PD42-X-1240 TRINAMIC | Alldatasheet

Document overview

  • Manufacturer or author: Provided By alldatasheet.com(free datasheet download site)
  • PDF pages: 34

Technical content

Datasheet sections

  • 3.1 DIMENSIONSOF0D42-x-1240
  • 3.3 INTEGRATED3ENS/STEP™ ENCODER
  • 4 CONNECTORS
  • 7 I//S
  • 8 COMMUNICATION

0!.DRIVE™FOR3TEPPER 0!.D2I6E™ 0D42-x-1240(ARDWARE-ANUAL (ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 4HE0!.DRIVE™ 0D42-1-1240,0D42-2-1240,0D42-3-1240AMD0D42-4-1240ARESMALLANDCOMPACT FULLMECHATRONICSOLUTIONSINCLUDINg.E-!17/42MM 2ANgESIzESTEPPERMOTORS,THE4-C--1240 CONTROLLER/DRIVERELECTRONICSAND42 I.!-IC™3ENS/STEP™ENCODERFORSTEP-LOSSDETECTION. &EATURES

  • 3TEPPER-OTOR.%-!17/42MM
  • 0.22-0.7.M
  • WITHCONTROLLER/DRIVER
  • ,INEARAND3Ix0OINT ™ RAMPS
  • +10...306DCSUPPLYVOLTAGE
  • 5PTO2!2-3MOTORCURRENT
  • 23485,C!.&53BINTERFACE
  • INTEGRATED3ENS/STEP™ ENCODERAND SUPPORTFORExTERNALENCODER
  • 3/DINTERFACE
  • MULTI-PURPOSEINPUTSANDOUTPUTS !PPLICATIONS
  • ,ABORATORY!UTOMATION
  • -ANUFACTURING
  • 3EMICONDUCTOR(ANDLING
  • 2OBOTICS
  • &ACTORY!UTOMATION
  • 4EST&-EASUREMENT
  • ,IFE3CIENCE
  • BIOTECHNOLOGY
  • ,IQUID(ANDLING 3IMPLI1EDBLOCKDIAGRAM 10… 30V DC Microcontroller EEPROM I/Os Step Motor RS485 MOSFET Driver Stage Energy Efficient Driver TMC262 Motion Controller d Pre-Driver USB CAN DC/DC Encoder PD42-x-1240 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONAT:WWW.TRINAMIC.COM 2EADENTIREDOCUMENTATION.

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 3/34 172EVISION(ISTORy 34 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 4/34 1 &EATURES 4HE0!.DRIVE™ 0D42-1-1240,0D42-2-1240,0D42-3-1240AMD0D42-4-1240ARESMALLANDCOMPACTFULL MECHATRONICSOLUTIONSINCLUDING.%-!17/42MM 2ANGESIzESTEPPERMOTORS,THE4-C--1240CONTROLLER/ DRIVERELECTRONICSAND42 I.!-IC™ 3ENS/STEP™ ENCODERFORSTEP-LOSSDETECTION.4HEFOUR0!.DRIVESINCLUDE STEPPERMOTORWITHDI ffERENTLENGTHSANDDI ffERENTHOLDINGTORQUES(0D42-1-1240:0.22.M,0D42-2-1240: 0!.DRIVESSUPPORTBOTH,STAND-ALONEOPERATIONE.G.USINGTHEON-BOARDI//STOGETHERWITHTHEBUILD-IN 4-C,SCRIPTINGFEATUREANDREMOTEOPERATIONUSINGONEOFTHEAVAILABLECOMMUNICATIONINTERFACESAND EVENAMIxTUREOFBOTH. -OTIONCONTROLLER

  • -OTIONPRO1LECALCULATIONINREAL-TIME
  • /NTHE 2YALTERATIONOFMOTORPARAMETERS(E.G.POSITION,VELOCITY,ACCELERATION)
  • ,INEARANDUNIQUE3Ix0OINT ™ RAMPINHARDWARE
  • %NCODERINTERFACEAND2EFERENCE/3TOPSWITCHINPUTS DRIVER
  • -OTORCURRENT:UPTO2!2-3(2.2!2-3MAx./3.1!PEAK,PROGRAMMABLEINSOFTWARE)
  • 3UPPLYVOLTAGE:+246DC(+10...+306DC)
  • 256MICROSTEPSPERFULLSTEP
  • 3PREADCYCLE™ HIGHLYDYNAMICCURRENTCONTROLCHOPPER
  • 3TEALTHCHOP™ FORQUIETOPERATIONANDSMOOTHMOTION
  • PROGRAMMABLE3TEP/DIRINTERFACEFORDRIVER-ONLYAPPLICATIONSWITHMICROSTEPINTERPOLATION ENCODER
  • INTEGRATED3ENS/STEP™ ABSOLUTPOSITIONMAGNETICENCODER(RESOLUTION:1024INCREMENTSPERROTATION) FORSTEP-LOSSDETECTIONUNDERALLOPERATINGCONDITIONSANDPOSITIONINGSUPERVISION(ACCURACY:+/-5 ENCODERSTEPS)
  • SUPPORTFORExTERNAL!/BINCREMENTALENCODERINADDITION/ASANALTERNATIVEFORTHEINTEGRATED ENCODER
  • PROGRAMMABLEENCODERSCALINGANDSUPPORTFORMOTORSTOPONENCODERDEVIATION INTERFACES
  • 23485INTERFACE(UP-TO1-BIT/S)
  • C!.INTERFACE(UP-TO1-BIT/S)
  • 53B2.0FULLSPEED(12-BIT/S)DEVICEINTERFACE(MICRO-53BCONNECTOR)
  • 3TEP/DIRINPUT(OPTICALLYISOLATED)
  • ,EFTAND2IGHT34/0SWITCHINPUTS(OPTICALLYISOLATED,SHAREDWITH3TEP/DIRINPUTS)
  • 2GENERALPURPOSEDIGITALINPUTS
  • %NCODERINPUTFORINCREMENTAL!/BENCODERSIGNALS(SHAREDWITHGENERALPURPOSEDIGITALINPUTS)
  • 1ANALOGINPUT(0..106NOM.INPUTRANGE) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 5/34

