User Manual

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 25
www.trinamic.com
9 Functional description
The PD28-1-1021 and PD28-3-1021 are highly integrated mechatronic devices which can be controlled via
RS485 serial interface. Communication traffic is kept low since all time critical operations, e.g. ramp
calculations are performed on board. Nominal supply voltage of the unit is 24V DC. The PANdrive is designed
for both: direct mode and standalone operation. Full remote control of device with feedback is possible.
The firmware of the module can be updated via the serial interface.
In Figure 9.1 the main parts of the PD28-1-1021 and PD28-3-1021 are shown:
- microcontroller, which runs the TMCL script language interpreter (connected to TMCL memory),
- power driver with stallGuard2™ and its energy efficient coolStep™ feature,
- MOSFET driver stage,
- QSH2818-32-07-006 or QSH2818-51-07-012 bipolar hybrid stepper motor
- sensOstep™ encoder with resolutions of 10bit (1024 steps) per revolution.
9… 28V DC
TMCL™
Memory
4
add.
I/Os
Step
Motor
RS485
MOSFET
Driver
Stage
Energy Efficient
Driver
TMC262
Power
Driver
TMC262
with
coolStep™
sensOstep™
Encoder
SPI
PD-1021
S/D
SPI
I
2
C
µC
TMCM-1021
Figure 9.1: Main parts of PD28-1-1021 and PD28-3-1021
The PD28-1-1021 / PD28-3-1021 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 a rapid and fast development of motion control applications is guaranteed.
Please refer to the PD28-1-1021 / PD28-3-1021 Firmware Manual for more information about TMCL
commands.