PD20-1-1210 TRINAMIC | Alldatasheet

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  • PDF pages: 24

Technical content

Datasheet sections

  • 3.1 DIMENSIONSOF0D20-1-1210
  • 4 CONNECTORS
  • 7 I//S
  • 8 COMMUNICATION
  • 16.2 COPyRIGHT
  • 16.5 DISCLAIMER:,IFE3UPPORT3ySTEMS
  • 16.6 DISCLAIMER:INTENDED5SE
  • 16.7 COLLATERALDOCUMENTS&4OOLS
  • 17.2 DOCUMENT2EVISION

0!.DRIVE™FOR3TEPPER 0!.D2I6E™ 0D20-1-1210(ARDWARE-ANUAL (ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 4HE0!.DRIVE™0D20-1-1210ISCURRENTLyOURSMALLESTANDMOSTCOMPACTFULLMECHATRONICSOLUTION INCLUDINgA.E-!8/20MM 2ANgESIzESTEPPERMOTORANDTHE4-C--1210CONTROLLER/DRIVERELEC- TRONICSSUPPORTINgLINEARAND6-POINTRAMPSAND23485SERIALINTERFACE. &EATURES

  • 3TEPPER-OTOR.%-!8/20MM
  • 0.0175.MHOLDINGTORQUE
  • WITHCONTROLLER/DRIVER
  • ,INEARANDSIx0OINT ™ RAMPS
  • +6...306DCSUPPLyVOLTAGE
  • 5PTO0.6!2-3MOTORCURRENT
  • 23485INTERFACE
  • INTEGRATEDSIMPLEHALL-SENSORBASED ENCODER
  • 1xMULTI-PURPOSEINPUT !PPLICATIONS
  • ,ABORATORy!UTOMATION
  • -ANUFACTURING
  • 3EMICONDUCTOR(ANDLING
  • 2OBOTICS
  • &ACTORy!UTOMATION
  • 4EST&-EASUREMENT
  • ,IFE3CIENCE
  • BIOTECHNOLOGy
  • ,IQUID(ANDLING 3IMPLI1EDBLOCKDIAGRAM typ V V DC Microcontroller EEPROM Step Motor RS 485 Energy Efficient Driver TMC 262 Motion Controller Driver PD 1210 I C Input Encoder h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONAT:WWW.TRINAMIC.COM 2EADENTIREDOCUMENTATION.

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 3/24 1 &EATURES 4HE0!.DRIVE™ 0D20-1-1210ISCURRENTLyOURSMALLESTANDMOSTCOMPACTFULLMECHATRONICSOLUTIONINCLUD- INGA.%-!8/20MM 2ANGESIzESTEPPERMOTOR,THE4-C--1210CONTROLLER/DRIVERELECTRONICSANDHALL SENSORBASEDENCODER.ITCANBECONTROLLEDVIA23485ANDO ffERSONEDIGITALINPUTFOREASyHOMING/INITIAL SEARCHFORREFERENCEPOSITION. -OTIONCONTROLLER

  • -OTIONPRO1LECALCULATIONINREAL-TIME
  • /NTHE 2yALTERATIONOFMOTORPARAMETERS(E.G.POSITION,VELOCITy,ACCELERATION)
  • ,INEARANDUNIQUESIx0OINT ™ RAMPINHARDWARE
  • 2EFERENCE/ENDSWITCHINPUT DRIVER
  • -OTORCURRENT:UPTO0.6!2-3(1!PEAK,PROGRAMMABLEINSOFTWARE)
  • 3UPPLyVOLTAGE:+126OR+246DC(+6...+306DC)
  • 256MICROSTEPSPERFULLSTEP
  • 3PREADCyCLE™ HIGHLyDyNAMICCURRENTCONTROLCHOPPER
  • 3TEALTHCHOP™ FORQUIETOPERATIONANDSMOOTHMOTION 0OSITIONSENSOR
  • INTEGRATEDHALLSENSORBASEDABSOLUTPOSITION(WITHINONEROTATION)MAGNETICENCODER(RESOLUTION: 4096INCREMENTSPERROTATION)-SUITABLEFORLOWVELOCITyAPPLICATIONS(UP-TOFEWHUNDREDRPM)-E.G. INITIALREFERENCESEARCH(TOGETHERWITH(/-%SENSOR)AFTERPOWER-UP. INTERFACES
  • 23485INTERFACE
  • 1DIGITALINPUT,CANBEUSEDASREFERENCESWITCH((/-%)ORLEFT/RIGHT(34/0_,,34/0_2)STOPSWITCH INPUT 3OFTwARE
  • 4-C,™ REMOTE(DIRECTMODE)ANDSTANDALONEOPERATION(MEMORyFORUPTO8764-C, ™ COMMANDS), FULLySUPPORTEDBy4-C,-ID%(0CBASEDINTEGRATEDDEVELOPMENTENVIRONMENT).0LEASESEE0D20-1- 12104-C,1RMWAREMANUALFORMOREDETAILS h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 4/24 2 /RDERCODES 4HECOMBINATIONOFMOTORANDMOTORMOUNTEDCONTROLLER/DRIVERELECTRONICISCURRENTLyAVAILABLE: 4HELENGTHOFTHE0A.DRIVESISSPECI 1EDwITHOUTTHELENGTHOFTHEAxIS. FORTHEOVERALLLENGTHOFTHEPROD- UCTPLEASEADD15MM /RDERCODE DESCRIPTION 3IzE(,x7x() 0D20-1-12100!.DRIVE™WITH.%-!8STEPPERMOTOR,0.0175.M MAx. 4-C--1210ELECTRONICS, 0.6!2-3,+246, 23485,HALLSENSORBASEDMAGNETICENCODER,4-C, 1RMWARE 20MMx20MMx46MM 4ABLE1:/RDERCODE !CABLELOOMSETISAVAILABLEFORTHISMODULE: /RDERCODE DESCRIPTION 4-C--1210-C!B,%CABLELOOMFOR4-C--1210:

  • 1xCABLELOOMFORPOWERSUPPLy,23485ANDDIGITALINPUTCONNECTOR (CABLELENGTH200MM,5PINJ340(CONNECTORATONEEND,OPENWIRES ATTHEOTHEREND)
  • 1xCABLELOOMFORMOTORCONNECTOR(CABLELENGTH200MM,4PINJ340( CONNECTORATONEEND,OPENWIRESATTHEOTHEREND) 4ABLE2:4-C--1210CABLE,OOM 4HE4-C--1210CONTROLLER/DRIVERELECTRONICSISALSOAVAILABLESEPARATELy. 0LEASEREFERTO4-C--1210 HARDWAREMANUALFORFURTHERDETAILS. h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 5/24 3 -ECHANICALANDELECTRICAL INTERFACINg 4HE0D20-1-1210CONSISTSOFTHE13(2018-33-06-002.%-!8/20MMSTEPPERMOTORWITH0.6!2-3RATED COILCURRENTAND17.5M.MHOLDINGTORQUE,THE4-C--1210CONTROLLER/DRIVERELECTRONICFORUP-TO0.6!2-3 MOTORCOILCURRENTMOUNTEDONTHEBACKSIDEOFTHEMOTORANDANINTEGRATEDHALLSENSORBASEDMAGNETIC ENCODER.0LEASESEEALSOTHE4-C--1210HARDWAREAND 1RMWAREMANUALSFORMOREDETAILS. NOTICE .OTE:INORDERTOMAKEPROPERUSEOFTHEINTEGRATEDHALLSENSORBASEDMAGNETIC ENCODER(THESENSOR ICISPLACEDONTHEBOTTOMOFTHEPCB)THE4-C--1210 ELECTRONICSSHOULDNOTBEREMOVED/MOVEDRELATIVETOTHEMOTOR. INCASETHE INTEGRATEDENCODERFEATUREISNOTUSED,THEELECTRONICSMAyBEMOVEDOREVEN REMOVEDFROMTHEMOTORANDPLACEDSOMEWHEREELSEACCORDINGTOAPPLICATION REQUIREMENTS.

3.1 DIMENSIONSOF0D20-1-1210

4HEOVERALLLENGTHOFTHE.%-!8/20MM 2ANGESIzESTEPPERMOTORANDTHE4-C--1210ELECTRONICS MOUNTEDTOTHEBACKSIDEOFTHEMOTORISABOUT46MMWITHOUTMOTORSHAFTANDWITHOUTMATINGCONNECTORS /CABLELOOM. mm mm mm PCB mm mm mm mm x FIGURE1:0D20-1-1210wITH.E-A8/20MMSTEPPERMOTORS(ALLDIMENSIONSINMM) h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 6/24 3.2 3TEPPERMOTOR -AINCHARACTERISTICSOFTHEMOTORAVAILABLEASPARTOFTHE0!.DRIVE ™: 3PECI1CATIONS 5NIT 0D20-1-1210 3TEPANGLE o 1.8 3TEPANGLEACCURACy % +/-5 !MBIENTTEMPERATURE oC -20...+50 -Ax.MOTORTEMPERATURE oC 80 3HAFTRADIALPLAy(450GLOAD) MM 0.02 3HAFTAxIALPLAy(450GLOAD) MM 0.08 -Ax RADIAL FORCE (20MM FROMFRONT 2ANGE) . 20 -AxAxIALFORCE . 2 2ATEDVOLTAGE 6 3.96 2ATEDPHASECURRENT ! 0.6 0HASERESISTANCEAT20oC Ω 6.5 0HASEINDUCTANCE(TyP.) M( 1.7 (OLDINGTORQUE .M 0.0175 INSULATIONCLASS B 2OTORINERTIA GCM2 2 7EIGHT KG 0.06 4ABLE3:.E-A8/20MMSTEPPERMOTORTECHNICALDATA h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 7/24

