User Manual

PD-1021 Hardware Manual (Rev. 1.00 / 2012-JUN-20) 2
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Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 Dimensions ........................................................................................................................................................... 6
3.1.1 Dimensions of PD28-1-1021 ....................................................................................................................... 6
3.1.2 Dimensions of PD28-3-1021 ....................................................................................................................... 7
3.2 Motor Characteristics .......................................................................................................................................... 8
3.3 Connectors ............................................................................................................................................................. 9
3.3.1 Power, Communication and I/O Connector ........................................................................................ 10
3.3.2 Motor Connector .......................................................................................................................................... 10
3.4 Power Supply ..................................................................................................................................................... 11
3.5 Communication .................................................................................................................................................. 12
3.5.1 RS485 .............................................................................................................................................................. 12
3.6 Inputs and Outputs .......................................................................................................................................... 13
3.6.1 Digital Inputs IN_0, IN_1, IN_2, IN_3 .................................................................................................... 13
3.6.2 Outputs OUT_0, OUT_1 ............................................................................................................................... 14
4 Reset to Factory Defaults ......................................................................................................................................... 15
5 On-board LED ............................................................................................................................................................... 15
6 Operational Ratings ................................................................................................................................................... 16
7 Torque Curves ............................................................................................................................................................. 17
8 Functional description .............................................................................................................................................. 18
9 Life Support Policy ..................................................................................................................................................... 19
10 Revision History .......................................................................................................................................................... 20
10.1 Document Revision ........................................................................................................................................... 20
10.2 Hardware Revision ............................................................................................................................................ 20
11 References .................................................................................................................................................................... 20