PD42-2-1070

PD42-1070 TRINAMIC | Alldatasheet

Document overview

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

Technical content

Datasheet sections

• 1.1 GENERAL&EATURES
• 1.2.1 STEALTHCHOP™
• 1.2.2 SPREADCyCLE™
• 1.3 STALLGUARD2
• 1.4 COOL3TEP
• 4 CONNECTORSAND,EDS

0!.DRIVE™FOR3TEPPER 0!.D2I6E™ 0D42-1070(ARDWARE-ANUAL (ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 0D42-1070ISANEASyTOUSE0!.DRIVE™ SMARTSTEPPERMOTOR.4HEMODULEISCONTROLLEDVIAASTEP ANDDIRECTIONINTERFACE./NECON 1GURATIONPINSELECTSTHECURRENTCONTROLMODEBETWEENSTEALTH- CHOP™ FORABSOLUTESILENTMOTORCONTROLANDSPREADCyCLE ™ FORHIGHSPEED. !44,5!24INTERFACE ALLOWSFORMOREADVANCEDCON 1GURATION,FORExAMPLEOFTHESTALLGUARD2 ™ANDCOOL3TEP™FEATURES, ANDPERMANENTPARAMETERSTORAGEVIA4-C, ™-IDE. &EATURES

• 3UPPLy6OLTAGE+9TO+246DC
• 3TEPANDDIRECTIONINTERFACE
• MICRO0LyER™TO256t-STEPS
• STEALTHCHOP™SILENT07-MODE
• SPREADCyCLE™SMARTMIXEDDECAy
• STALLGUARD2™LOADDETECTION
• COOL3TEP™AUTOM.CURRENTSCALING
• 5!24CON1GURATIONINTERFACE !PPLICATIONS
• ,AB-!UTOMATION
• -ANUFACTURING
• 2OBOTICS
• &ACTORy!UTOMATION
• C.C
• ,ABORATORy!UTOMATION 3IMPLI1ED"LOCKDIAGRAM µC TMCL Memory Step Motor cDriver with stealthChop UART STEP/DIR EN CHOP 9...24V SPI SPI h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONAT:WWW.TRINAMIC.COM 2EADENTIREDOCUMENTATION.

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 3/25 1 &EATURES 4HE0!.DRIVE™ 0D42-1070ISAFULLMECHATRONICSOLUTIONWITHSTATEOFTHEARTFEATURESET. ITISHIGHLy INTEGRATEDANDO ffERSACONVENIENTHANDLING. 4HE0D42-1070INCLUDESASTEPPERMOTORANDDRIVERELECTRONICS. ITCANBEUSEDINMANyDECENTRALIzED VOLTAGE. 7ITHSTEALTHCHOP™,THE0D42-1070OffERSABSOLUTELySILENTANDSMOOTHMOTOROPERATIONFOR LOWERANDMEDIUMVELOCITIES. 7ITHSPREADCyCLE ™,THE0D42-1070OffERSAHIGHPERFORMANCECURRENT CONTROLLEDCHOPPERMODEFORHIGHESTVELOCITIESWITHPERFECTzEROCROSSINGPERFORMANCE.7ITHSTALLGUARD2 ™, ASENSORLESSLOADDETECTIONFEATUREISPROVIDED,WHICHISREqUIREDFORUSINGTHEAUTOMATICCURRENTSCALING FEATURECOOL3TEP™.4HE0D42-1070CANBEUSEDWITHASIMPLESTEPANDDIRECTIONINTERFACEANDCANBE CON1GUREDUSINGA44,5!24INTERFACE. STALLGUARD2ANDCOOL3TEPMUSTBECON 1GUREDVIA44,5!24INTERFACEANDAREDISABLEDByDEFAULT.