4 CONNECTORS

4HE0D20-1-1210OffERSTWOCONNECTORSINCLUDINGTHEMOTORCONNECTORWHICHISUSEDFORCONNECTINGTHE MOTORCOILSTOTHEELECTRONICS.4HEOTHER 1VEPINCONNECTORCOMBINESPOWERSUPPLyINPUT,234852-WIRE COMMUNICATIONINTERFACEANDONEDIGITALINPUTWHICHCANBEUSEDASGENERALPURPOSEDIGITALINPUTBUT, ALSOASENDORREFERENCESWITCHINPUTFORTHEMOTINCONTROLLER. NOTICE 3TARTwITHPOwERSUPPLy/&&ANDDONOTCONNECTORDISCONNECTMOTORDUR- INgOPERATION!-OTORCABLEANDMOTORINDUCTIVITyMIGHTLEADTOVOLTAGESPIKES WHENTHEMOTORIS(DIS)CONNECTEDWHILEENERGIzED.4HESEVOLTAGESPIKESMIGHT ExCEEDVOLTAGELIMITSOFTHEDRIVER-/3&%4SANDMIGHTPERMANENTLyDAMAGE THEM.4HEREFORE,ALWAySSWITCHOff /DISCONNECTPOWERSUPPLyORATLEASTDISABLE DRIVERSTAGEBEFORECONNECTING/DISCONNECTINGMOTOR. Power RS 485 HOME connector HOME RS 485 RS 485 VDD GND IN STOP L STOP R Motor connector OA OA OB OB FIGURE2:0D20-1-1210CONNECTORS CONNECTOR4yPESAND-ATINGCONNECTORS CONNECTOR CONNECTORTyPEON-BOARD -ATINGCONNECTORTyPE 0OWER,23485AND(/-% J34B5B-0(-+-3 (J340(SERIES,5PINS,2MMPITCH) CONNECTORHOUSING:J340(2-5 CONTACTS:J3430(-0024-00.53 7IRE:0.22MM2,!7G24 -OTOR J34B4B-0(-+-3 (J340(SERIES,4PINS,2MMPITCH) CONNECTORHOUSING:J340(2-4 CONTACTS:J3430(-0024-00.53 7IRE:0.22MM2,!7G24 4ABLE4:CONNECTOR4yPESAND-ATINGCONNECTORSOFTHE0D20-1-1210 h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 8/24 4.1 0OwER,23485AND(/-ECONNECTOR 4HE0D20-1-1210OffERSONE5PINJ340(SERIESCOMBINEDCONNECTORFORPOWERSUPPLyINPUT,234852-WIRE SERIALCOMMUNICATIONANDONEDIGITALINPUT.4HEDIGITALINPUTMIGHTBEUSEDEITHERASGENERALPURPOSE INPUTORASSTOPSWITCH(34/0_,OR34/0_2)OR(/-%SWITCHINPUT. 0OWER,23485AND(/-%CONNECTOR0IN!SSIGMENT 0IN ,ABEL DIRECTION DESCRIPTION 1 G.D 0OWER(G.D) COMMONSySTEMSUPPLyANDSIGNALGROUND 2 6DD 0OWER(INPUT) -AINPOWERSUPPLyINPUTFORTHEDRIVERANDON-BOARDLOGIC 6...306 3 23485- BIDIRECTIONAL 23485INTERFACE,DIff.SIGNAL(INVERTING) 4 23485+ BIDIRECTIONAL 23485INTERFACE,DIff.SIGNAL(NON-INVERTING) 5 I.0 INPUT GENERALPURPOSE,34/0_,,34/0_2OR(/-%INPUT. 4ABLE5:0OwER,23485AND(/-ECONNECTORPINASSIGNMENT NOTICE DONOTCONNECTORDISCONNECTMOTORDURINgOPERATION! -OTORCABLEANDMO- TORINDUCTIVITyMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORIS(DIS)CONNECTED WHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTExCEEDVOLTAGELIMITSOFTHEDRIVER -/3&%4SANDMIGHTPERMANENTLyDAMAGETHEM. 4HEREFORE,ALWAySSWITCHO ff /DISCONNECTPOWERSUPPLyORATLEASTDISABLEDRIVERSTAGEBEFORECONNECTING/ DISCONNECTINGMOTOR. NOTICE 4AkECAREOFPOLARITy,wRONgPOLARITyCANDESTROyTHEBOARD! 4.2 -OTORCONNECTOR !SECOND4PINJ340(SERIESCONNECTORISAVAILABLEFORCONNECTIONOFA2-PHASEBIPOLARSTEPPERMOTOR. -OTORCONNECTOR0IN!SSIGNMENT 0IN ,ABEL DIRECTION DESCRIPTION

