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PD42-x-1240 Hardware Manual • Hardware Version V1.20 | Document Revision V1.10 • 2018-DEC-05

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1 Features

The PANdrive

™

PD42-1-1240, PD42-2-1240, PD42-3-1240 amd PD42-4-1240 are small and compact full

mechatronic solutions including NEMA17 / 42mm ﬂange size stepper motors, the TMCM-1240 controller /

driver electronics and TRINAMIC

™

SensOstep

™

encoder for step-loss detection. The four PANdrives include

stepper motor with diﬀerent lengths and diﬀerent holding torques (PD42-1-1240: 0.22Nm, PD42-2-1240:

0.36Nm, PD42-3-1240: 0.44Nm and PD42-4-1240: 0.7Nm) but, same electronics and encoder setup. The

PANdrives support both, stand-alone operation e.g. using the on-board I/Os together with the build-in

TMCL scripting feature and remote operation using one of the available communication interfaces and

even a mixture of both.

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

• Encoder interface and Reference / Stop switch inputs

Driver

• Motor current: up to 2A RMS (2.2A RMS max. / 3.1A peak, programmable in software)

• Supply voltage: +24V DC (+10. . . +30V DC)

• 256 microsteps per fullstep

• SpreadCycle™ highly dynamic current control chopper

• StealthChop™ for quiet operation and smooth motion

• programmable Step/Dir interface for driver-only applications with microstep interpolation

Encoder

•

integrated SensOstep

™

absolut position magnetic encoder (resolution: 1024 increments per rotation)

for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5

encoder steps)

•

support for external A/B incremental encoder in addition / as an alternative for the integrated

encoder

• programmable encoder scaling and support for motor stop on encoder deviation

Interfaces

• RS485 interface (up-to 1Mbit/s)

• CAN interface (up-to 1Mbit/s)

• USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)

• Step/Dir input (optically isolated)

• Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)

• 2 general purpose digital inputs

• Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)

• 1 analog input (0..10V nom. input range)

Terms of delivery and rights to technical change reserved.

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