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mechatronic drives with stepper motor pandrives trinamic motion control gmbh & co. kg hamburg, germany www.trinamic.com v 1.52 hardware manual + + tmcm - 113 - 60 - se c ontroller / driver up to 2.8 a rms / 24v rs232 or rs485 integrated sensostep ? encoder chopsync ? stallguard ? pd - 113 - 57/60 - se full mechatronic device up to 2.8 a rms / 24v rs232 or rs485 integrated sensostep ? encoder chopsync ? stallguard ? + +
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 2 copyright ? 2011, trinamic motion control gmbh & co. kg table of c ontents 1 life support policy ................................ ................................ ................................ ................................ ....................... 3 2 features ................................ ................................ ................................ ................................ ................................ ........... 4 3 order codes ................................ ................................ ................................ ................................ ................................ .... 5 4 mechanical and electrical interfacing ................................ ................................ ................................ ..................... 6 4.1 size of pd - 113 - 57 - se ................................ ................................ ................................ ................................ ............ 6 4.2 size of pd - 113 - 60 - se ................................ ................................ ................................ ................................ ............ 7 4.3 size of electronics ................................ ................................ ................................ ................................ ............... 8 4.4 motor ................................ ................................ ................................ ................................ ................................ ....... 9 4.5 connectors ................................ ................................ ................................ ................................ ........................... 10 4.5.1 power connector ................................ ................................ ................................ ................................ .......... 11 4.5.2 serial communication connector ................................ ................................ ................................ ............ 11 4.5.3 i/o connector ................................ ................................ ................................ ................................ ................ 11 4.5.4 motor connector ................................ ................................ ................................ ................................ ........... 12 4.6 serial communication interface ................................ ................................ ................................ ..................... 12 4.6.1 rs232 ................................ ................................ ................................ ................................ ............................... 12 4.6.2 rs485 ................................ ................................ ................................ ................................ ............................... 13 4.7 reference switch inputs ................................ ................................ ................................ ................................ .. 15 4.8 general purpose inputs ................................ ................................ ................................ ................................ ... 15 4.9 general purpose outputs ................................ ................................ ................................ ................................ . 16 5 operational ratings ................................ ................................ ................................ ................................ .................... 17 6 functional description ................................ ................................ ................................ ................................ .............. 19 7 torque curves ................................ ................................ ................................ ................................ .............................. 20 7.1 pd1 - 113 - 57 - se ................................ ................................ ................................ ................................ ...................... 20 7.2 pd2 - 113 - 57 - se ................................ ................................ ................................ ................................ ...................... 21 7.3 pd3 - 113 - 57 - se ................................ ................................ ................................ ................................ ...................... 21 7.4 pd4 - 113 - 57 - se ................................ ................................ ................................ ................................ ...................... 22 7.5 pd1 - 113 - 60 - se ................................ ................................ ................................ ................................ ...................... 23 7.6 pd2 - 113 - 60 - se ................................ ................................ ................................ ................................ ...................... 23 7.7 pd3 - 113 - 60 - se ................................ ................................ ................................ ................................ ...................... 24 7.8 pd4 - 113 - 60 - se ................................ ................................ ................................ ................................ ...................... 24 8 revision history ................................ ................................ ................................ ................................ .......................... 25 8.1 document revision ................................ ................................ ................................ ................................ ............ 25 8.2 hardware revision ................................ ................................ ................................ ................................ ............. 25 9 references ................................ ................................ ................................ ................................ ................................ ..... 25
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 3 copyright ? 2011, trinamic motion control gmbh & co. kg 1 life support policy 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 consent 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 personal injury or death. ? trinamic motion control gmbh & co. kg 2011 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. specifications are subject to change without notice.
