Trinamic PANdrive PD-1021 User manual

MECHATRONIC DRIVE WITH STEPPER MOTOR PANdrive
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Hardware Version V1.2
HARDWARE MANUAL
++PD-1021
+ +
UNIQUE FEATURES:
Stepper Motor with
Controller / Driver
0.06 - 0.12Nm / 24V
sensOstep™Encoder
RS485 Interface

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)2
www.trinamic.com
Table of Contents
1Features........................................................................................................................................................................... 3
2Order Codes ................................................................................................................................................................... 5
3Mechanical and Electrical Interfacing..................................................................................................................... 6
3.1 Dimensions ........................................................................................................................................................... 6
3.1.1 Dimensions of PD28-1-1021 ....................................................................................................................... 6
3.1.2 Dimensions of PD28-3-1021 ....................................................................................................................... 7
3.2 Motor Characteristics .......................................................................................................................................... 8
3.3 Connectors............................................................................................................................................................. 9
3.3.1 Power, Communication and I/O Connector ........................................................................................ 10
3.3.2 Motor Connector.......................................................................................................................................... 11
3.4 Power Supply ..................................................................................................................................................... 12
3.5 Communication .................................................................................................................................................. 13
3.5.1 RS485 .............................................................................................................................................................. 13
3.6 Inputs and Outputs .......................................................................................................................................... 14
3.6.1 Digital Inputs IN_0, IN_1, IN_2, IN_3 .................................................................................................... 14
3.6.2 Outputs OUT_0, OUT_1 ............................................................................................................................... 15
4Reset to Factory Defaults......................................................................................................................................... 16
5On-board LED............................................................................................................................................................... 16
6Operational Ratings ................................................................................................................................................... 17
7Torque Curves ............................................................................................................................................................. 18
8Functional description .............................................................................................................................................. 19
9Life Support Policy..................................................................................................................................................... 20
10 Revision History.......................................................................................................................................................... 21
10.1 Document Revision ........................................................................................................................................... 21
10.2 Hardware Revision ............................................................................................................................................ 21
11 References .................................................................................................................................................................... 21

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)3
www.trinamic.com
1Features
The PANdrive™ PD-1021 is a full mechatronic extremely small and compact solution with state of the art
feature set. It is highly integrated and offers a convenient handling. The PD-1021 includes a stepper
motor, controller/driver electronics, and TRINAMICs sensOstep™ encoder. It can be used in many
decentralized applications and has been designed for 0.06… 0.12 Nm max. holding torque and 24V DC
nominal supply voltage. With its high energy efficiency from TRINAMIC’s coolStep technology cost for
power consumption is kept down. The TMCL™ firmware allows for standalone operation and direct
mode.
MAIN CHARACTERISTICS
Highlights
-Motion profile calculation in real-time
-On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
-High performance microcontroller for overall system control and serial communication protocol
handling
-For position movement applications, where larger motors do not fit and higher torques are not
required
Bipolar stepper motor driver
-Up to 256 microsteps per full step
-High-efficient operation, low power dissipation
-Dynamic current control
-Integrated protection
-stallGuard2 feature for stall detection
-coolStep feature for reduced power consumption and heat dissipation
-ready for dcStep
Encoder
-sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under
all operating conditions and positioning supervision
Interfaces
-Up to 4 multi-purpose inputs (2 shared with outputs)
-2 general purpose outputs
-RS485 2-wire communication interface
Software
-TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 876 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
-Supply voltage: +24V DC nominal (9… 28V DC)
-Motor current: up to 0.7A RMS (programmable)
-0.06 or 0.12Nm max. holding torque (depends on motor)
Refer to separate TMCL Firmware Manual, too.

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)4
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TRINAMICS UNIQUE FEATURES –EASY TO USE WITH TMCL
stallGuard2™stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range
of load, velocity, and current settings. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be
reduced by as much as 75%. coolStep allows substantial energy savings, especially for
motors which see varying loads or operate at a high duty cycle. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 1.2 Energy efficiency example with coolStep

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)5
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2Order Codes
The combination of motor and motor mounted controller/driver electronic is currently available with two
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
product please add 21 mm.
Order code
Description
Size of unit [mm3]
PD28-1-1021-option
PANdrive 0.06Nm max. holding torque*)
28 x 28 x 43 max.
PD28-3-1021-option
PANdrive 0.12Nm max. holding torque*)
28 x 28 x 62 max.
Table 2.1 Order codes
The following options are currently available:
Firmware option
Description
Order code example:
-TMCL
Module pre-programmed with TMCL firmware
PD28-1-1021-TMCL
Table 2.3 PD-1021 firmware options
A cable loom set is available for this module:
Order code
Description
PD-1021-CABLE
Cable loom for PD-1021
1x cable loom for power, communication and I/O connector (length 200mm)
Table 2.5 Cable loom order code

