Trinamic 30-0102 PD1-109-57-RS V2 Stepper Motor With Integrated Controller 30-0102 数据表
产品代码
30-0102
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25)
2
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
Contents
1
Life support policy ....................................................................................................................................................... 4
2
Features........................................................................................................................................................................... 5
3
Order codes .................................................................................................................................................................... 7
4
Electrical and mechanical interfacing ..................................................................................................................... 8
4.1
Dimensions ........................................................................................................................................................... 8
4.1.1
Dimensions of PCB .................................................................................................................................. 8
4.1.2
Dimensions of PDx-109-57 V2 ............................................................................................................... 9
4.2
Connectors .......................................................................................................................................................... 11
4.2.1
Connector 1: Power supply, RS485, and GPI1/2 ............................................................................ 12
4.2.2
Connector 2: RS232 and additional I/O ........................................................................................... 12
4.2.3
Connectors 3 and 4: Motor .................................................................................................................. 13
5
Operational ratings .................................................................................................................................................... 14
5.1
GPI1, GPI2, and disable inputs ..................................................................................................................... 15
6
Functional description .............................................................................................................................................. 16
6.1
System architecture .......................................................................................................................................... 16
6.1.1
Microcontroller (µC) ............................................................................................................................... 16
6.1.2
TMCL™ EEPROM....................................................................................................................................... 16
6.1.3
TMC428 motion controller ................................................................................................................... 16
6.1.4
TMC249 motor driver ............................................................................................................................. 17
6.2
Power supply requirements........................................................................................................................... 17
6.3
Disable ................................................................................................................................................................. 17
6.4
Communication interfaces RS232 and RS485 ........................................................................................... 18
6.5
Motor current setting ....................................................................................................................................... 18
6.6
Microstep resolution ........................................................................................................................................ 19
6.7
Reference switches ........................................................................................................................................... 19
6.8
stallGuard™ - sensorless motor stall detection ...................................................................................... 19
6.9
Environment temperature considerations ................................................................................................. 19
6.10
State indication LEDs ....................................................................................................................................... 20
6.11
Firmware update ............................................................................................................................................... 20
6.12
Resetting the module ...................................................................................................................................... 21
7
Putting the PDx-109-57 into operation ................................................................................................................ 22
8
TMCM-109 operational description ........................................................................................................................ 23
8.1
Calculation: Velocity and acceleration vs. microstep- and fullstep frequency ................................ 23
9
Software ........................................................................................................................................................................ 25
10
Revision history .......................................................................................................................................................... 26
10.1
Document revision ........................................................................................................................................... 26
10.2
Firmware revision ............................................................................................................................................. 26
11
References .................................................................................................................................................................... 27