1 B2 OUT 0IN2OFMOTORCOILB

2 B1 OUT 0IN1OFMOTORCOILB

3 !2 OUT 0IN2OFMOTORCOIL! 4 !1 OUT 0IN1OFMOTORCOIL! 4ABLE6:-OTORCONNECTOR0INASSIGNMENT h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 9/24 NOTICE DONOTCONNECTORDISCONNECTMOTORDURINgOPERATION! -OTORCABLEANDMO- TORINDUCTIVITyMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORIS(DIS)CONNECTED WHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTExCEEDVOLTAGELIMITSOFTHEDRIVER -/3&%4SANDMIGHTPERMANENTLyDAMAGETHEM. 4HEREFORE,ALWAySSWITCHO ff /DISCONNECTPOWERSUPPLyORATLEASTDISABLEDRIVERSTAGEBEFORECONNECTING/ DISCONNECTINGMOTOR. h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 10/24 5 /N-BOARD,ED 4HEBOARDO ffERSONE,%DINORDERTOINDICATEBOARDSTATUS.4HEFUNCTIONOFTHIS,%DDEPENDENDSONTHE 1RMWAREVERSION.7ITHSTANDARD4-C, 1RMWARETHEGREEN,%DSHOULDBE 2ASHINGSLOWLyDURINGOPERATION. 7HENTHEREISNOVALID 1RMWAREPROGRAMMEDINTOTHEBOARDORDURING 1RMWAREUPDATETHEGREEN,%DWILL BEPERMANENTLySWITCHEDON.DURINGRESETTOFACTORyDEFAULTVALUESTHEGREEN,%DWILLBE 2ASHINGFAST. GREEN LED FIGURE3:0D20-1-1210,ED 6 2ESETTO&ACTORyDEFAULTS ITISPOSSIBLETORESETALLSETTINGSIN 1RMWAREFORTHE0D20-1-1210TOFACTORyDEFAULTSWITHOUTESTABLISHING AWORKINGCOMMUNICATIONCONNECTION.4HISMIGHTBEHELPFULINCASECOMMUNICATIONPARAMETERSOFTHE PREFERREDINTERFACEHAVEBEENSETTOUNKNOWNVALUESORGOTLOST. &ORTHISPROCEDURETWOPADSONTHEBOTTOMSIDEOFTHEMODULE(ELECTRONICS)HAVETOBESHORTED(ELECTRICALLy CONNECTEDWITHEACHOTHER)DURINGPOWER-ON. 0LEASEPERFORMTHEFOLLOWINGSTEPS: 1. 3WITCHPOWERSUPPLy/&&(ANDDISCONNECT53BCABLEIFAPPLICABLE) 2. 3HORTC,+ANDDI/PADSOFPROGRAMMINGPADSONBOTTOMOFPCB(SEE 1GURE4) 3. 3WITCHPOWERSUPPLy/.AGAIN(ORCONNECT53BAGAINIFAPPLICABLE) 4. 7AITUNTILTHEON-BOARDREDANDGREEN,%DSSTART 2ASHINGFAST(THISMIGHTTAKEAWHILE) 5. 3WITCHPOWERSUPPLy/&&AGAIN(ANDDISCONNECT53BCABLEIFAPPLICABLE) 6. 2EMOVESHORTBETWEENPADS 7.!FTERSWITCHINGPOWERSUPPLy/.AGAIN(AND/ORCONNECTING53BCABLE)ALLPERMANENTSETTINGSHAVE BEENRESTOREDTOFACTROyDEFAULTS FIGURE4:2ESETTOFACTORyDEFAULTSETTINGS h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 11/24

7 I//S

4HE0D20-1-1210OffERSONEDIGITALINPUTWHICHISPARTOFTHEPOWERSUPPLyINPUT,23485SERIALINTERFACE ANDDIGITALINPUTCONNECTOR. 7.1 DIgITALINPUTI.0 4HE0D20-1-1210OffERSONEDIGITALINPUT I.0WHICHACCEPTSIGNALSBETWEEN0AND306WITHVOLTAGESABOVE APPROx.4.66RECOGNIzEDASLOGICAL’1’ANDBELOW26ASLOGICAL ’0’.4HISINPUTMAyBEUSEDEITHERASGENERAL PURPOSEDIGITALINPUT I.0,ENDSWITCHINPUT(CONNECTEDTOMOTIONCONTROLLER)FORLEFTORRIGHTSTOPSWITCH (34/0_,OR34/0_2)ORAS(/-%SWITCHINPUT(FORINITIALHOMING/REFERENCESEARCH). V HOME IN STOP L STOP R REFL REFR TMC 2130 microcontroller k k 100 nF GND GND GND FIGURE5:DIGITALINPUT I.0-SIMPLI1EDSCHEMATICExTRACT h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 12/24

