pd-170 57mm bldc motor with intelligent el ectronics and serial interface the pd-170-57 is a full mechatronic solution in cluding 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 kn own from stepper motors with the high dynamic, high velocity and high reliability of a bldc drive. it integrat es a position regulator and a ramp generator. the ramp generators supports pa rameterized smooth positioning also with an external switch in order to support an absolute position reference. at the pandrive 170 the motor, encoder and hall sensor connections are already done. the i/o-board has to be detached to ac cess the screw connectors for power supply. driver board (top view) motor u v w power + interface enc i/o hall motor power i/o board (top view) 1 2 3 4 5 interface 1 2 3 4 5 6 7 8 i/o 1 2 3 4 5 hall sensors 1 2 3 4 5 encoder do not connect or disconnect a motor while the board is powered, as this could damage the driver chips! encoder pin function 1 +5v supply 2 ground 3 channel n / null channel 4 channel a 5 channel b hall sensors pin function 1 signal h3 2 signal h2 3 signal h1 4 ground 5 +5v supply interface pin function 1 canh 2 canl 3 ground 4 rs485+ / rxd 5 rs485- / txd power supply motor screw function screw function vs +14..48v dc u bldc motor coil u v bldc motor coil v gnd ground w bldc motor coil w i/o pin name function 1 ain analog input: 0 - 10v signal. 2 n.c. not connected (do not use) 3 /stop reference switch / emergency stop 4 dirin 5v ttl input. not used in firmware 5 ovt 5v ttl output: overtemperature warning 6 gnd ground 7 cur on: limited motion due to lack of power 8 +5v +5v supply features: connectors:
1. open basic tmcm-170 software (available at techlibcd and www.trinamic.com in tmcm-170 folder) by clicking tmcm170.exe. 2. choose a com port and click ?open?. with established connection the modules 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. 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 sets motion and control parameters sap ,, 128 0, 1, 2 0: normal op. 1: enable tmcl 1 32 bit actual pos. 4 16 bit max pos. vel. 5 0..255 pwm limit sap 6 0..250 max current gap , gap gives actual values of sap parameters (dont care) 0..2047 rotate right ror ror , (dont care) 0..2047 rotate left rol rol , (dont care) motor stop mst mst , abs|rel|coord 23 bit move to pos. mvp mvp , , for full instruction set and further description refer to tmcm-170 programming manual at techlibcd or www.trinamic.com. 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) 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. tmcm-170 software: tmcl-ide: troubleshootin g :
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