  • (/-%SWITCHINPUT(SHAREDWITHANALOGINPUT) 3OFTwARE
  • 4-C,™ REMOTE(DIRECTMODE)ANDSTANDALONEOPERATION(MEMORYFORUPTO10244-C, ™ COMMANDS), FULLYSUPPORTEDBY4-C,-ID%(0CBASEDINTEGRATEDDEVELOPMENTENVIRONMENT).0LEASESEE0D42- x- 12404-C,1RMWAREMANUALFORMOREDETAILS
  • C!.OPEN1RMWAREWITHC!.OPENSTANDARDPROTOCOLSTACKFORTHEC!.INTERFACE.0LEASESEE0D42- x- 1240C!.OPEN1RMWAREMANUALFORMOREDETAILS. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 6/34 2 /RDERCODES 4HECOMBINATIONOFMOTORANDMOTORMOUNTEDCONTROLLER/DRIVERELECTRONICISCURRENTLYAVAILABLEWITHFOUR STEPPERMOTORS(DIffERENTLENGTHANDHOLDINGTORQUE): 4HELENGTHOFTHE0A.DRIVESISSPECI 1EDwITHOUTTHELENGTHOFTHEAxIS. FORTHEOVERALLLENGTHOFTHEPROD- UCTPLEASEADD26MM /RDERCODE DESCRIPTION 3IzE(,x7x() 0D42-1-1240-4-C, 0!.DRIVE™WITH.%-!17STEPPERMOTOR,0.22.M MAx. 4-C--1240 ELECTRONICS, 2! 2-3, +246, 23485, C!., 53B, SENS/STEP™ENCODER, 4-C, 1RMWARE 42MMx42MMx47MM 0D42-2-1240-4-C, 0!.DRIVE™WITH.%-!17STEPPERMOTOR,0.36.M MAx. 4-C--1240 ELECTRONICS, 2! 2-3, +246, 23485, C!., 53B, SENS/STEP™ENCODER, 4-C, 1RMWARE 42MMx42MMx51MM 0D42-3-1240-4-C, 0!.DRIVE™WITH.%-!17STEPPERMOTOR,0.44.M MAx. 4-C--1240 ELECTRONICS, 2! 2-3, +246, 23485, C!., 53B, SENS/STEP™ENCODER, 4-C, 1RMWARE 42MMx42MMx60MM 0D42-4-1240-4-C, 0!.DRIVE™WITH.%-!17STEPPERMOTOR,0.7.M MAx. 4-C--1240 ELECTRONICS, 2! 2-3, +246, 23485, C!., 53B, SENS/STEP™ENCODER, 4-C, 1RMWARE 42MMx42MMx73MM MAx. 4-C--1240 ELECTRONICS, 2! 2-3, +246, 23485,C!.,53B,SENS/STEP™ENCODER,C!.OPEN 1RMWARE 42MMx42MMx47MM MAx. 4-C--1240 ELECTRONICS, 2! 2-3, +246, 23485,C!.,53B,SENS/STEP™ENCODER,C!.OPEN 1RMWARE 42MMx42MMx51MM MAx. 4-C--1240 ELECTRONICS, 2! 2-3, +246, 23485,C!.,53B,SENS/STEP™ENCODER,C!.OPEN 1RMWARE 42MMx42MMx60MM MAx. 4-C--1240 ELECTRONICS, 2! 2-3, +246, 23485,C!.,53B,SENS/STEP™ENCODER,C!.OPEN 1RMWARE 42MMx42MMx73MM 4ABLE1:/RDERCODE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 7/34 !CABLELOOMSETISAVAILABLEFORTHISMODULE: /RDERCODE DESCRIPTION 4-C--1240-C!B,%CABLELOOMFOR4-C--1240:

  • 1xCABLELOOMFORPOWERSUPPLYCONNECTOR(CABLELENGTH200MM,4PIN J340(CONNECTORATONEEND,OPENWIRESATTHEOTHEREND)
  • 1xCABLELOOMFOR23485+C!.CONNECTOR(CABLELENGTH200MM,5PIN J340(CONNECTORATONEEND,OPENWIRESATTHEOTHEREND)
  • 1xCABLELOOMFORMOTORCONNECTOR(CABLELENGTH200MM,4PINJ340( CONNECTORATONEEND,OPENWIRESATTHEOTHEREND)
  • 1xCABLELOOMFOR I//CONNECTOR(CABLELENGTH200MM,8PINJ340( CONNECTORATONEEND,OPENWIRESATTHEOTHEREND)
  • 1x-ICRO-53BCABLE 4ABLE2:4-C--1240CABLE,OOM 4HE4-C--1240CONTROLLER/DRIVERELECTRONICSISALSOAVAILABLESEPARATELY. 0LEASEREFERTO4-C--1240 HARDWAREMANUALFORFURTHERDETAILS. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 8/34 3 -ECHANICALANDELECTRICAL INTERFACINg !LL0D42-x-1240CONSISTOFONEOUTOFFOURAVAILABLE.%-!17/42MMSTEPPERMOTORSWITH2!2-3RATEDCOIL CURRENTWITHTHESAME4-C--1240CONTROLLER/DRIVERELECTRONICSMOUNTEDONITSBACKSIDEANDINTEGRATED 3ENS/STEP™ENCODER.4HE0D42-1-1240USESTHE13(4218-34-20-022STEPPERMOTORWITH0.22.MHOLDING TORQUE,THE0D42-2-1240USESTHE13(4218-38-20-036STEPPERMOTORWITH0.36.MHOLDINGTORQUE,THE 0D42-3-1240USESTHE13(4218-47-20-044STEPPERMOTORWITH0.44.MHOLDINGTORQUEANDTHE0D42-4- 1240USESTHE13(4218-60-20-070STEPPERMOTORWITH0.7.MHOLDINGTORQUE.0LEASESEEALSOSTEPPER MOTORMANUALSAND4-C--1240HARDWAREAND 1RMWAREMANUALSFORMOREDETAILS. NOTICE .OTE:INORDERTOMAKEPROPERUSEOFTHEINTEGRATED3ENS/STEP ™ENCODER(THE SENSORICISPLACEDONTHEBOTTOMOFTHEPCB)THE4-C--1240ELECTRONICSSHOULD NOTBEREMOVED/MOVEDRELATIVETOTHEMOTOR. INCASETHEINTEGRATEDENCODER FEATUREISNOTUSED,THEELECTRONICSMAYBEMOVEDOREVENREMOVEDFROMTHE MOTORANDPLACEDSOMEWHEREELSEACCORDINGTOAPPLICATIONREQUIREMENTS.

3.1 DIMENSIONSOF0D42-x-1240

FIGURE1:0D42-x-1240wITHDIffERENT.E-A17/42MMSTEPPERMOTORS(ALLDIMENSIONSINMM) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 9/34 3.2 3TEPPERMOTOR -AINCHARACTERISTICSOFTHEFOURDI ffERENTMOTORSAVAILABLEASPARTOFTHE0D42- x-12400!.DRIVE™: 3PECI1CATIONS 5NIT 0D42-1-12400D42-2-12400D42-3-12400D42-4-1240 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 4ABLE3:.E-A17/42MMSTEPPERMOTORTECHNICALDATA h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 10/34

