User Manual

PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02
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11 Functional Description
The PD42-x-1241 is a full mechatronic solution including a 42mm flange (NEMA17) bipolar stepper motor.
It includes the controller / driver electronics TMCM-1241 and a choice between four different NEMA 17 /
42mm flange size bipolar hybrid stepper motors with different length and torque.
The PD42-x-1241 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-1241 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-1241 or TMCM-1241 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.
The PD42-x-1241 contains the following main components:
• Microcontroller (ARM Cortex-M3™), responsible for overall control and communication
• Highly integrated advanced stepper motor controller supporting linear and unique 6-points ramps in
hardware
• Advanced stepper motor driver with stallGuard2 ™ and coolStep ™ with MOSFET driver stage (8x
power N-MOSFETs for bipolar stepper motor)
• RS485, CAN and USB transceivers
• On-board voltage regulators (+5V and +3V3) required for supply of all on-board digital circuits
10
…
30
V DC
ARM
Cortex
-
M
3
TM
microcontroller
EEPROM
6
I
/
Os
RS
485
MOSFET
Driver
Stage
Energy Efficient
Driver
TMC
262
Motion
Controller
+
Pre
-
Driver
SPI
USB
SPI
CAN
DC
/
DC
+
5
V
sensOstep™
Encoder
SPI
+
3
V
3
STOP
_
L
/
R
,
S
/
D
,
Encoder
Step
Motor
PD
42
-
3
-
1241
QSH
4218
-
47
-
28
-
040
TMCM
-
1241
PD
42
-
4
-
1241
QSH
4218
-
60
-
30
-
080
Figure 17: PD42-x-1241 block diagram
©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