Trinamic 30-0104 PD3-109-57-RS V2 Stepper Motor With Integrated Controller 30-0104 Datenbogen
Produktcode
30-0104
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25)
19
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6.6 Microstep resolution
The microstep resolution can be set using TMCL™ software. The default setting is 64 microsteps
which is the highest resolution.
To set the microstep resolution with a TMCL™ command use instruction 5:
which is the highest resolution.
To set the microstep resolution with a TMCL™ command use instruction 5:
SAP, type 140: microstep resolution
You can find the appropriate value in Table 6.2:
Value
Microsteps
0
Do not use: for fullstep please
see fullstep threshold
1
Halfstep (not recommended)
2
4
3
8
4
16
5
32
6
64
Table 6.2: Microstep resolution setting
Despite the possibility to set it up to 64 microsteps, the motor physically will be positioned to a
maximum of about 24 microsteps, when it is operated in the 32 or 64 microstep setting.
maximum of about 24 microsteps, when it is operated in the 32 or 64 microstep setting.
6.7 Reference switches
Two digital reference/stop switch inputs are provided (StopL= stop left and StopR = stop right). They
are used as an absolute position reference for homing and to set a hardware limit for the motion
range. The inputs have internal pull-up resistors. Either opto-switches or mechanical switches with
normally closed contact can be used. The 5V output can be used as a supply for opto-switches.
are used as an absolute position reference for homing and to set a hardware limit for the motion
range. The inputs have internal pull-up resistors. Either opto-switches or mechanical switches with
normally closed contact can be used. The 5V output can be used as a supply for opto-switches.
6.8 stallGuard™ - sensorless motor stall detection
The integrated stallGuard™ feature gives a simple means to detect mechanical blocking of the motor.
This can be used for precise absolute referencing, when no reference switch is available. The load
value can be read using a TMCL™ command or the module can be programmed so that the motor
will be stopped automatically when it has been obstructed or the load has been too high. Just
activate stallGuard™ and then let the traveler run against a mechanical obstacle that is placed at the
end of the operation area. When the motor has stopped it is definitely at the end of its way, and this
point can be used as the reference position.
Please refer to the TMCL™ Firmware Manual on how to activate the stallGuard™ feature. The TMCL-
IDE also has some tools which let you try out and adjust the stallGuard™ function in an easy way.
Mixed decay should be switched off when stallGuard™ is operational in order to get usable
results.
This can be used for precise absolute referencing, when no reference switch is available. The load
value can be read using a TMCL™ command or the module can be programmed so that the motor
will be stopped automatically when it has been obstructed or the load has been too high. Just
activate stallGuard™ and then let the traveler run against a mechanical obstacle that is placed at the
end of the operation area. When the motor has stopped it is definitely at the end of its way, and this
point can be used as the reference position.
Please refer to the TMCL™ Firmware Manual on how to activate the stallGuard™ feature. The TMCL-
IDE also has some tools which let you try out and adjust the stallGuard™ function in an easy way.
Mixed decay should be switched off when stallGuard™ is operational in order to get usable
results.
6.9 Environment temperature considerations
As the power dissipation of the MOSFETs is very low, no heat sink or cooling fan is needed, unless
the environment temperature is raised and the module continuously is operated at a high current.
When the output bridge temperature reaches a critical value, the output current is reduced by 20%. If
the temperature still rises higher, the outputs become switched off. The coils are automatically
switched on again when the temperature is within the limits again. An optional cooling fan can be
the environment temperature is raised and the module continuously is operated at a high current.
When the output bridge temperature reaches a critical value, the output current is reduced by 20%. If
the temperature still rises higher, the outputs become switched off. The coils are automatically
switched on again when the temperature is within the limits again. An optional cooling fan can be