3.3 INTEgRATED3ENS/STEP™ENCODER

4HE0D42-x-12400!.DRIVESOffERINTEGRATED3ENS/STEP ™ ENCODERSBASEDONHALLSENSORTECHNOLOGY.!S THENAME “3ENS/STEP™“ALREADYINDICATESINTENDEDUSEOFTHISTYPEOFCOMPACTANDHIGHLYINTEGRATED ENCODERISSTEPLOSSDETECTIONOFMOTORMOVEMENTS. !SSOONASTHEMOTORHASBEENMOVEDTOANEW LOCATIONTHEPOSITIONMAYBEVERI 1EDUSINGTHISENCODERFEEDBACK. INCASETHESTEPPERMOTORHASLOSTONE ORMULTIPLESTEPSDURINGMOVEMENTE.G.DUETOOVERLOAD/ANYOBSTACLEENCOUNTEREDDURINGMOVEMENT THEMOTORAxESWILLJUMPFORATLEASTONEELECTRICALPERIOD/4FULLSTEPS.4HISCANBEDETECTEDUSINGTHE INTEGRATEDENCODER.INADDITION,STEPLOSSESMAYBEALREADYDETECTEDDURINGMOTORMOVEMENTSUSINGTHE “DEVIATION”SETTINGAVAILABLEASPARTOFTHE4-C, 1RMWARE(SEE0D42-x-1240/4-C--12401RMWAREMANUAL FORMOREDETAILS). 7HILETHEENCODERO ffERS10BIT(1024STEPS)RESOLUTIONPERMOTORREVOLUTIONTHEABSOLUTEPOSITIONINFORMA- TIONISLESSACCURATEANDDEPENDSONTHEDISPLACEMENTOFTHEHALLSENSORBASEDENCODER ICRELATIVETOTHE MAGNETANDMOTORAxISAMONGOTHERFACTORS.%VERY0!.DRIVE ™ HASBEENTESTEDFORMAxIMUMDEVIATION OF+/-5ENCODERSTEPS(STATICPERFORMANCE)RELATIVETOCOMMANDEDMICROSTEPTARGETPOSITIONDURING 1NAL TESTSAFTERASSEMBLYATOURFACTORY.4HISWILLENSUREMORETHANADEQUATEPERFORMANCEOFTHEINTEGRATED 3ENS/STEP™ ENCODERFORSTEPLOSSDETECTIONDURINGMOTORMOVEMENTS. NOTICE DONOTDISASSEMBLE0!.DRIVE ™wHENUSINgINTEgRATEDENCODER INORDERTO MAKEPROPERUSEOFTHEINTEGRATED3ENS/STEP ™ ENCODER(THESENSORICISPLACED ONTHEBOTTOMCENTEROFTHEPCB)THE4-C--1240ELECTRONICSSHOULDNOTBE REMOVED/MOVEDRELATIVETOTHEMOTOR!/THERWISEENCODERPERFORMANCEMIGHT SUffER/NOTWORK. .OTE:IN CASE THE INTEGRATED ENCODER FEATURE IS NOT USED, THE 4-C--1240 ELECTRONICS MAY BE MOVED OR EVEN REMOVED FROM THE MOTOR AND PLACED SOMEWHEREELSEACCORDINGTOAPPLICATIONREQUIREMENTS. NOTICE +EEPTHEELECTRONICSFREEOF(METAL)PARTICLES! 4HEINTEGRATED3ENS/STEP ™ ENCODERUSESAMAGNETATTHEENDOFTHEMOTORAxISINORDERTOMONITORPOSITION OFTHEMOTORAxIS.4HEMAGNETNATURALLYATTRACTSESPECIALLYTINYMETALPARTICLES. 4HESEPARTICLESMIGHTBEHELDONTHETOPSIDEOFTHE0CBAND – EVENWORSE – START MOVINGINACCORDANCEWITHTHEROTATINGMAGNETIC 1ELDASSOONASTHEMOTORSTARTS MOVING. 4HISMIGHTLEADTOSHORTSOFELECTRONICCONTACTS/WIRESONTHEBOARD ANDTOTALLYERRATICBEHAVIOROFTHEMODULE!5SECOMPRESSEDAIRFORCLEANINGTHE MODULEIFNECESSARY(ESPECIALLYINPROTOTYPESETUPS). IN ORDER TO PREVENT SHORTS AND BETTER PROTECT THE ELECTRONICS THE 4-C--1240 PRINTEDCIRCUITBOARDISCOATEDAFTERASSEMBLyOFCOMPONENTS. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 11/34

4 CONNECTORS

4HE0D42-x-1240OffERS1VECONNECTORSINCLUDINGTHEMOTORCONNECTORWHICHISUSEDFORCONNECTINGTHE MOTORCOILSTOTHEELECTRONICS.4HEREISONEMOTORANDONEPOWERSUPPLYCONNECTOR-BOTHWITHFOURPINS- ANDTWOINTERFACECONNECTORS-ONEWITH 1VEPINSFOR23485ANDC!.ANDADEDICATEDMICRO-53BCONNECTOR. !LLOTHERINPUTSANDOUTPUTSARECONCENTRATEDONONE8PINCONNECTOR. NOTICE 3TARTwITHPOwERSUPPLy/&&ANDDONOTCONNECTORDISCONNECTMOTORDUR- INgOPERATION!-OTORCABLEANDMOTORINDUCTIVITYMIGHTLEADTOVOLTAGESPIKES WHENTHEMOTORIS(DIS)CONNECTEDWHILEENERGIzED.4HESEVOLTAGESPIKESMIGHT ExCEEDVOLTAGELIMITSOFTHEDRIVER-/3&%4SANDMIGHTPERMANENTLYDAMAGE THEM.4HEREFORE,ALWAYSSWITCHOff /DISCONNECTPOWERSUPPLYORATLEASTDISABLE DRIVERSTAGEBEFORECONNECTING/DISCONNECTINGMOTOR. USB Motor Power RS 485 CAN I O FIGURE2:0D42-x-1240CONNECTORS CONNECTOR4YPESAND-ATINGCONNECTORS CONNECTOR CONNECTORTYPEON-BOARD -ATINGCONNECTORTYPE 0OWER J34B4B-0(-+-3 (J340(SERIES,4PINS,2MMPITCH) CONNECTORHOUSING:J340(2-4 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 (J340(SERIES,5PINS,2MMPITCH) CONNECTORHOUSING:J340(2-5 CONTACTS:J3430(-0024-00.53 7IRE:0.22MM2,!7G24 53B 53B-MICROBFEMALECONNECTOR 53B-MICROBMALECONNECTOR I// J34B8B-0(-+-3 (J340(SERIES,8PINS,2MMPITCH) CONNECTORHOUSING:J340(2-8 CONTACTS:J3430(-0024-00.53 7IRE:0.22MM2,!7G24 4ABLE4:CONNECTOR4yPESAND-ATINGCONNECTORSOFTHE0D42-x-1240 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 12/34 4.1 0OwER3UPPLyINPUTCONNECTOR 4HE0D42-x-1240OffERSONE4PINJ340(SERIESPOWERSUPPLYINPUTCONNECTOR. INADDITIONTOMAINPOWER SUPPLYINPUTANDRELATEDGROUNDCONNECTIONTHISCONNECTORO ffERSASEPARATELOGICSUPPLYINPUTWITHTHE OPTIONTOKEEPTHEON-BOARDLOGICALIVEWHILETHEDRIVERSTAGEISSWITCHEDO ff.ITISNOTNECESARYTOCONNECT THELOGICSUPPLYINPUTINCASESEPARATESUPPLIESARENOTREQUIREDASTHEMAINPOWERSUPPLYINPUTWILL ALWAYSSUPPLYPOWERTOTHEDRIVERSTAGEANDTHELOGICPART. 4HEPOWERSUPPLYINPUTCONNECTORO ffERSADRIVERENABLEINPUT.4HISINPUTHASTOBECONNECTEDTOANY VOLTAGEABOVE3.56UP-TOMAx.SUPPLYVOLTAGEOF306INORDERTOENABLETHEDRIVERSTAGE.,EAVINGTHISPIN UNCONNECTEDORCONNECTEDTOGROUND(VOLTAGEBELOW2.46)WILLDISABLETHEDRIVERSTAGEREGARDLESSOFANY SETTINGSINSOFTWARE.4HISINPUTMAYBECONNECTEDTOMAINPOWERSUPPLYINPUTPERMANENTLYINCASEAN ENABLEINPUTINHARDWAREISNOTREQUIRED. 0OWER3UPPLYCONNECTOR0IN!SSIGMENT 0IN ,ABEL DIRECTION DESCRIPTION 1 G.D 0OWER(G.D) COMMONSYSTEMSUPPLYANDSIGNALGROUND 2 6-!I. 0OWER(INPUT) -AINPOWERSUPPLYINPUTFORTHEDRIVERANDON-BOARDLOGIC 10...306 3 %NABLE DIGITALINPUT DRIVERENABLEINPUT. !VOLTAGEABOVE3.56ISREQUIREDHERE INORDERTOENABLETHEON-BOARDSTEPPERMOTORDRIVER. 4HIS INPUTMAYBECONNECTEDTOMAINPOWERSUPPLYINPUTINORDER TOENABLETHEDRIVERSTAGE(+246TOLERANTINPUT). 4 6,/GIC 0OWER(INPUT) /PTIONALSEPARATEPOWERSUPPLYINPUTFORTHEON-BOARDLOGIC 10...306 4ABLE5:0OwER3UPPLyCONNECTOR0INASSIGNMENT NOTICE DONOTCONNECTORDISCONNECTMOTORDURINgOPERATION! -OTORCABLEANDMO- TORINDUCTIVITYMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORIS(DIS)CONNECTED WHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTExCEEDVOLTAGELIMITSOFTHEDRIVER -/3&%4SANDMIGHTPERMANENTLYDAMAGETHEM. 4HEREFORE,ALWAYSSWITCHO ff /DISCONNECTPOWERSUPPLYORATLEASTDISABLEDRIVERSTAGEBEFORECONNECTING/ DISCONNECTINGMOTOR. NOTICE 4AKECAREOFPOLARITy,wRONgPOLARITyCANDESTROyTHEBOARD! NOTICE CONNECTENABLEPIN TOVOLTAGE>3.56INORDERTOENABLEMOTORMOVEMENTS! 4.2 -OTORCONNECTOR !SECOND4PINJ340(SERIESCONNECTORISAVAILABLEFORCONNECTIONOFA2-PHASEBIPOLARSTEPPERMOTOR. -OTORCONNECTOR0IN!SSIGNMENT 0IN ,ABEL DIRECTION DESCRIPTION