1.1 GENERAL&EATURES

-AINCHARACTERISTICS

• 3UPPLy6OLTAGE+96TO+246DC
• 1.0!2-3PHASECURRENT(CA.1.4!PEAKPHASECURRENT)
• (IGHESTMICROSTEPRESOLUTION,UPTO256MICROSTEPSPERFULLSTEP
• MICRO0LyER™ MICROSTEPINTERPOLATORFOROBTAININGINCREASEDSMOOTHNESSOFMICROSTEPPINGOVERALOW FREqUENCy34%0/DI2INTERFACE
• 7ITHHOUSINGANDMOTORMOUNTED
• 0ERMANENTONBOARDPARAMETERSTORAGE
• 3IMPLESTEP&DIRECTIONMODE
• .OISELESSSTEALTHCHOP™ CHOPPERMODEFORSLOWTOMEDIUMVELOCITIES
• (IGHPERFORMANCESPREADCyCLE ™ CHOPPERMODE
• (IGH-PRECISIONSENSORLESSLOADMEASUREMENTWITHSTALLGUARD2 ™
• !UTOMATICCURRENTSCALINGALGORITHMCOOL3TEP ™ TOSAVEENERGyANDKEEPyOURDRIVECOOL /PTICALLyISOLATEDINPUTS
• 3TEP&DIRECTIONINTERFACEWITHUPTO45K(zINPUTFREqUENCy
• %NABLEINPUTTOPOWER-ON/-Off DRIVER(-BRIDGES
• -ODESELECTINPUTTOSWITCHBETWEENTHETWOCHOPPERMODES 44,5!24 INTERFACE
• 44,-LEVEL5!24INTERFACEFORPARAMETERCON 1GURATION
• INTERFACESPEED9600-115200BPS(DEFAULT9600BPS)
• 4-C,-BASEDPROTOCOLFORONLINECON 1GURATIONANDPERMANENTPARAMETERSETTINGS
• "OOTLOADERFOR 1RMWAREUPDATES h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 4/25 1.2 42I.!-IC’S5NIqUE&EATURES

1.2.1 STEALTHCHOP™

STEALTHCHOPISANEXTREMELyqUIETMODEOFOPERATIONFORLOWANDMEDIUMVELOCITIES. ITISBASEDONAVOLTAGE MODE07-.DURINGSTANDSTILLANDATLOWVELOCITIES,THEMOTORISABSOLUTELyNOISELESS.4HUS,STEALTHCHOP OPERATEDSTEPPERMOTORAPPLICATIONSAREVERySUITABLEFORINDOORORHOMEUSE. 4HEMOTOROPERATES ABSOLUTELyFREEOFVIBRATIONATLOWVELOCITIES.7ITHSTEALTHCHOP,THEMOTORCURRENTISAPPLIEDByDRIVING ACERTAINE ffECTIVEVOLTAGEINTOTHECOIL,USINGAVOLTAGEMODE07-.4HEREARENOMORECON 1GURATIONS REqUIREDEXCEPTFORTHEREGULATIONOFTHE07-VOLTAGETOyIELDTHEMOTORTARGETCURRENT. FIGURE1:-OTORCOILSInEwAVECURREnTUSInGSTEALTHCHOP(MEASUREDwITHCURREnTPRObE)

1.2.2 SPREADCyCLE™

4HESPREADCyCLECHOPPERISAHIGH-PRECISION,HySTERESIS-BASED,ANDSIMPLETOUSECHOPPERMODE,WHICH AUTOMATICALLyDETERMINESTHEOPTIMUMLENGTHFORTHEFAST-DECAyPHASE.3EVERALPARAMETERSAREAVAILABLETO OPTIMIzETHECHOPPERTOTHEAPPLICATION.SPREADCyCLEO ffERSOPTIMALzEROCROSSINGPERFORMANCECOMPARED TOOTHERCURRENTCONTROLLEDCHOPPERALGORITHMSANDTHEREByALLOWSFORHIGHESTSMOOTHNESS.4HETRUETARGET CURRENTISPOWEREDINTOTHEMOTORCOILS. FIGURE2:SPREADCyCLEPRInCIPLE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 5/25

1.3 STALLGUARD2

STALLGUARD2ISAHIGH-PRECISIONSENSORLESSLOADMEASUREMENTUSINGTHEBACK%-&OFTHEMOTORCOILS. IT CANBEUSEDFORSTALLDETECTIONASWELLASOTHERUSESATLOADSBELOWTHOSEWHICHSTALLTHEMOTOR. 4HE STALLGUARD2MEASUREMENTVALUECHANGESLINEARLyOVERAWIDERANGEOFLOAD,VELOCITy,ANDCURRENTSETTINGS. !TMAXIMUMMOTORLOAD,THEVALUEREACHESzEROORISNEARzERO.4HISISTHEMOSTENERGy-E /uniFB03CIENTPOINTOF OPERATIONFORTHEMOTOR. Load [Nm] stallGuard2 Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall. Motor stalls FIGURE3:STALLGUARD2LOAD-EASUREMEnTASAFUnCTIOnOFLOAD

