PD42-1370-CABLE

PD42-X-1370 TRINAMIC | Alldatasheet

Document overview

• Manufacturer or author: Provided By alldatasheet.com(free datasheet download site)
• PDF pages: 25

Technical content

Datasheet sections

• 3.1 DIMENSIONSOF0D42-x-1370
• 4 CONNECTORS
• 6 I//S
• 6.2 DIGITALOUTPUT(OPEN-DRAIN)
• 7 COMMUNICATION

0!.DRIVE™FOR3TEPPER 0!.D2I6E™ 0D42-x-1370(ARDWARE-ANUAL (ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 4HE0!.DRIVE™0D42-1-1370,0D42-2-1370,0D42-3-1370AMD0D42-4-1370ARESMALLANDCOMPACTFULL MECHATRONICSOLUTIONSINCLUDING.E-!17/42MM2ANGESIzESTEPPERMOTORS.4HE0!.DRIVES ™ARE CONTROLLEDVIA23485BUSINTERFACEUSING4-C,PROTOCOL. 4HEyFEATUREANINTEGRATEDMAGNETICEN- CODERFORPOSITIONFEEDBACk,SPREADCyCLE ™CHOPPERFORHIGHSPEEDSTEPPERMOTORCOMMUTATION,A FULLyINTEGRATEDHARDwAREMOTIONCONTROLLERwITHS-SHAPEDMOTIONRAMPS,ASwELLASSTALLGUARD2 ™ ANDCOOL3TEP™. &EATURES

• 3TEPPER-OTOR.%-!17WITHCON- TROLLER/DRIVER
• 0.22-0.7.MHOLDINGTORQUE
• 3UPPLY6OLTAGE+9...286DCSUPPLY VOLTAGE
• 5PTO2!2-3MOTORCURRENT
• 23485BUSINTERFACE
• INTEGRATEDS-SHAPEDRAMPMOTION CONTROLLERINHARDWARE
• MAGNETICENCODER IC
• SPREADCyCLE™SMARTMIxEDDECAY
• STALLGUARD2™LOADDETECTION
• COOL3TEP™AUTOM.CURRENTSCALING !PPLICATIONS
• ,ABORATORY!UTOMATION
• -ANUFACTURING
• 3EMICONDUCTOR(ANDLING
• 2OBOTICS
• &ACTORY!UTOMATION
• 4EST&-EASUREMENT
• ,IFE3CIENCE
• BIOTECHNOLOGY
• ,IQUID(ANDLING 3IMPLI1EDBLOCKDIAGRAM V DC Microcontroller EEPROM IN IN Step Motor RS 485 MOSFET Driver Stage Energy Efficient Driver TMC 262 Pre Driver SPI PD x 1370 Motion Controller DC DC Magnetic Encoder OUT h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONAT:WWW.TRINAMIC.COM 2EADENTIREDOCUMENTATION.

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 3/25 1 &EATURES 4HE0!.DRIVE™ 0D42-1-1370,0D42-2-1370,0D42-3-1370AMD0D42-4-1370ARESMALLANDCOMPACTFULL MECHATRONICSOLUTIONSINCLUDING.%-!17/42MM 2ANGESIzESTEPPERMOTORS,THE4-C--1370CONTROLLER/ DRIVERELECTRONICSANDMAGNETICENCODERFORPOSITIONFEEDBACKANDOPTIONALCLOSED-LOOPOPERATION.4HE FOUR0!.DRIVESINCLUDESTEPPERMOTORWITHDI ffERENTLENGTHSANDDI ffERENTHOLDINGTORQUES(0D42-1-1370: ENCODERSETUP.4HE0!.DRIVESSUPPORTBOTH,STAND-ALONEOPERATIONE.G.USINGTHEON-BOARDI//STOGETHER WITHTHEBUILD-IN4-C,SCRIPTINGFEATUREANDREMOTEOPERATIONUSINGONEOFTHEAVAILABLECOMMUNICATION INTERFACESANDEVENAMIxTUREOFBOTH. -OTIONCONTROLLER

