PD42-
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-1370 Hardware Manual • Hardware Version V1.10 | Document Revision V1.10 • 2018-AUG-18
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1 Features
The PANdrive™ PD42-1-1370, PD42-2-1370, PD42-3-1370 amd PD42-4-1370 are small and compact full
mechatronic solutions including NEMA17 / 42mm flange size stepper motors, the TMCM-1370 controller /
driver electronics and magnetic encoder for position feedback and optional closed-loop operation. The
four PANdrives include stepper motor with different lengths and different holding torques (PD42-1-1370:
0.22Nm, PD42-2-1370: 0.36Nm, PD42-3-1370: 0.44Nm and PD42-4-1370: 0.7Nm) but, same electronics and
encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os together
with the build-in TMCL scripting feature and remote operation using one of the available communication
interfaces and even a mixture of both.
Motion Controller
• Fully integrated hardware motion controller with s-shaped motion ramp support
• Motion profile calculation in real-time
• On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
• Automatic position regulation in hardware (optional, with integrated encoder)
Driver
• Motor current: up to 2A RMS (2.8A peak, programmable in software)
• Supply voltage: +24V DC (+9. . . +28V DC)
• 256 microsteps per fullstep
• spreadCycle™ highly dynamic current control chopper
Encoder
• integrated magnetic / hall sensor based absolut position encoder
Interfaces
• RS485 interface (up-to 1Mbit/s)
• HOME, Left and Right STOP switch inputs
• Driver enable input
• Digital output (open-drain)
Software
• TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see PD42-
x
-
1370 TMCL firmware manual for more details
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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