User Manual

PD28-1-1021 / PD28-3-1021 V1.4 Hardware Manual (Rev. 1.03 / 2018-JAN-25) 3
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1 Features
The PANdrive™ PD28-1-1021 and PD28-3-1021 are small and compact full mechatronic solutions including
NEMA11 / 28mm flange size stepper motors, the TMCM-1021 controller/ driver electronics and TRINAMIC
sensOstep™ encoder for step-loss detection. The two PANdrives include stepper motor with different
lengths and different holding torques (PD28-1-1021: 0.06Nm, PD28-3-1021: 0.12Nm) but, same electronics
and encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os
together with the build-in TMCL scripting feature and remote control operation using the RS485 2-wire
communication bus interface and even a mixture of both.
MAIN CHARACTERISTICS
Highlights
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
- For position movement applications, where larger motors do not fit and higher torques are not
required
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2™ feature for stall detection
- coolStep™ feature for reduced power consumption and heat dissipation
Encoder
- sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
- Up to 4 multi-purpose inputs (2 shared with outputs)
- 2 general purpose outputs
- RS485 2-wire communication interface
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 876 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24V DC nominal (9… 28V DC)
- Motor current: up to 0.7A RMS (programmable)
- max. holding torque: 0.06Nm (PD28-1-1021) or 0.12Nm (PD28-3-1024)
Refer to separate TMCL Firmware Manual, too.