PD-170 57mm BLDC Motor with Intelligent Electronics and Serial Interface The PD-170-57 is a full mechatronic solution including a 57mm brushless DC motor (NEMA23). It combines a convenient servo controller electronic (TMCM-170) and an optical encoder with different motor types. The PD-170-57 offers two motor torque options and can be controlled via RS232, RS485 and/or CAN interface. The power supply can be connected via screw connectors and the interface and the multi-purpose I/Os can be connected via high density JST connectors. This PANdrive combines the high resolution commonly known from stepper motors with the high dynamic, high velocity and high reliability of a BLDC drive. It integrates a position regulator and a ramp generator. The ramp generators supports parameterized smooth positioning also with an external switch in order to support an absolute position reference. Features: Connectors: At the PANdrive 170 the motor, encoder and hall sensor connections are already done. The I/O-board has to be detached to access the screw connectors for power supply. Interface I/O board (top view) Motor Power UVW + Encoder Pin 1 2 3 4 5 Function CANH CANL Ground RS485+ / RxD Rs485- / TxD Pin 1 2 3 4 5 Pin 1 2 3 4 5 6 7 8 Name AIN N.C. /STOP DIRIN OVT GND CUR +5V Function Analog input: 0 - 10V signal. Not connected (do not use) Reference switch / Emergency stop 5V TTL input. Not used in firmware 5V TTL output: OverTemperature warning Ground On: limited motion due to lack of power +5V supply Power Hall sensors Function +5V supply Ground Channel N / Null channel Channel A Channel B I/O Enc Hall Motor 1 Hall 2 sensors 3 4 5 Interface I/O 1 2 3 4 5 I/O 6 7 1 8 2 3 1 4 In 2 5 te 3 r 4 Encoder fac e 5 Driver board (top view) Pin 1 2 3 4 5 Function Signal H3 Signal H2 Signal H1 Ground +5V supply Power supply Motor Screw VS Function +14..48V DC GND Ground Screw U V W Function BLDC motor coil U BLDC motor coil V BLDC motor coil W Do not connect or disconnect a motor while the board is powered, as this could damage the driver chips! 1. Open basic TMCM-170 software (available at TechLibCD and www.trinamic.com in TMCM-170 folder) by clicking TMCM170.exe. TMCM-170 Software: For full functionality of the TMCM-170 use the TMCL-IDE. All commands can be included into a program or used in “Direct Mode”. There are e.g. motion (ROR, ROL, MST, MVP) and SAP (Set Axis Parameter) commands to set motion and control parameters. GAP delivers their actual value. Instr. Type Value Description SAP Sets motion and control parameters SAP <type no.>,<motor no.>,<Value> 0: normal op. 128 0, 1, 2 1: Enable TMCL 1 32 bit Actual pos. 4 16 bit Max pos. vel. 5 0..255 PWM limit 6 0..250 Max current GAP <type no.>, <motor no.> GAP Gives actual values of SAP parameters ROR (don´t care) 0..2047 Rotate right ROR <motor no.>, <Value> ROL (don´t care) 0..2047 Rotate left ROL <motor no.>, <Value> MST (don´t care) Motor stop MST <motor no.>, <Value> MVP ABS|REL|COORD 23 bit Move to pos. MVP <type>, <motor no.>, <Value> For full instruction set and further description refer to TMCM-170 Programming manual at TechLibCD or www.trinamic.com. TMCL-IDE: 2. Choose a COM port and click “Open”. With established connection the module´s type and version as well as parameters like supply voltage, current and module temperature are displayed. 3. The preconfigured values (for setup (1) and (2) also) stored in the EEPROM of the TMCM-170 can be displayed by clicking button “Read Back” in Settings section. Do not exceed a current of maximum 10 A. 4. At Section Motor Control type in a velocity like “1000” and click “Left” or “Right”. Stop the motor by clicking “Stop”. 5. Type in a position and let the motor move to the absolute position or relative to actual position (see position counter on the right). 6. For more functions and explanations read the TMCM-170 hardware and programming manual. For full functionality use the TMCL-IDE at TechLibCD. CAUTION: For short moves do not exceed a max. current (SAP 6) of 14A (value 180). 10A (value 138) is recommended as maximum for constant rotations. Troubleshooting: • • • • If communication is not established: Check if the power LED (green) of the TMCM-170 lights. If not check your power supply. Check if you are using the right COM port and it is not blocked by another program. Check your interface connection. Are you really using a null modem cable? Refer to TMCM-170 manual or Trinamic support forum for further information and help. If the motors do not respond: • Usually it is a problem with the communication described above. • If the current limit LED (center) is flashing or on (red) the voltage or current are too low. • Set a value for current limit, e.g. 6.0A and apply this value. • Read back and check the values of the module by pressing button read back. • Is the temperature limit exceeded? Indicated by red LED. Blink: pre-warning, On: motor stopped. • Switch power off, wait a few seconds and switch on again, to reset all unstored parameters to factory defaults. PD-170 Start Documentation (November 21, 2007 / Version 1.00)