Features

• Stepper Motor NEMA17 with controller

/ driver

• 0.22 - 0.7Nm holding torque

• Supply Voltage +9. . . 28V DC supply

voltage

• Up to 2A RMS motor current

• RS485 bus interface

• integrated s-shaped ramp motion

controller in hardware

• magnetic encoder IC

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

1 Features

The PANdrive™ PD42-1-1370, PD42-2-1370, PD42-3-1370 amd PD42-4-1370 are small and compact full

mechatronic solutions including NEMA17 / 42mm 2ange size stepper motors, the TMCM-1370 controller /

driver electronics and magnetic encoder for position feedback and optional closed-loop operation. The

four PANdrives include stepper motor with different lengths and different holding torques (PD42-1-1370:

0.22Nm, PD42-2-1370: 0.36Nm, PD42-3-1370: 0.44Nm and PD42-4-1370: 0.7Nm) but, same electronics and

encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os together

with the build-in TMCL scripting feature and remote operation using one of the available communication

interfaces and even a mixture of both.

Motion Controller

• Fully integrated hardware motion controller with s-shaped motion ramp support

• Motion pro1le calculation in real-time

• On the 2y alteration of motor parameters (e.g. position, velocity, acceleration)

• Automatic position regulation in hardware (optional, with integrated encoder)

Driver

• Motor current: up to 2A RMS (2.8A peak, programmable in software)

• Supply voltage: +24V DC (+9. . . +28V DC)

• 256 microsteps per fullstep

• spreadCycle™ highly dynamic current control chopper

Encoder

• integrated magnetic / hall sensor based absolut position encoder

Interfaces

• RS485 interface (up-to 1Mbit/s)

• HOME, Left and Right STOP switch inputs

• Driver enable input

• Digital output (open-drain)

Software

• TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands),

fully supported by TMCL-IDE (PC based integrated development environment). Please see PD42-x-

1370 TMCL 1rmware manual for more details