User Manual

PD42-x-1140 Hardware Manual (V1.03 / 2018-JAN-25) 4
Copyright © 2012-2018, TRINAMIC Motion Control GmbH & Co. KG
2 Features
The PANdrive™ PD42-1-1140, PD42-2-1140, PD-3-1140 and PD42-4-1140 are small and compact full mechatronic
solutions including NEMA17 / 42mm flange size stepper motors, the TMCM-1140 controller/ driver electronics and
TRINAMIC sensOstep™ encoder for step-loss detection. The four PANdrives include stepper motor with different
lengths and different holding torques (PD42-1-1140: 0.22Nm, PD42-2-1140: 0.36Nm, PD42-3-1140: 0.44Nm and
PD42-4-1140: 0.7Nm) but, same electronics and encoder setup. The PANdrives support both, stand-alone
operation e.g. using the on-board I/Os together with the build-in TMCL scripting feature and remote control
operation using the RS485 2-wire communication bus interface and even a mixture of both.
Applications
 Compact and decentralized stepper motor solutions
 Step loss detection for high reliability operation
Electrical data
 Supply voltage: +24V DC nominal
 Motor current: up to 2.8A peak / 2A RMS (programmable)
Integrated motion controller
 Motion profile calculation in real-time (TMC429 motion controller)
 On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
 High performance ARM Cortex-M3™ microcontroller for overall system control and serial communication
protocol handling
Integrated bipolar stepper motor driver
 Up to 256 microsteps per full step
 High-efficient operation, low power dissipation (MOSFETs with low R
DS(ON)
)
 Dynamic current control
 Integrated protection
 stallGuard2™ feature for stall detection
 Automatic load dependent motor current adaptation for reduced power consumption and heat
dissipation (coolStep™)
Integrated encoder
 Integrated sensOstep™ magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss
detection under all operating conditions and positioning
Integrated motor
 Two phase bipolar stepper motor with 2A RMS nom. coil current
 Holding torque: 0.22Nm, 0.36Nm, 0.44Nm or 0.7Nm
Interfaces
 RS485 2-wire communication interface
 CAN 2.0B communication interface
 USB full speed (12Mbit/s) device interface
 4 multi-purpose inputs:
o 3x general-purpose digital inputs
(alternate functions: STOP_L/STOP_R/HOME switch inputs or A/B/N encoder input)
o 1x dedicated analog input
 2 general purpose outputs
o 1x open-drain 1A max.
o 1x +5V supply output – can be switched on/off in software e.g. for encoder / end switch supply
Software
 Available with TMCL™ or CANopen firmware
 TMCL™ remote (direct mode) and stand-alone operation (memory for up-to 1024 TMCL™ commands)