User Manual

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 2
Copyright © 2012-2018, TRINAMIC Motion Control GmbH & Co. KG
Table of contents
1 Life support policy ....................................................................................................................................................... 3
2 Features ........................................................................................................................................................................... 4
3 Order codes .................................................................................................................................................................... 6
4 Mechanical and electrical interfacing ..................................................................................................................... 7
4.1 Dimensions of PD42-x-1140 .............................................................................................................................. 7
4.2 Stepper motor ...................................................................................................................................................... 8
4.3 Integrated sensOstep™ encoder..................................................................................................................... 9
4.4 Connectors ........................................................................................................................................................... 10
4.4.1 Power and Communication ...................................................................................................................... 11
4.4.2 Multi-purpose I/O ......................................................................................................................................... 14
4.4.3 Motor ............................................................................................................................................................... 18
4.4.4 Mini-USB ......................................................................................................................................................... 18
5 Motor driver current .................................................................................................................................................. 20
6 Reset to Factory Defaults ......................................................................................................................................... 21
7 On-Board LEDs ............................................................................................................................................................. 22
8 Operational ratings .................................................................................................................................................... 23
9 Torque Curves .............................................................................................................................................................. 25
9.1.1 PD42-1-1140 Torque Curve ........................................................................................................................ 25
9.1.2 PD42-2-1140 Torque Curve ........................................................................................................................ 25
9.1.3 PD42-3-1140 Torque Curve ........................................................................................................................ 26
9.1.4 PD42-4-1140 Torque Curve ........................................................................................................................ 26
10 Functional description .............................................................................................................................................. 27
11 PD42-x-1140 Operational Description .................................................................................................................... 28
11.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 28
12 Revision history .......................................................................................................................................................... 30
12.1 Document revision ............................................................................................................................................ 30
12.2 Hardware revision ............................................................................................................................................. 30
13 References..................................................................................................................................................................... 31