1.4 COOL3TEP

COOL3TEPISALOAD-ADAPTIVEAUTOMATICCURRENTSCALINGBASEDONTHELOADMEASUREMENTVIASTALLGUARD2. COOL3TEPADAPTSTHEREqUIREDCURRENTTOTHELOAD.%NERGyCONSUMPTIONCANBEREDUCEDByASMUCHAS75%. COOL3TEPALLOWSSUBSTANTIALENERGySAVINGS,ESPECIALLyFORMOTORSWHICHSEEVARyINGLOADSOROPERATEATA HIGHDUTyCyCLE."ECAUSEASTEPPERMOTORAPPLICATIONNEEDSTOWORKWITHATORqUERESERVEOF30%TO50%, EVENACONSTANT-LOADAPPLICATIONALLOWSSIGNI 1CANTENERGySAVINGSBECAUSECOOL3TEPAUTOMATICALLyENABLES TORqUERESERVEWHENREqUIRED.2EDUCINGPOWERCONSUMPTIONKEEPSTHESySTEMCOOLER,INCREASESMOTOR LIFE,ANDALLOWSFORCOSTREDUCTION. 0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 0 50 100 150 200 250 300 350 Efficiency Velocity [RPM] Efficiency with coolStep Efficiency with 50v torque reserve FIGURE4:EnERGyE /uniFB03CIEnCyExAMPLEwITHCOOL3TEP h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 6/25 2 /RDERCODES /RDERCODE DESCRIPTION 3IzE(,X7X() 0D42-1-10700!.DRIVE,0.27.M,1.0!2-3,+246DC,44,5!24INTERFACE, 3/DINTERFACE,%NABLE,-ODE3ELECT 42MMX42MMX45,5MM 0D42-2-10700!.DRIVE,0.35.M,1.0!2-3,+246DC,44,5!24INTERFACE, 3/DINTERFACE,%NABLE,-ODE3ELECT 42MMX42MMX50MM 0D42-3-10700!.DRIVE,0.49.M,1.0!2-3,+246DC,44,5!24INTERFACE, 3/DINTERFACE,%NABLE,-ODE3ELECT 42MMX42MMX59MM 4-C--1070 CONTROLLER/DRIVER-ODULEWITHOUTMOTOR, +246DC,44, 5!24INTERFACE,3/DINTERFACE,%NABLE,-ODE3ELECT 42MMX42MMX12MM 4AbLE1:/RDERCODESMODULES /RDERCODE DESCRIPTION 4-C--1070-C!",% CABLELOOMFOR4-C--1070.CONTAINS:

• 1XCABLELOOMFORMOTORCONNECTORWITH4-PINJ340(FEMALECONNECTOR
• 1XCABLELOOMFOR I//CONNECTORWITH9-INJ340(FEMALECONNECTOR 0D-1070-C!",% CABLELOOMFOR0D42-X-1070.CONTAINS:
• 1XCABLELOOMFOR I//CONNECTORWITH9-INJ340(FEMALECONNECTOR 4-C--+!-I./-C,I0 3ELF-!DHESIVETOPHATRAILMOUNTINGCLIPFOR4-C--1070BASEMODULE(NOT AVAILABLEWITH0!.DRIVEVERSIONS0D42-X-1070) 4-C--+!-I./-!023 !LUMINUMADAPTERPLATEKITFORMOUNTINGOF4-C--1070BASEMODULETO .%-!23SIzEMOTORS(NOTAVAILABLEWITH0!.DRIVEVERSIONS0D42-X-1070) 4-C--+!-I./-!024 !LUMINUMADAPTERPLATEKITFORMOUNTINGOF4-C--1070BASEMODULETO .%-!24SIzEMOTORS(NOTAVAILABLEWITH0!.DRIVEVERSIONS0D42-X-1070) 4AbLE2:/RDERCODESCAbLELOOM h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 7/25 3 -ECHANICALANDELECTRICAL INTERFACING 3.1 0D42-1070DIMENSIONSAND7EIGHT 4HE0D42-1070INCLUDESTHE4-C--1070STEPPERMOTORDRIVERMODULEANDA.%-!17BIPOLARSTEPPER MOTOR.DEPENDINGONTHEMOTORSIzETHELENGTVARIES. 42mm 42mm L FIGURE5:0D42-1070MECHAnICALDIMEnSIOnSwITHMOTOR /RDERCODE ,INMM 7EIGHTING 0D42-1-107045,5±1 ≈ 260 0D42-2-107050±1 ≈ 320 0D42-3-107059±1 ≈ 395 4AbLE3:0D42-x-1070LEnGTHAnDwEIGHT h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 8/25 3.2 0D42-1070-OTOR0ARAMETERS 3PECI1CATIONS 0ARAMETER 5NIT 0D-1-10700D-2-10700D-3-1070 3TEPANGLE ◦ 1.8 1.8 1.8 3TEPANGLEACCURACy % ±5 ±5 ±5 -AX.MOTORTEMPERATURE Tmotormax ◦C 80 80 80 3HAFTRADIALPLAy(450GLOAD) MM 0,02 0,02 0,02 3HAFTAXIALPLAy(450GLOAD) MM 0,08 0,08 0,08 -AX RADIAL FORCE (20MM FROM FRONT 2ANGE) . 28 28 28 -AXAXIALFORCE . 10 10 10 2ATEDVOLTAGE VRATED 6 2.0 2.4 2.4 2ATEDPHASECURRENT IRMSRATED ! 1.0 1.0 1.0 0HASERESISTANCEAT20 ◦C RCOIL Ω 1.0 1.2 1.4 0HASEINDUCTANCE(TyP.) LCOIL M( 1.6 2.2 2.1 (OLDINGTORqUE .M 0.22 0.36 0.44 INSULATIONCLASS " " " 2OTORINERTIA GCM2 35 57 68 7EIGHT M KG 0.22 0.24 0.35 4AbLE4:0D42-1070-OTOR0ARAMETERS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 9/25 3.3 0D42-10704ORqUECURVES 4HEFOLLOWINGDIAGRAMSSHOWTHETORqUEVS. SPEEDCURVESFORTHE0D42-1-1070,THE0D42-2-1070,AND THE0D42-3-1070ATTHREEDIffERENTTyPICALCONDITIONS.!LLMEASUREMENTSHAVEBEENDONEINSPREADCyCLE CHOPPERMODE.4HEMEASUREMENTCONDITIONSARE: 1.VDD =+246,ICOILRMS =1!,1/16MICROSTEPWITHINTERPOLATIONTO1/256MICROSTEP 2.VDD =+246,ICOILRMS =1!,HALFSTEPPING 3.VDD =+126,ICOILRMS =1!,HALFSTEPPING FIGURE6:0D42-1-1070TORqUEVS.SPEED h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 10/25 FIGURE7:0D42-2-1070TORqUEVS.SPEED FIGURE8:0D42-3-1070TORqUEVS.SPEED h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 11/25