• &ULLYINTEGRATEDHARDWAREMOTIONCONTROLLERWITHS-SHAPEDMOTIONRAMPSUPPORT
• -OTIONPRO1LECALCULATIONINREAL-TIME
• /NTHE 2YALTERATIONOFMOTORPARAMETERS(E.G.POSITION,VELOCITY,ACCELERATION)
• !UTOMATICPOSITIONREGULATIONINHARDWARE(OPTIONAL,WITHINTEGRATEDENCODER) DRIVER
• -OTORCURRENT:UPTO2!2-3(2.8!PEAK,PROGRAMMABLEINSOFTWARE)
• 3UPPLYVOLTAGE:+246DC(+9...+286DC)
• 256MICROSTEPSPERFULLSTEP
• SPREADCYCLE™ HIGHLYDYNAMICCURRENTCONTROLCHOPPER ENCODER
• INTEGRATEDMAGNETIC/HALLSENSORBASEDABSOLUTPOSITIONENCODER INTERFACES
• 23485INTERFACE(UP-TO1-BIT/S)
• (/-%,,EFTAND2IGHT34/0SWITCHINPUTS
• DRIVERENABLEINPUT
• DIGITALOUTPUT(OPEN-DRAIN) 3OFTwARE
• 4-C,™ REMOTE(DIRECTMODE)ANDSTANDALONEOPERATION(MEMORYFORUPTO10244-C, ™ COMMANDS), FULLYSUPPORTEDBY4-C,-ID%(0CBASEDINTEGRATEDDEVELOPMENTENVIRONMENT).0LEASESEE0D42- x- 13704-C,1RMWAREMANUALFORMOREDETAILS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 4/25 2 /RDERCODES 4HECOMBINATIONOFMOTORANDMOTORMOUNTEDCONTROLLER/DRIVERELECTRONICISCURRENTLYAVAILABLEWITHFOUR STEPPERMOTORS(DIffERENTLENGTHANDHOLDINGTORQUE): 4HELENGTHOFTHE0A.DRIVESISSPECI 1EDwITHOUTTHELENGTHOFTHEAxIS. FORTHEOVERALLLENGTHOFTHEPROD- UCTPLEASEADD24MM /RDERCODE DESCRIPTION 3IzE(,x7x() 0D42-1-13700!.DRIVE™WITH.%-!17STEPPERMOTOR,0.22.M MAx.,2!2-3,+246,3-RAMPS,MAGNETICENCODER, 23485,4-C,1RMWARE 42MMx42MMx47MM 0D42-2-13700!.DRIVE™WITH.%-!17STEPPERMOTOR,0.36.M MAx.,2!2-3,+246,3-RAMPS,MAGNETICENCODER, 23485,4-C,1RMWARE 42MMx42MMx51MM 0D42-3-13700!.DRIVE™WITH.%-!17STEPPERMOTOR,0.44.M MAx.,2!2-3,+246,3-RAMPS,MAGNETICENCODER, 23485,4-C,1RMWARE 42MMx42MMx60MM 0D42-4-13700!.DRIVE™WITH.%-!17STEPPERMOTOR,0.7.M MAx.,2!2-3,+246,3-RAMPS,MAGNETICENCODER, 23485,4-C,1RMWARE 42MMx42MMx73MM 4ABLE1:/RDERCODE !CABLELOOMSETISAVAILABLEFORTHISMODULE: /RDERCODE DESCRIPTION 0D42-1370-C!B,%CABLELOOMFOR0D42-1370:

• 1xCABLELOOMFORPOWERSUPPLY,23485AND I//CONNECTOR(CABLELENGTH 200MM,10PINJ340(CONNECTORATONEEND,OPENWIRESATTHEOTHER END) 4ABLE2:0D42-x-1370CABLE,OOM h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 5/25 3 -ECHANICALANDELECTRICAL INTERFACING !LL0D42-x-1370CONSISTOFONEOUTOFFOURAVAILABLE.%-!17/42MMSTEPPERMOTORSWITH2!2-3RATED COILCURRENTWITHTHESAMECONTROLLER/DRIVERELECTRONICSMOUNTEDONITSBACKSIDEANDINTEGRATEDMAGNETIC ENCODER.4HE0D42-1-1370USESTHE13(4218-34-20-022STEPPERMOTORWITH0.22.MHOLDINGTORQUE,THE 0D42-2-1370USESTHE13(4218-38-20-036STEPPERMOTORWITH0.36.MHOLDINGTORQUE,THE0D42-3-1370 USESTHE13(4218-47-20-044STEPPERMOTORWITH0.44.MHOLDINGTORQUEANDTHE0D42-4-1370USESTHE 13(4218-60-20-070STEPPERMOTORWITH0.7.MHOLDINGTORQUE. NOTICE .OTE:INORDERTOMAKEPROPERUSEOFTHEINTEGRATEDMAGNETICENCODER(THE SENSORICISPLACEDONTHEBOTTOMOFTHEPCB)THECONTROLLER/DRIVERELECTRONICS SHOULDNOTBEREMOVED/MOVEDRELATIVETOTHEMOTOR. INCASETHEINTEGRATED ENCODERFEATUREISNOTUSED,THEELECTRONICSMAYBEMOVEDOREVENREMOVEDFROM THEMOTORANDPLACEDSOMEWHEREELSEACCORDINGTOAPPLICATIONREQUIREMENTS.

