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 11 - 4 2 42mm / NEMA17 High Performance Stepper Motor wi th Con trol ler / Dr iver and Ser ial Inte rfac e 1 0 mm M A IN CH A R AC T ER IS T IC S INFO The PD-111-42 is a full mechatronic solution including a 42 mm flange high torque motor. Its high motor current allows up to ELECTRICAL DATA MOTOR DATA • 7V to 28.5V supply voltage • total length: 74 mm: max. torque 0.46Nm 1200 RPM movement and high precision 64 microsteps. The PD- • up to 1200 RPM at 0.25Nm 111-42 can be controlled via RS232, IIC, RS485 or CAN interface. • motor uses 2.8A RMS current connected with small JST connectors. The PD-111-42 comes with • RS-232, I²C, RS-485 or CAN 2.0b host interface the PC based software development environment TMCL-IDE for • 2 inputs for reference and stop switches The power supply, interface and the multi purpose I/Os can be INTERFACE • 1 general purpose input and 1 output the Trinamic Motion Control Language (TMCL). Using predefined TMCL high level commands like „move to FEATURES • up to 64 times microstepping position“ or „constant rotation“ a rapid and fast development • memory for 2048 TMCL commands of motion control applications is guaranteed. Communication • automatic ramp generation in hardware traffic is kept very low since all time critical operations, e.g. • on the fly alteration of motion parameters (e.g. position, velocity, acceleration) ramp calculation are performed on board. The TMCL program • stallGuard™ for sensorless motor stall detection can be stored in the on board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial • dynamic current control interface. With the stallGuard™ feature it is possible to detect SOFTWARE motor overload or motor stall. • stand-alone operation using TMCL or remote controlled operation • PC-based application development software TMCL-IDE included Step/Dir Sequencer PD-111-42 IIC OTHER TMCL Memory MOSFET Driver Stage high power RS-232 RS-485 programmable Motion Controller with TMC428 Driver TMC249 Step • pluggable JST connectors / cables included • RoHS compliant Motor 2 I/Os CAN 7..28.5V DC 2 5V Power Supply REFSwitches OR DE R C O DE D E SC R I P T IO N PD-111-42 (-option) PANdrive 0.46 Nm with high speed motor OP TI O NS 485 RS-485, RS-232 and I2C interface CAN CAN, RS-232 and I2C interface www.trinamic.com – for detailed information and datasheets 69