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 P D- 1 0 9 - 5 7 57mm / NEMA23 Stepper Motor with Controller / Driver and Serial Interface 1 0 mm M A IN CH A R AC T ER IS T IC S INFO The PD-109-57 is a full mechatronic solution including a 57 mm ELECTRICAL DATA flange motor (NEMA23). It combines a convenient controller • 3A RMS nominal motor current (5A peak possible) electronic with a range of different motor types. The PD-109-57 offers three motor torque options and can be controlled via MOTOR DATA RS-232 or RS-485 interface. The power supply, interface and the INTERFACE • RS232 and RS485 host interface • 2 inputs for reference and stop switches development environment TMCL-IDE for the Trinamic Motion • 3 general purpose input and 1 output Control Language (TMCL). Using predefined TMCL high level commands like „move to position“ or „constant rotation“ a rapid • total length: 71 mm / 85 mm / 108 mm: max. torque 0.47Nm / 0.98Nm / 1.63Nm • please also refer to the motor datasheet multi purpose I/Os can be connected via two pluggable screw connectors. The PD-109-57 comes with the PC based software • 18V to 55V supply voltage FEATURES • up to 16 times microstepping • memory for 2048 TMCL commands and fast development of motion control applications is guar- • automatic ramp generation in hardware anteed. Communication traffic is kept very low since all time • on the fly alteration of motion parameters (e.g. position, velocity, acceleration) critical operations, e.g. ramp calculation are performed onboard. The TMCL program can be stored in the on-board EEPROM for stand-alone operation. The firmware of the module can be • stallGuard™ for sensorless motor stall detection updated via the serial interface. With the stallGuard™ feature it • optically isolated inputs is possible to detect motor overload or motor stall. • dynamic current control SOFTWARE PD-109-57 RS485 RS232 18 … 55V DC • PC-based application development software TMCL-IDE included TMCL Memory programmable Motion Controller high power Driver TMC249 with TMC428 MOSFET Driver Stage Step OTHER Motor 2 • pluggable screw terminal connectors for all external signals • RoHS compliant I/Os 5V Power Supply • stand-alone operation using TMCL or remote controlled operation REF-Switches OR DER CODE D E SC RI PT IO N PD1-109-57 (-option) PANdrive 0.47 Nm with motor QSH5718-41-30-047 PD2-109-57 (-option) PANdrive 0.98 Nm with motor QSH5718-55-30-098 PD3-109-57 (-option) PANdrive 1.63 Nm with motor QSH5718-79-30-163 OP TIONS RS RS-232 and RS-485 interface www.trinamic.com – for detailed information and datasheets 83