PD-146

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特性

Electrical data

Supply voltage: +24V DC nominal (+7V + to28.5V DC)
Motor current: up to 2.0A RMS (programmable)

Integrated motor (for PDx-140-42-SE only)

Two phase bipolar stepper motor with 2A RMS nom. coil current
Holding torque: 0.22Nm, 0.36Nm, 0.44Nm or 0.7Nm

Integrated encoder: Integrated sensOstep™ magnetic encoder (max. 4096 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning

Software

Available with TMCL™ (all interface options) or CANopen (CAN interface option)
TMCL™: stand-alone operation or remote controlled operation
TMCL™: program memory (non volatile) for up-to 2048 TMCL™ commands
TMCL™: PC-based application development software TMCL-IDE available for free
CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported
Please see separate TMCL™ and CANopen firmware manuals for additional information

Integrated motion controller

Motion profile calculation in real-time (TMC428 motion controller)
On the fly alteration of motor parameters (e.g., position, velocity, acceleration)
High performance ARM7 microcontroller for overall system control and serial communication protocol handling

Integrated bipolar stepper motor driver

Up to 16 microsteps per full step
High-efficient operation, low power dissipation (TMC249 stepper driver with external MOSFETs)
Dynamic current control
Integrated protection
Integrated stallGuard™ for motor stall detection (e.g. elimination of end switches)
Integrated chopSync™ for high velocity operation

Interfaces

2 inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs
USB and either RS232, RS485 or CAN (2.0B up-to 1Mbit/s) communication interfaces

更多细节

The PD-146-60-SE PANdrive™ is a full mechatronic solution including 60mm flange high torque motor, a motion controller/driver and an integrated high resolution sensOstep™ encoder. The PANdrive™ is equipped with the high performance motion controller TMC457 for high dynamic, high resolution and S-shaped acceleration ramps. It can be host controlled by serial interface. The chopSync™ feature allows high speed movement without midrange resonance problems. The internal sensOstep™ encoder can be used to detect step loss or to control the target position. In addition there is an input for an optional external incremental encoder. The power supply, interface and the multi purpose I/Os can be connected with small D-SUB connectors.

The PD-146-60-SE-TMCL comes with the PC based software development environment TMCL-IDE for the ADI 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 on board. 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 "-CANopen" firmware option it is possible to operate the module in CANopen networks together with other equipment.

Applications