) / 75V
with RS485 and step-/ direction interface














Trinamic Motion Control GmbH & Co. KG
Sternstraße 67
D 20357 Hamburg, Germany
Phone +49-40-51 48 06 0
FAX: +49-40-51 48 06 60
http://www.trinamic.com

INFO@TRINAMIC.COM
IDX Manual (V1.08 / August 30th, 2006)

2
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG

Table of Contents

1

Features ........................................................................................................................................... 4

2

Life support policy ............................................................................................................................ 5

3

Electrical and Mechanical Interfacing............................................................................................... 6

3.1

Pinning ...................................................................................................................................... 6

3.2

Dimensions ............................................................................................................................... 7

3.3

Connectors................................................................................................................................ 7

4

Operational Ratings ......................................................................................................................... 8

4.1

Practical maximum motor current ratings ................................................................................. 9

4.2

Step, Direction and Disable Inputs.......................................................................................... 10

5

Getting Started ............................................................................................................................... 11

5.1

Motor ....................................................................................................................................... 11

5.1.1

Motor Choice...................................................................................................................... 11

5.1.1.1

Motor velocity.............................................................................................................. 11

5.1.1.2

Chopper Modes 0 (SPI / Default Mode) and 1 (PWM) ............................................... 11

5.1.1.3

Chopper Mode 2 (PHASE) ......................................................................................... 12

5.2

Connecting Motor and Power Supply ..................................................................................... 14

5.3

Power Supply Requirements .................................................................................................. 14

5.4

Connections for Step / Direction- Mode.................................................................................. 15

5.5

Connections for RS485 Interface............................................................................................ 16

5.5.1

Interface installation ........................................................................................................... 16

5.5.2

Control with terminal program............................................................................................ 16

6

Functional Description.................................................................................................................... 17

6.1

Disable Function ..................................................................................................................... 17

6.2

RS485 Control Interface ......................................................................................................... 17

6.2.1

RS485 Commands............................................................................................................. 18

6.2.1.1

Examples for test move .............................................................................................. 19

6.2.1.2

Motor Current (C)........................................................................................................ 19

6.2.1.3

Failure Readout (E)..................................................................................................... 19

6.2.1.4

StallGuard (G)............................................................................................................. 20

6.2.1.5

Limit Switch (L) ........................................................................................................... 20

6.2.1.6

Output setting (O) ....................................................................................................... 20

6.2.1.7

I/Os Readout (Q)......................................................................................................... 21

6.2.1.8

Baud Rate (U) ............................................................................................................. 21

6.2.1.9

Velocity Mode (V)........................................................................................................ 21

6.2.1.10

Store Parameters to EEPROM (W) ............................................................................ 22

6.2.1.11

Microstep Resolution (Z)............................................................................................. 22

6.2.2

Chopper Modes ................................................................................................................. 22

6.2.2.1

Chopper Mode 0 (SPI) / Default Mode ....................................................................... 22

6.2.2.2

Chopper Mode 1 (PWM)............................................................................................. 23

6.2.2.3

Chopper Mode 2 (PHASE) ......................................................................................... 23

6.2.2.4

Chopper mode 3 (Phase and SPI).............................................................................. 24

6.2.2.5

Chopper mode 4 (PWM and SPI) ............................................................................... 24

6.3

Step / Direction........................................................................................................................ 25

6.3.1

Direction ............................................................................................................................. 25

6.3.2

Step.................................................................................................................................... 26

6.4

Reset to factory default ........................................................................................................... 26

6.5

Firmware Update..................................................................................................................... 27

6.6

Option: Pseudo DC-Motor mode (not supported by software yet).......................................... 28

6.6.1

Setting up the module ........................................................................................................ 28

6.6.2

Parameterizing with RS485 ............................................................................................... 28

6.6.3

Motion Control.................................................................................................................... 28

7

Revision History ............................................................................................................................. 29

7.1

Documentation Revision ......................................................................................................... 29

7.2

Firmware Revision .................................................................................................................. 29

IDX Manual (V1.08 / August 30th, 2006)

3
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG

List of Figures

Figure 3.1: Pinning of IDX ....................................................................................................................... 6

Figure 3.2: Dimensions............................................................................................................................ 7

Figure 3.3: Base Plate Dimensions ......................................................................................................... 7

Figure 4.1: Step, Direction and Disable Inputs...................................................................................... 10

Figure 5.1: Maximum voltage regarding motor current and inductivity ................................................. 13

Figure 5.2: Connecting Motor and Power Supply ................................................................................. 14

Figure 5.3: Contacts for Step-Direction ................................................................................................. 15

Figure 5.4: Contacts for RS485 with an adapter ................................................................................... 16

Figure 5.5 : Connection settings for RS485 .......................................................................................... 16

Figure 6.1: GPO wiring scheme ............................................................................................................ 20

Figure 6.2: Step-Direction signals and motor reactions ........................................................................ 25

Figure 6.3: Step and Direction Signal.................................................................................................... 26

Figure 6.4: Reset to factory default ....................................................................................................... 26

Figure 6.5: Firmware update tool .............