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PD42-

-1370 Hardware Manual • Hardware Version V1.10 | Document Revision V1.10 • 2018-AUG-18

4 / 27

2 Order Codes

The combination of motor and motor mounted controller/driver electronic is currently available with four

stepper motors (different length and holding torque):

The length of the PANdrives is speciﬁed without the length of the axis. For the overall length of the prod-

uct please add 24mm

Order Code

Description

Size (LxWxH)

PD42-1-1370 PANdrive™with NEMA17 stepper motor, 0.22Nm

max., 2A RMS, +24V, S-ramps, magnetic encoder,

RS485, TMCL ﬁrmware

42mm x 42mm x 47mm

PD42-2-1370 PANdrive™with NEMA17 stepper motor, 0.36Nm

max., 2A RMS, +24V, S-ramps, magnetic encoder,

RS485, TMCL ﬁrmware

42mm x 42mm x 51mm

PD42-3-1370 PANdrive™with NEMA17 stepper motor, 0.44Nm

max., 2A RMS, +24V, S-ramps, magnetic encoder,

RS485, TMCL ﬁrmware

42mm x 42mm x 60mm

PD42-4-1370 PANdrive™with NEMA17 stepper motor, 0.7Nm

max., 2A RMS, +24V, S-ramps, magnetic encoder,

RS485, TMCL ﬁrmware

42mm x 42mm x 73mm

Table 1: Order Code

A cable loom set is available for this module:

Order Code

Description

PD42-1370-CABLE Cable loom for PD42-1370:

• 1x cable loom for power supply, RS485 and I/O connector (cable length

200mm, 10pin JST PH connector at one end, open wires at the other

end)

Table 2: PD42-x-1370 Cable Loom

Terms of delivery and rights to technical change reserved.

Download newest version at

www.trinamic.com

Содержание PANdrive PD42-1-1370

Страница 1: ...ver 0 22 0 7Nm holding torque Supply Voltage 9 28V DC supply voltage Up to 2A RMS motor current RS485 bus interface integrated s shaped ramp motion controller in hardware magnetic encoder IC spreadCyc...

Страница 2: ...ue Curve 18 9 2 PD42 2 1370 Torque Curve 18 9 3 PD42 3 1370 Torque Curve 19 9 4 PD42 4 1370 Torque Curve 19 10 Functional Description 20 11 Operational Ratings and Characteristics 21 12 Abbreviations...

Страница 3: ...ntroller Fully integrated hardware motion controller with s shaped motion ramp support Motion pro le calculation in real time On the y alteration of motor parameters e g position velocity acceleration...

Страница 4: ...0 36Nm max 2A RMS 24V S ramps magnetic encoder RS485 TMCL rmware 42mm x 42mm x 51mm PD42 3 1370 PANdrive with NEMA17 stepper motor 0 44Nm max 2A RMS 24V S ramps magnetic encoder RS485 TMCL rmware 42m...

Страница 5: ...1370 uses the QSH4218 60 20 070 stepper motor with 0 7Nm holding torque NOTICE Note In order to make proper use of the integrated magnetic encoder the sensor IC is placed on the bottom of the pcb the...

Страница 6: ...0 50 Max motor temperature C 80 80 80 80 Shaft radial play 450g load mm 0 02 0 02 0 02 0 02 Shaft axial play 450g load mm 0 08 0 08 0 08 0 08 Max radial force 20mm from front ange N 28 28 28 28 Max ax...

Страница 7: ...5 WaitInit 17 GAP 133 0 Wait until closed loop init finished JC ZE WaitInit 19 acceleration velocity settings example 21 SAP 4 0 600000 SAP 5 0 800000 set acceleration 23 SAP 17 0 800000 set decelerat...

Страница 8: ...d loop init finished 18 JC ZE WaitInit 20 acceleration velocity settings example SAP 4 0 600000 22 SAP 5 0 800000 set acceleration SAP 17 0 800000 set deceleration 24 Stop 2018 TRINAMIC Motion Control...

Страница 9: ...erefore always switch off disconnect power supply or at least disable driver stage before connecting disconnecting motor 1 10 1 4 Motor Power RS485 and I O Figure 2 PD42 x 1370 connectors Connector Ty...

