PD-1140 Hardware Manual (Rev. 1.02 / 2013-MAR-26)

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Features

The PANdrive™ PD-1140 is a full mechatronic solution with state of the art feature set. It is highly

integrated and offers a convenient handling. The PD-1140 includes a stepper motor, controller/driver

electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and

has been designed for 0.20… 0.70 Nm max. holding torque and 24V DC nominal supply voltage. With its

high energy efficiency from TRINAMICs coolStep technology cost for power consumption is kept down.

The TMCL™ firmware allows for standalone operation and direct mode.

Motion controller

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Motion profile calculation in real-time

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On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

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High performance microcontroller for overall system control and serial communication protocol

handling

Bipolar stepper motor driver

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Up to 256 microsteps per full step

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High-efficient operation, low power dissipation

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Dynamic current control

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Integrated protection

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stallGuard2 feature for stall detection

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coolStep feature for reduced power consumption and heat dissipation

Encoder

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sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all

operating conditions and positioning supervision

Interfaces

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RS485 2-wire communication interface

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CAN 2.0B communication interface

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USB full speed (12Mbit/s) device interface

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4 multipurpose inputs:

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3x general-purpose digital inputs

(Alternate functions: STOP_L / STOP_R / HOME switch inputs or A/B/N encoder input)

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1x dedicated analog input

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2 general purpose outputs

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1x open-drain 1A max.

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1x +5V supply output (can be switched on/off in software)

Software

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TMCL:

standalone operation or remote controlled operation,

program memory (non volatile) for up to 2048 TMCL commands, and

PC-based application development software TMCL-IDE available for free.

Electrical and mechanical data

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Supply voltage: +24 V DC nominal (9… 28 V DC)

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Motor current: up to 2 A RMS / 2.8 A peak (programmable)

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0.22… 0.70 Nm max. holding torque (depends on motor)

Refer to separate TMCL Firmware Manual, too.