Trinamic PANdrive PD-1140 Hardware Manual

17 www.trinamic.com 5 Reset to Factory Defaults It is possible to reset the PD-1140 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost. For this procedure two pads on the bottom side of the board have to be shortened. Please perform the following steps: 1. Power supply off and USB cable disconnected 2. Short two pads as marked in Figure 5.1 3. Power up board (power via USB is sufficient f ...

7 www.trinamic.com 4.2 Stepper Motor Specifications MAIN CHARACTERISTICS OF FOUR DIFFERENT MOTORS AVAILABLE AS PART OF THE PD-1140 Specifications Parameter Units QSH4218 -34-20-022 -38-20-036 -47-20-044 -60-20-070 Step angle ˚ 1.8 1.8 1.8 1.8 Step angle accuracy % +/-5 +/-5 +/-5 +/-5 Ambient temperature °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 2 ...

21 www.trinamic.com 8.1.3 PD42-3-1140 Torque Curve Figure 8.3 PD42-3-1140 torque vs. velocity 24V / 2A, 256µsteps 8.1.4 PD42-4-1140 Torque Curve Figure 8.4 PD42-4-1140 torque vs. velocity 24V / 2A, 256µsteps 0,00 0,10 0,20 0,30 0,40 0,50 0,60 10 100 1000 10000 torque[Nm] speed[rpm] PD42-3-1140 - 2A RMS Phase Current, 256 uSteps 0,00 0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 10 100 1000 10000 torque[Nm] speed[rpm] PD42-4-1140 - 2A RMS Phase Current, 256 uSteps ...

22 www.trinamic.com 9 Functional Description The PD-1140 is a highly integrated mechatronic device which can be controlled via several serial interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are performed on board. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both: direct mode and standalone operation. Full remote control of device with feedback is possible. The firmware of the module can be updated via any of the serial interfaces. In Figure 9.1 the main part ...

19 www.trinamic.com 7 Operational Ratings The operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded! Symbol Parameter Min Typ Max Unit VDD Power supply voltage for operation 9 12… 24 28 V ICOIL_peak Motor coil current for sine wave peak (chopper regulated, adjustable via software) 0 2.8 A ICOIL_RMS Continuous motor current (RMS) 0 2.0 A IDD Power supply current << ICOIL 1.4 * ICOIL A TENV Environment temperature at rated current (no forced cooli ...

24 www.trinamic.com EXAMPLE: Signal value f_CLK 16 MHz velocity 1000 a_max 1000 pulse_div 1 ramp_div 1 usrs 6 Hz MHz msf .31 122070 2048 32 2 1000 16 1      Hz fsf Hz .34 1907 2 122070.31 ] [ 6   s MHz Mhz a .21 119 2 1000 ) 16 ( 1 29 1 2      s MHz s MHz af 863 .1 2 .21 119 6   CALCULATION OF THE NUMBER OF ROTATIONS A stepper motor has e.g. 72 fullsteps per rotation. 26.49 72 1907.34    per rotation fullsteps fsf RPS 1589.46 72 1907.34 60 60      per rotation fullsteps fsf RPM ...

16 www.trinamic.com 4.3.4 Mini-USB Connector A 5pin mini-USB connector is available on-board for serial communication (as alternative to the CAN and RS485 interface). This module supports USB 2.0 Full-Speed (12Mbit/s) connections. CAN interface will be de-activated as soon as USB is connected due to internal sharing of hardware resources. 1 5 Pin Label Direction Description 1 VBUS Power (supply input) +5V supply from host 2 D- Bidirectional USB Data – 3 D+ Bidirectional USB Data + 4 ID Power (GND) Connected to signal and system ground 5 GND P ...