User manual

PD-1140 Hardware Manual (Rev. 1.01 / 2012-JUL-30) 2
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Table of Contents
2 Features ........................................................................................................................................................................... 3
3 Order Codes ................................................................................................................................................................... 5
4 Mechanical and Electrical Interfacing ..................................................................................................................... 6
4.1 Dimensions ........................................................................................................................................................... 6
4.2 Stepper Motor Specifications ........................................................................................................................... 7
4.3 Connectors of PD-1140 ....................................................................................................................................... 8
4.3.1 Power and Communication Connector ................................................................................................... 9
4.3.1.1 Power Supply ................................................................................................................................................ 9
4.3.1.2 RS485 ............................................................................................................................................................. 10
4.3.1.3 CAN ................................................................................................................................................................. 11
4.3.2 Multipurpose I/O Connector ..................................................................................................................... 12
4.3.2.1 Digital Inputs IN_0, IN_1, IN_2 .............................................................................................................. 13
4.3.2.2 Analog Input AIN_O .................................................................................................................................. 14
4.3.2.3 Outputs OUT_0, OUT_1 .............................................................................................................................. 14
4.3.3 Motor Connector .......................................................................................................................................... 15
4.3.4 Mini-USB Connector .................................................................................................................................... 16
5 Reset to Factory Defaults ......................................................................................................................................... 17
6 On-Board LEDs............................................................................................................................................................. 18
7 Operational Ratings ................................................................................................................................................... 19
8 Torque Curves ............................................................................................................................................................. 20
8.1.1 PD42-1-1140 Torque Curve ........................................................................................................................ 20
8.1.2 PD42-2-1140 Torque Curve ........................................................................................................................ 20
8.1.3 PD42-3-1140 Torque Curve ........................................................................................................................ 21
8.1.4 PD42-4-1140 Torque Curve ........................................................................................................................ 21
9 Functional Description .............................................................................................................................................. 22
10 PD-1140 Operational Description ........................................................................................................................... 23
10.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 23
11 Life Support Policy ..................................................................................................................................................... 25
12 Revision History .......................................................................................................................................................... 26
12.1 Document Revision ........................................................................................................................................... 26
12.2 Hardware Revision ............................................................................................................................................ 26
13 References .................................................................................................................................................................... 26