Datasheet
PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03
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11 Functional Description
The PD20-1-1210 is a full mechatronic solution including a 20mm flange (NEMA8) bipolar stepper motor
and the TMCM-1210 controller / driver electronics.
The PD20-1-1210 can be controlled via RS485 serial interfaces. There is one general purpose digital
inputs which can be used, also as STOP_L / STOP_R or HOME switch input (for reference movements, as
end switches etc. depending on firmware, mode and configuration).
The PD20-1-1210 with TMCL
™
firmware option is supported by the PC based software development
environment TMCL-IDE for the Trinamic Motion Control Language (TMCL
™
). Using predefined TMCL
™
high level commands like move to position a rapid and fast development of motion control applications
is guaranteed. Please refer to the PD20-1-1210 firmware manual for more information about TMCL
™
commands.
Communication traffic is kept low since all time critical operations, e.g. ramp calculation are performed on
board. Complete stand-alone or full remote control or anything in-between is possible. The firmware of
the module can be updated via the serial interface.
The PD20-1-1210 contains the following main components:
• microprocessor, which runs the TMCL operating system (connected to TMCL memory)
• motion controller which calculates ramps and speed profiles internally in hardware
•
driver with StallGuard2
™
and its energy efficient CoolStep
™
feature and StealthChop
™
for extremely
quiet operation
•
hall sensor based encoder which delivers position feedback at low speed (few 100rpm max.) - can be
used for reference search e.g. after power-up
typ
.
12
V
/
24
V DC
ARM
Cortex
-
M
0
+
TM
microcontroller
TMCL™
Memory
Step
Motor
RS
485
Energy Efficient
Driver
TMC
262
TMC
2130
Bipolar
stepper
motor
controller
+
driver
PD
20
-
1
-
1210
I
2
C
SPI
Input
Hall
Encoder
I
2
C
A
/
B
REFL
/
REFR
TMCM
-
1210
QSH
2018
-
02
-
06
-
033
Figure 10: PD20-1-1210 block diagram
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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