PD-146

Electrical data

• Supply voltage: +24V DC nominal (+7V + to28.5V DC)
• Motor current: up to 2.0A RMS (programmable)

Integrated motor (for PDx-140-42-SE only)

• Two phase bipolar stepper motor with 2A RMS nom. coil current
• Holding torque: 0.22Nm, 0.36Nm, 0.44Nm or 0.7Nm

Integrated encoder: Integrated sensOstep™ magnetic encoder (max. 4096 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning

Software

• Available with TMCL™ (all interface options) or CANopen (CAN interface option)
• TMCL™: stand-alone operation or remote controlled operation
• TMCL™: program memory (non volatile) for up-to 2048 TMCL™ commands
• TMCL™: PC-based application development software TMCL-IDE available for free
• CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported
• Please see separate TMCL™ and CANopen firmware manuals for additional information

Integrated motion controller

• Motion profile calculation in real-time (TMC428 motion controller)
• On the fly alteration of motor parameters (e.g., position, velocity, acceleration)
• High performance ARM7 microcontroller for overall system control and serial communication protocol handling

Integrated bipolar stepper motor driver

• Up to 16 microsteps per full step
• High-efficient operation, low power dissipation (TMC249 stepper driver with external MOSFETs)
• Dynamic current control
• Integrated protection
• Integrated stallGuard™ for motor stall detection (e.g. elimination of end switches)
• Integrated chopSync™ for high velocity operation

Interfaces

• 2 inputs for reference switches, 2 general purpose inputs and 2 general purpose outputs
• USB and either RS232, RS485 or CAN (2.0B up-to 1Mbit/s) communication interfaces