MECHATRONIC DRIVES WITH STEPPER MOTOR
PANdrives
PD-109-57
57mm / NEMA23
Stepper Motor with
Controller / Driver
and Serial Interface
10 mm
MAIN CHARACTERISTICS
INFO The PD-109-57 is a full mechatronic solution including a 57 mm
flange motor (NEMA23). It combines a convenient controller
electronic with a range of different motor types. The PD-109-57
offers three motor torque options and can be controlled via
RS-232 or RS-485 interface. The power supply, interface and the
multi purpose I/Os can be connected via two pluggable screw
connectors. The PD-109-57 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 guar-
anteed. Communication traffic is kept very low since all time
critical operations, e.g. ramp calculation are performed onboard.
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 stallGuard™ feature it
is possible to detect motor overload or motor stall.
ELECTRICAL • 18V to 55V supply voltage
DATA
• 3A RMS nominal motor current
(5A peak possible)
MOTOR DATA • total length: 71 mm / 85 mm / 108 mm:
max. torque 0.47Nm / 0.98Nm / 1.63Nm
• please also refer to the motor datasheet
INTERFACE • RS232 and RS485 host interface
• 2 inputs for reference and stop switches
• 3 general purpose input and 1 output
FEATURES • up to 16 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
• optically isolated inputs
• dynamic current control
SOFTWARE • stand-alone operation using TMCL
or remote controlled operation
• PC-based application development
software TMCL-IDE included
PD-109-57
TMCL
Memory
programmable
Motion
Controller
with TMC428
Step
MOSFET
Driver
Stage
high power
Driver
TMC249
RS485
RS232
OTHER • pluggable screw terminal connectors
for all external signals
Motor
18 …
55V DC
• RoHS compliant
I/Os
2
5V Power Supply
REF-Switches
ORDER CODE
DESCRIPTION
PD1-109-57 (-option)
PD2-109-57 (-option)
PD3-109-57 (-option)
OPTIONS
PANdrive 0.47 Nm with motor QSH5718-41-30-047
PANdrive 0.98 Nm with motor QSH5718-55-30-098
PANdrive 1.63 Nm with motor QSH5718-79-30-163
RS
RS-232 and RS-485 interface
www.trinamic.com – for detailed information and datasheets
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