User Manual

PD42-1141 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.06 • 2018-JAN-09
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1 Features
The PANdrive ™ PD-1141 is a full mechatronic solution with state of the art feature set. It is highly integrated
and offers a convenient handling. The PD-1141 includes a stepper motor and controller/driver electronics.
It can be used in many decentralized applications and has been designed for 0.20. . . 0.70Nm maximum
holding torque and 24V DC nominal supply voltage. With its high energy efficiency from TRINAMICs
coolStep technology cost for power consumption is kept down. The TMCL ™ firmware allows for standalone
operation and direct mode control.
Main characteristics
• Motion controller & stepper motor driver:
– Hardware motion profile calculation in real-time.
– On the fly alteration of motion parameters (e.g. position, velocity, acceleration).
– High performance microcontroller for overall system control and communication protocol
handling.
– Up to 256 microsteps per full step.
– High-efficient operation, low power dissipation.
– Dynamic current control.
– Integrated protection.
– stallGuard2™ feature for stall detection.
– coolStep™ feature for reduced power consumption and heat dissipation.
• Interfaces
– USB interface.
– RS485 bus.
– Three general-purpose digital inputs (Alternate functions: stop switches and home switch).
– One deciated analog input.
– Two general purpose digital outputs (one open drain max. 100mA).
Software
TMCL remote controlled operation via USB, RS485 or CAN interface and/or stand-alone operation via TMCL
programming. PC-based application development software TMCL-IDE available for free.
Electrical data
• Supply voltage: +24V DC nominal (10. . . 28V DC supply range).
• Motor current: up to 1.1A RMS / 1.6A peak (programmable).
Please see also the separate Hardware Manual.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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