TRINAMIC PD

Start into stepper motor motion systems
Italic and green lines can be neglected for the PD-013
You will need
•
•
Start with power supply OFF.
1. Connect RS485 Converter to PC via RS232
2. Connect TMCM-013 to RS485 Converter
• RS485 GND to pin 14 (recommended)
• RS485 + to pin 15
• RS485 – to pin 16
3. Connect power supply to TMCM-013
• Power supply (+) to pin 1
• Ground (GND) to pin 2
4. Connect stepper motor to 4 pin connector
5. Turn power ON. The motor is powered but in standstill. If
this does not occur switch power OFF and check your
connections and power supply.
6. Start HyperTerminal program (see other side of the sheet
for parameters).
7. Issue following commands:
• AA 400 <ENTER>
-- acceleration
• AV 50000 <ENTER> -- move with constant velocity
• AV 0 <ENTER>
-- stop motor
8. If Step / Direction interface is desired connect
• +5V power supply (e.g. pin 12) to pin 3 (VCOM).
• Step signal to pin 6 (0V / 5V signal analogical to VCOM).
• Direction signal to pin 5 (0V / 5V signal)
• GND (e.g. pin 10) to generator GND.
9. For Step / Direction the acceleration has to be set to 0
(default)
→ AA 0 <ENTER>.
Start Step signal (max. 5V, 250kHz). The motor turns. Try
out different frequencies and directions.
First steps are made. For other commands see the
second page. For full functionality of the TMCM-013 refer to the
TMCM-013 Manual.
Wiring note: The TMCM-013 comes with a 16 pin and 4 pin
(B4B-PH-SM3-TB series PH-connectors) with about 20cm
cables for each pin. If you achieved a PANdrive the TMCM-013
is mounted on a motor with connection already done.
Otherwise you have to take care for an appropriate cables.
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Step / Direction Generator
Dir
+5V
rotating
direction
0V
GND
+5V
Step
GND
0V
constant
velocity
GND
RS232
to
RS485
+ -
Decelleration
6
1
2
Pin 16
RS485 RS485+
GND
+5V
GND
TMCM-013
8
STEP
DIR
VCOM
GND
VS
Pin 1
OB2
Starting up:
•
•
•
Do not reverse the power supply polarity – module
could be destroyed!
Do not connect or disconnect the motor while powered
Do not mix up connections or short-circuit pins
Avoid bundling IO wires with motor power wires, as this
may cause noise pickup from the motor.
Do not exceed the maximum power supply of 24V.
If mechanically attaching the TMCM-013 to a motor
leave at least a 5mm gap for air cooling.
OB1
•
•
•
•
•
OA2
•
•
Your PD-013 or TMCM-013 stepper motor
controller and driver module
A stepper motor with 1A RMS coil current
RS232 or USB to RS 485 converter with
cables
Step / Direction generator (+5V /0V output)
DC Power supply in the range 12V to 24V
Hyperterminal program, PC
Equipment to connect motor and TMCM013, maybe soldering tools.
OA1
•
Precautions
3
-
+
Powersupply
12..24V
4
Motor
9
7
www.trinamic.com
HyperTerminal:
1.
Make sure the COM port you intend to
use is not blocked by an other program.
2.
Open HyperTerminal. Typical path (Windows XP):
Start/Programs/Accessories/Communications/HyperTerminal
3.
New connection, choose new
name and icon. Click OK.
4.
Choose connection (RS232
is normally COM1). Click OK.
5.
Make the settings shown
above. Click OK
9.
6.
Choose Properties in
HyperTerminal.
7.
Click ASCII setup
button on the Settings
tab.
8.
RS485 Commands:
For
RS485
commands write the
address byte (default is “A”) first, then a command. A
small command letter provides the actual setting.
Factory
Command Function
Range
Default
A, a
Acceleration
0..2500000
0
Set Motor
C, c
0..100
50
Current
G, g
StallGuard
-7..0..+7
0
M, m
Select Mode
0, 1, 2, 3, 4
0
P
Set Position
32 bit
0
Read Current
R
32 bit
Position
Velocity for
+/- 2500000
V, v
0
Rotation
0 or 1
Store actual
W
parameters
Get version
X
number
Y, y
Standby curr.
0..100
20
Microstep
Z, z
0..6
0
Resolution
For further commands and description refer to TMCM013 Manual at TechLibCD or www.trinamic.com.
Make settings shown
above. Click OK and
click OK again.
Click File/Save to
store this connection.
You are ready to send
commands now.
To connect or disconnect
use this buttons
Troubleshooting
•
•
•
•
•
If the typed command
is not echoed:
Check if the LED at the TMCM-013 is flashing. If
not check your power supply.
Check if you are using the right COM port and it is
not used by another program.
Switch RS485 + and – connection.
Try to change ASCII settings.
Download
Monopack
LT
software
from
www.trinamic.com, “discontinued products” or an
other terminal software and use this instead of
HyperTerminal.
If motor does not respond:
• Usually it is a problem with the communication
described above.
• Check your acceleration and current settings.
They have to differ from 0 to get a rotation with
the command AV. Set the current to a value of at
least 50 for failure search.
• Set back the TMCM-013 to factory default
settings. Refer to TMCM-013 Manual for details.
• Do a failure readout with command AE. Please
refer to the TMCM-013 Manual for details of the
failure readout and further information about the
module.
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
www.trinamic.com