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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23)

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www.trinamic.com

7.1.3

PD42-3-1141 Torque Curves

Figure 7.3 PD42-3-1141 torque vs. velocity 24V / 1.1A, 256µsteps

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0,20

0,30

0,40

0,50

0,60

0,70

10

100

1000

10000

torque[

N

m

]

speed[rpm]

PD42-3-1141 - 1.1A RMS Phase Current, 256 uSteps

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Содержание PD-1141

Страница 1: ...MOTOR PANdrive TRINAMIC Motion Control GmbH Co KG Hamburg Germany www trinamic com Hardware Version V1 2 HARDWARE MANUAL PD 1141 UNIQUE FEATURES Stepper Motor with Controller Driver 0 27 0 49 Nm 24 V...

Страница 2: ...2 3 Outputs OUT_0 OUT_1 13 3 3 3 Step Direction Connector 14 3 3 3 1 Step Direction Enable inputs 14 3 3 4 Motor Connector 15 3 3 5 Mini USB Connector 16 4 Reset to Factory Defaults 17 5 On Board LED...

Страница 3: ...Bipolar stepper motor driver Up to 256 microsteps per full step High efficient operation low power dissipation Dynamic current control Integrated protection stallGuard2 feature for stall detection co...

Страница 4: ...1 1 stallGuard2 load measurement SG as a function of load coolStep coolStep is a load adaptive automatic current scaling based on the load measurement via stallGuard2 adapting the required current to...

Страница 5: ...2 3 1141 option PANdrive 0 49Nm max holding torque 42 x 42 x 60 Table 2 1 PD 1141 order codes The following options are available Firmware option Description Order code example TMCL Module pre program...

Страница 6: ...le and a NEMA17 bipolar stepper motor Currently there is a choice between three NEMA 17 42mm bipolar stepper motors with different lengths and different holding torques Length 42 1 2 22 0 05 24 1 20 5...

Страница 7: ...cm2 35 54 68 Weight Mass Kg 0 22 0 28 0 35 Insulation Class B B B Dielectic Strength for one minute VAC 500 500 500 Connection Wires N 4 4 4 Step Angle 1 8 1 8 1 8 Step angle Accuracy max 5 5 5 Flang...

Страница 8: ...CVIlux CI01055000 A Contacts CVIlux CI01T011PE0 A or Connector housing JST PHR 5 Contacts JST SPH 002T P0 5S Wire 0 22mm2 Multi purpose I O Connector CI0108P1VK0 LF CVIlux CI01 series 8 pins 2mm pitc...

Страница 9: ...de circuitry might be required in order to limit the maximum voltage when the motor is operated at high velocities Rule of thumb for size of electrolytic capacitor In addition to power stabilization b...

Страница 10: ...resistor Therefore 120 Ohm termination resistors at both ends of the bus have to be added externally 3 NUMBER OF NODES The RS485 electrical interface standard EIA 485 allows up to 32 nodes to be conne...

Страница 11: ...IN_1 Input General purpose digital input 24 V compatible Alternate function left stop switch input 7 IN_2 Input General purpose digital input 24 V compatible Alternate function right stop switch inpu...

Страница 12: ...ther information about switching the pull up resistors for all digital inputs on off The three digital inputs have alternate functionality depending on configuration in software The following function...

Страница 13: ...IN_1 ADC input microcontroller 22k 10k 10nF GND GND GND Figure 3 6 General purpose inputs simplified input circuit 3 3 2 3 Outputs OUT_0 OUT_1 The eight pin connector of the PD 1141 offers two general...

Страница 14: ...put function depends on firmware 3 STEP Input Step pulse input connected to step input of TMC262 driver IC 4 DIRECTION Input Direction input connected to direction input of TMC262 driver IC Table 3 5...

Страница 15: ...tronics 4 1 Pin Label Direction Description 1 OB2 Output Pin 2 of motor coil B 2 OB1 Output Pin 1 of motor coil B 3 OA2 Output Pin 2 of motor coil A 4 OA1 Output Pin 1 of motor coil A Table 3 5 Motor...

Страница 16: ...ATION MODE The PD 1141 supports both USB self powered operation when an external power is supplied via the power supply connector and USB bus powered operation no external power supply via power suppl...

Страница 17: ...board red and green LEDs start flashing fast this might take a while 5 Power off board disconnect USB cable 6 Remove short between pads 7 After switching on power supply connecting USB cable all perm...

Страница 18: ...mperature at rated current no forced cooling required Tbd 40 C Table 6 1 General operational ratings of module OPERATIONAL RATINGS OF MULTIPURPOSE I OS Symbol Parameter Min Typ Max Unit VOUT_0 1 Volta...

Страница 19: ...141 torque vs velocity 24V 1 1 A 256 steps 7 1 2 PD42 2 1141 Torque Curves Figure 7 2 PD42 2 1141 torque vs velocity 24V 1 1 A 256 steps 0 00 0 05 0 10 0 15 0 20 0 25 0 30 0 35 10 100 1000 10000 torqu...

Страница 20: ...23 20 www trinamic com 7 1 3 PD42 3 1141 Torque Curves Figure 7 3 PD42 3 1141 torque vs velocity 24V 1 1A 256 steps 0 00 0 10 0 20 0 30 0 40 0 50 0 60 0 70 10 100 1000 10000 torque Nm speed rpm PD42...

Страница 21: ...e motion controller which calculates ramps and speed profiles internally by hardware the power driver with stallGuard2 and its energy efficient coolStep feature the MOSFET driver stage the QSH stepper...

Страница 22: ...n The higher the value is the less is the maximum acceleration default value 0 0 13 Usrs microstep resolution microsteps per fullstep 2usrs 0 8 a value of 7 or 8 is internally mapped to 6 by the TMC42...

Страница 23: ...1 usrs 6 Hz MHz msf 31 122070 32 2048 2 1000 16 1 Hz Hz fsf 34 1907 2 31 122070 6 s MHz Mhz a 21 119 2 1000 16 29 1 1 2 s MHz s MHz af 863 1 2 21 119 6 CALCULATION OF THE NUMBER OF ROTATIONS A stepper...

Страница 24: ...d whose failure to perform when properly used in accordance with instructions provided can be reasonably expected to result in personal injury or death TRINAMIC Motion Control GmbH Co KG 2013 Informat...

Страница 25: ...mation about power supply updated Table 11 1 Document revision 11 2Hardware Revision Version Date Description TMCM 1041_V10 2011 MAR 03 Initial version TMCM 1141_V10 2011 AUG 12 Clock generation and d...

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