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 Ndr i ves
P D -
11 1- 56
5 6 m m / NE M A 2 3
H i g h P e rf o r m a n c e
Stepper Motor with
w i t h Co n t r o l l e r / D r i v er
a n d S e r ia l I n t e r f a c e
10 m m
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
flange high torque motor. The low resistance of the motor coils
and the supported high motor current allows highly dynamic
operation. The driver electronics supports up-to 64 micro-steps.
The PD-111-56 can be controlled via RS-232, IIC, RS-485 or CAN,
interfaces. For connection of power supply and motor coils
screw connectors are available. Communication interfaces and
multi purpose I/Os can be connected via small JST connectors.
The PD-111-56 comes with the PC based software develop-
ment 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. Com-
munication traffic is kept very low since all time critical opera-
tions, e.g. ramp calculation are performed on board. The TMCL
program can be stored in the on board EEPROM for stand-alone
operation. With the stallGuard
TM
feature it is possible to detect
motor overload or motor stall.
ELECTRICAL
DATA
• 15V to 36V supply voltage
• 5A RMS nominal motor current (7A peak)
• total length 85mm
• max. torque 0.78Nm
• up to 1200 RPM at 0,56Nm
• 5A RMS max. coil current
• RS-232, RS-485 or CAN 2.0b, I2C
• two inputs for reference and stop switches
• 1 general purpose input and output
• high accuracy 64 times micro-stepping
• high current for highly dynamic drive
• EEPROM for 2048 TMCL commands
• automatic ramp generation in hardware
• on the fly alteration of motion parameters
(e.g. position, velocity, acceleration)
• stallGuard
TM
for sensorless motor
stall detection
• full step frequencies up to 20kHz
• dynamic current control
• stand alone operation using TMCL
or remote controlled operation
• PC-based application development
software TMCL-IDE included
MOTOR DATA
INTERFACE
FEATURES
SOFTWARE
Step/Dir
Sequencer
PD-111-56
IIC
TMCL
Memory
high power
RS-232
RS-485
CAN
Motion
Controller
with TMC428
programmable
Driver
TMC249
MOSFET
Driver
Stage
2
Step
Motor
OTHER
I/Os
• pluggable JST connectors /
cables included
• RoHS compliant
14..37V DC
2
5V Power Supply
REF-
Switches
ORDER CODE
D ESC RIP TIO N
PD-111-56 (-option)
OPTIONS
PANdrive 0.78 Nm with high speed motor
485
CAN
RS-232, I2C and RS-485 interface
RS-232, I2C and CAN interface
www.trinamic.com
– for detailed information and datasheets
70
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
