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- 42
42mm / NEMA17
High Performance
Stepper Motor w i t h
C o n t r o l l er / D r i v e r
and Serial Interface
10 m m
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
1200 RPM movement and high precision 64 microsteps. The PD-
111-42 can be controlled via RS232, IIC, RS485 or CAN interface.
The power supply, interface and the multi purpose I/Os can be
connected with small JST connectors. The PD-111-42 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 guaranteed. Communication
traffic is kept very low since all time critical operations, e.g.
ramp calculation are performed on board. The TMCL program
can be stored in the on board EEPROM for stand-alone opera-
tion. The firmware of the module can be updated via the serial
interface. With the stallGuard™ feature it is possible to detect
ELECTRICAL
DATA
MOTOR DATA
• 7V to 28.5V supply voltage
• total length: 74 mm: max. torque 0.46Nm
• up to 1200 RPM at 0.25Nm
• motor uses 2.8A RMS current
• RS-232, I²C, RS-485 or CAN 2.0b
host interface
• 2 inputs for reference and stop switches
• 1 general purpose input and 1 output
• up to 64 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
• dynamic current control
• stand-alone operation using TMCL
or remote controlled operation
• PC-based application development
software TMCL-IDE included
INTERFACE
FEATURES
SOFTWARE
motor overload or motor stall.
Step/Dir
Sequencer
PD-111-42
OTHER
IIC
TMCL
Memory
high power
• pluggable JST connectors /
cables included
• RoHS compliant
RS-232
RS-485
CAN
Motion
Controller
with TMC428
programmable
Driver
TMC249
MOSFET
Driver
Stage
2
Step
Motor
I/Os
7..28.5V DC
2
5V Power Supply
REF-
Switches
ORDER CODE
D ESC RIP TIO N
PD-111-42 (-option)
OPTIONS
PANdrive 0.46 Nm with high speed motor
485
CAN
RS-485, RS-232 and I2C interface
CAN, RS-232 and I2C interface
www.trinamic.com
– for detailed information and datasheets
69
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