8 COMMUNICATION

8.1 23485 &ORREMOTECONTROLANDCOMMUNICATIONWITHAHOSTSySTEMTHE0D20-1-1210PROVIDESATWOWIRE23485 BUSINTERFACE.&ORPROPEROPERATIONTHEFOLLOWINGITEMSSHOULDBETAKENINTOACCOUNTWHENSETTINGUPAN 23485NETWORK: 1.B533425C452E: 4HENETWORKTOPOLOGySHOULDFOLLOWABUSSTRUCTUREASCLOSELyASPOSSIBLE.4HATIS,THECONNECTION BETWEENEACHNODEANDTHEBUSITSELFSHOULDBEASSHORTASPOSSIBLE.BASICALLy,ITSHOULDBESHORT COMPAREDTOTHELENGTHOFTHEBUS. c node node n node n Host Slave Slave Slave RS 485 termination resistor 120 Ohm termination resistor 120 Ohm keep distance as short as possible FIGURE6:23485BUSSTRUCTUREwITHTERMINATIONRESISTORS 2.B534E2-I.A4I/.: %SPECIALLyFORLONGERBUSSESAND/ORMULTIPLENODESCONNECTEDTOTHEBUSAND/ORHIGHCOMMUNICATION SPEEDS,THEBUSSHOULDBEPROPERLyTERMINATEDATBOTHENDS.4HE0D20-1-1210DOESNOTINTEGRATE ANyTERMINATIONRESISTOR.4HEREFORE,120/HMTERMINATIONRESISTORSATBOTHENDSOFTHEBUSHAVETO BEADDEDExTERNALLy. 3..5-BE2/F./DE3: 4HE23485ELECTRICALINTERFACESTADARD(% I!-485)ALLOWSUPTO32NODESTOBECONNECTEDTOASINGLEBUS. 4HEBUSTRANSCEIVERUSEDONTHE0D20-1-1210UNITS(3.65(6D3085%)OffERSASIGNI 1CANTLyREDUCED BUSLOADCOMPAREDTOTHESTANDARDANDALLOWSAMAxIMUMOF255UNITSTOBECONNECTEDTOASINGLE 23485BUSUSINGSTANDARD4-C, 1RMWARE.0LEASENOTE:USUALLyITCANNOTBEExPECTEDTOGETRELIABLE COMMUNICATIONwITHTHEMAxIMUMNUMBEROFNODESCONNECTEDTOONEBUSANDMAxIMUMSUPPORTED COMMUNICATIONSPEEDATTHESAMETIME. INSTEAD,ACOMPROMISEHASTOBEFOUNDBETwEENBUSCABLELENGTH, COMMUNICATIONSPEEDANDNUMBEROFNODES. 4.C/--5.ICA4I/.30EED: 4HEMAxIMUM23485COMMUNICATIONSPEEDSUPPORTEDByTHE0D20-1-1210HARDWAREIS1-BIT/S. &ACTORyDEFAULTIS9600BIT/S.0LEASESEESEPARATE0D20-1-12104-C,1RMWAREMANUALFORINFORMATION REGARDINGOTHERPOSSIBLECOMMUNICATIONSPEEDSBELOWTHEUPPERHARDWARELIMIT. 5../F,/A4I.GB53, I.E3: !VOID2OATINGBUSLINESWHILENEITHERTHEHOST/MASTERNORONEOFTHESLAVESALONGTHEBUSLINE ISTRANSMITTINGDATA(ALLBUSNODESSWITCHEDTORECEIVEMODE). &LOATINGBUSLINESMAyLEADTO COMMUNICATIONERRORS.INORDERTOENSUREVALIDSIGNALSONTHEBUSITISRECOMMENDEDTOUSEARESISTOR NETWORKCONNECTINGBOTHBUSLINESTOWELLDE 1NEDLOGICLEVELS. 4HEREAREACTUALLyTWOOPTIONSWHICHCANBERECOMMENDED:!DDRESISTOR(BIAS)NETWORKONONESIDE OFTHEBUS,ONLy(1202TERMINATIONRESISTORSTILLATBOTHENDS): h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 13/24 node n node n Slave Slave termination resistor 120 R V GND pull up 680 R pull down 680 R RS 485 RS 485 B termination resistor 120 R RS 485 + / RS 485 A FIGURE7:23485BUSLINESwITHRESISTOR(BIAS)NETwORkONONESIDE,ONLy /RADDRESISTORNETWORKATBOTHENDSOFTHEBUS(LIKE0RO 1BUS™ TERMINATION): node n node n Slave Slave termination resistor 220 R V GND pull up 390 R pull down 390 R RS 485 RS 485 B RS 485 + / RS 485 A termination resistor 220 R V GND pull up 390 R pull down 390 R FIGURE8:23485BUSLINESwITH0RO 1BUS™RECOMMENDEDLINETERMINATION 9 -OTORDRIVERCURRENT 4HEON-BOARDSTEPPERMOTORDRIVEROPERATESCURRENTCONTROLLED.4HEDRIVERCURRENTMAyBEPROGRAMMED INSOFTWAREWITH32E ffECTIVESCALINGSTEPSINHARDWARE. %xPLANATIONOFDI ffERENTCOLUMNSINTABLEBELOW: -OTORCuRRENTSET- TINg IN SOfTwARE (T-CL) 4HESEARETHEVALUESFOR4-C,AxISPARAMETER6(MOTORRUNCURRENT)AND 7(MOTORSTANDByCURRENT).4HEyAREUSEDTOSETTHERUN/STANDByCURRENT USINGTHEFOLLOWING4-C,COMMANDS: SAP 6, 0, <value> // set run current SAP 7, 0, <value> // set standby current (READ-OUTVALUEWITHG!0INSTEADOF3!0.0LEASESEESEPARATE0D20-1-1210 1RMWAREMANUALFORFURTHERINFORMATION) -OTORCuRRENT IR-S [A] 2ESULTINGMOTORCURRENTBASEDONMOTORCURRENTSETTING h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 14/24 -OTORCURRENTSETTING INSOFTWARE(4-C,) -OTORCURRENT IC/I,;!] PEAK -OTORCURRENT IC/I,;!] 2-3 4ABLE8:AVAILABLEMOTORCURRENTSETTINGS h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 15/24 INADDITIONTOTHESETTINGSINTHETABLETHEMOTORCURRENTMAyBESWITCHEDO ff COMPLETELy(FREE-WHEELING) USINGAxISPARAMETER204(SEE0D20-1-12101RMWAREMANUAL). h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 16/24 10 4ORqUECURVES 10.1 0D20-1-12104ORqUECURVE FIGURE9:0D20-1-1210TORqUEVS.VELOCITy246/0.6A2-3 h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 17/24 11 &UNCTIONALDESCRIPTION 4HE0D20-1-1210ISAFULLMECHATRONICSOLUTIONINCLUDINGA20MM 2ANGE(.%-!8)BIPOLARSTEPPERMOTOR ANDTHE4-C--1210CONTROLLER/DRIVERELECTRONICS. 4HE0D20-1-1210CANBECONTROLLEDVIA23485SERIALINTERFACES. 4HEREISONEGENERALPURPOSEDIGITAL INPUTSWHICHCANBEUSED,ALSOAS34/0_,/34/0_2OR(/-%SWITCHINPUT(FORREFERENCEMOVEMENTS,AS ENDSWITCHESETC.DEPENDINGON 1RMWARE,MODEANDCON 1GURATION). 4HE0D20-1-1210WITH4-C,™ 1RMWAREOPTIONISSUPPORTEDByTHE0CBASEDSOFTWAREDEVELOPMENT ENVIRONMENT4-C,-ID%FORTHE4RINAMIC-OTIONCONTROL,ANGUAGE(4-C, ™).5SINGPREDE1NED4-C, ™ HIGHLEVELCOMMANDSLIKEMOVETOPOSITIONARAPIDANDFASTDEVELOPMENTOFMOTIONCONTROLAPPLICATIONS ISGUARANTEED. 0LEASEREFERTOTHE0D20-1-12101RMWAREMANUALFORMOREINFORMATIONABOUT4-C, ™ COMMANDS. COMMUNICATIONTRA/uniFB03CISKEPTLOWSINCEALLTIMECRITICALOPERATIONS,E.G.RAMPCALCULATIONAREPERFORMEDON BOARD.COMPLETESTAND-ALONEORFULLREMOTECONTROLORANyTHINGIN-BETWEENISPOSSIBLE.4HE 1RMWAREOF THEMODULECANBEUPDATEDVIATHESERIALINTERFACE. 4HE0D20-1-1210CONTAINSTHEFOLLOwINgMAINCOMPONENTS:

