PD3-140-42-SE

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 40 - 4 2 -SE 42mm / N EMA1 7 Step per Moto r wi th Cont roll er / Dri ver, Enco der and Seri al I nter face 1 0 mm M A IN CH A R AC T ER IS T IC S INFO The PANdrive PD-140-42-SE is a mechatronic solution including a 42 mm flange motor, a controller board and a sensOstep™ encoder. It offers four motor torque options and can be controlled via CAN, RS-232, RS-485 or USB interface. Power supply, interface and multi purpose I/Os can be connected with small JST connectors. The chopSync™ feature allows high speed movement avoiding resonances. The PD-140-42-SE 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 onboard EEPROM for stand-alone operation. An optional firmware allows to control the PANdrive via CANopen. E LECTRICAL D ATA MOTOR DATA INTERFACE • 7V to 28.5V supply voltage • holding torque 0.22 / 0.36 / 0.44 / 0.70 Nm • CAN 2.0b (up to 1Mbit/s) host, RS232 or RS485 interface and USB interface • two inputs for reference and stop switches • two 24V compatible general purpose inputs and two open-collector outputs FEATURES • integrated sensOstep™ encoder for position identification and stall detection • chopSync™ for high speed movement • up to 16 times microstepping • memory for 2048 TMCL commands • motion profile calculation in hardware (RT) • on the fly alteration of motion parameters (e.g. position, velocity, acceleration) • dynamic current control • stand-alone operation using TMCL or remote controlled operation • PC-based application development software TMCL-IDE included SOFTWARE CAN or RS-232 or RS-485 USB 24V PD-140-42-SE programmable TMCL Memory high power Motion Controller with TMC428 Driver TMC249 MOSFET Driver Stage Step Motor OTHER • optional CANopen firmware (CiA 301, 402) • pluggable JST connectors / cables included • RoHS compliant sensOstep™ Encoder 5V Power Supply OR DE R C O DE D E SC R I P T IO N PD1-140-42-SE (-option) PD2-140-42-SE (-option) PD3-140-42-SE (-option) PD4-140-42-SE (-option) IN TE R FA C E O P T I ON S PANdrive 0.22 Nm, 48 mm length with QSH4218-34-20-022 motor PANdrive 0.36 Nm, 52 mm length with QSH4218-38-20-036 motor PANdrive 0.44 Nm, 61 mm length with QSH4218-47-20-044 motor PANdrive 0.70 Nm, 74 mm length with QSH4218-60-20-070 motor 232 485 CAN CANopen USB & RS-232 interface (TMCL firmware) USB & RS-485 interface (TMCL firmware) USB & CAN interface (TMCL firmware) USB & CAN interface (CANopen firmware) www.trinamic.com – for detailed information and datasheets 87