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 4 copyright ? 2011, trinamic motion control gmbh & co. kg 2 features the pd - 113 - 57/60 - se is a full mechatroni c device consisting of a nema 23 (flange size 57 mm) or nema 24 (flange size 60mm) stepper motor, controller/ driver electronics and integrated encoder. the electronics itself is also available w ithout the motor as tmcm - 113 - 60 - se module. applications ? c ompact single - axis stepper motor solutions ? encoder feedback for high reliability operation ( - se option) electric al data ? suppl y voltage: +24v dc nominal (+7v ... +28.5v dc) ? motor current: up to 2.8a rms (programmable) integrated motor (for pd - 113 - 57/60 - se 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 60 mm motor : 1.1nm, 1.65nm, 2.1nm or 3.1 nm integrated encoder (for - se option only) ? integrated sensostep? magnetic encoder (max. 256 increments per rotation) for step - loss detection under all operating condition s integrated motion controller ? motion profile calculation in real - time (tmc428/429 motion controller) ? on the fly alteration of motor parameters (e.g. position, velocity, acceleration) integrated bipolar stepper motor driver ? up to 16 microsteps per full step ? high - efficient operation, low power dissipation (tmc249 stepper driver with external mosfets) ? dynamic current control ? integrated p rotection ? integrated stallguard? for motor stall detection (e.g. elimination of end switches) ? integrated chopsy nc? for high velocity operation interfaces ? inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs ? either rs 232 or rs 485 serial communication interfaces software ? available with tmcl ? (both interface options) ? stand - alone oper ation or remote controlled operation ? program memory (non volatile) for up to 2048 tmcl commands ? pc - based application development software tmcl - ide available for free please see separate tmcl ? firmware m anual for additional information
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 5 copyright ? 2011, trinamic motion control gmbh & co. kg 3 order codes the pd - 113 - 57/60 - se is currently available with two different stepper motor series ( nema23 / 57mm flange size or) with four stepper motors of different length and holding torque each and two interface options : with nema 23 / 57mm flange size motor: order code description length of u nit pd1 - 113 - 57 - se - option pandrive with 0.55 nm max./holding torque 60mm max (+ 22.4mm for axis) pd2 - 113 - 57 - se - option pandrive with 1.01 nm max./holding torque 70mm max (+ 22.4mm for axis) pd3 - 113 - 57 - se - option pandrive with 1.26nm max./holding torque 75mm max (+ 22.4mm for axis) pd4 - 113 - 57 - se - option pandrive with 1.89nm max./holding torque 95mm max (+ 22.4mm for axis) table 3 . 1 : order codes ( pd - 113 - 57 - se) with nema 24 / 60 mm flange size motor: order code description length of u nit pd1 - 113 - 60 - se - option pandrive with 1.10 nm max./holding torque 64mm max (+ 22.4mm for axis) pd2 - 113 - 60 - se - option pandrive with 1.65 nm max./holding torque 75mm max (+ 22.4mm for axis) pd3 - 113 - 60 - se - option pandrive with 2.10 nm max./holding torque 84mm max (+ 22.4mm for axis) pd4 - 113 - 60 - se - option pandrive with 3.10 nm max./holding torque 105mm max (+ 22.4mm for axis) table 3 . 2 : order codes ( pd - 113 - 60 - se) the electronic module tmcm - 113 - 60 - se its elf is also available with two serial interface options: order code description size of u nit tmcm - 113 - 60 - se - option single axis bipolar stepper motor controller / driver electronics with integrated encoder electronics b oard size: 60mm x 60mm table 3 . 3 : order codes (tmcm - 113 - 60 - se) serial interface options: interface option communication interface - 232 rs232 interface - 485 rs485 interface table 3 . 4 : options component parts description tmcm - 113 - cable cable loom for module and pandrive ? table 3 . 5 : order codes for component parts for cost critical application s and applications with reduced requirements with regard to po sition feedback both versions - with and without motor - are also available witho ut sensostep? encoder as pd - 113 - 57/60 and tmcm - 113 - 60 on request.
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 6 copyright ? 2011, trinamic motion control gmbh & co. kg 4 mechanical and electrical i nterfaci ng 4.1 size of pd - 113 - 57 - se currently, there is a choice between four nema 23 / 57 mm bipolar stepper motors with different lengths and different holding torques . figure 4 . 1 : dimensions of pd - 113 - 57 - se (all values in mm) length of motor pd 1 41mm pd2 51mm pd3 56mm pd4 76mm c o n n e c t o r s 1 7 l e n g t h 5 6 . 4 1 3 8 . 1 0 . 0 2 5 1 . 6 5 6 , 3 5 - 0 . 0 1 3 6 0 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 0 . 5 6 0 0 . 5 4 7 . 1 4 0 . 2
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 7 copyright ? 2011, trinamic motion control gmbh & co. kg 4.2 size of pd - 113 - 60 - se currently, there is a choice between four nema 24 / 60 mm bipolar stepper motors with different lengths and different holding torques . figure 4 . 2 : dimensions of pd - 113 - 60 - se (all values in mm) length of motor pd 1 45.0mm pd2 56.0mm pd3 65.0mm pd4 86.0mm 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 c o n n e c t o r s 1 7 6 9 m a x 2 0 0 . 5 7 . 5 0 . 2 6 0 0 . 5 6 0 0 . 5 4 7 . 1 4 0 . 2 6 0 0 . 5 3 8 . 1 0 . 0 2 5 8 4 7 . 1 4 0 . 2 4 - ? 4 . 5
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 8 copyright ? 2011, trinamic motion control gmbh & co. kg 4.3 s ize of electronics the outer shape of the tmcm - 113 - 60 - se controller/ driver board has been designed in order to fi t to the back bell of a nema 24/ 60mm flange size motor (60mmx 60mm) . consequently , the module is a little bit larger than the motor when being mounted on a standard nema 23/ 57mm motor . there are fo ur mounting holes altogether . they have been designed in orde r to fit to the latest nema 23/ 57mm [qsh5718] and nema 24/ 60mm [qsh6018] stepper motors available from trinamic . t wo mounting holes at opposite corners of the board have been positioned in order to be able to attach it to the back bell of the nema 23/ 57mm stepper motor s and the other two for mo unting it to the nema 24/ 60mm stepper motors. figure 4 . 3 : pd - 113 - 57/60 - se controller/ driver board 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 m o u n t i n g h o l e s f o r n e m a 2 4 m o u n t i n g h o l e s f o r n e m a 2 3 m o u n t i n g h o l e 3 . 2 m m , c o n n e c t e d t o g r o u n d m o u n t i n g h o l e 3 . 2 m m , n o e l e c t r i c a l c o n n e c t i o n 4 9 . 5
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 9 copyright ? 2011, trinamic motion control gmbh & co. kg 4.4 motor main cha racteristics of the four different motors available as part of the pd - 113 - 57 - se: specifications parameter units qsh5718 - 41 - 28 - 055 - 51 - 28 - 101 56 - 28 - 126 - 76 - 28 - 189 number of leads n? ? 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 ? 2 120 275 300 480 insulation class b b b b max. applicable voltage v 75 75 75 75 max. radial force 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 ?c table 4 . 1 : nema 23 / 57mm t echnical motor data main cha racteristics of the four different motors available as part of the pd - 113 - 60 - se: specifications parameter units qsh 6018 - 45 - 28 - 110 - 56 - 28 - 165 - 65 - 28 - 210 - 86 - 28 - 310 number of leads n? ? 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 ? 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 4 . 2 : nema 24 / 60mm t echnical motor data
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 10 copyright ? 2011, trinamic motion control gmbh & co. kg 4.5 connector s the tmcm - 113 - 60 - se has four connectors, a 2 - pin connector for power supply, a 4 - pin serial communication interface connector, a n 8 - pin input/output connector and a 4 - p in motor connector (used to connect the attached motor). figure 4 . 