PANDRIVE PANdriveforStepper PD42-x-1240HardwareManual HardwareVersionV1.20 DocumentRevisionV1.102018-DEC-05 ThePANdrivePD42-1-1240,PD42-2-1240,PD42-3-1240amdPD42-4-1240aresmallandcompact fullmechatronicsolutionsincludingNEMA17/42mmangesizesteppermotors,theTMCM-1240 controller/driverelectronicsandTRINAMICSensOstepencoderforstep-lossdetection. Features StepperMotorNEMA17/42mm 0.22-0.7Nm withcontroller/driver LinearandSixPointramps +10...30VDCsupplyvoltage Upto2ARMSmotorcurrent RS485,CAN&USBinterface integratedSensOstepencoderand supportforexternalencoder S/Dinterface multi-purposeinputsandoutputs Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram PD42-x-1240 EEPROM Step MOSFET USB Driver RS485 Microcontroller Stage Motion Energy Efficient Controller CAN Motor Driver d TMC262 I/Os Pre-Driver Encoder 10 30V DC DC/DC 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.PD42-x-1240HardwareManualHardwareVersionV1.20 DocumentRevisionV1.102018-DEC-05 2/34 Contents 1 Features 4 2 OrderCodes 6 3 MechanicalandElectrical Interfacing 8 3.1 DimensionsofPD42-x-1240 . 8 3.2 Steppermotor . 9 3.3 IntegratedSensOstepencoder 10 4 Connectors 11 4.1 PowerSupplyInputConnector . 12 4.2 MotorConnector . 12 4.3 RS485+CANConnector . 13 4.4 USBConnector 13 4.5 I/OConnector . 14 5 On-BoardLEDs 15 6 ResettoFactoryDefaults 15 7 I/Os 17 7.1 AnaloginputIN0 . 17 7.2 DigitalinputsIN1andIN2 17 7.3 HOME/STOP L/STOP Rswitchinputs . 18 7.4 Externalincrementalencoderinput 18 7.5 Step/Directioninputs . 19 8 Communication 20 8.1 RS485 20 8.2 CAN . 21 9 Motordrivercurrent 22 10Torquecurves 24 10.1PD42-1-1240TorqueCurve . 24 10.2PD42-2-1240TorqueCurve . 24 10.3PD42-3-1240TorqueCurve . 25 10.4PD42-4-1240TorqueCurve . 25 11FunctionalDescription 26 12OperationalRatingsandCharacteristics 27 13AbbreviationsusedinthisManual 29 14Figures Index 30 15Tables Index 31 16SupplementalDirectives 32 16.1ProducerInformation 32 16.2Copyright 32 16.3TrademarkDesignationsandSymbols . 32 16.4TargetUser . 32 2018TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com