PD-140

PRODUCTION

NEMA 17 smart stepper motor 7 to 28.5V, 22Ncm, 64 µSteps, with CAN, USB and RS232 interface, SensOstep™ and StallGuard™

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Overview

Applications
  • Very compact single-axis stepper motor solutions
  • Encoder feedback for high reliability operation
Electrical data
  • Supply voltage: +24V DC nominal
    (+7V to +28.5V 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
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
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

The PD-140-42-SE PANdrive is a full mechatronic solution including a 42mm flange high torque motor, a motion controller/driver and a integrated sensOstep™ encoder. The PD-140-42-SE can be controlled via RS232, RS485, CAN or USB interface. The power supply, interface and the multi purpose I/Os can be connected with small JST connectors. The chopSync™ feature allows high speed movement without resonance problems. The PD-140-42-SE comes with the PC based software development environment TMCL-IDE for the 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. An optional firmware allows to control the PANdrive with the CANopen protocol. The internal sensOstep™ encoder can be used to detect step loss or to control the target position.
PD-140
NEMA 17 smart stepper motor 7 to 28.5V, 22Ncm, 64 µSteps, with CAN, USB and RS232 interface, SensOstep™ and StallGuard™
PD3-140-42-SE_CAN
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Documentation

User Guide 1

Software Manual 2

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Software Resources

Evaluation Software 1

TMCL-IDE

Short for Trinamic Motion Control Language-Integrated Development Environment, the TMCL-IDE is an integrated development environment made for developing applications using ADI Trinamic™ modules and chips. The GUI provides tools for easily setting parameters, for visualizing data in real-time, and for developing and debugging stand-alone applications with TMCL.

Hardware Ecosystem

Parts Product Life Cycle Description
Motor Drivers & Motion Controllers 1
TMCM-140
RECOMMENDED FOR NEW DESIGNS OBSOLETE PRODUCT
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