User Manual

PD-x-1670 TMCL

™

Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29

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1 Features

The PD42-x-1670 is a single axis PANdrive

™

for three-phase BLDC motors with state of the art feature set.

It is highly integrated, oﬀers a convenient handling and can be used in many decentralized applications.

The module has been designed for coil currents up to 6.8A Peak at 24V DC supply voltage and has four

digital inputs.

The PANdrive

™

can be controlled via CAN or UART interface using TMCL

™

communication protocoll or in a

standalone mode with a TMCL™ script.

Main characteristics

• Motion controller & BLDC motor driver:

–

High performance microcontroller for overall system control and communication protocol

handling

– BLDC/PMSM sine commutation with ﬁeld-oriented control (FOC)

– Cascaded motor regulation modes in software (torque, velocity, and position)

– On the ﬂy adaptation of motion parameters (e.g. max. velocity, acceleration, PI parameter)

• Interfaces

– CAN

• Software

–

The PD-1670 software runs on a microprocessor and consists of two parts. The boot loader is

installed by TRINAMIC during production. It remains untouched throughout its entire product

lifetime. The ﬁrmware can be updated by the user. New versions can be downloaded free of

charge from the product’s web page [TMCM-1670].

Electrical data

• Supply voltage: 24V nominal (10. . . 28V DC supply range)

• Motor current: up to 6.8A peak

Please see also the separate Hardware Manual.

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com