PANDRIVE PANdriveforStepperMotors PD42-1270HardwareManual HardwareVersionV1.00 DocumentRevisionV1.10 2017-Mar-02 PD42-1270isaneasytousePANdrivesmartsteppermotor.ThemoduleiscontrolledviaaCANbusin- terfaceandcomeswithtwormwareoptions TMCLandCANopen.PD42-1270featuresstealthChopfor absolutesilentmotorcontrol,spreadCycleforhighspeedsteppermotorcommutation,afullyintegrated hardwaremotioncontrollerwithsixPointmotionramps,aswellasstallGuard2andcoolStep. Features PANdrivesmartmotor SupplyVoltag+6to+24VDC CANbusinterface TMCLorCANopenprotocol IntegratedsixPointrampmotion controller stealthChopsilentPWMmode spreadCyclesmartmixeddecay stallGuard2loaddetection coolStepautom.currentscaling Applications Lab-Automation Robotics CNC Manufacturing FactoryAutomation LaboratoryAutomation SimpliedBlockDiagram 4 Input REFL/REFR TMCL ENC A/ENC B Memory /ENABLE I2C Step Stepper Energy Efficient ARM motor SPI TM Driver Cortex-M0+ controller + microcontroller TMC262 driver CAN Motor +6V..+28V DC TMCM-1270 PD42-x-1270 2017TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.PD42-1270HardwareManualHardwareVersionV1.00 DocumentRevisionV1.10 2017-Mar-02 2/24 Contents 1 Features 3 1.1 GeneralFeatures . 3 1.2 TRINAMICsUniqueFeatures 4 1.2.1 stealthChop . 4 1.2.2 spreadCycle . 4 1.2.3 stallGuard2 4 1.2.4 coolStep 5 1.2.5 sixPointMotionController . 5 2 OrderCodes 7 3 MechanicalandElectrical Interfacing 8 3.1 PD42-1270Dimensions . 8 3.2 PD42-1270DimensionsandWeight 8 3.3 PD42-1270MotorParameters . 10 3.4 PD42-1270TorqueCurves 11 4 ConnectorsandLEDs 13 4.1 PowersupplyandI/OConnector 13 4.2 CANConnection 14 4.3 MotorConnector . 15 4.4 LEDs . 16 5 FunctionalDescription 17 5.1 TypicalApplicationWiring 17 5.2 Inputs 17 6 OperationalRatingsandCharacteristics 18 6.1 AbsoluteMaximumRatings . 18 6.2 ElectricalCharacteristics(AmbientTemperature25C) . 18 6.3 I/ORatings(AmbientTemperature25C) . 18 6.4 FunctionalCharacteristics 19 6.5 OtherRequirements . 19 7 AbbreviationsusedinthisManual 19 8 Figures Index 20 9 Tables Index 21 10SupplementalDirectives 22 10.1ProducerInformation 22 10.2Copyright 22 10.3TrademarkDesignationsandSymbols . 22 10.4TargetUser . 22 10.5Disclaimer:LifeSupportSystems 22 10.6Disclaimer: IntendedUse 22 10.7CollateralDocuments&Tools 23 11RevisionHistory 24 11.1HardwareRevision 24 11.2DocumentRevision 24 2017TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com Readentiredocumentation.