1 B1 OUT 0IN1OFMOTORCOILB

2 B2 OUT 0IN2OFMOTORCOILB

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

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 13/34 0IN ,ABEL DIRECTION DESCRIPTION 3 !1 OUT 0IN1OFMOTORCOIL! 4 !2 OUT 0IN2OFMOTORCOIL! 4ABLE6:-OTORCONNECTOR0INASSIGNMENT NOTICE DONOTCONNECTORDISCONNECTMOTORDURINgOPERATION! -OTORCABLEANDMO- TORINDUCTIVITYMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORIS(DIS)CONNECTED WHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTExCEEDVOLTAGELIMITSOFTHEDRIVER -/3&%4SANDMIGHTPERMANENTLYDAMAGETHEM. 4HEREFORE,ALWAYSSWITCHO ff /DISCONNECTPOWERSUPPLYORATLEASTDISABLEDRIVERSTAGEBEFORECONNECTING/ DISCONNECTINGMOTOR. NOTICE DONOTMIx-UPPOwERSUPPLyANDMOTORCONNECTORS! 4.3 23485+C!.CONNECTOR &ORSERIALCOMMUNICATIONTHE0D42- x-1240OffERSSELECTIONBETWEEN23485,C!.AND53BINTERFACES.7HILE THE53BINTERFACEISAVAILABLEFORCON 1GURATIONANDSERVICEOFTHEBOARD,MAINLY(E.G.PARAMETERSETTINGS, 1RMWAREUPDATES)A5-PINJ340(SERIESCONNECTORO ffERS2-WIRE23485ANDC!.INTERFACESFORINSYSTEM COMMUNICATION. NOTICE DUETOHARDWARERESSOURCESHARING53BANDC!.COMMUNICATIONINTERFACESARE NOTAVAILABLEATTHESAMETIME.!SSOONAS53BISPHYSICALLYATTACHEDTOAHOSTOR HUBTHEC!.INTERFACEWILLBESWITCHEDO ff. 23485+C!.CONNECTOR0IN!SSIGNMENT 0IN ,ABEL DIRECTION DESCRIPTION 1 G.D 0OWER(G.D) COMMONSYSTEMSUPPLYANDSIGNALGROUND 2 23485+ BIDIRECTIONAL 23485INTERFACE,DIff.SIGNAL(NON-INVERTING) 3 23485- BIDIRECTIONAL 23485INTERFACE,DIff.SIGNAL(INVERTING) 4 C!._( BIDIRECTIONAL C!.INTERFACE,DIff.SIGNAL(NON-INVERTING) 5 C!._, BIDIRECTIONAL C!.INTERFACE,DIff.SIGNAL(INVERTING) 4ABLE7:23485+CA.CONNECTOR0INASSIGNMENT 4.4 53BCONNECTOR &ORSERIALCOMMUNICATIONTHE0D42- x-1240OffERSSELECTIONBETWEEN23485,C!.AND53BINTERFACES.4HE 53BINTERFACEVIAON-BOARDMICRO-53BCONNECTOR(TYPEB)ISAVAILABLEFORCON 1GURATIONANDSERVICEOFTHE BOARD,MAINLY(E.G.PARAMETERSETTINGS,1RMWAREUPDATES).4HE53BDEVICEINTERFACESUPPORTSFULLSPEED (12-BIT/S)COMMUNICATIONANDSUPPORTSBUSPOWEREDANDSELF-POWEREDOPERATION.DURINGBUS-POWERED OPERATIONTHELOWVOLTAGELOGICPARTOFTHEBOARDWILLBEPOWERED,ONLY.4HISINCLUDESTHEMICROCONTROLLER ANDTHENON-VOLATILEMEMORYANDTHEREFOREALLOWSPARAMETERSETTINGSAND 1RMWAREUPDATESOFTHEBOARD h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 14/34 USINGASTANDARD53BCABLE,ONLY. /FCOURSE,FORANYMOTORMOVEMENTMAINSUPPLYVIASUPPLYINPUT CONNECTORISREQUIRED. NOTICE DUETOHARDWARERESSOURCESHARING53BANDC!.COMMUNICATIONINTERFACESARE NOTAVAILABLEATTHESAMETIME.!SSOONAS53BISPHYSICALLYATTACHEDTOAHOSTOR HUBTHEC!.INTERFACEWILLBESWITCHEDO ff. 53BCONNECTOR0IN!SSIGNMENT 0IN ,ABEL DIRECTION DESCRIPTION 1 6B53 0OWER(+56) 53B+56NOM.POWERSUPPLYINPUT 2 D- BIDIRECTIONAL 53BINTERFACE,DIff.SIGNAL(INVERTING) 3 D+ BIDIRECTIONAL 53BINTERFACE,DIff.SIGNAL(INVERTING) 4 ID INPUT CONNECTEDTOG.D(VIA100KRESISTOR) 5 G.D 0OWER(G.D) COMMONSYSTEMSUPPLYANDSIGNALGROUND 4ABLE8:53BCONNECTOR0INASSIGNMENT 4.5I//CONNECTOR 4HE0D42-x-1240OffERSSEVERALINPUTS(TWOOFTHEMOPTICALLYISOLATED)ANDONEDIGITAL(OPEN-DRAIN)OUTPUT. 4HEINPUTSINCLUDESUPPORTFORSTOPSWITCHES(LEFTANDRIGHT),HOMESWITCH,STEP/DIRECTION,INCREMENTAL!/B CHANNELENCODERANDANALOG(0...+106)INPUT.!LLTHISFUNCTIONALITYISAVAILABLEVIAONE8PINJ340(SERIES I//CONNECTOR. I//CONNECTOR0IN!SSIGNMENT 0IN ,ABEL DIRECTION DESCRIPTION 1 G.D 0OWER(G.D) COMMONSYSTEMSUPPLYANDSIGNALGROUND 2 I.0/(/-% INPUT !NALOGINPUT(0...+106) (/-%SWITCHINPUT +246TOLERANT,PROGRAMMABLE(SEPARATE)PULL-UPTO+56 3 I.1/%.C_! INPUT GENERALPURPOSEDIGITALINPUT INCREMENTALENCODERINPUTCHANNEL! +246TOLERANT,PROGRAMMABLEPULL-UP(FORI.1/I.2TOGETHER)TO+56 3 I.2/%.C_B INPUT GENERALPURPOSEDIGITALINPUT INCREMENTALENCODERINPUTCHANNELB +246TOLERANT,PROGRAMMABLEPULL-UP(FORI.1/I.2TOGETHER)TO+56 5 34/0_,/34%0 INPUT 34/0LEFTSWITCHINPUT 34%0PULSEINPUT INPUTOPTICALLyISOLATED,+246COMPATIBLE 6 34/0_2/DI2 INPUT 34/0RIGHTSWITCHINPUT DI2INPUT INPUTOPTICALLyISOLATED,+246COMPATIBLE 7 I3/_C/- 0OWER COMMONPOSITIVE(+246_I3/)ORNEGATIVE(G.D_ I3/)ISOLATED SUPPLYINPUTFOROPTICALLYISOLATEDINPUTS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 15/34 0IN ,ABEL DIRECTION DESCRIPTION 8 /540 /UTPUT(/D) /PEN-DRAINOUTPUT./UTPUTWILLBEPULLEDLOWWHENACTIVATED. 6OLTAGESUP-TOLOGICSUPPLyINPUTLEVEL(ORMAINSUPPLyINPUTIN CASESEPARATELOGICSUPPLyISNOTUSED)ARESUPPORTEDHERE.-Ax. CONTINUOUSPULL-DOwNCURRENT:100MA 4ABLE9:I//CONNECTOR0INASSIGNMENT !LLPINSMARKEDLIGHTGREENO ffERFUNCTIONALISOLATIONTOWARDSMAINSUPPLYINPUT. INCASETHISISNOTREQUIRED I3/_C/-MAYBECONNECTEDTOMAINGROUNDORSUPPLYINPUT,OFCOURSE.4HEOPTO-COUPPLERUSEDARE!C TYPES.4HISWAY,EITHERHIGHSIDESWITCHESORLOWSIDESWITCHESFORBOTHINPUTSARESUPPORTED. 5 /N-BOARD,EDS 4HEBOARDO ffERSTWO,%DSINORDERTOINDICATEBOARDSTATUS.4HEFUNCTIONOFBOTH,%DSISDEPENDENTONTHE 1RMWAREVERSION.7ITHSTANDARD4-C, 1RMWARETHEGREEN,%DSHOULDBE 2ASHINGSLOWLYDURINGOPERATION ANDTHERED,%DSHOULDBEO ff.7HENTHEREISNOVALID 1RMWAREPROGRAMMEDINTOTHEBOARDORDURING 1RMWAREUPDATETHEREDANDGREEN,%DSAREPERMANENTLYSWITCHEDON.DURINGRESETTOFACTORYDEFAULT VALUESTHEGREEN,%DWILLBE 2ASHINGFAST.7ITHC!.OPEN 1RMWAREBOTH,%DSARESWITCHEDON/O ff/2ASHING ACCORDINGTOSTANDARDDE 1NTION. Green LED Red LED FIGURE3:0D42-x-1240,EDS 6 2ESETTO&ACTORyDEFAULTS ITISPOSSIBLETORESETALLSETTINGSIN 1RMWAREFORTHE0D42-x-1240TOFACTORYDEFAULTSWITHOUTESTABLISHING AWORKINGCOMMUNICATIONCONNECTION.4HISMIGHTBEHELPFULINCASECOMMUNICATIONPARAMETERSOFTHE PREFERREDINTERFACEHAVEBEENSETTOUNKNOWNVALUESORGOTLOST. &ORTHISPROCEDURETWOPADSONTHEBOTTOMSIDEOFTHEMODULEHAVETOBESHORTED(ELECTRICALLYCONNECTED WITHEACHOTHER)DURINGPOWER-ON. 0LEASEPERFORMTHEFOLLOWINGSTEPS: 1. 3WITCHPOWERSUPPLY/&&(ANDDISCONNECT53BCABLEIFAPPLICABLE) 2. 3HORTC,+ANDDI/PADSOFPROGRAMMINGPADSONBOTTOMOFPCB(SEE 1GURE4) 3. 3WITCHPOWERSUPPLY/.AGAIN(ORCONNECT53BAGAINIFAPPLICABLE) 4. 7AITUNTILTHEON-BOARDREDANDGREEN,%DSSTART 2ASHINGFAST(THISMIGHTTAKEAWHILE) h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 16/34 5. 3WITCHPOWERSUPPLY/&&AGAIN(ANDDISCONNECT53BCABLEIFAPPLICABLE) 6. 2EMOVESHORTBETWEENPADS 7.!FTERSWITCHINGPOWERSUPPLY/.AGAIN(AND/ORCONNECTING53BCABLE)ALLPERMANENTSETTINGSHAVE BEENRESTOREDTOFACTROYDEFAULTS Short these two pads FIGURE4:2ESETTOFACTORyDEFAULTSETTINGS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 17/34

