Datasheet

PD20-1-1210 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-APR-03

3 / 24

1 Features

The PANdrive

™

PD20-1-1210 is currently our smallest and most compact full mechatronic solution includ-

ing a NEMA8 / 20mm ﬂange size stepper motor, the TMCM-1210 controller / driver electronics and hall

sensor based encoder. It can be controlled via RS485 and oﬀers one digital input for easy homing / initial

search for reference position.

Motion Controller

• Motion proﬁle calculation in real-time

• On the ﬂy alteration of motor parameters (e.g. position, velocity, acceleration)

• Linear and unique sixPoint™ ramp in hardware

• Reference / end switch input

Driver

• Motor current: up to 0.6A RMS (1A peak, programmable in software)

• Supply voltage: +12V or +24V DC (+6. . . +30V DC)

• 256 microsteps per fullstep

• SpreadCycle™ highly dynamic current control chopper

• StealthChop™ for quiet operation and smooth motion

Position sensor

•

integrated hall sensor based absolut position (within one rotation) magnetic encoder (resolution:

4096 increments per rotation) - suitable for low velocity applications (up-to few hundred rpm) - e.g.

initial reference search (together with HOME sensor) after power-up.

Interfaces

• RS485 interface

•

1 digital input, can be used as reference switch (HOME) or left / right (STOP_L, STOP_R) stop switch

input

Software

•

TMCL

™

remote (direct mode) and standalone operation (memory for up to 876 TMCL

™

commands),

fully supported by TMCL-IDE (PC based integrated development environment). Please see PD20-1-

1210 TMCL ﬁrmware manual for more details

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com