User Manual
PD42-1241 TMCL
™
Firmware Manual • Firmware Version V1.44 | Document Revision V1.01 • 2019-MAY-23
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1 Features
The PANdrive
™
PD42-1241 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling. The PD42-1241 includes a stepper motor, controller/driver
electronics and Trinamic’s SensOstep
™
encoder. It can be used in many decentralized applications and has
been designed for 0.20. . . 0.80Nm maximum holding torque and 24V DC nominal supply voltage. With its
high energy efficiency from TRINAMICs CoolStep
™
technology cost for power consumption is kept down.
The TMCL™ firmware allows for standalone operation and direct mode control.
Main characteristics
• Motion controller & stepper motor driver:
– Hardware motion profile calculation in real-time.
– On the fly alteration of motion parameters (e.g. position, velocity, acceleration).
–
High performance microcontroller for overall system control and communication protocol
handling.
– Up to 256 microsteps per full step.
– High-efficient operation, low power dissipation.
– Dynamic current control.
– Integrated protection.
– StallGuard2™ feature for stall detection.
– CoolStep™ feature for reduced power consumption and heat dissipation.
– StealthChop™ feature for quiet operation and smooth motion.
– DcStep™ feature for load dependent speed control.
• Encoder
– SensOstep™ magnetic encoder with 1024 increments per round.
–
Usable for example for step-loss detection under all operating conditions and positioning
supervision.
– Interface for additional external encoder.
• Interfaces
– USB interface.
– RS485 bus.
– CAN bus.
– Step/Direction inputs.
–
Three general-purpose digital inputs (Alternate functions: home switch, quadrature encoder
input).
– One dedicated analog input.
– Two stop switch inputs.
– One general purpose digital output (open drain max. 1A).
Software
TMCL remote controlled operation via USB, RS485 or CAN interface and/or stand-alone operation via TMCL
programming. PC-based application development software TMCL-IDE available for free.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com