4 CONNECTORSAND,EDS

FIGURE9:0D42-1070COnnECTORS(PIn1HIGHLIGHTEDInRED) 4.1 -OTORCONNECTOR 0INNO. 0INNAME DESCRIPTION 1 !1 -OTORPHASE!PIN1 2 !2 -OTORPHASE!PIN2 3 "1 -OTORPHASE"PIN1 4 "2 -OTORPHASE"PIN2 4AbLE5:-OTORCOnnECTORPInnInG NOT ICE DONOTCONNECTORDISCONNECTMOTORDURINGOPERATION! -OTORCABLEANDMOTORINDUCTIVITyMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORIS (DIS)CONNECTEDWHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTEXCEEDVOLTAGELIMITS OFTHEDRIVER-/3&%4SANDMIGHTPERMANENTLyDAMAGETHEM.4HEREFORE,ALWAyS SWITCHOff ORDISCONNECTPOWERSUPPLyBEFORE(DIS)CONNECTINGTHEMOTOR. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 12/25 4.2I//CONNECTOR 0INNO. 0INNAME DESCRIPTION 1 G.D 3UPPLyGROUNDCONNECTION,ALSOUSEDFOR53"SERIALCONVERTERGROUNDCONNECTION 2 6+ 3UPPLyVOLTAGE(VDD)+96TO+286DC

3 DI2 /PTICALLyISOLATEDDIRECTIONINPUTOF3/DINTERFACE

4 34%0 /PTICALLyISOLATEDSTEPINPUTOF3/DINTERFACE 5 %. /PTICALLyISOLATEDENABLEINPUTOFMOTORDRIVER(-BRIDGES

6 C(/0 /PTICALLyISOLATEDCHOPPERMODESELECTIONINPUT

7 C/-- /PTO-COUPLERCOMMONANODEORCATHODE,CONNECTTOGROUNDOR6CC I/(3.36TO 246) 8 28D 44,-LEVEL5!24RECEIVELINE,USEWITH53"SERIALCONVERTER48DLINETOCONNECTTO 9 48D 44,-LEVEL5!24TRANSMITLINE,USEWITH53"SERIALCONVERTER28DLINETOCONNECTTO 4AbLE6:I//COnnECTORPInnInG NOT ICE 3UPPLy6OLTAGEBU ff ERING/!DDExTERNAL0OWER3UPPLyCAPACITORS ! SU/uniFB03CIENTLy BUffERED POWER SUPPLy OR AN EXTERNAL ELECTROLyTE CAPACITOR CONNECTEDBETWEEN6+ANDG.DISRECOMMENDEDFORSTABLEOPERATION. ITISRECOMMENDEDTOCONNECTANELECTROLyTICCAPACITOROFSIGNI 1CANTSIzETOTHE POWERSUPPLyLINESNEXTTOTHE0D42-1070. 2ULEOFTHUMBFORSIzEOFELECTROLyTICCAPACITOR: C = 1000µF A ∗ ISUPPLY 4HE0D42-1070COMESWITHAPPROXIMATELy40µ&OFONBOARDCERAMICCAPACITORS. NOT ICE 4HEREISNOREVERSEPOLARITyPROTECTIONONTHESUPPLyINPUT! 4HEMODULEWILLSHORTANyREVERSEDSUPPLyVOLTAGEANDBOARDELECTRONICSWILLGET DAMAGED. NOT ICE 0OWER5P3EqUENCE 4HE0D42-1070MUSTBEPOWEREDUPWITHDISABLEDDRIVERSTAGEONLy.DEPENDING ONyOURCON 1GURATIONTHE%.INPUTSHOULDBELOGICALLy/&&.&OREXAMPLE,IFC/-- INPUTISCONNECTEDTO3.36TO246,THE%.INPUTMUSTBE06. IFCOMMONGROUNDOR 06LEVELISCONNECTEDTOC/--INPUT,THE%.INPUTMUSTHAVEHIGHLEVEL. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 13/25 4.3 44,5!24CONNECTION 4OCONNECTVIATHE44,5!24INTERFACETOAHOST0C,WESUGGESTUSINGA53"SERIALCONVERTERFROM44,-5!24 (56)TO53"INTERFACE. COMMUNICATIONWITHTHEHOST0C,FOREXAMPLEWHENUSING42 I.!-IC’S4-C,-ID%,ISDONEVIATHE6IRTUAL C/-PORTINSTALLEDByTHECONVERTERDRIVER. -OREINFORMATIONONTHE4-C,- ID%ANDTHELATESTRELEASECANBEFOUNDHERE:WWW.TRINAMIC.COM 4HECONVERTERCABLEMUSTBECONNECTEDTOPINS1,8,AND9(G.D,28D,48D)OFTHE I//CONNECTOR. NOTE DEFAULTBAUD2ATES 4HEDEFAULTBAUDRATEIS9600BPS. INBOOTLOADERMODE,THEBAUDRATEIS115200BPS. INfO 53BTO5!24CONVERTER &OREXAMPLE,THE44,-2322-56FROM&4DIISWORKINGWITHTHEMODULEANDHAS BEENTESTED.-OREINFORMATIONONTHISCONVERTERISAVAILABLEONTHE&4D IWEBSITE: WWW.FTDICHIP.COM NOT ICE 5644,5!24,EVEL 4HE44,5!24INTERFACEWORKSWITH56LEVEL.4AKESPECIALCAREWHENSELECTINGA CONVERTERCABLEFOR53"CONNECTION. 4.4 3TATUS,EDS 4HE0D42-1070HASONEGREENSTATUS,%D.3EE 1GURE9FORITSLOCATION. 3TATE DESCRIPTION "LINKING (EARTBEAT,-C5ACTIVE,NORMALOPERATION 0ERMANENTON "OOTLOADERMODE /ff 0OWER/ff 4AbLE7:LEDSTATEDESCRIPTIOn h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 14/25 5 &UNCTIONALDESCRIPTION 5.1 4yPICAL!PPLICATION7IRING 7IRETHE0D42-1070ASSHOWNINTHEFOLLOWING 1GURES.

• CONNECTTHETHEPOWERSUPPLyTO6+ANDG.D.
• CONNECTTHE3TEPANDDIRECTIONSIGNALSTOyOURMOTIONCONTROLLER.
• !TPOWERUPTIME,THE%.INPUTMUSTBELOW(=DRIVERSTAGEDISABLED)!
• /PTIONAL:CONNECT5!24TOA44,5!24INTERFACEWITH56LOGICLEVELS.4OCON 1GUREyOUR0D42-1070 CONNECTSTARTTHE4-C,-ID%ANDUSETHEPARAMETERIzATIONTOOLS.&ORDETAILEDINSTRUCTIONSREFERTOTHE 0D42-1070-1RMWARE-MANUAL. NOTE 4HE44,5!24INTERFACEIS NOTOPTICALLyISOLATED.ITREqUIRES56LEVELSIGNALS. .EVERTHELESS,ITPROVIDESBASIC%3DANDRAIL-TO-RAILSIGNALLINEPROTECTIONFORTHE 0D42-1070. FIGURE10:4yPICALAPPLICATIOnSCEnARIOwITH56InPUTS 5.2 /PTICALLyISOLATEDINPUTSWITHCOMMON!NODE INPUT 4HECONTROLINPUTSOFTHE0D42-1070AREOPTICALLyISOLATED(NOTTHE44,5!24INTERFACE).!LLOPTOCOUPLERS SHAREONECOMMONANODE(C/--)INPUTASSHOWNINTHE 1GUREABOVE. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 15/25 FIGURE11:InPUTSwITHCOMMOnAnODEInPUTwITH3.36TO56 4HETyPICALVOLTAGEATC/--INPUTIS56..EVERTHELESS,3.36ORVOLTAGESHIGHERTHAN56CANALSOBEUSEDAS LONGASTHECURRENTISTHROUGHTHEOPTOCOUPLERS ’EMITTERISBETWEEN5M!TO20M!.&OR3.36OPERATIONTHE CONTROLLERMUSTBECAREFULLySELECTEDWITHRESPECTTOITS I//PORTS,ITSACTUALOUTPUTVOLTAGE,ANDTHESERIES RESISTOROFTHE I//PORTS.4HEUSERMUSTMAKESURETHATTHECURRENTTHROUGHTHEOPTOCOUPLERS ’EMITTERIS BETWEEN5M!TO20M!. NOTE 3TEPPULSEWIDTH 7IDTHOFTHESTEPPULSESSHOULDBEBETWEEN2 tSAND4 tS,FORMAXIMUMSTEP FREqUENCy. 7ITHALARGERSTEPPULSEWIDTH,FOREXAMPLE50%DUTyCyCLECOMINGFROMAFRE- qUENCyGENERATOR,THEMAXIMUMINPUTFREqUENCyWILLBELOWERATCA. 9K(z.. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 16/25 FIGURE12:InPUTSwITHCOMMOnAnODEInPUTwITH>56TO246 4HESERIESRESISTORSINTHE0D42-1070ARE270M/HMS. &OROPERATIONWITHVOLTAGESHIGHERTHAN56AN ADDITIONALEXTERNALRESISTOR Rexternal ISREqUIREDPERINPUTTOLIMITTHECURRENT.3EE4ABLE8ASREFERENCEFOR ADDITIONALEXTERNALRESISTORVALUES. C/--6OLTAGE(6) 6ALUEOF Rexternal (Ω) 3.3 - 5 - 9 300 12 500 15 700 24 1+5 4AbLE8:ADDITIOnALRESISTORREFEREnCEVALUES NOTE Rexternal 3ELECTION 4AKECAREWHENSELECTINGANADDITIONALEXTERNALRESISTOR.4HERESISTORTyPEMUST HAVEA 1TTINGPOWERRATING.4HISDEPENDSONTHEVOLTAGEUSEDATC/--INPUT. 5.3 /PTICALLyISOLATEDINPUTSWITHCOMMONCATHODE INPUT 4HEOPTOCOUPLERSINSIDE0D42-1070AREBIDIRECTIONALTyPES(!C/DC).4HUS,C/--CANALSOBEUSEDAS COMMONCATHODECONNECTION. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 17/25 5.4 4HERMALBEHAVIOR 4HEDEFAULTCON 1GURATIONPARAMETERSOFTHE0D42-1070ARESETTOTHESPECI 1EDMAXIMUMCURRENTOF1! RMS/1.4!PEAK,WHICHISTHEMAXIMUMMOTORPHASECURRENTSPECI 1EDFORTHESTEPPERMOTOROPTIONSGIVEN IN4ABLE4. 4yPICALLy,ATTHISNOMINALCURRENTSETTINGTHESTEPPERMOTORANDTHEDRIVERELECTRONICSWILLGETHOT.CONTINU- OUSOPERATIONATMAXIMUMCURRENTISNOTGUARANTEEDWITHOUTCOOLINGTHEMOTORSINCETHESTEPPERDRIVER WILLSWITCHO ff DUETOITSINTERNALOVER-TEMPERATUREPROTECTIONUNTILTEMPERATUREFALLSBELOWTHETHRESHOLD. NOTE /PERATIONWITH-AxIMUMCURRENT3ETTING &ORTABLE-TOPTESTINGANDAPPLICATIONBRING-UPTHECURRENTSHOULDBEREDUCEDOR THECOOL3TEPFEATURESHOULDBECON 1GUREDTOKEEPHEATINGONAREASONABLELEVEL. %SPECIALLy,WHENTHEREISNOOTHERCOOLINGOPTIONFORTHEMOTOR. &ORPROPERANDCONTINUOUSOPERATIONATMAXIMUMCURRENT,THEMOTOR 2ANGE MUSTBEMOUNTEDTOTHEAPPLICATIONSMECHANICALINTERFACEWITHGOODCONTACT. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 18/25 6 /PERATIONAL2ATINGSANDCHARACTERISTICS 6.1 !BSOLUTE-AxIMUM2ATINGS 0ARAMETER -IN -AX 5NIT 3UPPLyVOLTAGE +9 +28 6 7ORKINGTEMPERATURE -30 +40 oC -OTORCOILCURRENT/SINEWAVE PEAk 1.4 ! CONTINUOUSMOTORCURRENT( 2-3) 1.0 ! NOT ICE !VOID ExCEEDING THE ABSOLUTE MAxIMUM RATING UNDER ALL CIRCUMSTANCES. 3TRESSESABOVETHOSELISTEDUNDER" ‘!BSOLUTE-AXIMUM2ATINGS" ’MAyCAUSE PERMANENTDAMAGETOTHEDEVICE. 4HISISASTRESSRATINGONLyANDFUNCTIONAL OPERATIONOFTHEDEVICEATTHOSEORANyOTHERCONDITIONSABOVETHOSEINDICATEDIN THEOPERATIONLISTINGSOFTHISSPECI 1CATIONISNOTIMPLIED.%XPOSURETOMAXIMUM RATINGCONDITIONSFOREXTENDEDPERIODSMAyA ffECTDEVICERELIABILITy. +EEP THE POWER SUPPLy VOLTAGE BELOW THE UPPER LIMIT OF +286! /THERWISE THEBOARDELECTRONICSWILLSERIOUSLyBEDAMAGED!%SPECIALLy,WHENTHESELECTED OPERATINGVOLTAGEISNEARTHEUPPERLIMITAREGULATEDPOWERSUPPLyISHIGHLy RECOMMENDED. 6.2 ELECTRICALCHARACTERISTICS(!MBIENT4EMPERATURE25oC) 0ARAMETER 3yMBOL -IN 4yP -AX 5NIT 3UPPLyVOLTAGE VDD 9 24 26 6 -OTORCOILCURRENT/SINEWAVE PEAk(CHOPPERREGU- LATED,ADJUSTABLEVIA44,5!24INTERFACE) ICOILpeak 0 1.4 ! CONTINUOUSMOTORCURRENT( 2-3) ICOILRMS 0 1.0 ! 0OWERSUPPLyCURRENT IDD ≪ ICOIL 1.4∗ICOIL ! 4AbLE10:ELECTRICALCHARACTERISTICS 6.3I//2ATINGS(!MBIENT4EMPERATURE25oC) 0ARAMETER 3yMBOL -IN 4yP -AX 5NIT C/--INPUTVOLTAGE VCOMM 3.3 5 +VDD 6 INPUTFREqUENCyOFOPTICALLyISOLATED I//S fin 45 K(z 44,5!24INPUTVOLTAGE VTTL_IN 5 5.5 6 44,5!24LOWLEVELVOLTAGE VTLLL 0 1.75 6 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 19/25 44,5!24HIGHLEVELVOLTAGE VTTLH 3.25 5 6 44,5!24OUTPUTVOLTAGE VTTL_OUT 5 6 4AbLE11:/PERATIOnALRATInGSOFOPTICALLyISOLATEDInPUTSAnD44L5A24InTERFACE 6.4 &UNCTIONALCHARACTERISTICS 0ARAMETER DESCRIPTION/6ALUE CONTROL 4-WIREINTERFACEWITH3TEP,DIRECTION,%NABLE,ANDCHOPPER-ODE3WITCH 3TEP0ULSE7IDTH 4HESTEPPULSEWIDTHSHOULDBEBETWEEN2 tSAND4 tSFORMAXIMUMFREqUENCy. 7ITHALARGERSTEPPULSEWIDTH, FOREXAMPLE50%DUTyCyCLECOMINGFROMA FREqUENCyGENERATOR,THEMAXIMUMINPUTFREqUENCyWILLBELOWERATCA.9K(z. COMMUNICATION 2-WIRE44,5!24INTERFACEFORCON 1GURATION,9600-115200BPS(DEFAULT57600 BPS) DRIVING-ODE SPREADCyCLEANDSTEALTHCHOPCHOPPERMODES(SELECTABLEWITHC(/0INPUT), ADAPTIVEAUTOMATICCURRENTREDUCTIONUSINGSTALLGUARD2ANDCOOL3TEP 3TEPPING2ESOLUTION &ULL,1/2,1/4,1/8,1/16,1/32,1/64,1/128,1/256STEP,DEFAULTIS1/16WITHINTERNAL INTERPOLATIONTO1/256 4AbLE12:FUnCTIOnALCHARACTERISTICS 6.5 /THER2EqUIREMENTS 3PECI1CATIONS DESCRIPTIONOR6ALUE COOLING &REEAIR 7ORKINGENVIRONMENT !VOIDDUST,WATER,OILMISTANDCORROSIVEGASES,NOCONDENSATION,NOFROSTING 7ORKINGTEMPERATURE -30oCTO+40oC 4AbLE13:/THER2EqUIREMEnTSAnDCHARACTERISTICS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 20/25 7 !BBREVIATIONSUSEDINTHIS-ANUAL !BBREVIATION DESCRIPTION C/-- COMMON!NODEORCOMMONCATHODE ID% INTEGRATEDDEVELOPMENT%NVIRONMENT ,%D ,IGHT%MMITTINGDIODE 2-3 2OOT-EAN3qUAREVALUE 4-C, 42I.!-IC-OTIONCONTROL,ANGUAGE 44, 4RANSISTOR4RANSISTOR,OGIC 5!24 5NIVERSAL!SyNCHRONOUS2ECEIVER4RANSMITTER 53" 5NIVERSAL3ERIAL"US 4AbLE14:AbbREVIATIOnSUSEDInTHIS-AnUAL h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 21/25 8 &IGURESINDEx 1 -OTOR COIL SINE WAVE CURRENT USING STEALTHCHOP(MEASUREDWITHCURRENT

3 STALLGUARD2,OAD-EASUREMENTASA

4 %NERGy%/uniFB03CIENCy%XAMPLEWITHCOOL3TEP 5 5 0D42-1070 MECHANICAL DIMENSIONS 9 0D42-1070 CONNECTORS (PIN 1 HIGH- 10 4yPICALAPPLICATIONSCENARIOWITH56IN-

11 INPUTSWITHCOMMONANODEINPUTWITH

12 INPUTSWITHCOMMONANODEINPUTWITH

h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 22/25 9 4ABLESINDEx 3 0D42-X-1070LENGTHANDWEIGHT. . . . 7 4 0D42-1070-OTOR0ARAMETERS . . . . 8 8 !DDITIONALRESISTORREFERENCEVALUES . 16 11 /PERATIONAL RATINGS OF OPTICALLy ISO- LATEDINPUTSAND44,5!24INTERFACE . 19 13 /THER2EqUIREMENTSANDCHARACTERISTICS 19 14 !BBREVIATIONSUSEDINTHIS-ANUAL . . 20 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 23/25 10 3UPPLEMENTALDIRECTIVES 10.1 0RODUCERINFORMATION

10.2 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. 10.3 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. 10.4 4ARGET5SER 4HEDOCUMENTATIONPROVIDEDHERE,ISFORPROGRAMMERSANDENGINEERSONLy,WHOAREEqUIPPEDWITHTHE NECESSARySKILLSANDHAVEBEENTRAINEDTOWORKWITHTHISTyPEOFPRODUCT. 4HE4ARGET5SERKNOWSHOWTORESPONSIBLyMAKEUSEOFTHISPRODUCTWITHOUTCAUSINGHARMTOHIMSELFOR OTHERS,ANDWITHOUTCAUSINGDAMAGETOSySTEMSORDEVICES,INWHICHTHEUSERINCORPORATESTHEPRODUCT.

10.5 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.

10.6 DISCLAIMER:INTENDED5SE

4HEDATASPECI 1EDINTHISUSERMANUALISINTENDEDSOLELyFORTHEPURPOSEOFPRODUCTDESCRIPTION..OREPRE- SENTATIONSORWARRANTIES,EITHEREXPRESSORIMPLIED,OFMERCHANTABILITy, 1TNESSFORAPARTICULARPURPOSE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 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.

10.7 COLLATERALDOCUMENTS&4OOLS

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

0D42-1070(ARDWARE-ANUAL•(ARDWARE6ERSION61.00|DOCUMENT2EVISION61.10•2018-JULy-03 25/25 11 2EVISION(ISTORy 11.1 (ARDWARE2EVISION 6ERSION DATE !UTHOR DESCRIPTION 1.00 26.06.2016"3 INITIALRELEASE. 4AbLE15:(ARDwARE2EVISIOn

11.2 DOCUMENT2EVISION

6ERSION DATE !UTHOR DESCRIPTION 1.00 26.06.2016"3 INITIALRELEASE. 1.10 03.07.2018G% /RDERCODEFOR0!.DRIVECABLECORRECTED:0D42-1070-C!",%->0D- 1070-C!",%. 4AbLE16:DOCUMEnT2EVISIOn h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM