User Manual

PD-1160 V1.1 Hardware Manual (Rev. 1.00 / 2012-JUN-12) 29
www.trinamic.com
9 Functional Description
The PD-1160 is a highly integrated mechatronic device which can be controlled via several serial
interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are
performed on board. Common supply voltages are +12VDC / +24VDC / +48VDC. The PANdrive is designed
for both: direct mode and standalone operation. Full remote control of device with feedback is possible.
The firmware of the module can be updated via any of the serial interfaces.
In Figure 9.1 the main parts of the PD-1160 are shown:
- the microprocessor, which runs the TMCL operating system (connected to TMCL memory),
- the motion controller, which calculates ramps and speed profiles internally by hardware,
- the power driver with stallGuard2 and its energy efficient coolStep feature,
- the MOSFET driver stage,
- the QSH stepper motor, and
- the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.
9… 51V DC
RS485
USB
µC
TMCL
Memory
7
I/Os
Step
Motor
MOSFET
Driver
Stage
SPI
PD-1160
SPI
SPI
S/D
TMC429
Motion
Controller
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
S/D
S/D
CAN
Encoder
a/b/n
TMCM-1160
+5V
Stop
switches
sensOstep™
Encoder
SPI
Figure 9.1 Main parts of the PD-1160
The PD-1160 comes with 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 PD-1160 Firmware Manual for more information about TMCL commands.