User Manual
PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02
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1 Features
The PANdrive
™
PD42-3-1241 and PD42-4-1241 are small and compact full mechatronic solution including
a NEMA17 / 42mm flange size stepper motor of different length and torque, the TMCM-1241 controller
/ driver electronics and TRINAMIC sensOstep
™
encoder for step-loss detection. Both PANdrive include
a stepper motor with high current coil windings (up-to 3A RMS) designed especially for higher speed
operations (when comparing with the PD42-x-1240 line of PANdrives
™
). With the PD42-3-1241 more than
5000rpm are possible at 24V supply voltage. This PANdrive support both, stand-alone operation e.g. using
the on-board I/Os together with the build-in TMCL scripting feature and remote operation using one of the
available communication interfaces and even a mixture of both.
Motion Controller
• Motion profile calculation in real-time
• On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
• Linear and unique sixPoint™ramp in hardware
• Encoder interface and Reference / Stop switch inputs
Driver
• Motor current: up to 3A RMS (4.3A peak, programmable in software)
• Supply voltage: +24V DC (+10. . . +30V DC)
• 256 microsteps per fullstep
• spreadCycle™highly dynamic current control chopper
• stealthChop™for quiet operation and smooth motion
• programmable Step/Dir interface for driver-only applications with microstep interpolation
Encoder
•
integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation)
for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5
encoder steps)
•
support for external A/B incremental encoder in addition / as an alternative for the integrated
encoder
• programmable encoder scaling and support for motor stop on encoder deviation
Interfaces
• RS485 interface (up-to 1Mbit/s)
• CAN interface (up-to 1Mbit/s)
• USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)
• Step/Dir input (optically isolated)
• Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)
• 2 general purpose digital inputs
• Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)
• 1 analog input (0..10V nom. input range)
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