3.1 DIMENSIONSOF0D42-x-1370

FIGURE1:0D42-x-1370wITHDIffERENT.E-A17/42MMSTEPPERMOTORS(ALLDIMENSIONSINMM) 0!.DRIVE /VERALLLENGTHOFUNIT 0D42-1-1370 46.5±1MM 0D42-2-1370 51±1MM h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 6/25 0!.DRIVE /VERALLLENGTHOFUNIT 0D42-3-1370 60±1MM 0D42-3-1370 73±1MM 4ABLE3:/VERALLLENGTHOF0A.DRIVEUNITS(BODywITHOUTMOTORAxIS) 3.2 3TEPPERMOTOR -AINCHARACTERISTICSOFTHEFOURDI ffERENTMOTORSAVAILABLEASPARTOFTHE0D42- x-13700!.DRIVE™: 3PECI1CATIONS 5NIT 0D42-1-13700D42-2-13700D42-3-13700D42-4-1370 3TEPANGLE o 1.8 1.8 1.8 1.8 3TEPANGLEACCURACY % +/-5 +/-5 +/-5 +/-5 -Ax.MOTORTEMPERATURE oC 80 80 80 80 3HAFTRADIALPLAY(450GLOAD) MM 0.02 0.02 0.02 0.02 3HAFTAxIALPLAY(450GLOAD) MM 0.08 0.08 0.08 0.08 -Ax RADIAL FORCE (20MM FROMFRONT 2ANGE) . 28 28 28 28 -AxAxIALFORCE . 10 10 10 10 2ATEDVOLTAGE 6 2.0 2.4 2.4 4.4 2ATEDPHASECURRENT ! 2.0 2.0 2.0 2.0 0HASERESISTANCEAT20oC Ω 1.0 1.2 1.4 2.3 INSULATIONCLASS B B B B 2OTORINERTIA GCM2 35 57 68 102 7EIGHT KG 0.22 0.24 0.35 0.5 4ABLE4:.E-A17/42MMSTEPPERMOTORTECHNICALDATA h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 7/25