  • MICROPROCESSOR,WHICHRUNSTHE4-C,OPERATINGSySTEM(CONNECTEDTO4-C,MEMORy)
  • MOTIONCONTROLLERWHICHCALCULATESRAMPSANDSPEEDPRO 1LESINTERNALLyINHARDWARE
  • DRIVERWITH3TALLGUARD2 ™ ANDITSENERGyE /uniFB03CIENTCOOL3TEP™ FEATUREAND3TEALTHCHOP ™ FORExTREMELy QUIETOPERATION
  • HALLSENSORBASEDENCODERWHICHDELIVERSPOSITIONFEEDBACKATLOWSPEED(FEW100RPMMAx.)-CANBE USEDFORREFERENCESEARCHE.G.AFTERPOWER-UP typ V V DC ARM Cortex M TM microcontroller TMCL™ Memory Step Motor RS 485 Energy Efficient Driver TMC 262 TMC 2130 Bipolar stepper motor controller driver PD 1210 I C SPI Input Hall Encoder I C A B REFL REFR TMCM 1210 QSH 2018 033 FIGURE10:0D20-1-1210BLOCkDIAGRAM h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 18/24 12 /PERATIONAL2ATINgSANDCHARACTERISTICS NOTICE .EVERExCEEDTHEABSOLUTEMAxIMUMRATINgS! +EEPTHEPOWERSUPPLyVOLTAGE BELOWTHEUPPERLIMITOF+306!/THERWISETHEBOARDELECTRONICSWILLSERIOUSLyBE DAMAGED!%SPECIALLy,WHENTHESELECTEDOPERATINGVOLTAGEISNEARTHEUPPERLIMIT AREGULATEDPOWERSUPPLyISHIGHLyRECOMMENDED. GENERAL/PERATIONAL2ATINGS 3yMBOL 0ARAMETER -IN 4yP -Ax 5NIT 6DD 0OWERSUPPLyVOLTAGE 6 12...24 30 6 IDD 0OWERSUPPLyCURRENT <<IC/I,_2-3 1.4xIC/I,_2-3 ! IC/I,_0%!+ -OTORCOILCURRENTFORSINEWAVE PEAk(CHOPPER REgULATED,ADjUSTABLEVIASOFTwARE) 0 0.9 ! IC/I,_2-3 CONTINUOUSMOTORCURRENT( 2-3) 0 0.6 ! 4%.6 %NVIRONMENTALTEMPERATUREATRATEDCURRENT(NO FORCEDCOOLINGREAQUIRED) -20 40 oC 4ABLE9:GENERALOPERATIONALRATINGSOFTHE0D20-1-1210 /PERATIONAL2ATINGSOFTHE(/-%SWITCHINPUT 3yMBOL 0ARAMETER -IN 4yP -Ax 5NIT 6(/-% INPUTVOLTAGEFOR(/-%/34/0_,/34/0_2/I.0 0 +30 6 6(/-%_, ,OWLEVELVOLTAGEFOR(/-%/34/0_,/34/0_2/I.0 0 2 6 6(/-%_2 (IGHLEVELVOLTAGEFOR(/-%/34/0_,/34/0_2/I.0 4.6 +30 6 4ABLE10:/PERATIONALRATINGSOF(/-E+34/0SwITCHES/ I.0INPUT /PERATIONAL2ATINGSOFTHE23485 INTERFACE 3yMBOL 0ARAMETER -IN 4yP -Ax 5NIT .23485 .UMBEROFNODESCONNECTEDTOSINGLE23485NETWORK 255 F23485 -Ax.SPEEDFOR23485NETWORK 1-BIT/S 4ABLE11:/PERATIONALRATINGSOFTHE23485INTERFACE 0LEASENOTE:1-BIT/SISTHEHARDwARELIMITFORTHEON-BOARD23485TRANSCEIVER. h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 19/24 13 !BBREVIATIONSUSEDINTHIS-ANUAL !BBREVIATION DESCRIPTION ID% INTEGRATEDDEVELOPMENT%NVIRONMENT ,%D ,IGHT%MMITTINGDIODE 2-3 2OOT-EAN3QUAREVALUE 4-C, 42I.!-IC-OTIONCONTROL,ANGUAGE 4ABLE12:ABBREVIATIONSUSEDINTHIS-ANUAL h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 20/24 14 &IgURESINDEx 1 0D20-1-1210WITH.%-!8/20MM STEPPERMOTORS(ALLDIMENSIONSINMM) 5 4 2ESETTOFACTORyDEFAULTSETTINGS . . . . 10 5 DIGITALINPUT I.0-SIMPLI1EDSCHEMATIC 6 23485BUSSTRUCTUREWITHTERMINATION 7 23485BUSLINESWITHRESISTOR(BIAS) 8 23485BUSLINESWITH 0RO1BUS™RECOMMENDEDLINETERMINATION 13 9 0D20-1-1210TORQUEVS.VELOCITy246/ h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 21/24 15 4ABLESINDEx 3 .%-!8/20MMSTEPPERMOTOR