7 I//S

4HEI//CONNECTOR(8PINJ340(SERIES)O ffERSONEANALOGINPUT,TWONON-ISOLATEDDIGITALINPUTSWITH INTEGRATEDPULL-UPS(PROGRAMMABLE)ANDTWOOPTICALLYISOLATEDINPUTS.!LLINPUTSCANBEUSEDFORDI ffERENT PURPOSESExPLAINEDINMOREDETAILINTHEFOLLOWINGSUBSECTIONS. 7.1 !NALOgINPUTI.0 ABOVE+106SATURATIONTAKESPLACEBUT,UP-TO306HIGHERVOLTAGESARETOLERATEDWITHOUTDESTROYINGTHEINPUT. &ORANALOGTODIGITALCONVERSIONTHEINTEGRATED!DCOFTHEON-BOARDMICROCONTROLLERISUSED.2ESOLUTIONOF THISCONVERTERIS12BIT(0..4095). 100nF 10k 22k 2k2 +3V3 microcontroller microcontrollerIN0 +5V TMCM-1240 pull-up disabled V0..10V FIGURE5:ANALOGINPUT I.0 4HEANALOGINPUTCANBEUSEDASDIGITALINPUT,ALSO.4HEREISANINTEGRATEDPULL-UPTO+56WHICHCANBE SWITCHEDONOFO ff INSOFTWARE.7HENUSINGTHISINPUTASANLOGINPUTTHEPULL-UPSHOULDBEUSUALLYSWITCHED Off. 7.2 DIgITALINPUTSI.1ANDI.2 4HE0D42-x-1240OffERSTWODIGITALINPUTS I.1AND I.2WHICHACCEPTSIGNALSBETWEEN0AND306WITH VOLTAGESABOVEAPPROx.2.96RECOGNIzEDASLOGICAL ’1’ANDBELOW16ASLOGICAL ’0’.BOTHINPUTSOffERINTERGATED PULL-UPSTO+56WHICHCANBESWITCHEDONORO ff INSOFTWARE(ALWAYSTOGETHER).7HENUSINGTHEINPUTSWITH LOW-SIDESWITCHES(CONNECTEDTOG.D),PULL-UPSUSUALLYSHOULDBESWITCHEDON(DEFAULT). INCASEHIGH-SIDE SWITCHESAREUSEDTHEPULL-UPSMUSTBESWITCHEDO ff. &ORPUSH-PULLSIGNALSTHEPULL-UPSMAYBEEITHER SWITCHEDONORO ff. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 18/34 33pF22k 10k 2k2 +3V3 microcontroller microcontrollerIN1 IN2 +5V TMCM-1240 or pull-up enabled or pull-up disabled +5V...24V +5V FIGURE6:DIGITALINPUTS I.1ANDI.2 7.3 (/-E/34/0_,/34/0_2SwITCHINPUTS 4HE0D42-x-1240OffERSTWOOPTICALLYISOLATEDINPUTSWHICHCANBEUSEDASLEFT(34/0_,)ANDRIGHT(34/0_2) STOPSWITCHINPUTS. 7HENENABLEDINSOFTWARETHE34/0_,SWITCHINPUTWILLSTOPMOTORMOVEMENTIN NEGATIVEDIRECTION(STEPCOUNTERDECREASING)WHILEACTIVATED.,IKEWISETHE34/0_2SWITCHINPUTWILLSTOP MOTORMOVEMENTINPOSITIVEDIRECTION(STEPCOUNTERINCREASING)WHILEACTIVATED. 680 6k8 2k2 +3V3 microcontroller TMCM-1240 STOP_L, STOP_R ISO_COM +24V_ISO GND_ISO or +24V_ISO GND_ISO FIGURE7:3TOPSwITCHINPUTS !SEPARATED/ISOLATEDSUPPLYMAYBEUSEDFORTHESWITCHES-ASINDICATEDINTHEDRAWING(+246_ I3/AND RELATEDG.D_ I3/)-BUT,SAMESUPPLYASFORTHE0D42- x-1240CANBEUSED,ALSO,OFCOURSE.

7.4 ExTERNALINCREMENTALENCODERINPUT

4HE0D42-x-1240OffERSANINTEGRATEDHALL-SENSORBASEDMAGNETENCODER. INADDITION,ANExTERNALINCRE- MENTAL!/BENCODERMAYBECONNECTEDTOTHETWODIGITALINPUTS I.1ANDI.2. %NCODERWITHPUSH-PULL SIGNALS(E.G.+5644,)ANDOPEN-DRAINOUTPUTSIGNALSARESUPPORTED(SINGLE-ENDED).&OROPEN-DRAINOUTPUTS THEINTERNALPULL-UPSSHOULDBEACTIVATEDINSOFTWARE(DEFAULTMODE). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 19/34 33pF22k 10k 2k2 +3V3 microcontroller microcontrollerENC_A, ENC_B +5V TMCM-1240 or +5V pull-up enabled FIGURE8:ExTERNALENCODERINPUT 7.5 3TEP/DIRECTIONINPUTS 4HE0D42-x-1240MAYBEUSEDASDRIVERWITHANExTERNALMOTIONCONTROLLER. INTHISCASETHE3TEP/DIRECTION OUTPUTSIGNALSOFTHEExTERNALMOTIONCONTROLLERMAYBECONNECTEDTOTHEOPTICALLYISOLATED3TEP/DIRINPUTS OFTHE0D42-x-1240. 0LEASENOTETHATTHESESIGNALSSHOULDBE246SIGNALS. &ORLOWERVOLTAGESIGNALSA SIMPLESMALLSIGNALTRANSISTORMAYBEINSERTEDASLEVELCONVERTER. 680 6k8 2k2 +3V3 microcontroller TMCM-1240 STEP, DIR ISO_COM +24V_ISO GND_ISO FIGURE9:3TEP/DIRECTIONINPUT DUETOLIMITATIONSOFTHEOPTO-ISOLATORSTHEMAxIMUMSTEPFREQUENCYOFTHESEINPUTSISLIMITEDTOAROUND 20K(z. &ORHIGHERMOTORSPEEDTHESTEPINTERPOLATOROFTHEDRIVERSTAGESHOULDBEACTIVATEDORTHE MICROSTEPRESOLUTIONREDUCED(DEFAULT256MICROSTEPSPERFULLSTEP). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 20/34

