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 -
109- 57
5 7 m m / NE M A 23
S t e pp e r M o t or wi t h
C o n tr o l le r / D ri v e r
a n d S e ri a l I n te r f ac e
10 m m
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
flange motor (NEMA23). It combines a convenient controller
electronic with a range of different motor types. The PD-109-57
offers three motor torque options and can be controlled via
RS-232 or RS-485 interface. The power supply, interface and the
multi purpose I/Os can be connected via two pluggable screw
connectors. The PD-109-57 comes with the PC based software
development 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 guar-
anteed. Communication traffic is kept very low since all time
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
updated via the serial interface. With the stallGuard™ feature it
is possible to detect motor overload or motor stall.
ELECTRICAL
DATA
• 18V to 55V supply voltage
• 3A RMS nominal motor current
(5A peak possible)
MOTOR DATA
• total length: 71 mm / 85 mm / 108 mm:
max. torque 0.47Nm / 0.98Nm / 1.63Nm
• please also refer to the motor datasheet
• RS232 and RS485 host interface
• 2 inputs for reference and stop switches
• 3 general purpose input and 1 output
• up to 16 times microstepping
• memory for 2048 TMCL commands
• automatic ramp generation in hardware
• on the fly alteration of motion parameters
(e.g. position, velocity, acceleration)
• stallGuard™ for sensorless
motor stall detection
• optically isolated inputs
• dynamic current control
• stand-alone operation using TMCL
or remote controlled operation
• PC-based application development
software TMCL-IDE included
INTERFACE
FEATURES
SOFTWARE
PD-109-57
programmable
TMCL
Memory
RS485
RS232
18 …
55V DC
Motion
Controller
with TMC428
high power
Driver
TMC249
MOSFET
Driver
Stage
Step
OTHER
Motor
• pluggable screw terminal connectors
for all external signals
• RoHS compliant
I/Os
5V Power Supply
2
REF-Switches
ORDER CODE
DESCRIPTION
PD1-109-57 (-option)
PD2-109-57 (-option)
PD3-109-57 (-option)
OPTIONS
PANdrive 0.47 Nm with motor QSH5718-41-30-047
PANdrive 0.98 Nm with motor QSH5718-55-30-098
PANdrive 1.63 Nm with motor QSH5718-79-30-163
RS
RS-232 and RS-485 interface
www.trinamic.com
– for detailed information and datasheets
83
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
