User Manual

PD42-x-1241 Hardware Manual • Hardware Version V1.00 | Document Revision V1.23 • 2019-JAN-02
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3.3 Integrated sensOstep™ encoder
The PD42-x-1241 PANdrives offer integrated sensOstep ™ encoders based on hall sensor technology. As the
name “sensOstep ™ “ already indicates intended use of this type of compact and highly integrated encoder
is step loss detection of motor movements. As soon as the motor has been moved to a new location the
position may be verified using this encoder feedback. In case the stepper motor has lost one or multiple
steps during movement e.g. due to overload / any obstacle encountered during movement the motor axes
will jump for at least one electrical period / 4 full steps. This can be detected using the integrated encoder.
In addition, step losses may be already detected during motor movements using the “deviation” setting
available as part of the TMCL firmware (see PD42-x-1241 / TMCM-1241 firmware manual for more details).
While the encoder offers 10bit (1024 steps) resolution per motor revolution the absolute position informa-
tion is less accurate and depends on the displacement of the hall sensor based encoder IC relative to the
magnet and motor axis among other factors. Every PANdrive ™ has been tested for maximum deviation
of +/- 5 encoder steps (static performance) relative to commanded microstep target position during final
tests after assembly at our factory. This will ensure more than adequate performance of the integrated
sensOstep™ encoder for step loss detection during motor movements.
NOTICE
Do not disassemble PANdrive™ when using integrated encoder In order to
make proper use of the integrated sensOstep ™ encoder (the sensor IC is placed
on the bottom center of the pcb) the TMCM-1241 electronics should not be
removed/moved relative to the motor! Otherwise encoder performance might
suffer / not work.
Note: In case the integrated encoder feature is not used, the TMCM-1241
electronics may be moved or even removed from the motor and placed
somewhere else according to application requirements.
NOTICE
Keep the electronics free of (metal) particles! The integrated sensOstep ™
encoder uses a magnet at the end of the motor axis in order to monitor position
of the motor axis. The magnet naturally attracts especially tiny metal particles.
These particles might be held on the top side of the PCB and – even worse – start
moving in accordance with the rotating magnetic field as soon as the motor starts
moving. This might lead to shorts of electronic contacts / wires on the board
and totally erratic behavior of the module! Use compressed air for cleaning the
module if necessary (especially in prototype setups).
In order to prevent shorts and better protect the electronics the TMCM-1241
printed circuit board is coated after assembly of components.
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