Features

• Stepper Motor NEMA17 / 42mm

• 0.4Nm or 0.8Nm holding torque

• motor optimized for speed (>5k rpm

possible @24V supply)

• with controller/driver

• Linear and sixPoint™ ramps

• +10. . . 30V DC supply voltage

• Up to 3A RMS motor current

• RS485, CAN & USB interface

• integrated sensOstep encoder and

support for external encoder

• S/D interface

• multi-purpose inputs and outputs Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

1 Features

The PANdrive™ PD42-3-1241 and PD42-4-1241 are small and compact full mechatronic solution including

a NEMA17 / 42mm 2ange size stepper motor of different length and torque, the TMCM-1241 controller

/ driver electronics and TRINAMIC sensOstep™ encoder for step-loss detection. Both PANdrive include

a stepper motor with high current coil windings (up-to 3A RMS) designed especially for higher speed

operations (when comparing with the PD42-x-1240 line of PANdrives™). With the PD42-3-1241 more than

5000rpm are possible at 24V supply voltage. This PANdrive 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

• Motion pro1le calculation in real-time

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

• Linear and unique sixPoint™ramp in hardware

• Encoder interface and Reference / Stop switch inputs

Driver

• Motor current: up to 3A RMS (4.3A peak, programmable in software)

• Supply voltage: +24V DC (+10. . . +30V DC)

• 256 microsteps per fullstep

• spreadCycle™highly dynamic current control chopper

• stealthChop™for quiet operation and smooth motion

• programmable Step/Dir interface for driver-only applications with microstep interpolation

Encoder

• integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation)

for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5

encoder steps)

• support for external A/B incremental encoder in addition / as an alternative for the integrated

encoder

• programmable encoder scaling and support for motor stop on encoder deviation

Interfaces

• RS485 interface (up-to 1Mbit/s)

• CAN interface (up-to 1Mbit/s)

• USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)

• Step/Dir input (optically isolated)

• Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)

• 2 general purpose digital inputs

• Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)

• 1 analog input (0..10V nom. input range)