The PANdrive™ PD42-1-1140, PD42-2-1140, PD-3-1140 and PD42-4-1140 are small and compact full mechatronic solutions including NEMA17 / 42mm flange size stepper motors, the TMCM-1140 controller/ driver electronics and TRINAMIC sensOstep™ encoder for step-loss detection. The four PANdrives include stepper motor with different lengths and different holding torques (PD42-1-1140: 0.22Nm, PD42-2-1140: 0.36Nm, PD42-3-1140: 0.44Nm and PD42-4-1140: 0.7Nm) but, same electronics and encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os together with the build-in TMCL scripting feature and remote control operation using the RS485 2-wire communication bus interface and even a mixture of both.
Applications
• Compact and decentralized stepper motor solutions
• Step loss detection for high reliability operation
Electrical data
• Supply voltage: +24V DC nominal
• Motor current: up to 2.8A peak / 2A RMS (programmable)
Integrated motion controller
• Motion profile calculation in real-time (TMC429 motion controller)
• On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
• High performance ARM Cortex-M3™ microcontroller for overall system control and serial communication protocol handling
Integrated bipolar stepper motor driver
• Up to 256 microsteps per full step
• High-efficient operation, low power dissipation (MOSFETs with low RDS(ON))
• Dynamic current control
• Integrated protection
• stallGuard2™ feature for stall detection
• Automatic load dependent motor current adaptation for reduced power consumption and heat dissipation (coolStep™)
Integrated encoder
• Integrated sensOstep™ magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning
Integrated motor
• Two phase bipolar stepper motor with 2A RMS nom. coil current
• Holding torque: 0.22Nm, 0.36Nm, 0.44Nm or 0.7Nm
Interfaces
• RS485 2-wire communication interface
• CAN 2.0B communication interface
• USB full speed (12Mbit/s) device interface
• 4 multi-purpose inputs:
• 3x general-purpose digital inputs (alternate functions: STOP_L/STOP_R/HOME switch inputs or A/B/N encoder input)
• 1x dedicated analog input
• 2 general purpose outputs
• 1x open-drain 1A max.
• 1x +5V supply output - can be switched on/off in software e.g. for encoder / end switch supply
