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pd x - 140 - 42 - se tmcm - 140 - 42 - se hardware manual version: 1.05 20 10 - sep - 2 9 trinamic motion control gmbh & co kg sternstra?e 67 d - 20 357 hamburg, germany phone +49 - 40 - 51 48 06 - 0 fax: +49 - 40 - 51 48 06 - 60 http://www.trinamic.com
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 2 copyright ? 2010, trinamic motion control gmbh & co. kg table of c ontents 1 life support policy ................................ ................................ ................................ ............................ 3 2 features ................................ ................................ ................................ ................................ ............ 4 3 order codes ................................ ................................ ................................ ................................ ....... 5 4 mechanical and electrical interfacing ................................ ................................ ................................ 6 4.1 size of pd x - 140 - 42 - se ................................ ................................ ................................ ................. 6 4.2 size of electronics (tmcm - 140 - 42 - se) ................................ ................................ .......................... 7 4.3 motor ................................ ................................ ................................ ................................ ......... 7 4.4 connectors ................................ ................................ ................................ ................................ . 8 4.4.1 power and se rial communication connector ................................ ................................ ........ 8 4.4.1.1 reset the module to factory defaults ................................ ................................ .......................... 9 4.4.2 i/o connector ................................ ................................ ................................ ...................... 10 4.4.3 motor connector ................................ ................................ ................................ ................. 10 4.4.4 usb connector ................................ ................................ ................................ .................... 10 4.5 input/output circuits ................................ ................................ ................................ ................ 11 4.5.1 reference switch inputs ................................ ................................ ................................ ...... 11 4. 5.2 general purpose inputs ................................ ................................ ................................ ...... 11 4.5.3 general purpose outputs ................................ ................................ ................................ .... 12 5 functional description ................................ ................................ ................................ .................... 13 6 firmware ................................ ................................ ................................ ................................ ......... 14 7 torque curves ................................ ................................ ................................ ................................ .. 15 7.1 pd1 - 140 - 42 - se ................................ ................................ ................................ ........................... 15 7.2 pd2 - 140 - 42 - se ................................ ................................ ................................ ........................... 16 7.3 pd3 - 140 - 42 - se ................................ ................................ ................................ ........................... 16 7.4 pd4 - 140 - 42 - se ................................ ................................ ................................ ........................... 17 8 operational ratings ................................ ................................ ................................ ......................... 18 9 pd - 140 operational description ................................ ................................ ................................ ....... 20 9.1 calculation: velocity and acceleration vs. microstep and fullstep frequency ........................... 20 10 revision hist ory ................................ ................................ ................................ .............................. 22 10.1 document revision ................................ ................................ ................................ ................... 22 10.2 hardware revision ................................ ................................ ................................ .................... 22 11 referen ces ................................ ................................ ................................ ................................ ....... 23
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 3 copyright ? 2010, trinamic motion control gmbh & co. kg 1 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 fa ilure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. ? trinamic m otion control gmbh & co. kg 2010 information given in this data sheet is believed to be accurate and reliable. however neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of thi rd parties, which may result fro m its use. s pecifications are subject to change without notice.
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 4 copyright ? 2010, trinamic motion control gmbh & co. kg 2 features the pd x - 140 - 42 - se is a full mechatroni c device consisting of a nema 17 (flange size 42 mm) stepper motor, controller/ driver electronics and integrated encoder . the electronics its elf is also available without the motor as tmcm - 140 - 42 - se module. applications very compact single - axis stepper motor solutions encoder feedback for high reliability operation electrical data suppl y voltage: +24v dc nominal (+7v +28.5v dc) motor current: up to 2.0a rms (programmable) integrated motor (for pd x - 140 - 42 - se only) two phase bipolar stepper motor with 2a rms nom. c oil current holding torque: 0.22nm, 0.36nm, 0.44nm or 0.7nm integrated encoder integrated sensostep? m agnetic encoder (max. 4096 increments per rotation) e.g. for step - loss detection under all operating conditions and positioning integrated motion controller motion profile calculation in real - time (tmc428 motion controller) on the fly alteration of motor parameters (e.g. position, velocity, acceleration) high performance arm7 microcontroller for overall system control and serial communication protocol handling integrated bipolar stepper motor driver up to 16 microsteps per full step high - efficient operation, low power dissipation ( tmc249 stepper driver with external mosfets) dynamic current control integrated p rotection integrated stallguard? for motor stall detection (e.g. elimination of end switches) integrated chopsync? for high velocity operation interfaces 2 inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs usb and either rs232 , rs485 or can (2.0b up - to 1mbit/s) communication interfaces software available with tmcl? (all interface options) or canopen (can interface option) tmcl ? : s tand - alone operation or remote controlled operation tmcl ? : program m emory (non volatile) for up - to 2048 tmcl? commands tmcl ? : pc - based application development software tmcl - ide available for free canopen : cia 301 + cia 402 (homing mode, profile po sition mode and velocity mode) supported please see separate tmcl? and canopen firmware manuals for additional information
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 5 copyright ? 2010, trinamic motion control gmbh & co. kg 3 order codes the pdx - 140 - 42 - se is currently available with four different stepper motors (between 0.22nm and 0.70nm holding torque), three interface options in addition to the standard on - board usb interface (rs232, rs485 or can) and two firmware versions ( tmcl? and canopen): order code description dimensions [mm 3 ] pd1 - 140 - 42 - se - option pandrive with 0.22nm max./holding torque 42x42x 7 2 pd2 - 140 - 42 - se - option pandrive with 0.36nm max./holding torque 42x42x 76,5 pd3 - 140 - 42 - se - option pandrive with 0.44nm max./holding torque 42x42x 85,5 pd4 - 140 - 42 - se - option pandrive with 0.70nm max./holding torque 42x42x 98,5 table 3 . 1 : order c odes (pdx - 140 - 42 - se) the electronic module tmcm - 140 - 42 - se itself is also available with three interface options in addition to the s tandard on - board usb interface (rs232, rs485 or can) and two firmware versions ( tmcl? and canopen): order code description dimensions [mm 3 ] tmcm - 140 - 42 - se - option single axis bipolar stepper motor controller / driver electronics with integrated encoder electronics board size: 42x42 table 3 . 2 : order codes ( tmcm - 140 - 42 - se) both versions offer the following options: option communication interface + firmware 232 usb (mini usb connector) and rs232 interface , tmcl? tmcl? tmcl? table 3 . 3 : o ptions for cost critical applicatio ns and applications with reduced requirements with regard to position feedback both versions - with and without motor - are also available without sensostep? encoder as pdx - 140 - 42 and tmcm - 140 - 42 on request.
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 6 copyright ? 2010, trinamic motion control gmbh & co. kg 4 mechanical and electrical i nterfacing 4.1 size of pd x - 140 - 42 - se currently, there is a choice between four 42 mm bipolar stepper motors with different lengths and different holding torques . figure 4 . 1 : dimensions pd x - 140 - 42 - se (all values in mm) l ength of motor pd1 33.51 mm pd2 381 mm pd3 471 mm pd4 601 mm l e n g t h 4 2 . 3 2 2 2 - 0 . 0 5 2 4 1 2 0 5 4 3 m a x c o n n e c t o r s 1 4 . 5 m a x 4 . 5 4 3 m a x 2 0 4 2 . 3 3 1 4 x m 3 d e e p 4 . 5 4 3 m a x 5
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 7 copyright ? 2010, trinamic motion control gmbh & co. kg 4.2 size of electronics (tmcm - 140 - 42 - se) the electronic board has been designed in order to fit to a nema17 / 42mm size stepper motor with regard to board size and mounting holes . b oard size is 42mm x 42mm and there are two mounting holes (size: 3.2mm) for m3 screws. figure 4 . 2 : dimensions tmcm - 140 - 42 - se (all values in mm) 4.3 motor main characteristics of the four different motor s available as part of the pd x - 140 - 42 - se : specifications parameter units qsh4218 - 34 - 20 - 022 - 38 - 20 - 036 - 47 - 20 - 044 - 60 - 20 - 070 step a ngle ? 1.8 1.8 1.8 1.8 step a ngle a ccuracy % +/ - 5 +/ - 5 +/ - 5 +/ - 5 ambient t emperature 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 v oltage v rated v 2.0 2.4 2.4 4.4 rated phase c urrent i rms rated a 2.0 2.0 2.0 2.0 phase r esistance at 20c r coil ? 1.0 1.2 1.4 2.3 phase i nductance (typ.) mh 1.6 2.2 2.1 6.0 holding t orque nm 0 . 22 0. 36 0. 44 0. 70 insulation c lass b b b b rotor i nertia g cm 2 35 57 68 102 weight kg 0.22 0.24 0.35 0.5 table 4 . 1 : technical motor data
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 8 copyright ? 2010, trinamic motion control gmbh & co. kg 4.4 connector s the pd x - 140 - 42 - se / tmcm - 140 - 42 - se offers four connectors, a 5 - pin power and serial communication interface connector, a n 8 - pin input/output connector , a 4 - pin motor connector (with pdx - 140 - 42 - se already connected to the attached motor) and a 5 - pin mini - usb connector. figure 4 . 3 : pdx - 140 - 42 - se conne ctors 4.4.1 power and serial communication connector a 5 - pin jst ph series connector is used for power supply and serial communication. three different communication interface standards are available with this unit (as options) : rs232, rs485 and can. pin rs232 rs485 can description 1 gnd gnd gnd power and signal ground 2 vdd vdd vdd supply voltage ( +24v dc nom. ) 3 gnd gnd gnd power and signal ground 4 rs232_txd rs485a can_ l 5 rs232_rxd rs485b can_ h table 4 . 2 : connector for power and communication mating connector from jst: phr - 5 (housing) and sph - 002t - p0.5s (crimp contact for awg #30 to 24 / 0.05mm 2 to 0.22mm 2 wires). for rs485 and can interface option the module contains a 120ohm termination resistor: for early versions of the unit a zero ohm resistor is already assembled in order to activate the 120 ohm line termination on - board. this has to be removed in case the unit is not conn ected as last / first node in a networ k or there is already proper bus te rmination installed! p o w e r a n d s e r i a l c o m m u n i c a t i o n c o n n e c t o r s t a t u s l e d m o t o r c o n n e c t o r 1 5 1 8 1 4 u s b c o n n e c t o r ( m i n i u s b ) i / o c o n n e c t o r 1 5 o p e n : n o t e r m i n a t i o n r e s i s t o r c l o s e d : 1 2 0 o h m t e r m i n a t i o n r e s i s t o r
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 9 copyright ? 2010, trinamic motion control gmbh & co. kg 4.4.1.1 reset the module to factory defaul ts interface description rs232 short rxd and txd for resetting the module. rs485 - demount the board from the motor. - short the two pins which are marked on the figure below. the pins are on the back of the board. - turn power on and wait. the led flashes quickly now. - turn power off. the module is reset to factory defaults now. can - demount the board from the motor. - short the two pins which are marked on the figure below. the pins are on the back of the board. - turn power on and wait. the led flashes quickly now. - turn power off. the module is reset to factory defaults now. table 4 . 3 : reset the module to factory defaults figure 4 . 4 : pins for resetting the module
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 10 copyright ? 2010, trinamic motion control gmbh & co. kg 4.4.2 i/o connector an 8 - pin jst ph series connector is used for input/ output signals . pin label direction description 1 stop _l input left stop switch input (+5v compatible) 2 stop _r input right stop switch input (+5v compatible) 3 gnd power (gnd) power and signal ground 4 vdd power supply voltage +24v dc nom. 5 out_0 output general purpose output (open collector) 6 out_1 output general purpose output (open collector) 7 in_0 input general purpose input ( +5v and +24v compatible) 8 in_1 input general purpose input ( +5v and +24v compatible) table 4 . 4 : connector for p ower and i/o mating connector from jst: phr - 8 (housing) and sph - 002t - p0.5s (crimp contact for awg #30 to 24 / 0.05mm 2 to 0.22mm 2 wires). 4.4.3 motor connector a 4 - pin jst ph series connector is used for connecting the motor . pin label direction description 1 oa1 output 2 - phase stepper motor phase a 2 oa2 output 2 - phase stepper motor phase a 3 ob1 output 2 - phase stepper motor phase b 4 ob2 output 2 - phase stepper motor phase b table 4 . 5 : connector for motor mating connector from jst: phr - 4 (housing) and sph - 002t - p0.5s (crimp contact for awg #30 to 24 / 0.05mm 2 to 0.22mm 2 wires). 4.4.4 usb connector a 5 - pin mini - us b connector is available on board. pin label description 1 vbus +5v power 2 d - data C table 4 . 6 : connector for usb 1 8 1 4 1 5
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 11 copyright ? 2010, trinamic motion control gmbh & co. kg 4.5 input/ output c ircuits the module offers 2 stop switch inputs, 2 general purpose inputs and 2 general purpose outputs . the stop switch inputs stop_l and stop_r are +5v tolerant and include 1k pull - up resistors to +5v . the general purpose inp uts in_0 and in_1 accept digital ( e.g. 5v or 24 v com patible ) signals or analog signals (0..10v) and include pull - down resistors. the general purpose outputs are open - collector outputs with integrated freewheeling diodes. max. sink current per output is 100ma and max. voltage at output when output is inactive / output transistor is switched off is l imited to module supply voltage due to the integrated freewheeling diode. 4.5.1 reference switch inputs there are 2 reference/stop switch inputs (stopl / stopr). both inputs offer an internal pull - up resistor (1k) and accept voltages between 0 and +5v. figure 4 . 5 : reference/stop switch inputs stop_l, stop_r 4.5.2 general purpose inputs there are 2 general purpose inputs (in_0 / in_1). both inputs offer internal voltage divider and voltage limiter and accept input voltages between 0 and +24v as digital inputs and between 0 and +10v as analog inputs (depending on software settings) . the voltage divider resistors act as pull - down resistors, also. figure 4 . 6 : general purpose inputs in_o, in_1 early version of module (with pcb version 1.0 and 1.1) contained 1k resistor instead of 4k75 resistor as low side resistor in voltage divider. for these modules full scale analog input range is +36v instead of +10v. s t o p _ l 1 k 1 0 k + 5 v 1 n f g n d s t o p _ r 1 k 1 0 k + 5 v 1 n f g n d i n _ 0 1 0 k 4 k 7 5 g n d + 3 v 3 g n d i n _ 1 1 0 k 4 k 7 5 g n d + 3 v 3 g n d
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 12 copyright ? 2010, trinamic motion control gmbh & co. kg 4.5.3 general purpose outputs there are 2 general purpose outputs (out_0 / out_1). both outputs are open collector outputs and can drive loads up - to 100ma. especially for inductive loads a freewheeling diode to supply voltage (vdd) has been included. this is also the reason why the external voltage at the general purpose outputs - when the outputs are switched off - should not be higher than the supply voltage of the module + approx. 0.5v. figure 4 . 7 : general purpose outputs out_0, out_1 1 k g n d v d d o u t _ 0 b c 8 4 7 1 k g n d v d d o u t _ 1 b c 8 4 7
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 13 copyright ? 2010, trinamic motion control gmbh & co. kg 5 functional description the pandrive pd - 140 - 42 - se is a mechatronic solution including a 42 mm flange motor, a controller board and a sensostep? encoder. it offers four motor torque options and can be controlled via can, rs232, rs 485 or usb interface. power supply, interface and g eneral purpose i/os can be connected with high density jst connectors. the chopsync? feature allows high speed movement avoiding resonances. the pd - 140 - 42 - se comes with the pc based software development environment tmcl - ide for the trinamic motion control language (tmcl ? ). using predefined tmcl? high level co mmands like ?move to position or ?constant rotation a rapid and fast development of motion control applications is guaranteed. communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed on board. the tm cl? program can be stored in the onboard eeprom for st and - alone operation. in addition to tmcl ? canopen is available as firmware option, also . figure 5 . 1 : main parts of the pdx - 140 - 42 - se 5 v p o w e r s u p p l y u s b c a n o r r s 2 3 2 o r r s 4 8 5 2 4 v p d - 1 4 0 - 4 2 - s e p r o g a m m a b l e m o t i o n c o n t r o l l e r w i t h t m c 4 2 8 h i g h p o w e r d r i v e r t m c 2 4 9 t m c l m e m o r y s e n s o s t e p t m e n c o d e r m o s f e t d r i v e r s t a g e s t e p m o t o r
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 14 copyright ? 2010, trinamic motion control gmbh & co. kg 6 firmware currently, there are two different firmware versions available for this unit C tmcl? and canopen . tmcl? is available for all interface options and is supplied as default firmware . pl ease refer to the tmcl? firmware manual for this unit for more details [tmcl]. with the can interface option also canopen is available as firmware . this firmware supports the cia 301 and cia 402 profiles with support for homing mode , profile position mode and velocity mode. for more details pl ease refer to the canopen manual [canopen].
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 15 copyright ? 2010, trinamic motion control gmbh & co. kg 7 torque curves the following torque curves have been measured u sing the pandrive pd x - 140 - 42 - se with all four stepper motor s availabl e as part of th is unit . the four different stepper motors all offer the same max. coil current but, differ with respect to holding torque, motor length, coil resistance and in ductivity C to name a few. as rule of thumb, more holding torque means more copper, longer motor, more coil resistance an d higher inductivity which limit s the max. reachable velocity at the same supply voltage. all measurements were taken at +24v driver supply voltage and max. motor current. the figures below include torque curves for microstep operation a nd full step operation. with full step mode it is possible to reach higher velocities whereas resonances normally p revent any smooth operation at lower speeds (see torque curves below ) . therefore, tmcl? firmware offers programmable automatic switch over between microstep operation at lower speeds and full - step operation at higher speed in order to take advantage of both modes (please see tmcl? firmware manual, axis parameter 211 ) . 7.1 pd1 - 140 - 42 - se the pd1 - 140 - 42 - se is the most compact version of this pandrive series with the shortest stepper motor. figure 7 . 1 : pd1 - 140 - 42 - se torque curve
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 16 copyright ? 2010, trinamic motion control gmbh & co. kg 7.2 pd2 - 140 - 42 - se for applications where more torque is required than available with the pd 1 - 140 - 42 - se , the pd2 - 140 - 42 - se might be an option. figure 7 . 2 : pd2 - 140 - 42 - se torque curve 7.3 pd3 - 140 - 42 - se for applications where more torque is required than available with the pd2 - 140 - 42 - se, the pd3 - 140 - 42 - se might be an option. figure 7 . 3 : pd3 - 140 - 42 - se torque curve
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 17 copyright ? 2010, trinamic motion control gmbh & co. kg 7.4 pd4 - 140 - 42 - se for applications where more torque is required than available with the pd3 - 140 - 42 - se, the pd4 - 140 - 42 - se might be an option. the pd4 - 140 - 42 - se is the version with highest holding torque and the longest stepper motor available for this pandrive series. fi gure 7 . 4 : pd 4 - 140 - 42 - se torque curve
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 18 copyright ? 2010, trinamic motion control gmbh & co. kg 8 operational r atings the operational ratings shown below should be used as design values. in no case should the maximum values been exceeded during operation. symbol parameter min typ max unit vcc +24 dc input 7 2 4 28.5 v i coil_peak motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 2.8 *) a i coil_rms continuous motor current ( rms ) 0 2 *) a i supply power supply current << i coil 1.4 * i coil a t env e nvironment temperature at max. current , 100% duty cycle (no forced cooling required) + 40 **) c table 8 . 1 : general operational ratings of the module *) please note: only pdx - 140 - 42 - se and tmcm - 140 - 42 - se with pcb version 1.1 or newer support specified max. current over full temperature range. older / pre - ser ies versions may be limited with regard to temperature range and / or max. motor current. **) test set - up / procedure: pandrive pd4 - 140 - 42 - se mounted to a metal base plate in order to keep stepper motor temperature within limits for the motor during test (table 4.1) / test inside climate chamber with approx. 53l volume / no forced air convection du ring test / test duration at least 30min. please note: motor temperature should always be kept below upper limit for the m otor - that is, motor / pandrive should be mounted to an appropriate metal / cooling plate or frame. especially, the long est available stepper motor which is part of the pd4 - 140 - 42 - se may easily reach 100c or above when operated at fu ll current over long time without being mounted to any heat - conducting structure or forced air convection . in case the tmcm - 140 - 42 - se electronic module is mounted close to the motor as with the pandrives, the motor might substantially heat up the electronics and limit the maximum environmental temperature during operation. t he unit may be operated at higher environmental temperature s than specified when the duty cycle of the motor and / or the motor current is reduced or in cas e the tmcm - 140 - 42 - se electronic module is mounted separately from the motor.
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 19 copyright ? 2010, trinamic motion control gmbh & co. kg symbol parameter min typ max unit v stop_l/r _l low level input voltage for stop_l/r switch inputs 0.9 v v stop_l/r_h high level input voltage for stop_l/r switch inputs 1.9 5 v v in_1/2_l low level input voltage for general purpose inputs in_1/2 (when configured as digital inputs) 1.6 v v in_1/2_h high level input voltage for general purpose inputs in_1/2 (when configured as digital inputs) 4.0 24 v v in_1/2_ana analog voltage full scale input range for general purpose inputs in_1/2 (when configured as analog inputs) 0 10*) v v out _1/2 maximum voltage at general purpose outputs ( open collector output switched off) vdd + 0. 5 * * ) v i out _1/2 maximum output sink current for general purpose outputs ( open collector ) 10 100 ma table 8 .2: operational ratings of input and output signals *) analog voltage full scale input range is +36v for early version of module * * ) limited to module supply voltage + 0.5 v due to integrated freewheeling diode between general purpose output and module supply voltage
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 20 copyright ? 2010, trinamic motion control gmbh & co. kg 9 pd - 140 operational description 9.1 calculation: velocity and acceleration vs. microstep and fullstep frequency the values of the parameters sent to the tmc428 do not have typical motor values like rotations per second as velocity. but these values can be calculated from the tmc428 - parameters as shown in this docume nt. the parameters for the tmc428 are: signal description range f clk clock - frequency 0 16 mhz velocity - 0 2047 a_max maximum acceleration 0 2047 pulse_div divider for the velocity. the higher the value is, the less is the maximum velocity default value = 0 0 13 ramp_div divider for the acceleration. the higher the value is, the less is the maximum acceleration default value = 0 0 13 usrs microstep - resolution (microsteps per fullstep = 2 usrs ) 0 7 (a value of 7 is internally mapped to 6 by the tmc428) table 9 . 1 : tmc428 velocity parameters the microstep - frequency of the stepper motor is calculated with with usf: microstep - frequency to calculate the fullstep - frequency from the microstep - frequency, the microstep - frequency must be divided by the number of microsteps per fullstep. with fsf: fullstep - frequency the change in the pulse rate per time unit (pulse frequency change per second C the acceleration a ) is given by this results in acceleration in fullsteps of: with af: acceleration in fullsteps 32 2048 2 velocity ] hz [ f ] hz [ usf div _ pulse clk usrs 2 ] hz [ usf ] hz [ fsf 29 div _ ramp div _ pulse max 2 clk 2 a f a usrs 2 a af
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 21 copyright ? 2010, trinamic motion control gmbh & co. kg example : signal value f_clk 16 mhz velocity 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 calculation of the number of rotations: a stepper motor has e.g. 72 fullsteps per rotation. hz 31 . 122070 32 2048 2 1000 mhz 16 msf 1 hz 34 . 1907 2 31 . 122070 ] hz [ fsf 6 s mhz 21 . 119 2 1000 ) mhz 16 ( a 29 1 1 2 s mhz 863 . 1 2 s mhz 21 . 119 af 6 49 . 26 72 34 . 1907 rotation per fullsteps fsf rps 46 . 1589 72 60 34 . 1907 rotation per fullsteps 60 fsf rpm
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 22 copyright ? 2010, trinamic motion control gmbh & co. kg 10 revision h istory 10.1 document r evision version date author description 1.00 2008 - 07 - 23 ge initial version 1.01 2008 - 09 - 01 ge order ing codes added 1.02 2008 - 10 - 28 ge can connector pin assignment corrected 1.0 3 2008 - 12 - 17 sd size of the unit and functional d escription added 1.04 2009 - 10 - 21 ge new hardware version + torque curves added 1.0 5 2010 - 09 - 2 9 sd paragraph reset the module to factory defaul ts added. table 10 . 1 : docume nt r evis i on 10.2 hardware r evision version date description 1.00 2008 - 04 - 27 first version, reduced motor current 1.10 2009 - 06 - 29 second version, full production (series) version 1.20 2009 - 12 - 09 several minor improvements table 10 . 2 : hardware r evision
pd x - 140 - 42 - se / tmcm - 140 - 42 - se manual (v1.05 / 2010 - sep - 29 ) 23 copyright ? 2010, trinamic motion control gmbh & co. kg 11 references [tmcl ] pd - 140 tmcl? f irmware m anual (see http://www.trinamic.com ) [canopen] canopen m anual (see http://www.trinamic.com )

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