PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23)
21
www.trinamic.com
8
Functional Description
The PD-1141 is a highly integrated mechatronic device which can be controlled via several serial
interfaces. Communication traffic is kept low since all time critical operations, e.g. ramp calculations are
performed on board. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed for both:
direct mode and standalone operation. Full remote control of device with feedback is possible. The
firmware of the module can be updated via any of the serial interfaces.
In Figure 8.1 the main parts of the PD-1141 are shown:
-
the microprocessor, which runs the TMCL operating system (connected to TMCL memory),
-
the 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 motor, and
9… 28V DC
RS485
USB
µC
TMCL™
Memory
6
I/Os
Step
Motor
MOSFET
Driver
Stage
SPI
PD-1141
TMCM-1141
SPI
SPI
S/D
TMC429
Motion
Controller
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
+5V
Stop
switches
S/D
S/D
Figure 8.1 Main parts of the PD-1141
Remark: stop switches are an alternate function of two out of three digital inputs.
The PD-1141 comes with the PC based software development environment TMCL-IDE for the Trinamic
Motion Control Language (TMCM). Using predefined TMCL high level commands like
move to position
a
rapid and fast development of motion control applications is guaranteed.
Please refer to the PD-1141 Firmware Manual for more information about TMCL commands.