Страница 10: ...Output will be pulled low when activated Voltages up to logic supply input level are supported here Max continuous pull down current 100mA 7 HOME Input Digital input 5V and 3V3 level compatible Intern...

Страница 11: ...d 2 OB2 out Pin 2 of motor coil B blue 3 OA1 out Pin 1 of motor coil A green 4 OA2 out Pin 2 of motor coil A black Table 7 Motor Connector Pin Assignment NOTICE Do not connect or disconnect motor duri...

Страница 12: ...MCL rmware the green LED should be ashing slowly during operation When there is no valid rmware programmed into the board or during rmware update the green LED is switched on permanently During reset...

Страница 13: ...ration in software these four inputs also offer dedicated functionality as HOME STOP_L STOP_R and ENABLE inputs 100pF 27k 4k7 3V3 microcontroller IN0 IN3 5V TMCM 1370 Figure 4 Digital inputs HOME STOP...

Страница 14: ...the PD42 x 1370 units SN65HVD1781D offers a signi cantly reduced bus load compared to the standard and allows a maximum of 255 units to be connected to a single RS485 bus using standard TMCL rmware P...

Страница 15: ...one side only Or add resistor network at both ends of the bus like Pro bus termination node n 1 node n Slave Slave termination resistor 220R 5V GND pull up 390R pull down 390R RS485 RS485B RS485 RS48...

Страница 16: ...rate PD42 x 1370 rmware manual for further information Motor current IRMS A Resulting motor current based on motor current setting Motor Current Setting Motor current setting in software TMCL Current...

Страница 17: ...28 200 207 25 2 394 1 693 208 215 26 2 486 1 758 216 223 27 2 578 1 823 224 231 28 2 670 1 888 232 239 29 2 762 1 953 240 247 30 2 854 2 018 248 255 31 2 946 2 083 Table 9 Available motor current sett...

Страница 18: ...e Curve Figure 9 PD42 1 1370 torque vs velocity 24V 2A 256 steps open loop 9 2 PD42 2 1370 Torque Curve Figure 10 PD42 2 1370 torque vs velocity 24V 2A 256 steps open loop 2018 TRINAMIC Motion Control...

Страница 19: ...Figure 11 PD42 3 1370 torque vs velocity 24V 2A 256 steps open loop 9 4 PD42 4 1370 Torque Curve Figure 12 PD42 4 1370 torque vs velocity 24V 2A 256 steps open loop 2018 TRINAMIC Motion Control GmbH C...

Страница 20: ...mation about TMCL commands Communication tra c is kept low since all time critical operations e g ramp calculation position regu lation are performed on board Complete stand alone or full remote contr...

Страница 21: ...Environmental temperature at rated current no forced cooling reaquired 30 50 C Table 10 General operational ratings of the module Operational Ratings of the I Os Symbol Parameter Min Typ Max Unit VOU...

Страница 22: ...Description IDE Integrated Development Environment LED Light Emmitting Diode RMS Root Mean Square value TMCL TRINAMIC Motion Control Language Table 13 Abbreviations used in this Manual 2018 TRINAMIC M...

Страница 23: ...S485 bus lines with resistor bias net work on one side only 15 8 RS485 bus lines with Pro bus recommended line termination 15 9 PD42 1 1370 torque vs velocity 24V 2A 256 steps open loop 18 10 PD42 2 1...

Страница 24: ...9 6 Power supply communication and I O connector pin assignment 10 7 Motor Connector Pin Assignment 11 9 Available motor current settings 17 10 General operational ratings of the module 21 11 Operatio...

Страница 25: ...he rst time in the document All trademarks and brand names used are property of their respective owners 15 4 Target User The documentation provided here is for programmers and engineers only who are e...

Страница 26: ...AMIC s speci c written consent TRINAMIC products are not designed nor intended for use in military or aerospace applications or environ ments or in automotive applications unless speci cally designate...

Страница 27: ...nections changed added Minor corrections V1 1 2018 MAR 21 GE Layout mounting corrections Table 14 Hardware Revision 16 2 Document Revision Version Date Author Description 1 00 2018 MAY 18 GE Initial v...

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