User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 4
www.trinamic.com
1 Features
The PANdrive™ PD-1021 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling. The PD-1021 includes a stepper motor, controller/driver
electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and
has been designed for 0.06… 0.12 Nm max. holding torque and 24V DC nominal supply voltage. With its
high energy efficiency from TRINAMIC’s coolStep technology cost for power consumption is kept down. The
TMCL™ firmware allows for standalone operation and direct mode.
MAIN CHARACTERISTICS
Highlights
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
- For position movement applications, where larger motors do not fit and higher torques are not
required
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2 feature for stall detection
- coolStep feature for reduced power consumption and heat dissipation
Encoder
- sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under
all operating conditions and positioning supervision
Interfaces
- Up to 4 multipurpose inputs (2 shared with outputs)
- 2 general purpose outputs
- RS485 2-wire communication interface
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 876 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24V DC nominal (9… 28V DC)
- Motor current: up to 0.7A RMS (programmable)
- 0.06 or 0.12Nm max. holding torque (depends on motor)
Refer to separate TMCL Hardware Manual, too.