PD-109-57 / TMCM-109-57 Manual (V1.10 / October 17th, 2007)
4
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
1 Features
The PANdrive PD-109-57 is a full mechatronic solution including a 57mm flange motor. It is
based on the TMCM-109-57 electronics and offers RS232, RS485 or step/direction interface. The
power supply, interface and the multi purpose I/Os can be connected via two pluggable screw
terminal connectors. The TMCM-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 guaranteed. 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™ (pat. pend.) feature it is
possible to detect motor overload or motor stall.
Applications
•
decentralized mechatronic drive with integrated intelligence
•
high-precision drives with high dynamics and torque
Electrical data
•
18V to 55V motor supply voltage for highest motor dynamics
•
up to 3.5A RMS nominal motor current
Motor data
•
all PANdrive Motors optimized for 3.0A RMS motor current
•
please also refer to the motor datasheet
Interface
•
RS232, RS485 and step / direction (please request for CAN version)
•
2 inputs for reference and stop switches
•
1 general purpose input and 1 output
Features
•
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
•
optically isolated inputs for step, direction and disable
•
dynamic current control
Software
•
stand-alone operation using TMCL or remote controlled operation
•
PC-based application development software TMCL-IDE included
Other
•
Pluggable screw terminal connectors for all external signals
•
RoHS compliant latest from 1 July 2006
Order code
Description
Dimensions [mm³]
PD1-109-57 (-option)
PANdrive 0.47Nm
71 x 57 x 57
PD2-109-57 (-option)
PANdrive 0.98Nm
85 x 57 x 57
PD3-109-57 (-option)
PANdrive 1.63Nm
108 x 57 x 57
Option
Host interface
RS
RS232 and 485 interface plus step / direction
CAN
CAN interface (please ask for availability)
Table 1.1: Order codes
