SilverPakT Integrated Controller/Driver and Motor
Contents
1. LIN ENGINEERING mI Step Motor Specialists SilverPakT I ntegrated Controller Driver and Motor i h BECH User Manual 1 of 2 Reference Guide Version 1 04 Lin Engineering 1990 Russell Ave Santa Clara CA 95054 www linengineering com sales linenigneering com Thank you for purchasing the SilverPakT module This product is warranted to be free of manufacturing defects for one year from the date of purchase PLEASE READ BEFORE USING Before you start you must have a suitable DC power supply suitable for the motor The power supply voltage must be between 4 times and 20 times the motor s rated voltage DI SCLAI MER The information provided in this document is believed to be reliable However no responsibility is assumed for any possible inaccuracies or omissions Specifications are subject to change without notice Lin Engineering reserves the right to make changes without further notice to any products herein to improve reliability function or design Lin Engineering does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others Lin Engineering Page 2 Version 1 04 SilverpakT 10 06 2006 Table of Contents 1 INTRODUCTION WEE 4 Ze PAs CS EEN 5 Figure 2 1 R364 Simplified Block Diagram ccc cece cece cece ce eee e eee eeeeeeeeeeneaes 5 3 ELECTRICAL SbECIEICATIONS ccc cece cec2. 2 92 Large 3 27 l o 0 0000 0 1968 _ 0 0005 M3 X 0 5 Thread X 0 15 MIN Deep 4X Figure 2 Dimensions Diagram Lin Engineering Page 7 Version 1 04 SilverpakT 10 06 2006 7 PIN ASSIGNMENTS DB15 The DB15 connector female is provided along with the SilverpakT CON J5 Function Color 1 Power Ground GND Green 2 RS485 Ground Black 3 5V DC Output max 20mMA White Green 4 Right Limit input Yellow 5 General Purpose Output Orange 6 VDD Same as Yellow White 7 No Connection 8 RS485 RxD Black White 9 7 to 28VDC Red 10 No Connection a 11 Left Limit Input Blue White 12 Signal Ground Green White 13 Signal Ground White 14 General Purpose I nput A D Red White 15 RS485 TxD Dark Brown RS485 The SilverpakT uses an RS485 interface to communicate If using the USB485 converter card here are the corresponding pinouts USB485 SilverpakT RS485 Pin 1 Pin 8 GND Pin 2 Pin 2 g RS485 Pin3 Pin 15 Ree Note Another option is to purchase an RS232 to RS485 converter card in order to use your PC s serial COM port for communications I O The Left and Right Limit Switches Pins 1 and 2 are digital inputs that will read a 5VDC signal as high and OVDC signal as low The General Purpose Output Pin 4 is an open collector output that can withstand a maximum of 100 mAmps The General Purpose Input Pin 7 can be used as a digital or an analog input Version 1 04 10 06 2006 Lin Engine
3. SG chip which is equipped with a TMC246 stepper motor driver so that StallGuard is also possible StallGuard detects a stall in the motor without the use of an encoder Stall thresholds may be programmed Lin Engineering Page 4 Version 1 04 SilverpakT 10 06 2006 2 FEATURES Input voltage of 7 to 28VDC Output current of 0 to 1 5 Amps Peak Step resolution of full step half step 4x 8x 16x microstep Communication via RS485 Two limit switches digital available One general purpose input digital or analog One open collector output up to 100 mA freewheeling diode included Microcontroller ATmega32 16MHz clock frequency Motion controller TMC428 Step Motor Driver TMC246 TMCL Program Memory of 16kByte EEPROM 2048 TMCL commands StallGuard Available Reference Switches TMCM 110 8 Communication TMEL program download firmware dosnlosd Host TMC428 Genaral Purpose Lo EEPROM Figure 1 SilverpakT Simplified Block Diagram StallGuard The TMCM 110 42 SG module is equipped with the StallGuard feature The StallGuard feature makes it possible to detect if the mechanical load on a stepper motor is too high or if the traveler has been obstructed The load value can be read using a TMCL command or the module can be programmed so that the motor will be stopped automatically when it has been obstructed or the load has been to high Lin Engineering Page 5 Version 1 04 SilverpakT 10 06 2006 StallGuard can
4. Version 1 04 SilverpakT 10 06 2006 a TMCL Direct Mode TMCM 3xx TMCM 110 TMEL Instruction Selector Instruction _ dupe _ Motor Bank Value 1 ROR rotate right e e D Motor 0 1000 a Execute Copy Copy to editor Manual Instruction Input Address lnstruction Type Motor Bank Walue Datagram 1 ap am am af 01 00 00 00 00 00 00 00 01 Execute Answer Host Target Status Inst Value Datagram Close For a complete list of commands and more in depth explanation of the programming please refer to the Commands Guide User Manual 2 of 2 Lin Engineering Page 12 Version 1 04 SilverpakT 10 06 2006