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)6
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3Mechanical and Electrical Interfacing
The PD-1021 consists of a 28mm / NEMA 11 stepper motor with controller/driver electronics mounted to
the back of the motor.
Note:
In order to make proper use of the integrated sensOstep encoder (the sensor IC is placed on the bottom
of the pcb) the electronics should not be removed/moved relative to the motor. In case this encoder
feature is not used, the electronics may be mounted according to different application requirements.
3.1 Dimensions
Currently, there is a choice between two 28mm stepper motors of different lengths and different torques.
The board with the controller/driver electronics has an overall size of 28mm x 28mm in order to fit on
the back side of a NEMA11 (28mm flange size) stepper motor. The printed circuit board outline is marked
green in the following figure.
Please also refer to the manuals of the related stepper motors QSH2818-32-07-006 and QSH2818-51-07-
012.
3.1.1 Dimensions of PD28-1-1021
28
2
22-0.05
20±1
5
4.5
43 max
15±0.2
28
28
25.5
25.5 2.5
23
26
R 2
ø2.6
R 2.5
Rear view
28
23±0.2
23±0.2 28
Front view
M2.5
deep 4.5 22-0.05
5
30+1
32
Figure 3.1 PD28-1-1021 dimensions

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)7
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3.1.2 Dimensions of PD28-3-1021
2
22-0.05
20±1
5
4.5
15±0.2
28
28
25.5
25.5 2.5
23
26
R 2
ø2.6
R 2.5
Rear view
28
23±0.2
23±0.2 28
Front view
M2.5
deep 4.5 22-0.05
5
28 30+1
62 max
51
Figure 3.2 PD28-3-1021 with 2-phase 28mm stepper motor QSH2818-51-07-012

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)8
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3.2 Motor Characteristics
Main characteristics of the two different motors available as part of the PD-1021:
Specifications
Parameter
Units
QSH2818
-32-07-006
-51-07-012
Rated Voltage
VRATED
V
3.8
6.2
Rated Phase Current
IRMS_RATED
A
0.67
0.67
Phase Resistance at 20°C
RCOIL
Ω
5.6
9.2
Phase Inductance (typ.)
mH
3.4
7.2
Holding Torque (typ.)
Ncm
6
12
oz in
8.5
17.0
Detent Torque
Ncm
Rotor Inertia
g cm2
9
18
Weight (Mass)
Kg
0.11
0.2
Insulation Class
B
B
Insulation Resistance
Ω
100M
100M
Dialectic Strength (for one minute)
VAC
500
500
Connection Wires
N°
4
4
Step Angle
°
1.8
1.8
Step angle Accuracy (max.)
%
5
5
Flange Size (max.)
mm
28.0
28.0
Motor Length (max.)
LMAX
mm
32
51
Axis Diameter
mm
5.0
5.0
Axis Length (typ.)
mm
20.0
20.0
Shaft Radial Play (450g load)
mm
0.02
0.02
Shaft Axial Play (450g load)
mm
0.08
0.08
Maximum Radial Force
(20 mm from front flange)
N
28
28
Maximum Axial Force
N
10
10
Ambient Temperature
°C
-20…+50
-20…+50
Temp Rise (rated current, 2phase on)
°C
max. 80
max. 80
Related PANdrive
type
PD28-1-1021
PD28-3-1021
Table 3.1 NEMA 11 / 28mm technical motor data

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)9
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3.3 Connectors
The PD-1021 has two connectors, an 8-pin power and input/output connector and a 4-pin motor
connector (used to connect the attached motor).
1
1
Power / Communication / IOs
Motor
Figure 3.3 PD-1021 connectors
Overview of connector and mating connector types:
Label
Connector type
Mating connector types
Power,
communication
and I/O
CI0108P1VK0-LF
CVIlux CI01 series, 8pins, 2mm
pitch
Connector housing CVIlux: CI01085000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-8
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Motor
CI0104P1VK0-LF
CVIlux CI01 series, 4 pins, 2mm
pitch
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Table 3.2 Connectors and mating connectors, contacts and applicable wire

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)10
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3.3.1 Power, Communication and I/O Connector
An 8-pin CVIlux CI0108P1VK0-LF 2mm pitch single row connector is used for power supply, RS485 serial
communication and additional multi-purpose inputs and outputs.
Pin
Label
Direction
Description
1
GND
Power (GND)
GND
2
VDD
Power (Supply)
VDD (+9V…+28V)
3
RS485+
Bidirectional
RS485 interface, diff. signal (non-inverting)
4
RS485-
Bidirectional
RS485 interface, diff. signal (inverting)
5
IN_0
Input
Digital input (+24V compatible)
Alternate function 1: step input
Alternate function 2: left stop switch
6
IN_1
Input
Digital input (+24V compatible)
Alternate function 1: direction input
Alternate function 2: right stop switch
7
OUT_0 / IN_2
Output / Input
Open drain output with freewheeling diode
(max. 100mA)
Alternate function 1:
digital input (+24V compatible)
Alternate function 2:home switch
8
OUT_1 / IN_3
Output / Input
Open drain output with freewheeling diode
(max. 100mA)
Alternate function 1: digital input
(+24V compatible)
Alternate function 2: analog input
Table 3.3 Power, communication and I/O connector