PD4-140-42-SE TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], PD4-140-42-SE Datasheet

PD4-140-42-SE

Manufacturer Part Number

PD4-140-42-SE

Description

42mm/NEMA17 Stepper Motor with Controller/Driver, Encoderand Serial Interface

Manufacturer

TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

Datasheet

1.PD4-140-42-SE.pdf (1 pages)

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10 mm

I N F O

MECHATRO 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

The PANdrive PD-140-42-SE is a mechatronic solution including a

42 mm flange motor, a controller board and a sensOstep™ en-

coder. It offers four motor torque options and can be controlled

via CAN, RS-232, RS-485 or USB interface. Power supply, interface

and multi purpose I/Os can be connected with small JST con-

nectors. The chopSync™ feature allows high speed movement

avoiding resonances. 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 onboard EEPROM

for stand-alone operation. An optional firmware allows to con-

trol the PANdrive via CANopen.

www.trinamic.com – for detailed information and datasheets

24V

O RD E R C O D E

PD1-140-42-SE (-option)

PD2-140-42-SE (-option)

PD3-140-42-SE (-option)

PD4-140-42-SE (-option)

I NT E R FA C E O P TI O N S

232

485

CAN

CANopen

5V Power Supply

RS-485

RS-232

CAN

USB

PD-140-42-SE

programmable

Controller

with TMC428

Motion

sensOstep™

high power

Memory

Encoder

Driver

TMC249

TMCL

D E S C R IP T I O N

PANdrive 0.22 Nm, 48 mm length with QSH4218-34-20-022 motor

PANdrive 0.36 Nm, 52 mm length with QSH4218-38-20-036 motor

PANdrive 0.44 Nm, 61 mm length with QSH4218-47-20-044 motor

PANdrive 0.70 Nm, 74 mm length with QSH4218-60-20-070 motor

USB & RS-232 interface (TMCL firmware)

USB & RS-485 interface (TMCL firmware)

USB & CAN interface (TMCL firmware)

USB & CAN interface (CANopen firmware)

MOSFET

Driver

Stage

Motor

Step

E LE CT RI CA L

M OT OR D AT A

I NT ER FA CE

FE AT UR ES

SO FT WA RE

OT HE R

DA TA

•

P D-

4 2m m / N E MA 17

S te p pe r M ot or wi t h

C on t ro ll e r / D ri v er ,

E nc o de r a nd

S er i al I n te rf a ce

M A IN CH A R AC T ER IS T IC S

7V to 28.5V supply voltage

holding torque 0.22 / 0.36 / 0.44 / 0.70 Nm

CAN 2.0b (up to 1Mbit/s) host, RS232 or

RS485 interface and USB interface

two inputs for reference and stop switches

two 24V compatible general purpose inputs

and two open-collector outputs

integrated sensOstep™ encoder for position

identification and stall detection

chopSync™ for high speed movement

up to 16 times microstepping

memory for 2048 TMCL commands

motion profile calculation in hardware (RT)

on the fly alteration of motion parameters

(e.g. position, velocity, acceleration)

dynamic current control

stand-alone operation using TMCL

or remote controlled operation

PC-based application development

software TMCL-IDE included

optional CANopen firmware (CiA 301, 402)

pluggable JST connectors / cables included

RoHS compliant

1 4 0 - 4 2

PA Nd r ives

-SE

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