Trinamic 30-0102 PD1-109-57-RS V2 Stepper Motor With Integrated Controller 30-0102 Datenbogen
Produktcode
30-0102
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25)
18
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6.4 Communication interfaces RS232 and RS485
The communication between the host and the module takes place via its host interface. This can be
either RS232 or RS485. The module is equipped with both interfaces, but only one interface can be
used at a time. All interfaces integrated on the module are ready-to-use, so there are no external
drivers or level shifters necessary. To select RS232, leave open the interface selection pin, for RS485
pull it to ground. Please see chapter Fehler! Verweisquelle konnte nicht gefunden werden. for the
pin assignments of the interfaces.
either RS232 or RS485. The module is equipped with both interfaces, but only one interface can be
used at a time. All interfaces integrated on the module are ready-to-use, so there are no external
drivers or level shifters necessary. To select RS232, leave open the interface selection pin, for RS485
pull it to ground. Please see chapter Fehler! Verweisquelle konnte nicht gefunden werden. for the
pin assignments of the interfaces.
Interface selection pin
(connector 2, terminal 2)
Selected communication
interface
open wire
RS232
pulled to ground
RS485
The communication with the TMCM-109 module is done using TMCL™ commands.
When using the RS485 interface, the devices can be daisy-chained. Bus termination resistors in the
range of 100 Ohms are typically required at each of the two ends of the cables.
6.5 Motor current setting
The motor current can be set in a range of 0 to 255, using the TMCL™ software instruction 5:
SAP, type 6: max. current (255 correspond to the module’s maximum I
COIL
setting.)
I
COIL,PP
I
COIL,RMS
255
5.0A
3.54A
216
4.2A
3.0A
180
3.5A
2.5A
144
2.8A
2.0A
108
2.1A
1.5A
72
1.4A
1.0A
0
0A
0A
Table 6.1: Motor current examples