MECHATRO N I C D R I V E S W I T H S T E P P E R M O T O R P A Nd r i ves PD- 1 40 - 4 2 -SE 42mm / N EMA1 7 Step per Moto r wi th Cont roll er / Dri ver, Enco der and Seri al I nter face 1 0 mm 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™ encoder. It offers four motor torque options and can be controlled ELECTRICAL DATA MOTOR DATA • 7V to 28.5V supply voltage • holding torque 0.22 / 0.36 / 0.44 / 0.70 Nm via CAN, RS-232, RS-485 or USB interface. Power supply, interface • CAN 2.0b (up to 1Mbit/s) host, RS232 or RS485 interface and USB interface and multi purpose I/Os can be connected with small JST con- • two inputs for reference and stop switches nectors. The chopSync™ feature allows high speed movement • two 24V compatible general purpose inputs and two open-collector outputs INTERFACE avoiding resonances. The PD-140-42-SE comes with the PC based software development environment TMCL-IDE for the Trinamic FEATURES Motion Control Language (TMCL). Using predefined TMCL high • integrated sensOstep™ encoder for position identification and stall detection • chopSync™ for high speed movement level commands like „move to position“ or „constant rotation“ • up to 16 times microstepping a rapid and fast development of motion control applications • memory for 2048 TMCL commands is guaranteed. Communication traffic is kept very low since all • motion profile calculation in hardware (RT) time critical operations, e.g. ramp calculation are performed on board. The TMCL program can be stored in the onboard EEPROM • on the fly alteration of motion parameters (e.g. position, velocity, acceleration) for stand-alone operation. An optional firmware allows to con- • dynamic current control trol the PANdrive via CANopen. CAN or RS-232 or RS-485 PD-140-42-SE programmable Motion Controller high power Driver TMC249 • stand-alone operation using TMCL or remote controlled operation • PC-based application development software TMCL-IDE included TMCL Memory with TMC428 USB 24V SOFTWARE MOSFET Driver Stage Step Motor • optional CANopen firmware (CiA 301, 402) OTHER sensOstep™ Encoder • pluggable JST connectors / cables included • RoHS compliant 5V Power Supply OR DE R C O DE D E SC R I P T IO N PD1-140-42-SE (-option) PANdrive 0.22 Nm, 48 mm length with QSH4218-34-20-022 motor PD2-140-42-SE (-option) PANdrive 0.36 Nm, 52 mm length with QSH4218-38-20-036 motor PD3-140-42-SE (-option) PANdrive 0.44 Nm, 61 mm length with QSH4218-47-20-044 motor PD4-140-42-SE (-option) PANdrive 0.70 Nm, 74 mm length with QSH4218-60-20-070 motor IN TE R FA C E O P T I ON S 232 USB & RS-232 interface (TMCL firmware) 485 USB & RS-485 interface (TMCL firmware) CAN USB & CAN interface (TMCL firmware) CANopen USB & CAN interface (CANopen firmware) www.trinamic.com – for detailed information and datasheets 87