1 Features

The PD-110-42 is an intelligent stepper motor controller and driver module mounted directly on a 42mm

flange motor. The TMCM-110 module converts the motor into a compact mechatronic device with bus

oriented or stand-alone control. The motor, switches, power and the multi purpose I/Os can be connected via

small pluggable connectors. The TMCM-110 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” or “constant rotation” a rapid and fast development of motion control applications is

guaranteed. The TMCM-110 can be controlled via an RS-232, RS-485, I²C or CAN interface (ordering

option). Communication traffic is kept very low since all time critical operations, e.g. ramp calculation, are

performed onboard. The TMCL program can be stored in the on board EEPROM for stand-alone operation.

The firmware of the module can be updated via the serial interface. With the integrated StallGuardTM feature

it is possible to detect motor overload or motor stall.

Electrical data

• up to 1.1A coil current RMS (1.5A peak)

• 7V to 34V motor supply voltage

• supports two phase bipolar motors with 0.3A to 1.1A coil current

PANdrive Motor data

• all PANdrive motors optimized for 1A RMS coil current

• please refer to motor data sheet for detailed motor information

Interface

• RS232, RS485, I²C or CAN 2.0b host interface

• 2 inputs for reference and stop switches

• 1 general purpose input and 1 output

Features

• up to 16 times microstepping

• memory for 2048 TMCL commands

• automatic ramp generation in hardware

• on the fly alteration of motor parameters (e.g. position, velocity, acceleration)

• StallGuardTM for sensorless motor stall detection

• full step frequencies up to 20kHz

• dynamic current control

• TRINAMIC driver technology: No heat sink required

Software

• stand-alone operation using TMCL or remote controlled operation

• PC-based application development software TMCL-IDE included

Other

• pluggable JST connectors

• RoHS compliant latest from 1 July 2006