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 - 5 6 56mm / N EMA2 3 High Per form ance S tepp er M otor wit h wit h Co ntro ller / D rive r a nd S eria l In terf ace 1 0 mm M A IN CH A R AC T ER IS T IC S INFO The PD-111-56 is a full mechatronic solution including a 56mm ELECTRICAL DATA flange high torque motor. The low resistance of the motor coils and the supported high motor current allows highly dynamic • 15V to 36V supply voltage • 5A RMS nominal motor current (7A peak) MOTOR DATA • total length 85mm operation. The driver electronics supports up-to 64 micro-steps. • max. torque 0.78Nm The PD-111-56 can be controlled via RS-232, IIC, RS-485 or CAN, • up to 1200 RPM at 0,56Nm • 5A RMS max. coil current interfaces. For connection of power supply and motor coils screw connectors are available. Communication interfaces and INTERFACE • RS-232, RS-485 or CAN 2.0b, I2C multi purpose I/Os can be connected via small JST connectors. • two inputs for reference and stop switches The PD-111-56 comes with the PC based software develop- • 1 general purpose input and output ment environment TMCL-IDE for the Trinamic Motion Control FEATURES • high accuracy 64 times micro-stepping Language (TMCL). Using predefined TMCL high level commands • high current for highly dynamic drive like „move to position“ or „constant rotation“ a rapid and fast • EEPROM for 2048 TMCL commands development of motion control applications is guaranteed. Com- • automatic ramp generation in hardware munication traffic is kept very low since all time critical opera- • on the fly alteration of motion parameters (e.g. position, velocity, acceleration) tions, e.g. ramp calculation are performed on board. The TMCL • stallGuardTM for sensorless motor stall detection program can be stored in the on board EEPROM for stand-alone operation. With the stallGuardTM feature it is possible to detect • full step frequencies up to 20kHz motor overload or motor stall. • dynamic current control SOFTWARE Step/Dir Sequencer PD-111-56 IIC TMCL Memory MOSFET Driver Stage high power RS-232 RS-485 programmable Motion Controller with TMC428 Driver TMC249 • PC-based application development software TMCL-IDE included Step Motor OTHER 2 I/Os CAN 14..37V DC 2 5V Power Supply • stand alone operation using TMCL or remote controlled operation REFSwitches OR DE R C O DE D E SC R I P T IO N PD-111-56 (-option) PANdrive 0.78 Nm with high speed motor • pluggable JST connectors / cables included • RoHS compliant OP TI O NS 485 RS-232, I2C and RS-485 interface CAN RS-232, I2C and CAN interface www.trinamic.com – for detailed information and datasheets 70