4 CONNECTORS

4HE0D42-x-1370OffERSTWOCONNECTORS-ONE10PINCONNECTORFORPOWERSUPPLY,COMMUNICATION(23485) ANDI/SANDONE4PINCONNECTORFORCONNECTINGTHESTEPPERMOTOR. NOTICE 3TARTwITHPOwERSUPPLy/&&ANDDONOTCONNECTORDISCONNECTMOTORDUR- INGOPERATION!-OTORCABLEANDMOTORINDUCTIVITYMIGHTLEADTOVOLTAGESPIKES WHENTHEMOTORIS(DIS)CONNECTEDWHILEENERGIzED.4HESEVOLTAGESPIKESMIGHT ExCEEDVOLTAGELIMITSOFTHEDRIVER-/3&%4SANDMIGHTPERMANENTLYDAMAGE THEM.4HEREFORE,ALWAYSSWITCHOff /DISCONNECTPOWERSUPPLYORATLEASTDISABLE DRIVERSTAGEBEFORECONNECTING/DISCONNECTINGMOTOR. 1 10 Motor Power, RS485 and I/O FIGURE2:0D42-x-1370CONNECTORS CONNECTOR4YPESAND-ATINGCONNECTORS CONNECTOR CONNECTORTYPEON-BOARD -ATINGCONNECTORTYPE 0OWER,23485ANDI// J34B10B-0(-+-3 (J340(SERIES,10PINS,2MMPITCH) CONNECTORHOUSING:J340(2-10 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 4ABLE5:CONNECTOR4yPESAND-ATINGCONNECTORSOFTHE0D42-x-1370 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 8/25 4.1 0OwER3UPPLy,23485ANDI//CONNECTOR 4HE0D42-x-1370OffERSONE10PINJ340(CONNECTORFORPOWERSUPPLYINPUT,COMMUNICATIONAND I//.&OR COMMUNICATIONA2-WIRE23485BUSINTERFACEISAVAILABLE.4HEFOURDIGITALINPUTSHAVEDEDICATEDFUNCTIONS AS(/-%,34/0_,AND34/0_2INPUTSANDONEDRIVERENABLEINPUT(ACTIVELOW).!LLFOURINPUTSO ffERINTERNAL PULL-UPSTOAPPROx.+56.4HE(/-%,34/0_,AND34/0_2INPUTSMAYBEUSEDASGENERALPURPOSEINPUTS, ALSO-CON1GURABLEINSOFTWAREDEPENDINGONAPPLICATION. INADDITIONTOTHEFOURINPUTSONEGENERAL PURPOSEDIGITALOUTPUT(OPENDRAIN)ISAVAILABLE.4HISOUTPUTO ffERSANINTERNALPULL-UPREISTORTO+56IN ORDERTOMAINTAINAVALIDLOGICLEVELWHILETHEINTERNALTRANSISTORISDISABLED.4HEOUTPUTTRANSISTOR(-/3&%4) MAYSINKUP-TO100M!WHENACTIVATEDANDCANWITHSTANDVOLTAGESUP-TO306. 0OWER3UPPLY,COMMUNICATIONAND I//CONNECTOR0IN!SSIGMENT 0IN ,ABEL DIRECTION DESCRIPTION 1 G.D 0OWER(G.D) COMMONSYSTEMSUPPLYANDSIGNALGROUND 2 6-!I. 0OWER(INPUT) -AINPOWERSUPPLYINPUTFORTHEDRIVERANDON-BOARDLOGIC 9...286 3 23485+ BIDIRECTIONAL 23485INTERFACE,DIff.SIGNAL(NON-INVERTING) 4 23485- BIDIRECTIONAL 23485INTERFACE,DIff.SIGNAL(INVERTING) 5 G.D 0OWER(G.D) COMMONSYSTEMSUPPLYANDSIGNALGROUND 6 /540 /UTPUT(/D) /PEN-DRAINOUTPUT./UTPUTWILLBEPULLEDLOWWHENACTIVATED. 6OLTAGESUP-TOLOGICSUPPLyINPUTLEVELARESUPPORTEDHERE.-Ax. CONTINUOUSPULL-DOwNCURRENT:100MA 7 (/-% INPUT DIGITALINPUT+56AND+363LEVELCOMPATIBLE. INTERNALPULL-UP TOAPPROx.+56.CANBEUSEDASDEDICATED(/-%SENSORINPUT ORASGENERALPURPOSEDIGITALINPUT(APPLICATIONAND 1RMWARE DEPENDENT) 8 34/0_, INPUT DIGITALINPUT+56AND+363LEVELCOMPATIBLE. INTERNALPULL-UPTO APPROx.+56.CANBEUSEDASDEDICATED34/0LEFTSENSORINPUT ORASGENERALPURPOSEDIGITALINPUT(APPLICATIONAND 1RMWARE DEPENDENT) 9 34/0_2 INPUT DIGITALINPUT+56AND+363LEVELCOMPATIBLE. INTERNALPULL-UPTO APPROx.+56.CANBEUSEDASDEDICATED34/0RIGHTSENSORINPUT ORASGENERALPURPOSEDIGITALINPUT(APPLICATIONAND 1RMWARE DEPENDENT) 10 /%.!B,% INPUT DIGITALINPUT+56AND+363LEVELCOMPATIBLE. INTERNALPULL-UPTO APPROx.+56.DRIVERENABLEINPUT(ACTIVELOW).(ASTOBEPULLED LOW/CONNECTEDTOG.DINORDERTOACTIVATEDRIVERSTAGE 4ABLE6:0OwERSUPPLy,COMMUNICATIONAND I//CONNECTORPINASSIGNMENT NOTICE DONOTCONNECTORDISCONNECTMOTORDURINGOPERATION! -OTORCABLEANDMO- TORINDUCTIVITYMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORIS(DIS)CONNECTED WHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTExCEEDVOLTAGELIMITSOFTHEDRIVER -/3&%4SANDMIGHTPERMANENTLYDAMAGETHEM. 4HEREFORE,ALWAYSSWITCHO ff /DISCONNECTPOWERSUPPLYORATLEASTDISABLEDRIVERSTAGEBEFORECONNECTING/ DISCONNECTINGMOTOR. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 9/25 NOTICE 4AkECAREOFPOLARITy,wRONGPOLARITyCANDESTROyTHEBOARD! NOTICE CONNECTENABLEPIN TOG.DINORDERTOENABLEMOTORMOVEMENTS! 4.2 -OTORCONNECTOR !SECOND4PINJ340(SERIESCONNECTORISAVAILABLEFORCONNECTIONOFA2-PHASEBIPOLARSTEPPERMOTOR.4HIS CONNECTORISUSUALLYCONNECTEDTOTHEATTACHEDMOTORALREADY. -OTORCONNECTOR0IN!SSIGNMENT 0IN ,ABEL DIRECTION DESCRIPTION 1 /B1 OUT 0IN1OFMOTORCOILB(RED) 2 /B2 OUT 0IN2OFMOTORCOILB(BLUE) 3 /!1 OUT 0IN1OFMOTORCOIL!(GREEN) 4 /!2 OUT 0IN2OFMOTORCOIL!(BLACK) 4ABLE7:-OTORCONNECTOR0INASSIGNMENT NOTICE DONOTCONNECTORDISCONNECTMOTORDURINGOPERATION! -OTORCABLEANDMO- TORINDUCTIVITYMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORIS(DIS)CONNECTED WHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTExCEEDVOLTAGELIMITSOFTHEDRIVER -/3&%4SANDMIGHTPERMANENTLYDAMAGETHEM. 4HEREFORE,ALWAYSSWITCHO ff /DISCONNECTPOWERSUPPLYORATLEASTDISABLEDRIVERSTAGEBEFORECONNECTING/ DISCONNECTINGMOTOR. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 10/25 5 /N-BOARD,EDS 4HEBOARDO ffERSONEGREEN,%DINORDERTOINDICATEBOARDSTATUS.4HEFUNCTIONOFTHE,%DISDEPENDENT ONTHE 1RMWAREVERSION.7ITHSTANDARD4-C, 1RMWARETHEGREEN,%DSHOULDBE 2ASHINGSLOWLYDURING OPERATION.7HENTHEREISNOVALID 1RMWAREPROGRAMMEDINTOTHEBOARDORDURING 1RMWAREUPDATETHE GREEN,%DISSWITCHEDON,PERMANENTLY.DURINGRESETTOFACTORYDEFAULTVALUESTHEGREEN,%DWILLBE 2ASHING FAST. LED FIGURE3:0D42-x-1370,EDS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 11/25

