User manual

PD-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 4
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1 Features
The PANdrive™ PD-1141 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling. The PD-1141 includes a stepper motor, controller/driver
electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and
has been designed for 0.27… 0.49 Nm max. holding torque and 24V DC nominal supply voltage. With its
high energy efficiency from TRINAMICs coolStep technology cost for power consumption is kept down. The
TMCL™ firmware allows for standalone operation and direct mode.
MAIN CHARACTERISTICS
Motion controller
- 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
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
Interfaces
- RS485 2-wire communication interface
- USB full speed (12Mbit/s) device interface
- Step/Direction/Enable interface (optically isolated) for external control of driver circuit
- 4 multipurpose inputs:
- 3x general-purpose digital inputs
(Alternate functions: STOP_L / STOP_R / HOME switch inputs)
- 1x dedicated analog input
- 2 general purpose outputs
- 2x open-drain 100 mA max.
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24 V DC nominal (9… 28 V DC)
- Motor current: up to 1.1 A RMS / 1.7 A peak (programmable)
- 0.27… 0.49 Nm max. holding torque (depends on motor)
Refer to separate Hardware Manual, too.