TMCM-140-42-SE-232

PDx-140-42-SE TMCM-140-42-SE Hardware Manual Version: 1.05 2010-SEP-29 Trinamic Motion Control GmbH & Co KG Sternstrae 67 D - 20 357 Hamburg, Germany Phone +49-40-51 48 06 - 0 FAX: +49-40-51 48 06 - 60 PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29) 2 Table of contents 1 Life support policy ............................................................................................................................ 3 2 Features ............................................................................................................................................ 4 3 Order codes ....................................................................................................................................... 5 4 Mechanical and electrical interfacing ................................................................................................ 6 4.1 Size of PDx-140-42-SE ................................................................................................................. 6 4.2 Size of electronics (TMCM-140-42-SE) .......................................................................................... 7 4.3 Motor ......................................................................................................................................... 7 4.4 Connectors ................................................................................................................................. 8 4.4.1 Power and serial communication connector ........................................................................ 8 4.4.1.1 Reset the module to factory defaults .......................................................................................... 9 4.4.2 I/O connector ...................................................................................................................... 10 4.4.3 Motor connector ................................................................................................................. 10 4.4.4 USB connector .................................................................................................................... 10 4.5 Input/output circuits ................................................................................................................ 11 4.5.1 Reference switch inputs ...................................................................................................... 11 4.5.2 General purpose inputs ...................................................................................................... 11 4.5.3 General purpose outputs .................................................................................................... 12 5 Functional Description .................................................................................................................... 13 6 Firmware ......................................................................................................................................... 14 7 Torque curves .................................................................................................................................. 15 7.1 PD1-140-42-SE ........................................................................................................................... 15 7.2 PD2-140-42-SE ........................................................................................................................... 16 7.3 PD3-140-42-SE ........................................................................................................................... 16 7.4 PD4-140-42-SE ........................................................................................................................... 17 8 Operational ratings ......................................................................................................................... 18 9 PD-140 operational description ....................................................................................................... 20 9.1 Calculation: Velocity and acceleration vs. microstep and fullstep frequency ........................... 20 10 Revision history .............................................................................................................................. 22 10.1 Document revision ................................................................................................................... 22 10.2 Hardware revision .................................................................................................................... 22 11 References ....................................................................................................................................... 23 Copyright 2010, TRINAMIC Motion Control GmbH & Co. KG