8 COMMUNICATION

8.1 23485 &ORREMOTECONTROLANDCOMMUNICATIONWITHAHOSTSYSTEMTHE0D42- x-1240PROVIDESATWOWIRE23485 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 FIGURE10:23485BUSSTRUCTUREwITHTERMINATIONRESISTORS 2.B534E2-I.A4I/.: %SPECIALLYFORLONGERBUSSESAND/ORMULTIPLENODESCONNECTEDTOTHEBUSAND/ORHIGHCOMMUNICATION SPEEDS,THEBUSSHOULDBEPROPERLYTERMINATEDATBOTHENDS.4HE0D42- x-1240DOESNOTINTEGRATE ANYTERMINATIONRESISTOR.4HEREFORE,120/HMTERMINATIONRESISTORSATBOTHENDSOFTHEBUSHAVETO BEADDEDExTERNALLY. 3..5-BE2/F./DE3: 4HE23485ELECTRICALINTERFACESTADARD(% I!-485)ALLOWSUPTO32NODESTOBECONNECTEDTOASINGLEBUS. 4HEBUSTRANSCEIVERUSEDONTHE0D42- x-1240UNITS(3.65(6D1781D)OffERSASIGNI 1CANTLYREDUCED BUSLOADCOMPAREDTOTHESTANDARDANDALLOWSAMAxIMUMOF255UNITSTOBECONNECTEDTOASINGLE 23485BUSUSINGSTANDARD4-C, 1RMWARE.0LEASENOTE:USUALLyITCANNOTBEExPECTEDTOGETRELIABLE COMMUNICATIONwITHTHEMAxIMUMNUMBEROFNODESCONNECTEDTOONEBUSANDMAxIMUMSUPPORTED COMMUNICATIONSPEEDATTHESAMETIME. INSTEAD,ACOMPROMISEHASTOBEFOUNDBETwEENBUSCABLELENGTH, COMMUNICATIONSPEEDANDNUMBEROFNODES. 4.C/--5.ICA4I/.30EED: 4HEMAxIMUM23485COMMUNICATIONSPEEDSUPPORTEDBYTHE0D42- x-1240HARDWAREIS1-BIT/S. &ACTORYDEFAULTIS9600BIT/S.0LEASESEESEPARATE0D42-x-12404-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-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 21/34 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 FIGURE11:23485BUSLINESwITHRESISTOR(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 FIGURE12:23485BUSLINESwITH0RO 1BUS™RECOMMENDEDLINETERMINATION 8.2 C!. &ORREMOTECONTROLANDCOMMUNICATIONWITHAHOSTSYSTEMTHE0D42- x-1240PROVIDESAC!.BUSINTERFACE. 0LEASENOTETHATTHEC!.INTERFACEISNOTAVAILABLEINCASE53BISCONNECTED.&ORPROPEROPERATIONTHE FOLLOWINGITEMSSHOULDBETAKENINTOACCOUNTWHENSETTINGUPAC!.NETWORK: 1.B533425C452E: 4HENETWORKTOPOLOGYSHOULDFOLLOWABUSSTRUCTUREASCLOSELYASPOSSIBLE.4HATIS,THECONNECTION BETWEENEACHNODEANDTHEBUSITSELFSHOULDBEASSHORTASPOSSIBLE.BASICALLY,ITSHOULDBESHORT COMPAREDTOTHELENGTHOFTHEBUS. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 22/34 c node node n node n Host Slave Slave Slave CAN termination resistor 120 Ohm termination resistor 120 Ohm keep distance as short as possible FIGURE13:CA.BUSSTRUCTUREwITHTERMINATIONRESISTORS 2.B534E2-I.A4I/.: %SPECIALLYFORLONGERBUSSESAND/ORMULTIPLENODESCONNECTEDTOTHEBUSAND/ORHIGHCOMMUNICATION SPEEDS,THEBUSSHOULDBEPROPERLYTERMINATEDATBOTHENDS.4HE0D42- x-1240DOESNOTINTEGRATE ANYTERMINATIONRESISTOR.4HEREFORE,120/HMTERMINATIONRESISTORSATBOTHENDSOFTHEBUSHAVETO BEADDEDExTERNALLY. 3.B534E2-I.A4I/.: 4HEBUSTRANSCEIVERUSEDONTHE0D42- x-1240UNITS(4J!10514)SUPPORTSATLEAST110NODESUNDER OPTIMUMCONDITIONS.0RACTICALLYACHIEVABLENUMBEROFNODESPERC!.BUSHIGHLYDEPENDONBUS LENGTH(LONGERBUS->LESSNODES)ANDCOMMUNICATIONSPEED(HIGHERSPEED->LESSNODES). 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!0.0LEASESEESEPARATE0D42- x-1240 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-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 23/34 -OTORCURRENTSETTING INSOFTWARE(4-C,) CURRENT SCALING STEP (C3) -OTORCURRENT IC/I,;!] PEAK -OTORCURRENT IC/I,;!] 2-3 4ABLE11:AVAILABLEMOTORCURRENTSETTINGS INADDITIONTOTHESETTINGSINTHETABLETHEMOTORCURRENTMAYBESWITCHEDO ff COMPLETELY(FREE-WHEELING) USINGAxISPARAMETER204(SEE0D42-x-12401RMWAREMANUAL). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 24/34 10 4ORqUECURVES 10.1 0D42-1-12404ORqUECURVE FIGURE14:0D42-1-1240TORqUEVS.VELOCITy246/2A,256µSTEPS 10.2 0D42-2-12404ORqUECURVE FIGURE15:0D42-2-1240TORqUEVS.VELOCITy246/2A,256µSTEPS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 25/34 10.3 0D42-3-12404ORqUECURVE FIGURE16:0D42-3-1240TORqUEVS.VELOCITy246/2A,256µSTEPS 10.4 0D42-4-12404ORqUECURVE FIGURE17:0D42-4-1240TORqUEVS.VELOCITy246/2A,256µSTEPS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 26/34 11 &UNCTIONALDESCRIPTION 4HE0D42-x-1240ISAFULLMECHATRONICSOLUTIONINCLUDINGA42MM 2ANGE(.%-!17)BIPOLARSTEPPERMOTOR. ITINCLUDESTHECONTROLLER/DRIVERELECTRONICS4-C--1240ANDACHOICEBETWEENFOURDI ffERENT.%-!17/ 42MM2ANGESIzEBIPOLARHYBRIDSTEPPERMOTORSWITHDI ffERENTLENGTHANDTORQUE. 4HE0D42-x-1240CANBECONTROLLEDVIA53B,23485ORC!.SERIALINTERFACES. 4HEREARETHREEGENERAL PURPOSEDIGITALINPUTSWHICHCANBEUSED,ALSOAS34/0_,/34/0_2/(/-%SWITCHINPUTS(FORREFERENCE MOVEMENTS,ASENDSWITCHESETC. DEPENDINGON 1RMWARE,MODEANDCON 1GURATION)ORFORCONNECTING ANADDITIONALExTERNALENCODER(INCREMENTAL!/B/.).INADDITION,THEREISONEDEDICATEDANALOGINPUTFOR 0...+106ANALOGSIGNALSANDTWOGENERAL-PURPOSEOUTPUTS(ONEOPEN-DRAINANDONESWITCHABLE+56SUPPLY OUTPUT). 4HE0D42-x-1240WITH4-C,™ 1RMWAREOPTIONISSUPPORTEDBYTHE0CBASEDSOFTWAREDEVELOPMENT ENVIRONMENT4-C,-ID%FORTHE4RINAMIC-OTIONCONTROL,ANGUAGE(4-C, ™).5SINGPREDE1NED4-C, ™ HIGHLEVELCOMMANDSLIKEMOVETOPOSITIONARAPIDANDFASTDEVELOPMENTOFMOTIONCONTROLAPPLICATIONS ISGUARANTEED.0LEASEREFERTOTHE0D42- x-1240OR4-C--12401RMWAREMANUALSFORMOREINFORMATION ABOUT4-C,™ COMMANDS. COMMUNICATIONTRA/uniFB03CISKEPTLOWSINCEALLTIMECRITICALOPERATIONS,E.G.RAMPCALCULATIONAREPERFORMEDON BOARD.COMPLETESTAND-ALONEORFULLREMOTECONTROLORANYTHINGIN-BETWEENISPOSSIBLE.4HE 1RMWAREOFTHE MODULECANBEUPDATEDVIATHESERIALINTERFACE.!SANALTERNATIVETO4-C,,AC!.OPEN 1RMWAREISAVAILABLE. 4HE0D42-x-1240CONTAINSTHEFOLLOwINgMAINCOMPONENTS:

  • -ICROCONTROLLER(!2-CORTEx--3™),RESPONSIBLEFOROVERALLCONTROLANDCOMMUNICATION
  • (IGHLYINTEGRATEDADVANCEDSTEPPERMOTORCONTROLLERSUPPORTINGLINEARANDUNIQUE6-POINTSRAMPSIN HARDWARE
  • !DVANCEDSTEPPERMOTORDRIVERWITH3TALLGUARD2 ™ ANDCOOL3TEP ™ WITH-/3&%4DRIVERSTAGE(8x POWER.--/3&%4SFORBIPOLARSTEPPERMOTOR)
  • 23485,C!.AND53BTRANSCEIVERS
  • /N-BOARDVOLTAGEREGULATORS(+56AND+363)REQUIREDFORSUPPLYOFALLON-BOARDDIGITALCIRCUITS 10… 30V DC ARM Cortex-M3TM microcontroller EEPROM 6I/Os RS485 MOSFET Driver Stage Energy Efficient Driver TMC262 Motion Controller Pre-Driver SPI USB SPI CAN DC/DC +5V sensOstep™ Encoder SPI +3V3 STOP_L/R, S/D, Encoder PD42-1-1240 Step Motor PD42-2-1240 PD42-3-1240 PD42-4-1240 QSH4218-34-20-022 QSH4218-38-20-036 QSH4218-47-20-044 QSH4218-60-20-070 TMCM-1240 FIGURE18:0D42-x-1240BLOCkDIAGRAM h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 27/34 12 /PERATIONAL2ATINgSANDCHARACTERISTICS NOTICE .EVERExCEEDTHEABSOLUTEMAxIMUMRATINgS! +EEPTHEPOWERSUPPLYVOLTAGE BELOWTHEUPPERLIMITOF+306!/THERWISETHEBOARDELECTRONICSWILLSERIOUSLYBE DAMAGED!%SPECIALLY,WHENTHESELECTEDOPERATINGVOLTAGEISNEARTHEUPPERLIMIT AREGULATEDPOWERSUPPLYISHIGHLYRECOMMENDED. GENERAL/PERATIONAL2ATINGS 3YMBOL 0ARAMETER -IN 4YP -Ax 5NIT 60OWER 0OWERSUPPLYVOLTAGE 10 12...24 30 6 I0OWER 0OWERSUPPLYCURRENT <<IC/I,_2-3 1.4xIC/I,_2-3 ! 653B 0OWERSUPPLYVIA53BCONNECTOR 5 6 I53B CURRENTWITHDRAWNFROM53BSUPPLYWHEN53B BUSPOWERED(NOOTHERSUPPLYCONNECTED) 42 M! IC/I,_0%!+ -OTORCOILCURRENTFORSINEWAVE PEAK(CHOPPER REgULATED,ADjUSTABLEVIASOFTwARE) IC/I,_2-3 CONTINUOUSMOTORCURRENT( 2-3) 0 0...2 2.21 ! 4%.6 %NVIRONMENTALTEMPERATUREATRATEDCURRENT(NO FORCEDCOOLINGREAQUIRED) -30 60 oC 4ABLE12:GENERALOPERATIONALRATINGSOFTHEMODULE /PERATIONAL2ATINGSOFTHE I//S 3YMBOL 0ARAMETER -IN 4YP -Ax 5NIT 6/540 6OLTAGEATOPENDRAINOUTPUT/540(SWITCHEDO ff) 0 +60OWER 6 I/540 /UTPUTSINKCURRENTOFOPENDRAINOUTPUT/540 (SWITCHEDON) 100 M! 6I.0 -EASUREMENTRANGEFORANALOGINPUT I.0 0 +102 6 6I.1/2_, ,OWLEVELVOLTAGEFOR I.1ANDI.2(DIGITALINPUTS) 1 6 6I.1/2_( (IGHLEVELVOLTAGEFOR I.1ANDI.2(DIGITALINPUTS) 2.9 6 634/0_,/2_/. 3WITCH-/NOPTO-ISOLATEDINPUTS(VOLTAGEBETWEEN INPUTAND I3/_C/-) 20-24 30 6 634/0_,/2_/&& 3WITCH-Off OPTO-ISOLATEDINPUTS(VOLTAGEBETWEEN INPUTAND I3/_C/-) 0 0-16 6 10LEASENOTE:2.2!2-3WILLExCEEDCONNECTORSPECI 1CATION.4HEREFORE,CONTINUOUSMOTORCURRENTSHOULDBELIMITEDTO2!2-3 MAx.MOTORCURRENT INPUTWILLSATURATEBUT,NOTBEINGDAMAGED(UP-TO6DD). h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 28/34 /PERATIONAL2ATINGSOFTHE I//S 3YMBOL 0ARAMETER -IN 4YP -Ax 5NIT F34%0/DI2 -Ax. FREQUENCYFORSTEP/DIRECTIONOPTO-ISOLATED INPUTS

20 K(z

4ABLE13:/PERATIONALRATINGSOF I//S /PERATIONAL2ATINGSOFTHE23485 INTERFACE 3YMBOL 0ARAMETER -IN 4YP -Ax 5NIT .23485 .UMBEROFNODESCONNECTEDTOSINGLE23485NETWORK 256 F23485 -Ax.SPEEDFOR23485NETWORK 1-BIT/S 4ABLE14:/PERATIONALRATINGSOFTHE23485INTERFACE /PERATIONAL2ATINGSOFTHEC!. INTERFACE 3YMBOL 0ARAMETER -IN 4YP -Ax 5NIT .C!. .UMBEROFNODESCONNECTEDTOSINGLEC!.NETWORK >110 FC!. -Ax.SPEEDFORC!.NETWORK 1-BIT/S 4ABLE15:/PERATIONALRATINGSOFTHECA.INTERFACE h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 29/34 13 !BBREVIATIONSUSEDINTHIS-ANUAL !BBREVIATION DESCRIPTION ID% INTEGRATEDDEVELOPMENT%NVIRONMENT ,%D ,IGHT%MMITTINGDIODE 2-3 2OOT-EAN3QUAREVALUE 4-C, 42I.!-IC-OTIONCONTROL,ANGUAGE 4ABLE16:ABBREVIATIONSUSEDINTHIS-ANUAL h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 30/34 14 &IgURESINDEx 1 0D42-x-1240WITHDIffERENT.%-!17/ 42MMSTEPPERMOTORS(ALLDIMENSIONS 4 2ESETTOFACTORYDEFAULTSETTINGS . . . 16 10 23485BUSSTRUCTUREWITHTERMINATION 11 23485BUSLINESWITHRESISTOR(BIAS)NET- 12 23485BUSLINESWITH0RO 1BUS™RECOMMENDED 13 C!.BUSSTRUCTUREWITHTERMINATION 14 0D42-1-1240TORQUEVS.VELOCITY246/ 15 0D42-2-1240TORQUEVS.VELOCITY246/ 16 0D42-3-1240TORQUEVS.VELOCITY246/ 17 0D42-4-1240TORQUEVS.VELOCITY246/ h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 31/34 15 4ABLESINDEx 3 .%-!17/42MMSTEPPERMOTORTECH-

4 CONNECTOR4YPESAND-ATINGCONNEC-

5 0OWER3UPPLYCONNECTOR0IN!SSIGNMENT 12 6 -OTORCONNECTOR0IN!SSIGNMENT . . 13 7 23485+C!.CONNECTOR0IN!SSIGNMENT 13 8 53BCONNECTOR0IN!SSIGNMENT. . . . 14 9 I//CONNECTOR0IN!SSIGNMENT . . . . 15 11 !VAILABLEMOTORCURRENTSETTINGS . . . 23

12 GENERAL OPERATIONAL RATINGS OF THE

14 /PERATIONALRATINGSOFTHE23485INTER- 15 /PERATIONALRATINGSOFTHEC!.INTERFACE 28 16 !BBREVIATIONSUSEDINTHIS-ANUAL . . 29 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 32/34 16 3UPPLEMENTALDIRECTIVES 16.1 0RODUCERINFORMATION

16.2 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. 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 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 33/34 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. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D42-x-1240(ARDWARE-ANUAL•(ARDWARE6ERSION61.20|DOCUMENT2EVISION61.10•2018-D%C-05 34/34 17 2EVISION(ISTORy 17.1 (ARDwARE2EVISION 6ERSION DATE !UTHOR DESCRIPTION 61.0 2017-/C4-30G% INITIALVERSION. 61.1 2017-./6-28G% -INORCHANGES:3/DSUPPORTADDED. 61.2 2018-D%C-05G% DRIVERSTAGE-/3&%4SANDMAGNETICENCODER ICREPLACED 4ABLE17:(ARDwARE2EVISION

17.2 DOCUMENT2EVISION

6ERSION DATE !UTHOR DESCRIPTION 1.00 2018--!2-28G% INITIALVERSIONBASEDON4-C--1240HARDWAREMANUAL. 1.01 2018--!9-03/+ 4YPOCORRECTIONS. 1.02 2018-!5G-17G% 4ORQUECURVEDESCRIPTIONSCORRECTED. 1.10 2018-D%C-05G% 5PDATEFORHARDWAREVERSION61.2 4ABLE18:DOCUMENT2EVISION h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM