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PD-1021 Datasheet(PDF) 3 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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PD-1021 Datasheet(HTML) 3 Page - TRINAMIC Motion Control GmbH & Co. KG. |
3 / 21 page PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23) 3 www.trinamic.com 1 Features The PANdrive™ PD-1021 is a full mechatronic extremely small and compact solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD-1021 includes a stepper motor, controller/driver electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and has been designed for 0.06… 0.12 Nm max. holding torque and 24V DC nominal supply voltage. With its high energy efficiency from TRINAMIC’s coolStep technology cost for power consumption is kept down. The TMCL™ firmware allows for standalone operation and direct mode. 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 - ready for dcStep 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) - 0.06 or 0.12Nm max. holding torque (depends on motor) Refer to separate TMCL Firmware Manual, too. |
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