4 : tmcm - 113 - 60 - se connectors the following table shows which connector types and their mating connectors are used. domain connector type mating connector type power molex 22 - 27 - 2021, type 6410, 2.54mm kk header, square pin molex, 22 - 01 - 2025, type 6471, 2.54mm kk female connector ; crimp contacts molex 08 - 50 - 0032 motor molex 22 - 05 - 7048 type 7395 , 2.54 mm kk header molex 22 - 01 - 2045, type 6471, 2.54mm kk, female connector ; crimp contacts molex 08 - 50 - 0032 rs232 /rs485 jst b4b - ph - k, 2.0mm header for crimp connection with top entry jst phr - 4, 2.0mm, female crimp connector ; crimp contacts jst bph - 002t - p0.5s i/os and switches jst b8b - ph - k, 2.0mm header for crimp connection with top entry jst phr - 4, 2.0mm, female crimp connector; crimp contacts jst bph - 002t - p0.5s table 4 . 3 : connectors and mating connectors s t o p l s t o p r g n d v d d g p o _ 0 g p o _ 1 i n _ 0 i n _ 1 l e f t r e f e r e n c e s w i t c h i n p u t r i g h t r e f e r e n c e s w i t c h i n p u t s u p p l y a n d s i g n a l g r o u n d p o w e r s u p p l y o u t p u t g e n e r a l p u r p o s e o u t p u t 0 g e n e r a l p u r p o s e o u t p u t 1 g e n e r a l p u r p o s e i n p u t 0 g e n e r a l p u r p o s e i n p u t 1 1 2 3 4 5 6 7 8 g n d r s 2 3 2 _ r x d o r r s 4 8 5 a / r s 4 8 5 + g n d s u p p l y a n d s i g n a l g r o u n d s u p p l y a n d s y s t e m g r o u n d 1 2 3 4 v d d g n d p o w e r s u p p l y i n p u t s u p p l y a n d s y s t e m g r o u n d 2 1 r s 2 3 2 _ t x d o r r s 4 8 5 b / r s 4 8 5 - b - b + a - a + m o t o r c o i l b m o t o r c o i l b m o t o r c o i l a m o t o r c o i l a 4 3 2 1
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 11 copyright ? 2011, trinamic motion control gmbh & co. kg 4.5.1 power connector a 2 - pin molex 6410 series connector is used for power supply . pin label description 1 gnd module ground (power supply and signal ground) 2 vdd power supply input, nom. +24v dc (+7... +28.5v dc) table 4 . 4 : connector for power a mating connector together with a cable loom is available a s part of t he tmcm - 113 - cable cable loom set . 4.5.2 serial communication connector a 4 - pin jst ph series connector is used for serial communication . t wo different communication interface standards are available with this unit (either or options): rs232 and rs485. pin rs232 rs485 description 1 gnd gnd power and signal ground 2 rs232_rxd rs485a / rs485+ serial communication signal 3 rs232_txd rs485b / rs485 - serial communication signal 4 gnd gnd power and signal ground table 4 . 5 : connector for communication mating connector from jst: phr - 4 (housing) and sph - 002t - p0.5s (crimp contact for awg #30 to 24 / 0.05mm 2 to 0.22mm 2 wires). a mating connector together with a cable loom is available a s part of t he tmcm - 113 - cable cable loom set . 4.5.3 i/o connector an 8 - pin jst ph series connector is used for general purpose input /output signals and reference switch inputs . pin label direction description 1 stop l input left reference switch input 2 stop r input right reference switch input 3 gnd power power and signal ground 4 vdd output power supply output 5 out_0 output general purpose output (open collector) 6 out_1 output general purpose output (open collector) 7 in_0 input general purpose input (+24v compatible) 8 in_1 input general purpose input (+24v compatible) table 4 . 6 : connector for stop switches and general purpose i/o mating connector from jst: phr - 8 (housing) and sph - 002t - p0.5s ( crimp contact for awg #30 to 24/ 0.05mm 2 to 0.22mm 2 wires). a mating connector together with a cable loom is available a s part of t he tmcm - 113 - cable cable loom set . 2 1 1 4 1 8
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 12 copyright ? 2011, trinamic motion control gmbh & co. kg 4.5.4 motor connector a 4 - pin molex 7395 series connector is used for connecting the motor . pin label direction description 1 a + output 2 - phase stepper motor phase a 2 a - output 2 - phase stepper motor phase a 3 b + output 2 - phase stepper motor phase b 4 b - output 2 - phase stepper motor phase b table 4 . 7 : connector for motor a mating connector together with a cable loom is available a s part of t he tmcm - 113 - cable cable loom set . 4.6 serial communication interface the pd - 113 - 57/60 - se is available with two serial interface options: rs232 for point - to - point communication and rs485 fo r bus communication . the two different interface opt ions are assembly options C depending on the desired interface different components are assembled. 4.6.1 rs232 rs 232 can be used for serial point - to - point communication. the pd - 113 - 57/60 - se - 232 includes a transceiver with level converter for true rs232/ v24 signal level s (figure 4.3). figure 4 . 5 : rs232 interface option (transceiver/ level shifter ic marked red) when connecting to a master e.g. pc using the rs232 interface please keep in mind that the rs232 transmit signal wire of the master has to be connected to the rs232 receive signal wire of the board and vice versa. 1 4
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 13 copyright ? 2011, trinamic motion control gmbh & co. kg c onnection between pc and pd - 113 - 57/ 60 - se pc (d - sub 9pin) pd - 113 - 57/60 - se (serial communication connector) pin label pin label 2 rs232_rxd 3 rs232_txd 3 rs232_txd 2 rs232_rxd 5 gnd 1, 4 gnd table 4 . 8 : rs232 connection p c < - > pd - 113 - 57/60 - se 4.6.2 rs485 rs 485 can be used for serial bus communication. the pd - 113 - 57/60 - se - 485 includes a transceiver and a termination resistor which can be activated for modules placed at one end of the communication bus using an on - board jumper ( figure 4 . 6 ). figure 4 . 6 : rs485 interface option (transceiver and termination header marked red) for proper operation of the rs485 bus the following items should be taken into account when setting up an rs485 network: bus structure : the network topology should follow a bus structure as closely as possible. that is, the connection between each node and the bus itself should be as short as possible. basically, it should be short compared to the length of the bus. figure 4 . 7 : bus structure c : > n o d e 1 n o d e n - 1 n o d e n h o s t s l a v e s l a v e s l a v e r s 4 8 5 t e r m i n a t i o n r e s i s t o r 1 2 0 o h m } k e e p d i s t a n c e a s s h o r t a s p o s s i b l e t e r m i n a t i o n r e s i s t o r 1 2 0 o h m
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 14 copyright ? 2011, trinamic motion control gmbh & co. kg bus termination : e specially for longer busses and/ or multiple nodes connected to the bus and/ or high communication speeds, the bus should be properly te rminated at both ends . the pd - 113 - 57/60 - se - 485 integrates a 120 ohm termination resistor that can be placed between both rs485 bus wires by setting a jumper . figu re 4 . 8 : jumper for placing bus termination number of nodes : the rs 485 electrical interface standard (eia - 485) allows up to 32 nodes to be connected to a single bus. the bus transceiver used for the pd - 113 - 57 /60 - se - 485 units (sn65hvd3082ed) has just 1/8 of the standard bus load and allows a maximum of 256 units to be connected to a single rs485 bus. no floating bus lines: avoid floating b us lines while neither the host/ master nor one of the slaves along the bus line is transmitting data (all bus nodes switched to receive mode). floating bus lines may lead to communication errors. in order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well defined l ogic levels. in contrast to the termination resistors this network is nor mally required just once for a bus. certain rs485 interface converters available for a pc already include these additional resistors (e.g. usb - 2 - 485 [usb - 2 - 485]). figure 4 . 9 : resistor network to avoid floating bus lines n o d e n - 1 n o d e n s l a v e s l a v e + 5 v g n d p u l l - u p ( 1 k ) p u l l - d o w n ( 1 k ) r s 4 8 5 - / r s 4 8 5 b r s 4 8 5 + / r s 4 8 5 a t e r m i n a t i o n r e s i s t o r 1 2 0 o h m
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 15 copyright ? 2011, trinamic motion control gmbh & co. kg 4.7 reference switch input s there are 2 reference/ stop switch inputs ( stopl / stopr). both inputs offer an internal pull - up resistor (1k) and accept voltages between 0 and +5v . figure 4 . 10 : reference/s top switch inputs stopl, stopr 4.8 general purpose inputs there are 2 general purpose inputs (in_0 / in_1). both inputs offer internal voltage divider and voltage limiter and accept input voltages between 0 and +24v. the voltage divider resistors act as pull - down resistors, also. both inputs accept digital and analogue signals (depending on software confi guration). figure 4 . 11 : general purpose inputs in_o, in_ 1 s t o p l 1 k 1 0 k + 5 v 1 n f g n d s t o p r 1 k 1 0 k + 5 v 1 n f g n d i n _ 0 1 0 k 1 0 k g n d + 5 v g n d i n _ 1 1 0 k 1 0 k g n d + 5 v g n d
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 16 copyright ? 2011, trinamic motion control gmbh & co. kg 4.9 general purpose outputs there are 2 general purpose outputs (out_0 / out_1). both outputs are open collector outputs and can drive loads up to 100ma. especially for inductive loads a freewheeling diode to supply voltage (vdd) has been included. this is also the reason why the external voltage at the general purpose outp uts - when the outputs a re switched off - should not be higher than the supply voltage of the module + approx. 0.5v. figure 4 . 12 : general purpose outputs out_0, out_1 1 0 k g n d v d d o u t _ 0 b c 8 4 7 1 0 k g n d v d d o u t _ 1 b c 8 4 7
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 17 copyright ? 2011, trinamic motion control gmbh & co. kg 5 operational ratings the operational ratings shown below should be used as design values. in no case should the maximum values be exceeded during operation. symbol parameter min type max unit v dd power supply voltage for operation 7 24 28.5 v 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) - 20 +40 **) c environment temperature at 80% of rated current or 50% duty cycle (no forced cooling required) - 20 +60 c table 5 . 1 : general operational ratings of the module *) please note: only pd - 113 - 57/60 - se and tmcm - 113 - 60 - se with pcb version 1.2 or newer support specified max. current over full temperature range. older or pre - series versions may be limited with regard to temperature range and / or max. motor current. **) test set - up / procedure: pandrive pd4 - 113 - 60 - se mounted to a metal base plate in order to keep stepper motor temperature within limits for the motor during test (table 4.2) / test inside climate chamber with approx. 53l volume / no forced air convectio n during test / test duration at least 30min. please note: motor temperature should always be kept below upper limit for the motor - that is, motor / pandrive should be mounted to an appropriate metal / cooling plate or frame. especially, the longer avail able stepper motor which are part of the pd4 - 113 - 57 - se or pd4 - 113 - 60 - se may easily reach 100c or above when operated at full current over long time without being mounted to any heat - conducting structure or forced air convection. in case the tmcm - 113 - 60 - se electronic module is mounted close to the motor as with the pandrives, the motor might substantially heat up the electronics and limit the maximum environmental temperature during operation. the unit may be operated at higher environmental temperatures th an specified when the duty cycle of the motor and / or the motor current is reduced or in case the tmcm - 113 - 60 - se electronic module is mounted separately from the motor. symbol parameter min type max unit v stopl/r input voltage for stopl/r 0 5 v v stopl/r_l low level voltage for stopl/r 0 1.2 v v stopl/r_h high level voltage for stopl/r (internal 1k pull - up) 1.9 5 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 2 0k pull - down) 0 2 v v in_0/1_h high level voltage for in_0 and in_1 when used as digital input 6 24 v v out_0/1 voltage at open collector output 0 v dd + 0.5 *) v i out_0/1 output sink current 100 ma table 5 . 2 : operational ratings of the general purpose inputs / outputs *) lim ited to module supply voltage + 0.5v due to integrated freewheeling diode between general purpose output and module supply voltage
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 18 copyright ? 2011, trinamic motion control gmbh & co. kg symbol parameter min type max unit n r s485 number of nodes connected to single rs485 network 256 table 5 . 3 : operational ratings of the r s485 interface
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 19 copyright ? 2011, trinamic motion control gmbh & co. kg 6 func tional d escription the pd - 113 - 57/60 - se is a full mechatronic solution including a 57 or 60 mm flange motor (nema23/nema24). it combines a convenient controller electronic and a sensostep? encoder with a range of different motor types and can be controlled via rs 232 or rs485 interface. the chopsync? feature allows high velocity operation avoiding resonances. the pd - 113 - 57/60 - se comes with the pc based software development environment tmcl - ide for the trinamic motion control language (tmcl). using predefined tmcl high level commands like move to position or constant rotation a rapid and fast development of motion control applications is guaranteed. communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed onboard. the stepper driver / controller module is available without the electronics also as tmcm - 113 - 60 - se. figure 6 . 1 : main parts of the pd - 113 - 57/60 - se 5 v p o w e r s u p p l y r s 2 3 2 o r r s 4 8 5 2 4 v p d - 1 1 3 - 5 7 / 6 0 - s e p r o g a m m a b l e m o t i o n c o n t r o l l e r w i t h t m c 4 2 8 / 4 2 9 h i g h p o w e r d r i v e r t m c 2 4 9 e e p r o m s e n s o s t e p t m e n c o d e r m o s f e t d r i v e r s t a g e s t e p m o t o r t m c m - 1 1 3 - 6 0 - s e
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 20 copyright ? 2011, trinamic motion control gmbh & co. kg 7 torque curves 7.1 pd1 - 113 - 57 - se figure 7 . 1 : torque curve for pd1 - 113 - 57 - se
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 21 copyright ? 2011, trinamic motion control gmbh & co. kg 7.2 pd2 - 113 - 57 - se figure 7 . 2 : torque curve for pd2 - 113 - 57 - se 7.3 pd3 - 113 - 57 - se figure 7 . 3 : toque curve for pd3 - 113 - 57 - se
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 22 copyright ? 2011, trinamic motion control gmbh & co. kg 7.4 pd4 - 113 - 57 - se figure 7 . 4 : torque curve of pd4 - 113 - 57 - se
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 23 copyright ? 2011, trinamic motion control gmbh & co. kg 7.5 pd1 - 113 - 60 - se figure 7 . 5 : torque curve of pd1 - 113 - 60 - se 7.6 pd2 - 113 - 60 - se figure 7 . 6 : torque curve for pd2 - 113 - 60 - se
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 24 copyright ? 2011, trinamic motion control gmbh & co. kg 7.7 pd3 - 113 - 60 - se figure 7 . 7 : torque curve for pd3 - 113 - 60 - se 7.8 pd4 - 113 - 60 - se figure 7 . 8 : torque curve for pd4 - 113 - 60 - se
pd - 113 - 57/60 - se / tmcm - 113 - 60 - se hardware manual (v1.52 / 2011 - dec - 06 ) 25 copyright ? 2011, trinamic motion control gmbh & co. kg 8 revision h istory 8.1 document r evision version date author description 1.00 2008 - oct - 2 0 ge initial version 1. 10 2008 - dec - 19 sd dimensions of the pandrive s and functional d escription added 1.20 2009 - may - 13 sd pd3 - 113 - 57 - se and pd4 - 113 - 57 - se added 1.30 2009 - oct - 28 ge new hardware version and torque curves added 1.40 2009 - dec - 01 ge tmcm - 113 - 60, name of electronic board corrected 1.41 2010 - jul - 30 ge incomplete torque curves removed 1.42 2011 - mar - 14 sd torque curves added, front page new , length of axis corrected ( pd - 113 - 57 - se) 1.43 2011 - jun - 02 sd information about mating connectors added , new front page 1.44 2011 - jun - 08 sd minor changes 1.50 2011 - sep - 05 sd minor changes 1.51 2011 - nov - 24 sd order codes new 1.52 2011 - dec - 06 sd product name updated table 8 . 1 : document r evision 8.2 hardware r evision version date description 1.00 2008 - jul - 25 first three prototypes 1.10 2008 - sep - 24 minor corrections, start of series production 1.20 2009 - jun - 10 optimisation of thermal design 1.30 2009 - aug - 05 sensostep? table 8 . 2 : hardware r evision 9 references [tmc428/429] tmc428 / tmc429 datasheet [tmcl ? ] pd - 113 - 57/60 - se tmcl ? f irmware m anual [qsh 5718 ] 57mm stepper motor manual [qsh 6018 ] 60mm stepper motor manual [u sb - 2 - 485] usb - 2 - 485 interface converter manual s ee http://www.trinamic.com

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