User Manual

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 27

10 Functional description

The PD42-x-1140 is a full mechatronic solution including a 42mm flange (NEMA17) bipolar stepper motor. It

includes the controller / driver electronics TMCM-1140 and a choice between four different NEMA 17 / 42mm

flange size bipolar hybrid stepper motors with different length and torque.

The PD42-x-1140 can be controlled via USB, RS485 or CAN serial interfaces. There are three general purpose

digital inputs which can be used, also as STOP_L / STOP_R / HOME switch inputs (for reference movements, as

end switches etc. depending on firmware, mode and configuration) or for connecting an additional external

encoder (incremental A/B/N). In addition, there is one dedicated analog input for 0..+10V analog signals and two

general-purpose outputs (one open-drain and one switchable +5V supply output).

The PD42-x-1140 with TMCL™ firmware option is supported by the PC based software development

environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level

commands like move to position a rapid and fast development of motion control applications is guaranteed.

Please refer to the PD42-x-1140 or TMCM-1140 firmware manuals for more information about TMCL™ commands.

Communication traffic is kept low since all time critical operations, e.g. ramp calculation are performed on

board. Complete stand-alone or full remote control or anything in-between is possible. The firmware of the

module can be updated via the serial interface.

As an alternative to TMCL, a CANopen firmware is available.

In Figure 10.1 the main parts of the PD42-x-1140 are shown:

- microcontroller, which runs the TMCL script language interpreter (connected to TMCL memory),

- dedicated motion controller, which calculates ramps and speed profiles in hardware,

- pre-driver with stallGuard2™ and its energy efficient coolStep™ feature,

- MOSFET driver stage,

- NEMA17 / 42mm flange size bipolar hybrid stepper motor

- sensOstep™ encoder with resolutions of 10bit (1024 steps) per revolution.

Figure 10.1: Main parts of PD42-x-1140