5. Device Manager You should see a list of COM settings Please verify with the list OF Cancel 4 To compile and run the program you must first Assemble the program 4 TMCL Integrated Development Environment Mew File 1 File Edit TMCL Setup Help GH E Dapp OHA BAe go iE Motor Contig tric em StallValue 0 PfStalitueard Threshold 0 off Velocity 2047 Max Velocity Acceleration 25 Man Acceleration ustep 1 fd 16N u stepping pdiv 6 dd pit default Then download the program Lin Engineering Page 10 Version 1 04 SilverpakT 10 06 2006 amp TMCL Integrated Development Environment Mew File 1 File Edit TMCL Setup Help DOES ke FAA B Nee see Motor Contig tric P orf StallValue o0 ff Staliguard Threskold CO Velocity 2047 Max Velocity Aeeceleration 25 Max Acceleration ustep 1 dd 16X u stepping pdiy 6 pdlir default Ee A GE EE A A ae Rn eT E TEE A E Finally click on the Run button amp TMCL Integrated Development Environment New File 1 File Edit TMCL Setup Help TOLL A BAe seb Motor Config tric Run StallValue o0 QfStaliguerd Threshold 0 off Velocity 2047 das Velocity Acceleration 25 Maxn Acceleration ustep 1 Z 16X u stepping podiv 6 dd pit default 5 To run the SilverpakT in Direct Mode go to TMCL gt Direct Mode Commands can be executed on the fly to for testing purposes Lin Engineering Page 11
6. also be used for finding the reference position without the need for a reference switch Just activate StallGuard and then let the traveler run against a mechanical obstacle that is placed at the end of the way When the motor has stopped it is definitely at the end of its way and this point can be used as the reference position Please see the SilveroakT Commands Guide Manual on how to activate the StallGuard feature 3 ELECTRICAL SPECIFICATIONS Supply Voltage 7 to 28 VDC Peak Current O to 1 5 Amps Software Programmable I O Specifications Inputs 2 limit switches Digital 1 general purpose Digital TTL or Analog 0 5v Outputs L open collector output 4 OPERATING SPECIFICATIONS Maximum Step Frequency Up to 500kHz Microsteps 30kKHz Full Step Operating Temperature 0 to 50 Celsius ambient 5 COMMUNICATION SPECIFICATIONS Interface Type RS485 Baud Rate Standard rates in the range 9600 to 57600 bits per second bps Bits per character 8 data bits Parity None Stop Bit 2 Flow Control None Lin Engineering Page 6 Version 1 04 SilverpakT 10 06 2006 6 MECHANICAL SPECIFICATIONS Connectors A DB15F is used for Power and Gnd RS485 communication and O s Mounting The Step Motor is a NEMA 17 frame size which is 1 66 square 42 16mm Shaft diameter is a standard 0 1968 5mm which can be coupled to another shaft or other device Dimensions Overall Length dimension D Small 2 72 Medium
7. e eee eeeees 6 F e e edd Leid Le e citi ieee deen ei Gaara ee 6 4 OPERATING SPECI FI CATIONS ccc cece eee eee eee 6 Operating Temperature 6 5 COMMUNICATION SbECIEICATIONS cece eee es 6 6 MECHANICAL SPECI FI CATIONS ccc eee cece e eee eee 7 Figure 2 DIMENSIONS RI eer WEE 7 7 PUN ASSIGNMENTS iiss i cavitinisa dpa chv cpio tatisiaesiaaioeeiaievesanteeivans 8 MURT 8 SG dee 8 Additional I O EE 8 9 CONNECTION GSbECIEICATIONS cee eee eee ees 9 Bee oe EE 9 Foures Connection RI Le EL EE 9 5 RUNNING THE SILVERRAKT ccc ccc cee eee eee eens 11 Lin Engineering Page 3 Version 1 04 SilverpakT 10 06 2006 1 INTRODUCTION The SilverpakT is an integrated TMCM110 unit with a two phase bipolar stepper motor The SilverpakT has two limit switches left and right one additional general purpose input analog or digital and one general purpose output up to 100mA It communicates via RS485 To communicate via USB or RS232 a USB485 or RS232485 converter card may be purchased through Lin Engineering The module is also equipped with a 5V voltage regulator and thus needs only one power supply the motor power supply of 7 28V DC The module can be programmed using the Trinamic Motion Control Language TMCL which allows to control the module by a host or to run stand alone executing a TMCL program that is stored in the 16kByte EEPROM on the module the EEPROM can store up to 2000 TMCL commands The SilverpakT contains the TMCM 110 42
8. ering Page 8 SilverpakT 8 CONNECTION SPECIFICATIONS List of Parts SilverPakT unit DB15 Cable USB485 converter card optional or RS485 RS232 Converter Card optional Power supply 7 to 28VDC PC Follow the schematic for correct connection Power Supply DB15 Cable 7 to 25V Silverpak T LSB4AS5 Converter Card Figure 3 USB485 Connection Diagram DB15 Cable Power Supply 7 to 25V Silverpak T RS485 to RS232 Converter Card Figure 4 RS485 to RS232 Connection Diagram Lin Engineering Page 9 Version 1 04 SilverpakT 10 06 2006 9 PROGRAMMING THE SILVERPAK T 1 Download the TMCL Program Example programs are included One of the Sample programs is labeled as Motor Config tmc Open this program using the TMCL program 2 Motor Config tmc will show basic setup for microstepping StallGuard Threshold velocities output current acceleration and decay modes This program will rotate right for 1000 steps Please be sure the motor shaft is not attached to a device that may cause harm amp Options Ka 3 To setup the correct COM port go to Setup gt Options gt Connection Select the correct COM port Assembler Connection Type R5232 7 A5495 COM port RS232 7 R5469 Fort COME M Baud S600 e Address i Search To ensure you have the right COM port right click on My Computer Go to Properties Then click on the Hardware tab Click on
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