TMCL™ Firmware Manual - Trinamic

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PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 4 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 2010 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. Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 5 2 Features The PANdrive PDx-109-57 V2 features a full mechatronic solution including a 57mm flange motor. It is based on the TMCM-109-57 electronics and offers RS232 and RS485 interfaces. The power supply, the interface and the multipurpose I/Os can be connected via two pluggable screw terminal connectors. With the stallGuard feature it is possible to detect motor overload or motor stall. The TMCM-109-57 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 TMCL program can be stored in the on-board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. Applications decentralized mechatronic drive with integrated intelligence high-precision drives with high dynamics and torque Electrical data 18V to 55V motor supply voltage for highest motor dynamics up to 3.5A RMS nominal motor current Motor data all PANdrive Motors optimized for 3.0A RMS motor current flange max. 56.5mm x 56.5mm D-cut of 15mm length and 0.5mm depth more specifications: Specifications Parameter Units QSH5718 -41-28-055 -51-28-101 56-28-126 -76-28-189 Number of Leads N˚ 4 4 4 4 Step Angle ˚ 1.8 1.8 1.8 1.8 Step Angle Accuracy % 5 5 5 5 Rated Voltage VRATED V 2 2.3 2.5 3.2 Rated Phase Current IRMS RATED A 2.8 2.8 2.8 2.8 Phase Resistance at 20°C RCOIL Ω 0.7 0.83 0.9 1.13 Phase Inductance (typ.) mH 1.4 2.2 2.5 3.6 Holding Torque Nm 0.55 1.01 1.26 1.89 Detent Torque Nm 0.020 0.035 0.039 0.066 Rotor Inertia g cm2 120 275 300 480 Insulation Class B B B B Max. applicable voltage V 75 75 75 75 Max. radial force (20mm from front flange) 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 +80 max +80 max +80 max +80 max Ambient Temperature ˚C -20 +50 -20 +50 -20 +50 -20 +50 Table 2.1: Specifications of the PANdrive motors Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
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