PANDRIVE PANdriveforStepper PD42-x-1370HardwareManual HardwareVersionV1.10 DocumentRevisionV1.112019-APR-03 ThePANdrivePD42-1-1370,PD42-2-1370,PD42-3-1370amdPD42-4-1370aresmallandcompactfull mechatronicsolutionsincludingNEMA17/42mmangesizesteppermotors.ThePANdrivesare controlledviaRS485businterfaceusingTMCLprotocol.Theyfeatureanintegratedmagneticen- coderforpositionfeedback,SpreadCyclechopperforhighspeedsteppermotorcommutation,a fullyintegratedhardwaremotioncontrollerwiths-shapedmotionramps,aswellasStallGuard2 andCoolStep. Features StepperMotorNEMA17withcon- troller/driver 0.22-0.7Nmholdingtorque SupplyVoltage+9...28VDCsupply voltage Upto2ARMSmotorcurrent RS485businterface integrateds-shapedrampmotion controllerinhardware magneticencoderIC SpreadCyclesmartmixeddecay StallGuard2loaddetection CoolStepautomaticcurrentscal- Applications ing LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram EEPROM PD42-x-1370 RS485 Microcontroller OUT 0 4 IN 0..IN 3 Step Energy Efficient MOSFET Driver Driver Pre-Driver TMC262 Stage Motion SPI Motor Controller 9 28V DC DC/DC Magnetic Encoder 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.PD42-x-1370HardwareManualHardwareVersionV1.10 DocumentRevisionV1.112019-APR-03 2/27 Contents 1 Features 3 2 OrderCodes 4 3 MechanicalandElectrical Interfacing 5 3.1 DimensionsofPD42-x-1370 5 3.2 Steppermotor 6 3.3 IntegratedEncoder . 7 4 Connectors 9 4.1 PowerSupply,RS485andI/OConnector . 10 4.2 MotorConnector . 11 5 On-BoardLEDs 12 6 I/Os 13 6.1 DigitalinputsHOME,STOP L,STOP Rand/ENABLE 13 6.2 Digitaloutput(open-drain) . 13 7 Communication 14 7.1 RS485 . 14 8 Motordrivercurrent 16 9 Torquecurves 18 9.1 PD42-1-1370TorqueCurve . 18 9.2 PD42-2-1370TorqueCurve . 18 9.3 PD42-3-1370TorqueCurve . 19 9.4 PD42-4-1370TorqueCurve . 19 10 FunctionalDescription 20 11 OperationalRatingsandCharacteristics 21 12 AbbreviationsusedinthisManual 22 13 Figures Index 23 14 Tables Index 24 15 SupplementalDirectives 25 15.1 ProducerInformation 25 15.2 Copyright . 25 15.3 TrademarkDesignationsandSymbols 25 15.4 TargetUser 25 15.5 Disclaimer:LifeSupportSystems . 25 15.6 Disclaimer: IntendedUse 25 15.7 CollateralDocuments&Tools . 26 16 RevisionHistory 27 16.1 HardwareRevision 27 16.2 DocumentRevision . 27 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com