TMC-IDX Analog Devices

IDX (IDX 4803 and IDX 7505) Manual STEPPER motor controller/driver modules IDX / IDX 4803: 3.5A RMS (5A peak) / 48V IDX 7505: 5.0A RMS (7A peak) / 75V with RS485 and step-/ direction interface Trinamic Motion Control GmbH & Co. KG Sternstrae 67 D 20357 Hamburg, Germany Phone +49-40-51 48 06 0 FAX: +49-40-51 48 06 60 IDX Manual (V1.08 / August 30th, 2006) 2 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 Copyright 2005, TRINAMIC Motion Control GmbH & Co. KG