Trinamic PD4-170-57-E, Hardware Manual

Page 1: ...mburg Germany www trinamic com V 1 10 HARDWARE MANUAL TMCM 170 57 controller driver module up to 10A RMS 12 48V DC CAN RS232 RS485 optional PDx 170 57 E mechatronic device with 57 mm BLDC servo motor...

Page 2: ...ements 12 5 2 Bus interface 12 5 2 1 Terminating the RS485 network 12 6 Functional description 13 6 1 Setting the basic values for operation using the demonstration application 13 6 2 Start up for enc...

Page 3: ...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...

Page 4: ...stability drives Extremely compact decentralized motor electronics Motor Encoder type Sine or block commutated BLDC motors with encoder and with without additional hall sensors Hall sensor based motor...

Page 5: ...uired Order code Description Dimensions mm PD4 170 57 E option PANdrive 0 32Nm 132 x 61 x 61 without motor axis PD5 170 57 E option PANdrive 0 42Nm 152 x 61 x 61 without motor axis TMCM 170 option BLD...

Page 6: ...perature pre warning threshold is exceeded high when module shut down due to overtemperature CUR LED 5V TTL output High when module goes into current limiting mode or into overvoltage switch off Toggl...

Page 7: ...ect or disconnect the boards while power is switched on 4 2 Application circuit The schematic shows a typical application circuit using CAN bus interface Optionally the unit allows connection of motor...

Page 8: ...height 28mm 16mm highest part mounting holes diameter is 2 8mm Figure 4 3 Dimensions of TMCM 170 and PD 170 32 00 25 97 14 50 27 00 13 50 27 00 27 00 30 50 46 77 61 00 Top view of Driver board All val...

Page 9: ...sulation Class B Radial Play 0 02 mm 450G load Max Radial Force 75N 10mm from flange Max Axial Force 15N Dielectric Strength 500 VDC For One Minute Insulation Resistance 100M Ohm min 500VDC Recommende...

Page 10: ...Switch the reverse hall sensor polarity on and the reverse encoder direction off Use the basic control and diagnostics software or TMCL IDE Adjustments for QBL5704 94 04 032 Switch the reverse hall s...

Page 11: ...PID Module idle power consumption without encoder hall sensor 2 4 W V5 5 Volt 4 output external load encoder plus hall sensors plus other load 0 200 mA IMC Continuous Motor RMS current module surface...

Page 12: ...because it saves energy precautions have to be taken to limit the supply voltage to within the operational limits The TMCM 170 contains an overvoltage protection circuit which disables braking whenev...

Page 13: ...nce Thus the unit needs an internal start up procedure which determines the encoder position with respect to the actual pole motor orientation The TMCM 170 provides basically two modes for encoder ini...

Page 14: ...d setting for A and B channel polarity Attention Initialization modes 1 to 4 apply a high current to the motor for a few seconds Be sure to parameterize the initialization current correctly i e not mo...

Page 15: ...er be done via a central unit operating the motor via its bus interface or a reference switch can be connected to the stop input pull down to 0V at reference point The position counter can be automati...

Page 16: ...sure about this If the short time motor coil current is not limited to a maximum of about 40A this could destroy the unit There are a number of aspects when using the current limiting function The cur...

Page 17: ...ion V0 90 or later for connector pinning 0 92 First release Added encoder N channel initialization 0 93 Added encoder N channel for automatic correction and encoder error flag 0 94 Allows specifying o...

Page 18: ...B SGP 253 0 4 Motor Pole 4 SGP 254 0 0 Hall Sensor Invert PD4 SGP 254 0 1 Hall Sensor Invert PD5 SGP 250 0 2000 Encoder Steps per Rotation SGP 252 0 1 Reverse Encoder Null Polarity SGP 251 0 1 Revers...