PD-1021 Datasheet, PDF (19/21 Pages) TRINAMIC Motion Control GmbH & Co. KG. – Stepper Motor with Controller

PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23)
19
8 Functional description
The PD-1021 is a highly integrated mechatronic device 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 any of the serial interfaces.
Figure 8.1 the main parts of the PD-1021 are shown:
- the microprocessor, which runs the TMCL operating system (connected to TMCL memory),
- the motion controller, which calculates ramps and speed profiles internally by hardware,
- the power driver with stallGuard2 and its energy efficient coolStep feature,
- the MOSFET driver stage,
- the QSH stepper motor, and
- the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.
RS485
add.
4
I/Os
9… 28V DC
TMCL™
Memory
I²C
PD-1021
µC
SPI
Power
Ener_Dg_ry_ivEf_efic_rient
D_TMri_Cv₂e₆₂r
TM_wC_it2_h62
S/D
coolStep™
SPI
TMCM-1021
Figure 8.1: Main parts of PD-1021
MOSFET
Driver
Stage
sensOstep™
Encoder
Step
Motor
The PD-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 PD-1021 Firmware Manual for more information about TMCL commands.
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