PANDRIVE PANdriveforStepper PD42-x-1241HardwareManual HardwareVersionV1.00 DocumentRevisionV1.232019-JAN-02 ThePANdrivePD42-3-1241andPD42-4-1241aresmallandcompactfullmechatronicsolutionin- cludingaNEMA17/42mmangesizesteppermotor,theTMCM-1241controller/driverelectronics andTRINAMICsensOstepencoderforstep-lossdetection. Features StepperMotorNEMA17/42mm 0.4Nmor0.8Nmholdingtorque motoroptimizedforspeed(>5krpm possible 24Vsupply) withcontroller/driver LinearandsixPointramps +10...30VDCsupplyvoltage Upto3ARMSmotorcurrent RS485,CAN&USBinterface integratedsensOstepencoderand supportforexternalencoder S/Dinterface multi-purposeinputsandoutputs Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram PD42-x-1241 EEPROM Step MOSFET USB Driver RS485 Microcontroller Stage Motion Energy Efficient Controller CAN Motor Driver + TMC262 I/Os Pre-Driver Encoder 10 30V DC DC/DC 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.PD42-x-1241HardwareManualHardwareVersionV1.00 DocumentRevisionV1.232019-JAN-02 2/32 Contents 1 Features 4 2 OrderCodes 6 3 MechanicalandElectrical Interfacing 7 3.1 DimensionsofPD42-x-1241 . 7 3.2 Steppermotor . 8 3.3 IntegratedsensOstepencoder 9 4 Connectors 10 4.1 PowerSupplyInputConnector . 11 4.2 MotorConnector . 11 4.3 RS485+CANConnector . 12 4.4 USBConnector 12 4.5 I/OConnector . 13 5 On-BoardLEDs 14 6 ResettoFactoryDefaults 14 7 I/Os 16 7.1 AnaloginputIN0 . 16 7.2 DigitalinputsIN1andIN2 16 7.3 HOME/STOP L/STOP Rswitchinputs . 17 7.4 Externalincrementalencoderinput 17 7.5 Step/Directioninputs . 18 8 Communication 19 8.1 RS485 19 8.2 CAN . 20 9 Motordrivercurrent 21 10Torquecurves 23 10.1PD42-3-1241TorqueCurve . 23 10.2PD42-4-1241TorqueCurve . 23 11FunctionalDescription 24 12OperationalRatingsandCharacteristics 25 13AbbreviationsusedinthisManual 27 14Figures Index 28 15Tables Index 29 16SupplementalDirectives 30 16.1ProducerInformation 30 16.2Copyright 30 16.3TrademarkDesignationsandSymbols . 30 16.4TargetUser . 30 16.5Disclaimer:LifeSupportSystems 30 16.6Disclaimer: IntendedUse 30 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com