High power stepper motor motion system
You will need
•
•
•
•
•
Your PD-109 stepper motor controller and
driver module
Interface (RS232 or RS485) with cables and
maybe converter supplied.
Step / Direction generator (+5V /0V output)
DC Power supply in the range 24V to 48V
TMCL-IDE program, PC
•
•
•
•
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Precautions
V1.01, 24-October-2007
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 55V.
Starting up:
1.
Start with power supply OFF.
Step / Direction Generator
Dir
GND
rotating
direction
+5V
0V
+5V
0V
Decelleration
2.
3.
4.
5.
6.
Interfaces: Either use RS232 directly from PC or RS485 with a
converter (add termination network and set telegram pause
time if necessary). See the figure on the right for pinning.
Tie IF_select to GND to use RS485, leave open for RS232.
Connect power supply to TMCM-109
Turn power ON. The LED of the module lights and the motor is
powered (standby current flows) but in standstill.
If this does
not occur switch power OFF and check your connections and
power supply.
Start the TMCL IDE program (see other side of the sheet how
to configure the connection and use the IDE).
Type following into the open window:
//A simple example for using TMCL and the TMCL-IDE
SAP 4, 0, 100
//Set the maximum speed
Loop: MVP ABS, 0, 15000
//Move to position 15000
WAIT POS, 0, 0
WAIT TICKS, 0, 200
MVP ABS, 0, 0
//Move back to position 0
WAIT POS, 0, 0
WAIT TICKS, 0, 100
JA Loop
//Infinite Loop
Step
GND
GND
constant
velocity
6
1
RS232
to
RS485
- +
Power
Supply
12..30V
-
+
3
7.
8.
9.
Click the “Assemble” icon, then click the “Download” icon to
download the code to the TMCM-110. Click the “Run” icon. The
downloaded program will now be executed
Click stop button and start “TMCL Direct Mode” to issue
following commands:
•
ROR rotate right, Motor 0, value 500 Click Execute
The motor is rotating now.
•
MST motor stop, Motor 0 Click Execute
Connect a step / direction generator and try different velocities
and directions. Note that some TMCL parameters influence this
operation like microstep resolution.
null modem cable
First steps are made.
For other commands of the PD-109 refer
to next page and the PD-109 Manual.
Wiring note:
The PD-109 has screw terminal connectors only. These
allow very easy connection of all in- and outputs.
RS232
(Jack)
5
3 2
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
GND
+5V
StopL
StopR
GPI
GPO
RXD
TXD
IF_select
GND
GPO
Shutdown
Step In
Dir In
OC_GND
RS485-
RS485+
RS485-
RS485+
GND
GND
+VM
2
1
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