4 CONNECTOR4yPESAND-ATING

CONNECTORSOFTHE0D20-1-1210 . . . . 7 5 0OWER,23485AND(/-%CONNECTOR 6 -OTORCONNECTOR0IN!SSIGNMENT . . . 8 8 !VAILABLEMOTORCURRENTSETTINGS . . . . 14

9 GENERALOPERATIONALRATINGSOFTHE

10 /PERATIONALRATINGSOF(/-%+34/0 11 /PERATIONALRATINGSOFTHE23485 12 !BBREVIATIONSUSEDINTHIS-ANUAL . . . 19 h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 22/24 16 3UPPLEMENTALDIRECTIVES 16.1 0RODUCERINFORMATION

16.2 COPyRIgHT

42I.!-ICOWNSTHECONTENTOFTHISUSERMANUALINITSENTIRETy,INCLUDINGBUTNOTLIMITEDTOPICTURES,LOGOS, TRADEMARKS,ANDRESOURCES.hCOPyRIGHT201942I.!-IC.!LLRIGHTSRESERVED.%LECTRONICALLyPUBLISHEDBy 42I.!-IC,GERMANy. 2EDISTRIBUTIONSOFSOURCEORDERIVEDFORMAT(FORExAMPLE,0ORTABLEDOCUMENT&ORMATOR(yPERTExT-ARKUP ,ANGUAGE)MUSTRETAINTHEABOVECOPyRIGHTNOTICE, ANDTHECOMPLETEDATASHEET5SER-ANUALDOCU- MENTATIONOFTHISPRODUCTINCLUDINGASSOCIATED!PPLICATION.OTES;ANDAREFERENCETOOTHERAVAILABLE PRODUCT-RELATEDDOCUMENTATION. 16.3 4RADEMARkDESIgNATIONSAND3yMBOLS 4RADEMARKDESIGNATIONSANDSyMBOLSUSEDINTHISDOCUMENTATIONINDICATETHATAPRODUCTORFEATUREIS OWNEDANDREGISTEREDASTRADEMARKAND/ORPATENTEITHERBy42 I.!-ICORByOTHERMANUFACTURERS,WHOSE PRODUCTSAREUSEDORREFERREDTOINCOMBINATIONWITH42 I.!-IC’SPRODUCTSAND42 I.!-IC’SPRODUCTDOCU- MENTATION. 4HIS(ARDWARE-ANUALISANON-COMMERCIALPUBLICATIONTHATSEEKSTOPROVIDECONCISESCIENTI 1CANDTECHNICAL USERINFORMATIONTOTHETARGETUSER.4HUS,TRADEMARKDESIGNATIONSANDSyMBOLSAREONLyENTEREDINTHE 3HORT3PECOFTHISDOCUMENTTHATINTRODUCESTHEPRODUCTATAQUICKGLANCE.4HETRADEMARKDESIGNATION /SyMBOLISALSOENTEREDWHENTHEPRODUCTORFEATURENAMEOCCURSFORTHE 1RSTTIMEINTHEDOCUMENT.!LL TRADEMARKSANDBRANDNAMESUSEDAREPROPERTyOFTHEIRRESPECTIVEOWNERS. 16.4 4ARgET5SER 4HEDOCUMENTATIONPROVIDEDHERE,ISFORPROGRAMMERSANDENGINEERSONLy,WHOAREEQUIPPEDWITHTHE NECESSARySKILLSANDHAVEBEENTRAINEDTOWORKWITHTHISTyPEOFPRODUCT. 4HE4ARGET5SERKNOWSHOWTORESPONSIBLyMAKEUSEOFTHISPRODUCTWITHOUTCAUSINGHARMTOHIMSELFOR OTHERS,ANDWITHOUTCAUSINGDAMAGETOSySTEMSORDEVICES,INWHICHTHEUSERINCORPORATESTHEPRODUCT.