6 I//S

4HEPOWERSUPPLY,COMMUNICAITONAND I//CONNECTOR(10PINJ340(SERIES)OffERSFOURDIGITALINPUTSWITH INTEGRATEDPULL-UPSANDANDONEOUTPUT(OPEN-DRAIN). 6.1 DIGITALINPUTS(/-E,34/0_,,34/0_2AND/E.!B,E SUPPLYVOLTAGELIMIT)WITHVOLTAGESABOVEAPPROx.26RECOGNIzEDASLOGICAL ’1’ANDBELOW0.86ASLOGICAL ’0’. !LLFOURINPUTSO ffERINTERGATEDPULL-UPSTO+56(1xED).DEPENDINGONCON1GURATIONINSOFTWARETHESEFOUR INPUTSALSOO ffERDEDICATEDFUNCTIONALITYAS(/-%,34/0_,,34/0_2AND/%.!B,%INPUTS. 100pF 27k 4k7 +3V3 microcontrollerIN0...IN3 +5V TMCM-1370 FIGURE4:DIGITALINPUTS(/-E,34/0_,,34/0_2AND/E.AB,E

6.2 DIGITALOUTPUT(OPEN-DRAIN)

4HE0D42-x-1370OffERSONEDIGITALOUTPUT(OPEN-DRAIN).4HEOUTPUTOffERSANINTEGRATEDPULL-UPTO+56IN ORDERTOENSUREVALIDSIGNALLEVELSEVENWHILETHEOUTPUTISSWITCHEDO ff.4HEOPUTPUTCANSINKUP-TO100M! ANDWITHSTANDVOLTAGESUP-TO286(POSITIVESUPPLYVOLTAGELIMIT)WHILESWITCHEDO ff. 4k7 microcontrollerOUT +5V TMCM-1370 4k7 FIGURE5:ExTERNALENCODERINPUT h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 12/25

7 COMMUNICATION

7.1 23485 &ORREMOTECONTROLANDCOMMUNICATIONWITHAHOSTSYSTEMTHE0D42- x-1370PROVIDESATWOWIRE23485 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.4HE0D42- x-1370DOESNOTINTEGRATE ANYTERMINATIONRESISTOR.4HEREFORE,120/HMTERMINATIONRESISTORSATBOTHENDSOFTHEBUSHAVETO BEADDEDExTERNALLY. 3..5-BE2/F./DE3: 4HE23485ELECTRICALINTERFACESTADARD(% I!-485)ALLOWSUPTO32NODESTOBECONNECTEDTOASINGLEBUS. 4HEBUSTRANSCEIVERUSEDONTHE0D42- x-1370UNITS(3.65(6D1781D)OffERSASIGNI 1CANTLYREDUCED BUSLOADCOMPAREDTOTHESTANDARDANDALLOWSAMAxIMUMOF255UNITSTOBECONNECTEDTOASINGLE 23485BUSUSINGSTANDARD4-C, 1RMWARE.0LEASENOTE:USUALLyITCANNOTBEExPECTEDTOGETRELIABLE COMMUNICATIONwITHTHEMAxIMUMNUMBEROFNODESCONNECTEDTOONEBUSANDMAxIMUMSUPPORTED COMMUNICATIONSPEEDATTHESAMETIME. INSTEAD,ACOMPROMISEHASTOBEFOUNDBETwEENBUSCABLELENGTH, COMMUNICATIONSPEEDANDNUMBEROFNODES. 4.C/--5.ICA4I/.30EED: 4HEMAxIMUM23485COMMUNICATIONSPEEDSUPPORTEDBYTHE0D42- x-1370HARDWAREIS1-BIT/S. &ACTORYDEFAULTIS9600BIT/S.0LEASESEESEPARATE0D42-x-13704-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): h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 13/25 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 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 14/25 8 -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!0.0LEASESEESEPARATE0D42- x-1370 1RMWAREMANUALFORFURTHERINFORMATION) -OTORCuRRENT IR-S [A] 2ESULTINGMOTORCURRENTBASEDONMOTORCURRENTSETTING -OTORCURRENT3ETTING -OTORCURRENTSETTING INSOFTWARE(4-C,) CURRENT SCALING STEP (C3) -OTORCURRENT IC/I,;!] PEAK -OTORCURRENT IC/I,;!] 2-3 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 15/25 -OTORCURRENTSETTING INSOFTWARE(4-C,) CURRENT SCALING STEP (C3) -OTORCURRENT IC/I,;!] PEAK -OTORCURRENT IC/I,;!] 2-3 4ABLE9:AVAILABLEMOTORCURRENTSETTINGS INADDITIONTOTHESETTINGSINTHETABLETHEMOTORCURRENTMAYBESWITCHEDO ff COMPLETELY(FREE-WHEELING) USINGAxISPARAMETER204(SEE0D42-x-13701RMWAREMANUAL). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 16/25 9 4ORqUECURVES 9.1 0D42-1-13704ORqUECURVE FIGURE9:0D42-1-1370TORqUEVS.VELOCITy246/2A,256µSTEPS,OPEN-LOOP 9.2 0D42-2-13704ORqUECURVE FIGURE10:0D42-2-1370TORqUEVS.VELOCITy246/2A,256µSTEPS,OPEN-LOOP h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 17/25 9.3 0D42-3-13704ORqUECURVE FIGURE11:0D42-3-1370TORqUEVS.VELOCITy246/2A,256µSTEPS,OPEN-LOOP 9.4 0D42-4-13704ORqUECURVE FIGURE12:0D42-4-1370TORqUEVS.VELOCITy246/2A,256µSTEPS,OPEN-LOOP h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 18/25 10 &UNCTIONALDESCRIPTION 4HE0D42-x-1370ISAFULLMECHATRONICSOLUTIONINCLUDINGA42MM 2ANGE(.%-!17)BIPOLARSTEPPERMOTOR. ITINCLUDESTHECONTROLLER/DRIVERELECTRONICSANDACHOICEBETWEENFOURDI ffERENT.%-!17/42MM2ANGE SIzEBIPOLARHYBRIDSTEPPERMOTORSWITHDI ffERENTLENGTHANDTORQUE. 4HE0D42-x-1370OffERSANADVANCEDS-SHAPEDRAMPMOTIONCONTROLLERINHARDWARE.4OGETHERWITHTHE INTEGRATEDHIGHRESOLUTIONMAGNETICENCODERPOSITIONREGULATIONISSUPPORTEDINHARDWARE(CON 1GURABLEIN SOFTWARE).4HEUNITCANBECONTROLLEDVIA234852-WIRESERIALINTERFACES.4HEREAREFOURGENERALPURPOSE DIGITALINPUTSWHICHCANBEUSEDAS34/0_,/34/0_2/(/-%SWITCHINPUTS,ALSO(FORREFERENCEMOVEMENTS, ASENDSWITCHESETC.DEPENDINGON 1RMWARE,MODEANDCON 1GURATION)ANDADEDICATEDDRIVERENABLEINPUT. INADDITION,THEREISONEGENERAL-PURPOSEOUTPUT(OPEN-DRAIN). 4HE0D42-x-1370WITH4-C,™ 1RMWAREOPTIONISSUPPORTEDBYTHE0CBASEDSOFTWAREDEVELOPMENT ENVIRONMENT4-C,-ID%FORTHE4RINAMIC-OTIONCONTROL,ANGUAGE(4-C, ™).5SINGPREDE1NED4-C, ™ HIGHLEVELCOMMANDSLIKEMOVETOPOSITIONARAPIDANDFASTDEVELOPMENTOFMOTIONCONTROLAPPLICATIONS ISGUARANTEED. 0LEASEREFERTOTHE0D42-x-13701RMWAREMANUALFORMOREINFORMATIONABOUT4-C, ™ COMMANDS. COMMUNICATIONTRA/uniFB03CISKEPTLOWSINCEALLTIMECRITICALOPERATIONS,E.G.RAMPCALCULATION,POSITIONREGU- LATIONAREPERFORMEDONBOARD.COMPLETESTAND-ALONEORFULLREMOTECONTROLORANYTHINGIN-BETWEENIS POSSIBLE.4HE1RMWAREOFTHEMODULECANBEUPDATEDVIATHESERIALINTERFACE.!SANALTERNATIVETO4-C,,A C!.OPEN1RMWAREISAVAILABLE. 4HE0D42-x-1370CONTAINSTHEFOLLOwINGMAINCOMPONENTS:

• .%-!17/42MM2ANGESIzESTEPPERMOTORWITH2!2-3COILWINDINGS,DI ffERENTLENGTHANDHOLDING
• -ICROCONTROLLER(!2-CORTEx--4™),RESPONSIBLEFOROVERALLCONTROLANDCOMMUNICATION
• !DVANCEDS-SHAPERAMPSHARDWAREMOTIONCONTROLLER
• !DVANCEDSTEPPERMOTORDRIVERWITHSTALLGUARD2 ™ ANDCOOL3TEP™ WITH-/3&%4DRIVERSTAGE
• (IGH-RESOLUTIONMAGNETIC/HALLSENSORBASEDENCODER
• 23485TRANSCEIVER
• /N-BOARDVOLTAGEREGULATORS(+56AND+363)REQUIREDFORSUPPLYOFALLON-BOARDDIGITALCIRCUITS V DC ARM Cortex M TM microcontroller TMCL™ Memory IN IN Step Motor RS 485 MOSFET Driver Stage Energy Efficient Driver TMC 262 TMC 262 Pre Driver with stallGuard TM coolStep™ SPI PD 1370 PD 1370 PD 1370 PD 1370 TMCM 1370 SPI TMC 4361 Motion Controller SPI DC DC Magnetic Encoder A B N QSH 4218 022 QSH 4218 036 QSH 4218 044 QSH 4218 070 OUT SPI HOME REFL REFR FIGURE13:0D42-x-1370BLOCkDIAGRAM h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 19/25 11 /PERATIONAL2ATINGSANDCHARACTERISTICS NOTICE .EVERExCEEDTHEABSOLUTEMAxIMUMRATINGS! +EEPTHEPOWERSUPPLYVOLTAGE BELOWTHEUPPERLIMITOF+286!/THERWISETHEBOARDELECTRONICSWILLSERIOUSLYBE DAMAGED!%SPECIALLY,WHENTHESELECTEDOPERATINGVOLTAGEISNEARTHEUPPERLIMIT AREGULATEDPOWERSUPPLYISHIGHLYRECOMMENDED. GENERAL/PERATIONAL2ATINGS 3YMBOL 0ARAMETER -IN 4YP -Ax 5NIT 60OWER 0OWERSUPPLYVOLTAGE 9 12...24 28 6 I0OWER 0OWERSUPPLYCURRENT <<IC/I,_2-3 1.4xIC/I,_2-3 ! IC/I,_0%!+ -OTORCOILCURRENTFORSINEWAVE PEAk(CHOPPER REGULATED,ADjUSTABLEVIASOFTwARE) 0 2.8 ! IC/I,_2-3 CONTINUOUSMOTORCURRENT( 2-3) 0 2 ! 4%.6 %NVIRONMENTALTEMPERATUREATRATEDCURRENT(NO FORCEDCOOLINGREAQUIRED) -30 50 oC 4ABLE10:GENERALOPERATIONALRATINGSOFTHEMODULE /PERATIONAL2ATINGSOFTHE I//S 3YMBOL 0ARAMETER -IN 4YP -Ax 5NIT 6/540 6OLTAGEATOPENDRAINOUTPUT/540(SWITCHEDO ff) 0 +28 6 I/540 /UTPUTSINKCURRENTOFOPENDRAINOUTPUT/540 (SWITCHEDON) 100 M! 4ABLE11:/PERATIONALRATINGSOF I//S /PERATIONAL2ATINGSOFTHE23485 INTERFACE 3YMBOL 0ARAMETER -IN 4YP -Ax 5NIT .23485 .UMBEROFNODESCONNECTEDTOSINGLE23485NETWORK 256 F23485 -Ax.SPEEDFOR23485NETWORK 1-BIT/S 4ABLE12:/PERATIONALRATINGSOFTHE23485INTERFACE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 20/25 12 !BBREVIATIONSUSEDINTHIS-ANUAL !BBREVIATION DESCRIPTION ID% INTEGRATEDDEVELOPMENT%NVIRONMENT ,%D ,IGHT%MMITTINGDIODE 2-3 2OOT-EAN3QUAREVALUE 4-C, 42I.!-IC-OTIONCONTROL,ANGUAGE 4ABLE13:ABBREVIATIONSUSEDINTHIS-ANUAL h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 21/25 13 &IGURESINDEx 1 0D42-x-1370WITHDIffERENT.%-!17/ 42MMSTEPPERMOTORS(ALLDIMENSIONS

4 DIGITALINPUTS(/-%,34/0_,,34/0_2

6 23485BUSSTRUCTUREWITHTERMINATION 7 23485BUSLINESWITHRESISTOR(BIAS)NET- 8 23485BUSLINESWITH0RO 1BUS™RECOMMENDED 9 0D42-1-1370TORQUEVS.VELOCITY246/ 10 0D42-2-1370TORQUEVS.VELOCITY246/ 11 0D42-3-1370TORQUEVS.VELOCITY246/ 12 0D42-4-1370TORQUEVS.VELOCITY246/ h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 22/25 14 4ABLESINDEx 3 /VERALLLENGTHOF0!.DRIVEUNITS(BODY 4 .%-!17/42MMSTEPPERMOTORTECH-

5 CONNECTOR4YPESAND-ATINGCONNEC-

6 0OWERSUPPLY,COMMUNICATIONAND I// 7 -OTORCONNECTOR0IN!SSIGNMENT . . 9 9 !VAILABLEMOTORCURRENTSETTINGS . . . 15

10 GENERAL OPERATIONAL RATINGS OF THE

12 /PERATIONALRATINGSOFTHE23485INTER- 13 !BBREVIATIONSUSEDINTHIS-ANUAL . . 20 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 23/25 15 3UPPLEMENTALDIRECTIVES 15.1 0RODUCERINFORMATION

15.2 COPyRIGHT

42I.!-ICOWNSTHECONTENTOFTHISUSERMANUALINITSENTIRETY,INCLUDINGBUTNOTLIMITEDTOPICTURES,LOGOS, TRADEMARKS,ANDRESOURCES.hCOPYRIGHT201842I.!-IC.!LLRIGHTSRESERVED.%LECTRONICALLYPUBLISHEDBY 42I.!-IC,GERMANY. 2EDISTRIBUTIONSOFSOURCEORDERIVEDFORMAT(FORExAMPLE,0ORTABLEDOCUMENT&ORMATOR(YPERTExT-ARKUP ,ANGUAGE)MUSTRETAINTHEABOVECOPYRIGHTNOTICE, ANDTHECOMPLETEDATASHEET5SER-ANUALDOCU- MENTATIONOFTHISPRODUCTINCLUDINGASSOCIATED!PPLICATION.OTES;ANDAREFERENCETOOTHERAVAILABLE PRODUCT-RELATEDDOCUMENTATION. 15.3 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. 15.4 4ARGET5SER 4HEDOCUMENTATIONPROVIDEDHERE,ISFORPROGRAMMERSANDENGINEERSONLY,WHOAREEQUIPPEDWITHTHE NECESSARYSKILLSANDHAVEBEENTRAINEDTOWORKWITHTHISTYPEOFPRODUCT. 4HE4ARGET5SERKNOWSHOWTORESPONSIBLYMAKEUSEOFTHISPRODUCTWITHOUTCAUSINGHARMTOHIMSELFOR OTHERS,ANDWITHOUTCAUSINGDAMAGETOSYSTEMSORDEVICES,INWHICHTHEUSERINCORPORATESTHEPRODUCT.

15.5 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.

15.6 DISCLAIMER:INTENDED5SE

4HEDATASPECI 1EDINTHISUSERMANUALISINTENDEDSOLELYFORTHEPURPOSEOFPRODUCTDESCRIPTION..OREPRE- SENTATIONSORWARRANTIES,EITHERExPRESSORIMPLIED,OFMERCHANTABILITY, 1TNESSFORAPARTICULARPURPOSE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 24/25 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.

15.7 COLLATERALDOCUMENTS&4OOLS

4HISPRODUCTDOCUMENTATIONISRELATEDAND/ORASSOCIATEDWITHADDITIONALTOOLKITS, 1RMWAREANDOTHER ITEMS,ASPROVIDEDONTHEPRODUCTPAGEAT:WWW.TRINAMIC.COM. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1370(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.00•2018--!9-09 25/25 16 2EVISION(ISTORy 16.1 (ARDwARE2EVISION 6ERSION DATE !UTHOR DESCRIPTION 60.92 2017-J5.-09G% INITIALPROTOTYPEVERSION 61.0 2017-/C4-13G% 3ENSORCONNECTIONSCHANGED/ADDED.-INORCORRECTIONS 61.1 2018--!2-21G% ,AYOUT/MOUNTINGCORRECTIONS 4ABLE14:(ARDwARE2EVISION

16.2 DOCUMENT2EVISION

6ERSION DATE !UTHOR DESCRIPTION 1.00 2018--!9-18G% INITIALVERSION 4ABLE15:DOCUMENT2EVISION h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM