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mechatronic drive with stepper motor pandrive trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com hardware version v 1.0 hardware manual + + tmcm - 1060 pd - 1060 + + u nique f eatures : 1 - axis stepper controller / driver 2.8a / 48 v usb, rs485 , and can step/dir interface integrated sensostep? encoder
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 2 www.trinamic.com table of contents 2 features ................................ ................................ ................................ ................................ ................................ ........... 3 3 order codes ................................ ................................ ................................ ................................ ................................ ... 4 4 mechanical and electrical interfacing ................................ ................................ ................................ ..................... 5 4.1 pd57 - 1060 dimensions ................................ ................................ ................................ ................................ ....... 5 4.2 pd60 - 1060 dimensions ................................ ................................ ................................ ................................ ....... 6 4.3 pd57/60 - 1060 controller/driver board size and mounting holes ................................ .......................... 7 5 motor ................................ ................................ ................................ ................................ ................................ ................ 8 6 connectors ................................ ................................ ................................ ................................ ................................ ...... 9 6.1 power connector ................................ ................................ ................................ ................................ ............... 10 6.2 serial communication connector ................................ ................................ ................................ ................. 11 6.3 usb connector ................................ ................................ ................................ ................................ .................... 11 6.4 step/dir connector ................................ ................................ ................................ ................................ ............ 12 6.5 general purpose input/output connector ................................ ................................ ................................ .. 13 6.6 motor connector ................................ ................................ ................................ ................................ ................ 14 7 jumpers ................................ ................................ ................................ ................................ ................................ ......... 15 7.1 rs485 bus termination ................................ ................................ ................................ ................................ .... 15 7.2 can bus termination ................................ ................................ ................................ ................................ ........ 15 8 operational ratings ................................ ................................ ................................ ................................ ................... 16 9 torque curves ................................ ................................ ................................ ................................ .............................. 18 9.1 curves of pd57 - x - 1060 ................................ ................................ ................................ ................................ ...... 18 9.1.1 pd57 - 1 - 1060 torque curves ................................ ................................ ................................ ...................... 18 9.1.2 pd57 - 2 - 1060 torque curves ................................ ................................ ................................ ...................... 21 9.1.3 pd57 - 3 - 1060 torque curves ................................ ................................ ................................ ...................... 23 9.1.4 pd57 - 4 - 1060 torque curves ................................ ................................ ................................ ...................... 25 9.2 curves of pd60 - x - 1060 ................................ ................................ ................................ ................................ ...... 27 9.2.1 pd60 - 1 - 1060 torque curves ................................ ................................ ................................ ...................... 27 9.2.2 pd60 - 2 - 1060 torque curves ................................ ................................ ................................ ...................... 28 9.2.3 pd60 - 3 - 1060 torque curves ................................ ................................ ................................ ...................... 29 9.2.4 pd60 - 4 - 1060 torque curves ................................ ................................ ................................ ...................... 30 10 functional description ................................ ................................ ................................ ................................ .............. 31 10.1 system architecture ................................ ................................ ................................ ................................ ........... 31 10.1.1 microcontroller ................................ ................................ ................................ ................................ ............. 31 10.1.2 eeprom ................................ ................................ ................................ ................................ ........................... 31 10.1.3 stepper motor driver ................................ ................................ ................................ ................................ .. 32 10.1.4 sensostep encoder ................................ ................................ ................................ ................................ ...... 32 11 tmcl ................................ ................................ ................................ ................................ ................................ ............... 33 12 life support policy ................................ ................................ ................................ ................................ ..................... 33 13 revision history ................................ ................................ ................................ ................................ .......................... 34 13.1 document revision ................................ ................................ ................................ ................................ ........... 34 13.2 hardware revision ................................ ................................ ................................ ................................ ............ 34 14 references ................................ ................................ ................................ ................................ ................................ ..... 34
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 3 www.trinamic.com 2 features the pd57/60 - 1060 is a full mechatronic device consisting of a nema 23 (flange size 57mm) or nema 24 (flange size 60mm) stepper motor, controller/driver electronics and integrated encoder. the electronics itself is also available without the motor as tmcm - 1060 module. app lications compact single - axis stepper motor solutions encoder feedback for high reliability operation electrical data supply voltage: common supply voltages +12vdc / +24vd c / +48vdc supported (+9v +51 v dc) (please note: pre - series boards are limited to + 40v max. supply voltage!) motor current: up to 2.8a rms (programmable) integrated motor (for pd57/60 - 1060 only) two phase bipolar stepper motor with 2.8a rms nom. coil current holding torque with 57mm motor: 0.55nm, 1.01nm, 1.26nm or 1.89nm holding torque with 60mm motor: 1.1nm, 1.65nm, 2.1nm or 3.1nm integrated encoder integrated sensostep? magnetic encoder (max. 256 positions per rotation) for step - loss detection under all operating conditions integrated motion controller high performance arm7 microcontroller for ov erall system control and communication protocol handling integrated bipolar stepper motor driver (based on tmc262) up to 256 microsteps per full step high - efficient operation, low power dissipation (mosfets with low r ds(on) ) dynamic current control integrated protection high precision sensorless motor load measurement stallguard2? automatic load dependent motor current adaptation for reduced power consumption and heat dissipation (coolstep?) interfaces 2 inputs for stop switches / 1 input for home switch (+24v compatible) with programmable pull - up 2 general purpose inputs (+24v compatible) and 2 general purpose outputs (open collector) usb (mini - usb), rs 485 and can (2.0b up - to 1mbit/s) serial communication interfaces step/direction interface (optically isolated) safety features shutdown input C driver will be disabled in hardware as long as this pin is left open or shorted to ground separate supply voltage inputs for driver and digital logic C driver supply voltage may be switched o ff externally while supply for digital logic and therefore digital logic remains active software available with tmcl ? stand alone operation or remote controlled operation progr am memory (non volatile) for up to 2048 tmcl? commands pc - based application development software tmcl - ide available for free r efer to separate tmcl f irmw are m anual , too.
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 4 www.trinamic.com 3 order c odes the pd57/60 - 1060 is currently available with two different stepper motor series (nema23 / 57mm flange size or nema24 / 60mm flange size ) with four stepper motors of different length and holding torque each . cables are not included. add the appropriate cable loom to your order if required. with nema 23 / 57mm flange size motor: order code description length (mm) pd 57 - 1 - 1060 - option pandrive with 0.55nm max./holding torque 61 pd57 - 2 - 1060 - option pandrive with 1.01nm max./holding torque 71 pd57 - 3 - 1060 - option pandrive with 1.26nm max./holding torque 76 pd57 - 4 - 1060 - option pandrive with 1.89nm max./holding torque 96 table 3 . 1 order codes ( pd57 - 1060 ) with nema 24 / 60mm flange size motor: order code description length (mm) pd60 - 1 - 1060 - option pandrive with 1.10nm max./holding torque 65 pd60 - 2 - 1060 - option pandrive with 1.65nm max./holding torque 76 pd60 - 3 - 1060 - option pandrive with 2.10nm max./holding torque 85 pd60 - 4 - 1060 - option pandrive with 3.10nm max./holding torque 106 table 3 . 2 order codes ( pd60 - 1060 ) order code description size (mm) tmcm - 1060 - option single axis bipolar stepper motor controller / driver electronics with integrated encoder electronics and coolstep? feature table 3 . 3 order codes (tmcm - 1060) option description - tmcl with tmcl? firmware canopen firmware is under development. table 3 . 4 firmware options component parts description tmcm - 1060 - cable cable loom for module and pandrive ? table 3 . 5 order codes for component parts
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 5 www.trinamic.com 4 mechanical and e lectrical i nterfacing 4.1 pd57 - 1060 d imensions currently, there i s a choice between four nema 23/ 57mm bipolar stepper motors with different lengths and different holding torques. figure 4 . 1 dimensions of pd57 - 1060 model length (mm) pd 57 - 1 - 1060 41 pd 57 - 2 - 1060 51 pd 57 - 3 - 1060 56 pd 57 - 4 - 1060 76 l e n g t h 5 6 . 4 1 6 0 1 8 m a x . 3 8 . 1 0 . 0 2 5 1 . 6 5 6 , 3 5 - 0 . 0 1 3 2 4 1 2 0 0 . 5 r 0 . 5 3 8 . 1 0 . 0 2 5 4 7 . 1 4 0 . 2 4 - ? 4 . 6 5 6 . 4 1 5 6 . 4 1 6 . 3 5 - 0 . 0 1 3 6 0 6 0 4 7 . 1 4 0 . 2
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 6 www.trinamic.com 4.2 pd60 - 1060 d imensions currently, there is a choice between four nema 24 / 60mm bipolar stepper motors with different lengths and different holding torques figure 4 . 2 dimensions of pd60 - 1060 model length (mm) pd 60 - 1 - 1060 45 pd 60 - 2 - 1060 56 pd 60 - 3 - 1060 65 pd 60 - 4 - 1060 86 6 0 1 8 m a x . l e n g t h 5 9 3 8 . 1 0 . 0 2 5 1 . 6 2 4 1 8 - 0 . 0 1 3 2 0 0 . 5 7 . 5 0 . 2 6 0 0 . 5 6 0 4 7 . 1 4 0 . 2 6 0 3 8 . 1 0 . 0 2 5 8 4 7 . 1 4 0 . 2 4 - ? 4 . 5
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 7 www.trinamic.com 4.3 pd57/60 - 1060 c ontroller/ driver board size and mounting h oles the dimensions of the controller/ driver board (tmcm - 1060 ) are approx. 6 0mm x 6 0 mm in order to fit on the back side of the 6 0 mm stepper motor . maximum component height (height above pcb level) without mating connectors is around 8 mm above pcb level and 4mm below pcb level . ther e are four mounting holes for m3 sc rews for mounting the board either to a nema23 (two mounting holes at opposite corners ) or a nema24 (other two mounting holes at opposite corners) stepper motor . figure 4 . 3 controller/driver dimension and position of mounting holes 6 0 6 0 5 6 . 7 5 4 6 . 2 5 4 9 . 5 1 0 . 5 4 . 5 9 4 5 . 9 5 1 3 . 7 5 3 . 2 5 1 0 . 5 5 5 . 4 1 1 4 . 0 5
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 8 www.trinamic.com 5 motor m ain characteristics of the four differen t motors available a s part of the pd57 - 1060 specifications parameter units qsh5718 - 41 - 28 - 055 - 51 - 28 - 101 56 - 28 - 126 - 76 - 28 - 189 number of leads n? 4 4 4 4 step angle ? 1.8 1.8 1.8 1.8 step angle accuracy % 5 5 5 5 rated voltage v rated v 2 2.3 2.5 3.2 rated phase current i rms rated a 2.8 2.8 2.8 2.8 phase resistance at 20c r coil ? 0.7 0.83 0.9 1.13 phase inductance (typ.) mh 1.4 2.2 2.5 3.6 holding torque nm 0.55 1.01 1.26 1.89 rotor inertia g cm 2 120 275 300 480 insulation class b b b b max. applicable voltage v 75 75 75 75 max. radial force (20mm from front flange) n 75 75 75 75 max. axial force n 15 15 15 15 weight kg 0.45 0.65 0.7 1 length mm 41 51 56 76 temp. rise (rated current, 2 phase on) ?c +80 max +80 max +80 max +80 max ambient temperature ?c - 20 +50 - 20 +50 - 20 +50 - 20 +50 table 5 . 1 nema 23/ 57mm technical motor data m ain characteristics of the four differen t motors available a s part of the pd60 - 1060 specifications parameter units qsh6018 - 45 - 28 - 110 - 56 - 28 - 165 - 65 - 28 - 210 - 86 - 28 - 310 number of leads n? 8 8 8 8 step angle ? 1.8 1.8 1.8 1.8 rated voltage v rated v 2.1 2.52 3.36 4.17 rated phase current i rms rated a 2.8 2.8 2.8 2.8 phase resistance at 20c r coil ? 0.75 0.9 1.2 1.5 phase inductance (typ.) mh 2 3.6 4.6 6.8 holding torque n m 1.1 1.65 2.1 3.1 rotor inertia g cm 2 275 400 570 840 insulation class b b b b weight kg 0.6 0.77 1.2 1.4 ambient temperature ?c - 20 +50 - 20 +50 - 20 +50 - 20 +50 table 5 . 2 nema 24/ 60mm technical motor data please refer to the motor manuals on www.trinamic.com for further information. c aution ! keep the electronics free of (metal) particles! the integrated sensostep? encoder uses a magnet at the end of the motor axis in order to monitor position. the magnet naturally attracts especially tiny metal particles. these particles might be held on the top side of the pcb and even worse C start moving in accordance with the rotating magnetic field as soon as the motor starts moving. this might lead to shorts of electronic contacts / wires on the board and totally erratic behavior of the module! use compressed air for cleaning the module if necessary.
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 9 www.trinamic.com 6 connector s the controller/ driver board for the pd57/60 - 1060 offers 6 connect ors including the motor con nector which is used for attaching the motor coils to the electronics. in addition to the power connector there are two connectors for serial communication ( one min - usb and one for rs485 and can) an d two connectors for step/ dire ction and general purpose input / output signals . the gpio connector offers two general purpose outputs, two general purpose inputs, two inputs for stop switches and one for an additional home switch. the power supply connector offers separate inputs for driver and for logic power supply and hardware shutdown - input. leaving the shutdown input open or tying it to ground will disable the motor driver stage in hardware. for operation, this input should be tied to supply voltage. figure 6 . 1 overview connectors m o t o r u s b p o w e r s e r i a l c o m m u n i c a t i o n g p i o s / d 1 5 1 4 4 1 4 1 1 8
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 10 www.trinamic.com 6.1 power c onnector this module offers separate power supply inputs for digital log ic (pin 2) and driver/ power stage (pin 1). both supply inputs use common ground connections (pin 4). this way, power supply for the driver stage may be switched off while still maintaining position and status information when keeping digital logic supply active. +u d river supply only in case only power supply is provided to the power section (pin 1) , an internal diode will distribute power to the logic section. so, when separate power supplies are not required , use pin 1 and 4 for powering the module. if so, pin 2 (logic supply) and pin 3 (/shutdown input) can be connected together in order to ena ble the driver stage. e nabling the driver s tage connect /shutdown input to +u driver or +u logic in order to activate the driver stage. leaving this input open or connecting it to ground will disable driver stage 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. p ower supply ripple due to the chopper operation should be kept at a maximum of a few 100mv. g uidelines for power supply - keep power supply cables as short as possible - use large diameters for power supply cables - add 2200f or larger filter capacitors near t he motor driver unit especially if the distance to the power supply is large (i.e. more than 2 - 3m) c aution ! add external power supply capacitors! the module contains ceramic capacitors for power supply filtering. these have been selected for high reliab ility and long life time. nevertheless, the resulting capacity is rather low. this may lead to excessive supply voltage ripple depending on motor current. also, extremely low esr values of ceramic capacitors can lead to stability problems with some power s upplies. in order to avoid this, an external (electrolytic) capacitor of sufficient size (2200f or more recommended) should be added. rule of thumb: add 1000f per 1a power supply current not far away from the module between power supply wires. please not e: upper supply voltage limit must not be exceeded C not even for a short period of time! in this context it should be taken into account that the module will transfer energy from the motor back into the supply rail when the motor is working as generator e .g. during deceleration or brake conditions. in case the power supply capacitors are not sufficient for limiting power supply rising, additional measures have to be considered (e.g. suppressor diodes, brake resistor). in larger systems a zener diode circui try might be required in order to limit the maximum voltage when the motor is operated at high velocities. do not connect or disconnect motor during operation! motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected / connected while energized. these voltage spikes might exceed voltage limits of the driver mosfets and might permanently damage them. therefore, always disconnect power supply before connecting / disconnecting the motor. keep the power sup ply voltage below the upper limit of 51 v! otherwise the driver electronics will seriously be damaged! especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended. please see also chapter 8 , operating values. pre - series boards are limited to +40v max. power supply.
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 11 www.trinamic.com there is no reverse polarity protection! the module will short any reversed supply voltage due to internal diodes of the driver transistors. a 4 - pin jst eh series b4b - eh connector is used as power connector on - board. mating connectors (jst): c onnector housing: jst ehr - 4 c onnector crimp contac ts: jst she - 001t - p0.6 (for awg 30 - 22 wires) pin label description 1 +u driver module + driver stage power supply input 2 +u logic (optional) separate digital logic power supply input 3 /shutdown shutdown input. connect this input to +u driver or +u logic in order to activate driver stage. leaving this input open or connecting it to ground will disable driver stage 4 gnd module ground (power supply and signal ground) table 6 . 1 connector for power supply 6.2 serial communication c onnector the module supports rs485 and can communication over this connector . a 2mm pitch 5 pin cvilux ci01 0 5p1vk0 - lf connector is used for serial communication: mating connectors (jst or cvilux): connector housing cvilux: ci01055000 - a contacts cvilux: ci01t011pe0 - a connector housing jst : phr - 5 contacts jst : sph - 002t - p0.5s wire: 0.22mm 2 pin label description 1 can_h can bus signal (dominant high) 2 can_l can bus signal (dominant low) 3 gnd module ground (system and signal ground) 4 rs485+ rs485 bus signal (non inverted ) 5 rs485 - rs485 bus signal (inverted) table 6 . 2 connector for serial communication 6.3 usb c onnector a 5 - pin standard mini - usb connector is available on board . pin label description 1 vbus +5v power 2 d - data C 3 d+ data + 4 id not connected 5 gnd ground table 6 . 3 mini usb connector 4 1 1 5
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 12 www.trinamic.com 6.4 step/ d ir c onnector this is an option in case the on - board controller is not used or for configu ration purposes, only. the step/ direct ion input is optically isolated and will allow direct control of the driver stage. a 2mm pitch 4 pin cvilux ci01 0 4p1vk0 - lf connec tor is used for step/dir signals. mating connectors (jst or cvilux): connector housing cvilux: ci01045000 - a contacts cvilux: ci01t011pe0 - a connector housing jst : phr - 4 contacts jst : sph - 002t - p0.5s wire: 0.22mm 2 pin label description 1 com common supply / opto - coupler ( +5v table 6 . 4 connector for s tep/ dir signals figure 6 . 2 interna l circuit of the step/dir interface 1 4 c e a k e n d i r s t e p o c _ c o m o c _ e n o c _ d i r o c _ s t e p g n d + 3 . 3 v 5 k 6 0 5 k 6 0 5 k 6 0 g n d i c o n s t = 7 m a i c o n s t = 7 m a
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 13 www.trinamic.com 6.5 general purpose i nput/ o utput c onnector a 2mm pitch 8 pin cvilux ci01 0 8p1vk0 - lf connector is used for connecting general purpose inputs, home and stop switches to the unit: mating connectors (jst or cvilux): connector housing cvilux: ci01085000 - a contacts cvilux: ci01t011pe0 - a connector housing jst : phr - 8 contacts jst : sph - 002t - p0.5s wire: 0.22mm 2 pin label description 1 out _0 general purpose output , open collector 2 out _1 general purpose output , open collector 3 in_0 general purpose input, +24v compatible 4 in_1 general purpose input, +24v compatible 5 stop_l left stop switch input, +24v compatible, programmable internal pull - up 6 stop_r right stop switch input, +24v compatible, programmable internal pull - up 7 home home switch input, +24v compatible, programmable internal pull - up 8 gnd module ground (system and signal ground) table 6 . 5 general purpose input/output connector figure 6 . 3 internal circuit of the outputs 1 8 g n d 1 k 0 0 g n d o u t _ 0 1 k 0 0 o u t _ 1 + u l o g i c + u l o g i c o u t _ 0 o u t _ 1
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 14 www.trinamic.com figure 6 . 4 internal circuit of the inputs please refer to the tmcm - 1060 tmcl firmware manual for more information about the limit switches. 6.6 motor c onnector both motor coil windings (bipolar stepper motor) are connected t o the motor connector. a 2.5mm pitch 4 pin jst b4b - eh connect or is used for motor connection. mating connectors (jst): c onnector housing: jst ehr - 4 c onnector crimp contacts: jst she - 001t - p0.6 (for awg 30 - 22 wires) pin label description 1 oa1 motor coil a 2 oa2 motor coil a 3 ob1 motor coil b 4 ob2 motor coil b figure 6 . 5 motor connector i n _ 0 / 1 2 2 k o 1 0 k o g n d + 3 . 3 v g n d i n _ 0 / 1 1 0 0 n f g n d 4 1
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 15 www.trinamic.com 7 jumpers most settings of the board are done through the software. nevertheless, two jumpers are available for configuration. figure 7 . 1 rs485 and can bus termination 7.1 rs485 bus t ermination the board includes a 120 ohm resistor for proper bus termination of the rs485 interface. when this jumper is closed, the resistor will be placed between the two differential bus lines rs485+ and rs485 - . 7.2 can bus t ermination the board includes a 120 ohm resistor for proper bus termination of the can interface. when this ju mper is closed, the resistor will be placed between the two differential bus lines can_h and can_l. c a n b u s t e r m i n a t i o n r s 4 8 5 b u s t e r m i n a t i o n
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 16 www.trinamic.com 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 operati on. symbol parameter min typ max unit +v driver / +v logic power supply voltage for operation 9 12, 24 or 48 51 v dc *) i coil_peak motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 4 a i coil_rms continuous motor current (rms) 0 2.8 a i supply power supply current << i coil 1.4 * i coil a t env environment temperature at rated current (no forced cooling required) tbd c table 8 . 1 general operational ratings of the module *) attention: maximum voltage for pre - series units is limited to +40vdc symbol parameter min type max unit v common supply voltage for common supply input for step, direction and enable (inputs have negative logic) 5 24 27 v v step/dir/enable_on signal voltage at step, direction and enable input (active, opto - coupler on) 3.5 4.5 24 30 v v step/dir/enable_off signal voltage at step, direction and enable input (inactive, opto - coupler off) - 5.5 0 2 v i step/dir/enable_on opto - coupler current when switched on (internally regulated) 8..9 ma f step step frequency 1 *) mhz table 8 . 2 operational ratings of step/direction input *) maximum frequency for +5v ttl level step signals with 50% duty cycle. for pre - series units maximum step frequency is lower.
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 17 www.trinamic.com symbol parameter min type max unit v stop_l/r/home input voltage for stop_l/r/home 0 24 v v stop_l/r/home_l low level voltage for stop_l/r/home 0 1.6 v v stopl/r/home_h high level voltage for stop_l/r/home (internal programmable 1k pull - up to +5v) 4 24 v v in_0/1_digital input voltage for in_0 and in_1 when used as digital input 0 24 v v in_0/1_analogue input voltage for in_0 and in_1 when used as analogue input 0 10 v v in_0/1_l low level voltage for in_0 and in_1 when used as digital input (internal 10k pull - down) 0 1.6 *) v v in_0/1_h high level voltage for in_0 and in_1 when used as digital input 2 *) 24 v v out_0/1 voltage at open collector output 0 v dd + 0.5 **) v i out_0/1 output sink current at open collector outputs 1 a table 8 . 3 operational ratings of the general purpose inputs/outputs *) this voltage is programmable (internal 10bit adc) **) limited to module supply voltage + 0.5v due to integrated freewheeling diode between general purpose output and module supply voltage symbol parameter min type max unit n r s485 number of nodes connected to single rs485 network 64 table 8 . 4 operational ratings of the rs485 interface symbol parameter min type max unit n can number of nodes connected to single can network 110 table 8 . 5 operational ratings of the can interface
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 18 www.trinamic.com 9 torque c urves trinamic offers the tmcm - 1060 in combination with two different stepper motor series: qsh5718 and qsh6018. paragraph 9.1 will show you the curves of each pd57 - x - 1060 and the paragraph behind (9.2) displays the curves of each pd - 60 - x - 1060. 9.1 curves of pd57 - x - 1060 9.1.1 pd57 - 1 - 1060 torque c urves figure 9 . 1 pd57 - 1 - 1060 t orque vs. velocity 24v / 2.8a, 256steps (1)
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 19 www.trinamic.com figure 9 . 2 pd57 - 1 - 1060 t orque vs. velocity 24v / 2.8a, 256steps (2) figure 9 . 3 pd 57 - 1 - 1060 t orque vs. velocity 48 v / 2.8a, 256steps ( 1 )
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 20 www.trinamic.com figure 9 . 4 pd57 - 1 - 1060 t orque vs. velocity 48v / 2.8a, 256steps (2)
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 21 www.trinamic.com 9.1.2 pd57 - 2 - 1060 torque c urves figure 9 . 5 pd57 - 2 - 1060 t orque vs. velocity 24v / 2.8a, 256steps (1) figure 9 . 6 pd57 - 2 - 1060 t orque vs. velocity 24v / 2.8a, 256steps (2)
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 22 www.trinamic.com figure 9 . 7 p d57 - 2 - 1060 t orque vs. velocity 48v / 2.8a, 256steps (1) figure 9 . 8 pd57 - 2 - 1060 t orque vs. velocity 48v / 2.8a, 256steps (2)
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 23 www.trinamic.com 9.1.3 pd57 - 3 - 1060 torque c urves figure 9 . 9 pd57 - 3 - 1060 torque vs. velocity 24v / 2.8a, 256steps (1) figure 9 . 10 pd57 - 3 - 1060 torque vs. velocity 24v / 2.8a, 256steps (2)
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 24 www.trinamic.com figure 9 . 11 pd57 - 3 - 1060 torque vs. velocity 48v / 2.8a, 256steps (1) figure 9 . 12 pd57 - 3 - 1060 torque vs. velocity 48v / 2.8a, 256steps (2)
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 25 www.trinamic.com 9.1.4 pd57 - 4 - 1060 torque c urves figure 9 . 13 pd57 - 4 - 1060 torque vs. velocity 24v / 2.8a, 256steps (1) figure 9 . 14 pd57 - 4 - 1060 torque vs. velocity 24v / 2.8a, 256steps (2)
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 26 www.trinamic.com figure 9 . 15 pd57 - 4 - 1060 torque vs. velocity 48v / 2.8a, 256steps (1) figure 9 . 1 6 pd57 - 4 - 1060 torque vs. velocity 48v / 2.8a, 256steps (2)
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 27 www.trinamic.com 9.2 curve s of pd60 - x - 1060 9.2.1 pd 60 - 1 - 1060 torque c urves f igure 9 . 17 pd60 - 1 - 1060 torque vs. velocity 24v / 2.8a f igure 9 . 18 pd60 - 1 - 1060 torque vs. velocity 48v / 2.8a
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 28 www.trinamic.com 9.2.2 pd60 - 2 - 1060 torque c urves f igure 9 . 19 pd60 - 2 - 1060 torque vs. velocity 24v / 2.8a f igure 9 . 20 pd60 - 2 - 1060 torque vs. velocity 48v / 2.8a
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 29 www.trinamic.com 9.2.3 pd 60 - 3 - 1060 torque c urves f igure 9 . 21 pd60 - 3 - 1060 torque vs. velocity 24v / 2.8a f igure 9 . 22 pd60 - 3 - 1060 torque vs. velocity 48v / 2.8a
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 30 www.trinamic.com 9.2.4 pd 60 - 4 - 1060 torque c urves f igure 9 . 23 pd60 - 4 - 1060 torque vs. velocity 24v / 2.8a f igure 9 . 24 pd60 - 4 - 1060 torque vs. velocity 48v / 2.8a
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 31 www.trinamic.com 10 functional d escription in figure 7.1 the main parts of the pd57/60 - 1060 are shown. the pandrive mainly consists of the c (connected to the eeprom tmcl memory), the tmc262 power driver with its energy efficient coolstep feature, the external mosfet driver stage, the qsh 5718 or qsh6018 stepper motor, and the integrated sensost ep encoder. common supply voltages are +12vdc / +24vdc / +48vdc . please note that the maximum voltage for pre - series units is limited to +40vdc. figure 10 . 1 main parts of the pd57/60 - 1060 10.1 system architecture the tmcm - 1060 - tmcl integrates a microcontroller with the tmcl (trinamic motion cont rol language) operating system. 10.1.1 microcontroller on this module, the atmel at91sam7x256 is used to run the tmcl firmware . the cpu has 256kb flash memory and a 64kb ram. the microcontroller runs the tmcl (trinamic motion control language) operating system which ma kes it possible to execute tmcl commands that are sent to the module from the host via the rs485 , can or step/dir interface. the microcontroller interprets and executes the tmcl commands . in addition it is connected with the sensostep encoder. the flash rom of the microcontroller holds the tmcl operating system. the tmcl operatin g system can be updated via the can in terface. use the tmcl - ide to do this. 10.1.2 eeprom to store tmcl programs for stand - alone operation the tmcm - 1060 module is equipped with a 16kbyte eeprom attached to the microcontroller. the eeprom can store tmcl programs consisting of up to 2048 tmcl commands. the eeprom is also used to store configuration data. 9 5 1 v d c c t m c l ? m e m o r y c a n 4 a d d . i / o s s t e p m o t o r u s b s t e p / d i r r s 4 8 5 m o s f e t d r i v e r s t a g e e n e r g y e f f i c i e n t d r i v e r t m c 2 6 2 p o w e r d r i v e r t m c 2 6 2 w i t h c o o l s t e p ? s e n s o s t e p ? e n c o d e r a b n s t o p s w i t c h e s + 5 v p d 5 7 - x - 1 0 6 0 / p d 6 0 - x - 1 0 6 0 t m c m - 1 0 6 0
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 32 www.trinamic.com 10.1.3 stepper motor d river the tmc262 is an energy efficient high current high precision microstepping driver ic for bipolar stepper motors. its unique high resolution sensorless load detection stallguard 2 is used for a special integrated load dependent current control feature called coolstep. the ability to read out the load and detect an overload makes the tmc262 an optimum choice for drives where a high reliability is desired. the tmc262 can be driven w ith step/direction signals as well as by serial spi?. figure 10 . 2 : motor current control via coolstep adapts motor current to motor load the coolstep current regulator allows controlling the reaction of the driver to increasing or decreasing load. the internal regulator uses two thresholds to determine the minimum and the maximum load angle for optimum motor operation. the current increment speed and the current decrement speed can be adapted to the application. additionally, the lower current limit can be set in relation to the upper current limit set by the current scale parameter cs. 10.1.4 sensostep e ncoder the sensostep encoder used in this unit is based on a magnetic angular posi tion encoder system with low resolution. it consists of a small magnet positioned at the back end of a stepper motor axis and a hall - sensor ic with integrated digital signal processing (e.g. for automatic gain control, temperature compensation etc.) placed above the magnet on the back side of a motor mounted printed circuit board. the encoder offers a resolutions of 8 bit (256 steps) per revolution which is completely sufficient for detecting step losses with a standard 1.8 stepper motors. s t a l l g u a r d 2 r e a d i n g 0 = m a x i m u m l o a d m o t o r c u r r e n t i n c r e m e n t a r e a m o t o r c u r r e n t r e d u c t i o n a r e a s t a l l p o s s i b l e s e m i n s e m a x + s e m i n + 1 z e i t m o t o r c u r r e n t c u r r e n t s e t t i n g c s ( u p p e r l i m i t ) ? o r ? c s ( l o w e r l i m i t ) m e c h a n i c a l l o a d c u r r e n t i n c r e m e n t d u e t o i n c r e a s e d l o a d s l o w c u r r e n t r e d u c t i o n d u e t o r e d u c e d m o t o r l o a d l o a d a n g l e o p t i m i z e d l o a d a n g l e o p t i m i z e d l o a d a n g l e o p t i m i z e d
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 33 www.trinamic.com 11 tmcl tmcl, the trinamic motion control language, is described in separate documentations, which refer to the specific products (e.g. pd57/60 - 1060 / tmcm - 1060 tmcl firmware manua l). the manuals are provided on www.trinamic.c om . please refer to these sources for updated data sheets and application notes. 12 life support p olicy 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 con sent 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 pers onal injury or death. ? trinamic m otion control gmbh & co. kg 2013 information given in this data sheet is believed to be accurate and reliable. however neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use. s pecifications are subject to change without notice. all trademarks used are property of their respective owners.
pd - 1060 / tmcm - 1060 v1.0 hardware manual (rev. 1.08 / 2013 - jul - 04) 34 www.trinamic.com 13 revision h istory 13.1 document r evision version date author ge C g?ran eggers sd C sonja dwersteg description 0.9 0 2010 - may - 0 4 ge initial version 1.00 2010 - aug - 20 sd first complete version 1.01 2010 - sep - 25 sd order codes corrected 1.02 2010 - nov - 03 sd new pictures 1.02 2010 - nov - 08 ge minor correction 1.03 2010 - dec - 07 sd torque curves for motor series qsh5718 added 1.04 2011 - feb - 22 sd torque curves for motor series qsh6018 added , front page design new 1.05 2011 - mar - 14 sd length of axis corrected (pd57 - 1060), minor changes 1.06 2011 - dec - 02 sd order codes corrected, minor changes 1.07 2012 - jun - 11 sd minor changes 1.08 2013 - jul - 04 sd - connector types updated . - chapter fehler! verweisquelle konnte nicht gefunden werden. updated. table 13 . 1 document r evision 13.2 hardware r evision version date description tmcm - 1060_v10 2010 - sep - 30 start of series production table 13 . 2 hardware r evision 14 references [tmcm - 1060 / pd57/60 - 1060 tmcl?] tmcm - 1060 and pd57/60 - 1060 tmcl? firmware manual [tmc262] tmc262 datasheet [tmcl - ide] tmcl - ide user manual [qsh5718] qsh5718 manual [qsh6018] qsh6018 manual please refer to www.trinamic.com .

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