16.5 DISCLAIMER:,IFE3UPPORT3ySTEMS

42I.!-IC-OTIONCONTROLGMB(&CO.+GDOESNOTAUTHORIzEORWARRANTANyOFITSPRODUCTSFORUSEINLIFE SUPPORTSySTEMS,WITHOUTTHESPECI 1CWRITTENCONSENTOF42 I.!-IC-OTIONCONTROLGMB(&CO.+G. ,IFESUPPORTSySTEMSAREEQUIPMENTINTENDEDTOSUPPORTORSUSTAINLIFE,ANDWHOSEFAILURETOPERFORM, WHENPROPERLyUSEDINACCORDANCEWITHINSTRUCTIONSPROVIDED,CANBEREASONABLyExPECTEDTORESULTIN PERSONALINJURyORDEATH. INFORMATIONGIVENINTHISDOCUMENTISBELIEVEDTOBEACCURATEANDRELIABLE.(OWEVER,NORESPONSIBILITy ISASSUMEDFORTHECONSEQUENCESOFITSUSENORFORANyINFRINGEMENTOFPATENTSOROTHERRIGHTSOFTHIRD PARTIESWHICHMAyRESULTFROMITSUSE.3PECI 1CATIONSARESUBJECTTOCHANGEWITHOUTNOTICE.

16.6 DISCLAIMER:INTENDED5SE

4HEDATASPECI 1EDINTHISUSERMANUALISINTENDEDSOLELyFORTHEPURPOSEOFPRODUCTDESCRIPTION..OREPRE- SENTATIONSORWARRANTIES,EITHERExPRESSORIMPLIED,OFMERCHANTABILITy, 1TNESSFORAPARTICULARPURPOSE h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 23/24 OROFANyOTHERNATUREAREMADEHEREUNDERWITHRESPECTTOINFORMATION/SPECI 1CATIONORTHEPRODUCTSTO WHICHINFORMATIONREFERSANDNOGUARANTEEWITHRESPECTTOCOMPLIANCETOTHEINTENDEDUSEISGIVEN. INPARTICULAR,THISALSOAPPLIESTOTHESTATEDPOSSIBLEAPPLICATIONSORAREASOFAPPLICATIONSOFTHEPRODUCT. 42I.!-ICPRODUCTSARENOTDESIGNEDFORANDMUSTNOTBEUSEDINCONNECTIONWITHANyAPPLICATIONSWHERE THEFAILUREOFSUCHPRODUCTSWOULDREASONABLyBEExPECTEDTORESULTINSIGNI 1CANTPERSONALINJURyORDEATH (SAFETy-CRITICAL!PPLICATIONS)WITHOUT42I.!-IC’SSPECI1CWRITTENCONSENT. 42I.!-ICPRODUCTSARENOTDESIGNEDNORINTENDEDFORUSEINMILITARyORAEROSPACEAPPLICATIONSORENVIRON- MENTSORINAUTOMOTIVEAPPLICATIONSUNLESSSPECI 1CALLyDESIGNATEDFORSUCHUSEBy42 I.!-IC.42I.!-IC CONVEySNOPATENT,COPyRIGHT,MASKWORKRIGHTOROTHERTRADEMARKRIGHTTOTHISPRODUCT.42 I.!-ICASSUMES NOLIABILITyFORANyPATENTAND/OROTHERTRADEMARKRIGHTSOFATHIRDPARTyRESULTINGFROMPROCESSINGOR HANDLINGOFTHEPRODUCTAND/ORANyOTHERUSEOFTHEPRODUCT.

16.7 COLLATERALDOCUMENTS&4OOLS

4HISPRODUCTDOCUMENTATIONISRELATEDAND/ORASSOCIATEDWITHADDITIONALTOOLKITS, 1RMWAREANDOTHER ITEMS,ASPROVIDEDONTHEPRODUCTPAGEAT:WWW.TRINAMIC.COM. h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D20-1-1210(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.20•2019-!02-03 24/24 17 2EVISION(ISTORy 17.1 (ARDwARE2EVISION 6ERSION DATE !UTHOR DESCRIPTION 4-C--1210_6102014-D%C-17G% INITIALVERSION. 4-C--1210_6112015-J5.-25G% 3EVERALCORRECTIONS,ADDEDFEATURESANDCIRCUITOPTIMIzATION 0D20-1-1210 2019--!2-12G% 0!.DRIVEBASEDON4-C--1210_611AND.%-!8/20MM2ANGESIzE STEPPERMOTOR 4ABLE13:(ARDwARE2EVISION

17.2 DOCUMENT2EVISION

6ERSION DATE !UTHOR DESCRIPTION 1.00 2018-J5.-18G% INITIALVERSIONBASEDON4-C--1210HARDWAREMANUAL 1.10 2019--!2-14G% 5PDATEFORSERIESVERSION 1.20 2019-!02-03G% -INORCORRECTIONS 4ABLE14:DOCUMENT2EVISION h201942I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM