p a n d r i v e s m e c h a t r o n i c d r i v e s w i t h s t e p p e r m o t o r i n f o m a in ch a r ac t er is t ic s www.trinamic.com C for detailed information and datasheets 1 0 m m the PD-111-42 is a full mechatronic solution including a 42 mm flange high torque motor. its high motor current allows up to 1200 rpm movement and high precision 64 microsteps. the pd- 111-42 can be controlled via rs232, iic, rs485 or can interface. the power supply, interface and the multi purpose i/os can be connected with small jst connectors. the PD-111-42 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 opera - tion. the firmware of the module can be updated via the serial interface. with the stallguard? feature it is possible to detect motor overload or motor stall. e l e c t r i c a l d a t a 7v to 28.5v supply voltage ? m o t o r d a t a total length: 74 mm: max. torque 0.46nm up to 1200 rpm at 0.25nm motor uses 2.8a rms current ? ? ? i n t e r f a c e rs-232, i2c, rs-485 or can 2.0b host interface 2 inputs for reference and stop switches 1 general purpose input and 1 output ? ? ? f e a t u r e s up to 64 times microstepping memory for 2048 tmcl commands automatic ramp generation in hardware on the fly alteration of motion parameters (e.g. position, velocity, acceleration) stallguard? for sensorless motor stall detection dynamic current control ? ? ? ? ? ? s o f t w a r e stand-alone operation using tmcl or remote controlled operation pc-based application development software tmcl-ide included ? ? o t h e r pluggable jst connectors / cables included rohs compliant ? ? p d - 1 1 1 - 4 2 42mm / nema17 high performance stepper motor w i t h c o n t r o l l e r / d r i v e r a n d s e r i a l i n t e r f a c e o r d e r c o d e d e s c r i p t i o n PD-111-42 (-option) pandrive 0.46 nm with high speed motor o p t i o n s 485 rs-485, rs-232 and i2c interface can can, rs-232 and i2c interface pd - 111 - 42 7..28.5v dc ref - switches 2 2 high power driver tmc249 5v power supply i/os step motor tmcl memory mosfet driver stage step /dir rs - 232 rs - 485 can iic programmable motion controller with tmc428 sequencer 69
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