MEC H A T R O N I C D R I V E S W IT H S T EP P ER MO T OR
P A Nd r i ves
P D -
1 40- 4 2
-SE
42mm / NEMA17
S t e p p e r M o t o r wi t h
C o n t r o l l e r / D ri v e r ,
Encoder and
S e r i a l I n t e r f a ce
10 m m
M A IN CH A R AC T ER IS T IC S
INFO
The PANdrive PD-140-42-SE is a mechatronic solution including a
42 mm flange motor, a controller board and a sensOstep™ en-
coder. It offers four motor torque options and can be controlled
via CAN, RS-232, RS-485 or USB interface. Power supply, interface
and multi purpose I/Os can be connected with small JST con-
nectors. The chopSync™ feature allows high speed movement
avoiding resonances. The PD-140-42-SE 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“ or „constant rotation“
a rapid and fast development of motion control applications
is guaranteed. Communication traffic is kept very low since all
time critical operations, e.g. ramp calculation are performed on
board. The TMCL program can be stored in the onboard EEPROM
for stand-alone operation. An optional firmware allows to con-
trol the PANdrive via CANopen.
ELECTRICAL
DATA
MOTOR DATA
INTERFACE
• 7V to 28.5V supply voltage
• holding torque 0.22 / 0.36 / 0.44 / 0.70 Nm
• CAN 2.0b (up to 1Mbit/s) host, RS232 or
RS485 interface and USB interface
• two inputs for reference and stop switches
• two 24V compatible general purpose inputs
and two open-collector outputs
FEATURES
• integrated sensOstep™ encoder for position
identification and stall detection
• chopSync™ for high speed movement
• up to 16 times microstepping
• memory for 2048 TMCL commands
• motion profile calculation in hardware (RT)
• on the fly alteration of motion parameters
(e.g. position, velocity, acceleration)
• dynamic current control
• stand-alone operation using TMCL
or remote controlled operation
• PC-based application development
software TMCL-IDE included
SOFTWARE
CAN
or
RS-232
or
RS-485
USB
24V
PD-140-42-SE
programmable
TMCL
Memory
high power
Motion
Controller
with TMC428
Driver
TMC249
MOSFET
Driver
Stage
Step
Motor
OTHER
• optional CANopen firmware (CiA 301, 402)
• pluggable JST connectors / cables included
• RoHS compliant
sensOstep™
Encoder
5V Power Supply
ORDER CODE
D ESC RIP TIO N
PD1-140-42-SE (-option)
PD2-140-42-SE (-option)
PD3-140-42-SE (-option)
PD4-140-42-SE (-option)
INTERFACE OPTIONS
PANdrive 0.22 Nm, 48 mm length with QSH4218-34-20-022 motor
PANdrive 0.36 Nm, 52 mm length with QSH4218-38-20-036 motor
PANdrive 0.44 Nm, 61 mm length with QSH4218-47-20-044 motor
PANdrive 0.70 Nm, 74 mm length with QSH4218-60-20-070 motor
232
485
CAN
CANopen
USB & RS-232 interface (TMCL
firmware)
USB & RS-485 interface (TMCL
firmware)
USB & CAN interface (TMCL
firmware)
USB & CAN interface (CANopen
firmware)
www.trinamic.com
– for detailed information and datasheets
87
ST - Low Power RF
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