Datasheet

PD-1140
42mm | NEMA 17
Stepper Motor with
Controller / Driver
0.22 - 0.70Nm / 24V
sensOstep™ Encoder
Serial Interface
PANdriveMECHATRONIC DRIVE WITH STEPPER MOTOR
INFO
M A IN C HAR AC T ER IST ICS
www.trinamic.com – for detailed information and datasheets
The PD42-1140 is a very compact and efficient mechatronic solu-
tion including a 42mm flange motor, a controller/driver board
and a sensOstep™ encoder. It can be controlled via RS485, USB,
or CAN interface or alternatively operated in standalone mode.
Power supply, interfaces, and multipurpose inputs and outputs
can be connected with JST connectors.
With the advanced stallGuard2™ feature the motor load can be
detected with high resolution. The new outstanding coolStep™
technology for sensorless load dependent current control allows
energy efficient motor operation.
The PC based software development environment TMCL-IDE for
the Trinamic Motion Control Language TMCL™ can be down-
loaded free of charge from the TRINAMIC website. Predefined
high level TMCL commands guarantee a rapid development of
motion control applications.
ORD ER C ODE DES CRIP TION
PD42-1-1140
PANdrive 0.22Nm max.
PD42-2-1140
PANdrive 0.36Nm max.
PD42-3-1140
PANdrive 0.44Nm max.
PD42-4-1140
PANdrive 0.70Nm max.
PD-1140-CABLE
Cable loom including all neccessary cables (single ended)
9… 28V DC
µC
TMCL™
Memory
5
I/Os
Step
Motor
RS485
MOSFET
Driver
Stage
SPI
PD-1140
TMCM-1140
SPI
USB
SPI
S/D
CAN
DC/DC
OUT_0
+5V
sensOstep™
Encoder
SPI
TMC429
Motion
Controller
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
+5V
Stop
switches
S/D
ELECTRICAL
DATA
• 9V to 28V DC supply voltage
MOTOR DATA • flange size 42mm | NEMA17
INTERFACE • RS485, USB, and CAN
• inputs for ref. & stop switches
• general purpose I/Os
FEATURES • up to 256 times microstepping
• memory for 2048 TMCL™ commands
• stallGuard2™ sensorless load detection
• coolStep™ sensorless load dependent cur-
rent control
• microPlyer™ 16 to 256 times microstepping
interpolation
• integrated absolute sensOstep™ encoder
with 1024 pps.
• automatic ramp generation in hardware
• on the fly alteration of motion parameters
SOFTWARE • standalone operation using TMCL or remote
controlled operation
• PC-based (Windows) application develop-
ment software TMCL-IDE downloadable
OTHER • pluggable JST connectors
• RoHS compliant
• size: 42 x 42 mm
2
co o l S t e p™
sensorless closed loop current control
load detection