User Manual

PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 2017-Mar-02
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1 Features
The PANdrive ™ PD42-1070 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling.
The PD42-1070 includes a stepper motor and driver electronics. It can be used in many decentralized
applications and has been designed for 0.20...0.47 Nm max. holding torque and 24V DC nominal supply
voltage. With stealthChop ™ , the PD42-1070 offers absolutely silent and smooth motor operation for
lower and medium velocities. With spreadCycle ™ , the PD42-1070 offers a high performance current
controlled chopper mode for highest velocities with perfect zero crossing performance. With stallGuard2 ™ ,
a sensorless load detection feature is provided, which is required for using the automatic current scaling
feature coolStep ™ . The PD42-1070 can be used with a simple step and direction interface and can be
configured using a TTL UART interface.
stallGuard2 and coolStep must be configured via TTL UART interface and are disabled by default.
1.1 General Features
Main Characteristics
• Supply Voltage +9V to +24V DC
• 1.0A RMS phase current (ca. 1.4A peak phase current)
• Highest micro step resolution, up to 256 micro steps per full step
• microPlyer ™ microstep interpolator for obtaining increased smoothness of microstepping over a low
frequency STEP/DIR interface
• With housing and motor mounted
• Permanent onboard parameter storage
• Simple step & direction mode
• Noiseless stealthChop™ chopper mode for slow to medium velocities
• High performance spreadCycle™ chopper mode
• High-precision sensorless load measurement with stallGuard2™
• Automatic current scaling algorithm coolStep™ to save energy and keep your drive cool
Optically Isolated Inputs
• Step & direction interface with up to 45kHz input frequency
• Enable input to power-on/-off driver H-bridges
• Mode select input to switch between the two chopper modes
TTL UART Interface
• TTL-level UART interface for parameter configuration
• Interface speed 9600-115200 bps (default 9600 bps)
• TMCL-based protocol for online configuration and permanent parameter settings
• Bootloader for firmware updates
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