 firmware manual).
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 18 / 27
9 Torque curves
9.1 PD42-1-1370 Torque Curve
Figure 9: PD42-1-1370 torque vs. velocity 24V / 2A, 256µsteps, open-loop
9.2 PD42-2-1370 Torque Curve
Figure 10: PD42-2-1370 torque vs. velocity 24V / 2A, 256µsteps, open-loop
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 19 / 27
9.3 PD42-3-1370 Torque Curve
Figure 11: PD42-3-1370 torque vs. velocity 24V / 2A, 256µsteps, open-loop
9.4 PD42-4-1370 Torque Curve
Figure 12: PD42-4-1370 torque vs. velocity 24V / 2A, 256µsteps, open-loop
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com

PD42-x-1370 Hardware Manual •Hardware Version V1.10 | Document Revision V1.10 •2018-AUG-18 20 / 27
10 Functional Description
The PD42-x-1370 is a full mechatronic solution including a 42mm flange (NEMA17) bipolar stepper motor.
It includes the controller / driver electronics and a choice between four different NEMA 17 / 42mm flange
size bipolar hybrid stepper motors with different length and torque.
The PD42-x-1370 offers an advanced s-shaped ramp motion controller in hardware. Together with the
integrated high resolution magnetic encoder position regulation is supported in hardware (configurable in
software). The unit can be controlled via RS485 2-wire serial interfaces. There are four general purpose
digital inputs which can be used as STOP_L / STOP_R / HOME switch inputs, also (for reference movements,
as end switches etc. depending on firmware, mode and configuration) and a dedicated driver enable input.
In addition, there is one general-purpose output (open-drain).
The PD42-x-1370 with TMCL ™ firmware option is supported by 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 PD42-x-1370 firmware manual for more information about TMCL ™
commands.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation, position regu-
lation are performed on board. Complete stand-alone or full remote control or anything in-between is
possible. The firmware of the module can be updated via the serial interface. As an alternative to TMCL, a
CANopen firmware is available.
The PD42-x-1370 contains the following main components:
• NEMA 17 / 42mm flange size stepper motor with 2A RMS coil windings, different length and holding
torque (0.22Nm . . . 0.7Nm)
•Microcontroller (ARM Cortex-M4™), responsible for overall control and communication
•Advanced s-shape ramps hardware motion controller
•Advanced stepper motor driver with stallGuard2™and coolStep™with MOSFET driver stage
•High-resolution magnetic / hall sensor based encoder
•RS485 transceiver
•On-board voltage regulators (+5V and +3V3) required for supply of all on-board digital circuits
9
…
28
V DC
ARM
Cortex
-
M
3
TM
microcontroller
TMCL™
Memory
4
IN
_
0
..
IN
_
3
Step
Motor
RS
485
MOSFET
Driver
Stage
Energy Efficient
Driver
TMC
262
TMC
262
Pre
-
Driver
with
stallGuard
2
TM
coolStep™
SPI
PD
42
-
1
-
1370
PD
42
-
2
-
1370
PD
42
-
3
-
1370
PD
42
-
4
-
1370
TMCM
-
1370
SPI
TMC
4361
Motion
Controller
SPI
DC
/
DC
Magnetic
Encoder
A
/
B
/
N
QSH
4218
-
34
-
20
-
022
QSH
4218
-
38
-
20
-
036
QSH
4218
-
47
-
20
-
044
QSH
4218
-
60
-
20
-
070
OUT
_
0
SPI
HOME
,
REFL
,
REFR
Figure 13: PD42-x-1370 block diagram
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com