User Manual

PD42-1270 Hardware Manual • Hardware Version V1.00 | Document Revision V1.10 • 2017-Mar-02
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1 Features
The PANdrive ™ PD42-1270 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers convenient handling via CAN interface. The PD42-1270 includes a stepper motor,
driver electronics, and a fully featured hardware motion controller. It can be used in many decentralized
applications and has been designed for 0.20...0.47 Nm maximum holding torque and 24V DC nominal
supply voltage. With stealthChop ™ , the PD42-1270 offers absolutely silent and smooth motor operation
for lower and medium velocities. With spreadCycle ™ , the PD42-1270 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 for automatic end step detection and load monitoring.
stallGuard2 is also used for the automatic current scaling feature coolStep ™ . The PD42-1270 comes with a
CAN bus interface and four (4) digital IOs.
1.1 General Features
Main Characteristics
• Supply Voltage +24V nom. (+6V to +28V DC)
• 1.0A RMS phase current (ca. 1.4A peak phase current)
• Highest micro step resolution, up to 256 micro steps per full step
• Available with enclosure and mounted to NEMA17 / 42mm flange size motor
• Permanent onboard parameter storage
• Advanced sixPoint™ ramp hardware motion controller
• 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
I/Os
• Home and reference switch inputs
• Enable input to power-on/-off driver H-bridges
• Optionally configurable analog input
• Optionally configurable incremental encoder inputs (quadrature channels A and B only, no N channel)
CAN Bus Interface
• Standard CAN Bus Interface for control and configuration
• CAN bit rate of 20. . . 1000kBit/s
• TMCL-based protocol with TMCL firmware option
• CANopen protocol with DS402 device profile with CANopen firmware option
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