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PANdrive™ for Stepper Motors

PANDRIVE™

PD42-1070 Hardware Manual

Hardware Version V1.00 | Document Revision V1.00 • 2016-Aug-04

PD42-1070 is an easy to use PANdrive™ smart stepper motor. The module is

controlled via a step

and direction interface. One configuration pin selects the current control mode
between stealth-

Chop™ for absolute silent motor control and spreadCycle™ for high speed.
A TTL UART interface

allows for more advanced configuration, for example of the stallGuard2™ and
coolStep™ features,

and permanent parameter storage via TMCL™-IDE.

Features

• Supply
Voltage +9 to +24V DC

• Step and
Direction Interface

•
microPlyer™ to 256µ-steps

•
stealthChop™ silent PWM mode

•
spreadCycle™ smart mixed decay

•
stallGuard2™ load detection

•
coolStep™ autom. current scaling

• UART
configuration interface
Applications

• Lab-Automation • Robotics •
CNC

• Manufacturing • Factory Automation •

Laboratory Automation

Simplified Block Diagram

©2016 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany

Terms of delivery and rights to technical change reserved.

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Read entire documentation;

Especially the supplemental directives on page 23.

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •

2016-Aug-04 2 / 25

Contents

1 Features
3

1.1 General Features . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.2 TRINAMIC’s Unique Features . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4

1.2.1 stealthChop™ . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 4

1.2.2
spreadCycle™ . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 4
 1.3 stallGuard2 . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 5

1.4 coolStep . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 5

2 Order Codes
6

3 Mechanical and Electrical Interfacing

7

3.1 PD42-1070 Dimensions and

Weight . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . 7

3.2 PD42-1070 Motor

Parameters . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . 8

3.3 PD42-1070 Torque Curves . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 9

4 Connectors and LEDs

11

4.1 Motor Connector . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 11

4.2 I/O Connector . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 12

4.3 TTL UART Connection . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.4 Status LEDs . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 13

5 Functional Description
14

5.1 Typical Application

Wiring . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . 14
 5.2 Optically Isolated Inputs with Common Anode Input
. . . . . . . . . . . . . . . . . . . . . . . . 14

5.3 Optically Isolated Inputs with Common Cathode Input

. . . . . . . . . . . . . . . . . . . . . . . 16

5.4 Thermal Behavior . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

6 Operational Ratings and Characteristics

18

6.1 Absolute Maximum Ratings . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18

6.2 Electrical Characteristics (Ambient Temperature 25° C)

. . . . . . . . . . . . . . . . . . . . . . . 18

6.3 I/O Ratings (Ambient Temperature 25°

C) . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 18

6.4 Functional
Characteristics . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 19

6.5 Other Requirements . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19

7 Abbreviations used in this Manual

20

8 Figures Index
21

9 Tables Index
22

10 Supplemental Directives
23

10.1 Producer
Information . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 23

10.2 Copyright . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

10.3 Trademark Designations and Symbols . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

10.4 Target User . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

10.5 Disclaimer: Life Support Systems . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

10.6 Disclaimer: Intended Use . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23

10.7 Collateral Documents & Tools . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24

11 Revision History
25

11.1 Hardware Revision . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

11.2 Document Revision . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

©2016 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany

Terms of delivery and rights to technical change reserved.

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •

2016-Aug-04 3 / 25

1 Features

The PANdrive™ PD42-1070 is a full mechatronic solution with state of the art
feature set. It is highly

integrated and offers a convenient handling.

The PD42-1070 includes a stepper motor and driver electronics. It can

be used in many decentralized
applications and has been designed for 0.20...0.47 Nm max. holding torque and 24V
DC nominal supply

voltage. With stealthChop™, the PD42-1070 offers absolutely silent and smooth
motor operation for

lower and medium velocities. With spreadCycle™, the PD42-1070 offers a high
performance current

controlled chopper mode for highest velocities with perfect zero crossing
performance. With stallGuard2™,

a sensorless load detection feature is provided, which is required for using the
automatic current scaling

feature coolStep™. The PD42-1070 can be used with a simple step and direction
interface and can be

configured using a TTL UART interface.

stallGuard2 and coolStep must be configured via TTL UART interface and are disabled
by default.

1.1 General Features

Main Characteristics

• Supply Voltage +9V to +24V DC

• 1.0A RMS phase current (ca. 1.4A peak phase current)

• Highest micro step resolution, up to 256 micro steps per full step

• microPlyer™ microstep interpolator for obtaining increased smoothness of

microstepping over a low

frequency STEP/D IR interface

• With housing and motor mounted

• Permanent onboard parameter storage

 • Simple step & direction mode

• Noiseless stealthChop™ chopper mode for slow to medium velocities

• High performance spreadCycle™ chopper mode

• High-precision sensorless load measurement with stallGuard2™

• Automatic current scaling algorithm coolStep™ to save energy and keep your
drive cool

Optically Isolated Inputs

• Step & direction interface with up to 45kHz input frequency

• Enable input to power-on/-off driver H-bridges

• Mode select input to switch between the two chopper modes

TTL UART Interface

• TTL-level UART interface for parameter configuration

• Interface speed 9600-115200 bps (default 9600 bps)

• TMCL-based protocol for online configuration and permanent parameter settings

• Bootloader for firmware updates

©2016 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •

2016-Aug-04 4 / 25

1.2 TRINAMIC’s Unique Features

1.2.1 stealthChop™

stealthChop is an extremely quiet mode of operation for low and medium velocities.
It is based on a voltage

mode PWM. During standstill and at low velocities, the motor is absolutely
noiseless. Thus, stealthChop

operated stepper motor applications are very suitable for indoor or home use.
The motor operates

absolutely free of vibration at low velocities. With stealthChop, the motor

current is applied by driving

a certain effective voltage into the coil, using a voltage mode PWM. There are no
more configurations

required except for the regulation of the PWM voltage to yield the motor target
current.

Figure 1: Motor coil sine wave current using stealthChop (measured

with current probe)

1.2.2 spreadCycle™

The spreadCycle chopper is a high-precision, hysteresis-based, and simple to use

chopper mode, which

automatically determines the optimum length for the fast-decay phase. Several
parameters are available to
optimize the chopper to the application. spreadCycle offers optimal zero crossing
performance compared

to other current controlled chopper algorithms and thereby allows for highest
smoothness. The true target

current is powered into the motor coils.

Figure 2: spreadCycle principle

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •

2016-Aug-04 5 / 25

1.3 stallGuard2

stallGuard2 is a high-precision sensorless load measurement using the back EMF of

the motor coils. It

can be used for stall detection as well as other uses at loads below those which
stall the motor. The

stallGuard2 measurement value changes linearly over a wide range of load, velocity,
and current settings.

At maximum motor load, the value reaches zero or is near zero. This is the most
energy-efficient point of

operation for the motor.

stallGuard2

Load [Nm]

Initial stallGuard2 (SG) value: 100%

 Max. load

stallGuard2 (SG) value: 0

Maximum load reached.

Motor close to stall.

Motor stalls

Figure 3: stallGuard2 Load Measurement as a

Function of Load

1.4 coolStep

coolStep is a load-adaptive automatic current scaling based on the load measurement

via stallGuard2.

coolStep adapts the required current to the load. Energy consumption can be reduced
by as much as 75%.

coolStep allows substantial energy savings, especially for motors which see varying
loads or operate at a

high duty cycle. Because a stepper motor application needs to work with a torque
reserve of 30% to 50%,

even a constant-load application allows significant energy savings because coolStep

automatically enables

torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor

life, and allows for cost reduction.

0,9

Efficiency with coolStep

 0,8
Efficiency with 50v torque reserve

0,7

0,6

0,5

Efficiency

0,4

0,3

0,2

0,1

0 50 100 150 200 250

300 350

Velocity [RPM]

Figure 4: Energy Effi ciency Example

with coolStep

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •

2016-Aug-04 6 / 25

2 Order Codes

Order Code Description

Size (LxWxH)

PD42-1-1070 PANdrive, 0.27Nm, 1.0A RMS, +24V DC, TTL UART interface,
42mm x 42mm x 45,5mm

S/D interface, Enable, Mode Select

PD42-2-1070 PANdrive, 0.35Nm, 1.0A RMS, +24V DC, TTL UART interface,
42mm x 42mm x 50mm

S/D interface, Enable, Mode Select

PD42-3-1070 PANdrive, 0.49Nm, 1.0A RMS, +24V DC, TTL UART interface,
42mm x 42mm x 59mm

S/D interface, Enable, Mode Select

TMCM-1070 Controller/Driver Module without motor, +24V DC, TTL

42mm x 42mm x 12mm

UART interface, S/D interface, Enable, Mode Select

Table 1: Order codes modules

Order Code Description

TMCM-1070-CABLE Cable loom for TMCM-1070. Contains:

• 1x cable loom for motor connector with 4-pin

JST PH female connector
 • 1x cable loom for I/O connector with 9-in JST
PH female connector

PD42-1070-CABLE Cable loom for PD42-x-1070. Contains:

• 1x cable loom for I/O connector with 9-in JST

PH female connector

TMCM-KAM INO-CLIP Self-Adhesive top hat rail mounting clip for TMCM-
1070 base module (not

available with PANdrive versions PD42-x-1070)

TMCM-KAM INO-AP23 Aluminum adapter plate kit for mounting of

TMCM-1070 base module to

NEMA23 size motors (not available with PANdrive

versions PD42-x-1070)

TMCM-KAM INO-AP24 Aluminum adapter plate kit for mounting of

TMCM-1070 base module to

NEMA24 size motors (not available with PANdrive

versions PD42-x-1070)

Table 2: Order codes cable loom

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2016-Aug-04 7 / 25
3 Mechanical and Electrical Interfacing

3.1 PD42-1070 Dimensions and Weight

The PD42-1070 includes the TMCM-1070 stepper motor driver module and a NEMA17
bipolar stepper

motor. Depending on the motor size the lengt varies.

42mm
42mm

Figure 5: PD42-1070 mechanical dimensions with motor

Order Code L in mm Weight in g

PD42-1-1070 45,5 ±1 ≈ 260

PD42-2-1070 50 ±1 ≈ 320

PD42-3-1070 59 ±1 ≈ 395

Table 3: PD42-x-1070 length and weight

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •
2016-Aug-04 8 / 25

3.2 PD42-1070 Motor Parameters

Specifications Parameter Unit PD-1-

1070 PD-2-1070 PD-3-1070

Step angle ◦ 1.8

1.8 1.8

Step angle accuracy % ±5

±5 ±5

Ambient temperature Tamb ◦C -

20...+50 -20...+50 -20...+50

Max. motor temperature Tmotormax ◦C 80

80 80

Shaft radial play (450g load) mm 0,02

0,02 0,02

Shaft axial play (450g load) mm 0,08

0,08 0,08

Max radial force (20mm from front N 28

28 28

flange)

Max axial force N 10

10 10

Rated voltage VRAT ED V 2.0

2.4 2.4
 Rated phase current IRMSRAT ED A 1.0
1.0 1.0

Phase resistance at 20 C RCOIL Ω 1.0

1.2 1.4

Phase inductance (typ.) LCOIL mH 1.6

2.2 2.1

Holding torque Nm 0.22

0.36 0.44

Insulation class B
B B

Rotor inertia g cm2 35

57 68

Weight M kg 0.22
0.24 0.35

Table 4: PD42-1070 Motor Parameters

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •

2016-Aug-04 9 / 25
3.3 PD42-1070 Torque Curves

The following diagrams show the torque vs. speed curves for the PD42-1-1070, the
PD42-2-1070, and

the PD42-3-1070 at three different typical conditions. All measurements have been
done in spreadCycle

chopper mode. The measurement conditions are:

1. V DD =+24V, ICOILRMS =1A, 1/16 microstep with interpolation to 1/256

microstep

2. V DD =+24V, ICOILRMS =1A, half stepping

3. V DD =+12V, ICOILRMS =1A, half stepping

Figure 6: PD42-1-1070 torque vs. speed

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •

2016-Aug-04 10 / 25

Figure 7: PD42-2-1070 torque vs. speed

Figure 8: PD42-3-1070 torque vs. speed

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PD42-1070 Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 •

2016-Aug-04 11 / 25

4 Connectors and LEDs

Figure 9: PD42-1070 connectors (pin 1 highlighted in

red)

4.1 Motor Connector

Pin no. Pin name Description

1 A1 Motor phase A pin 1

2 A2 Motor phase A pin 2

3 B1 Motor phase B pin 1

4 B2 Motor phase B pin 2

Table 5: Motor connector pinning

NOTICE Do not connect or disconnect motor during operation!

Motor cable and motor inductivity might lead to voltage

spikes when the motor is

(dis)connected while energized. These voltage spikes

might exceed voltage limits

of the driver MOSFETs and might permanently damage them.

Therefore, always

switch off or disconnect power supply before

(dis)connecting the motor.

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2016-Aug-04 12 / 25

4.2 I/O Connector

Pin no. Pin name Description

1 GND Supply ground connection, also used for USB serial

converter ground connection

2 V+ Supply voltage (V DD) +9V to +28V DC

3 DIR Optically isolated direction input of S/D interface

4 STEP Optically isolated step input of S/D interface

5 EN Optically isolated enable input of motor driver H-

bridges

6 CHOP Optically isolated chopper mode selection input

7 COMM Opto-coupler common anode or cathode, connect to ground

or VCCIO (3.3V to
 24V)

8 RXD TTL-level UART receive line, use with USB serial

converter TXD line to connect to

PC

9 TXD TTL-level UART transmit line, use with USB serial

converter RXD line to connect to

PC

Table 6: I/O connector pinning

NOTICE Supply Voltage Buffering / Add External Power Supply

Capacitors

A sufficiently buffered power supply or an

external electrolyte capacitor

connected between V+ and GND is recommended for stable

operation.

It is recommended to connect an electrolytic capacitor

of significant size to the

power supply lines next to the PD42-1070.

Rule of thumb for size of electrolytic capacitor: C =

1000 µF ∗ ISUP P LY

The PD42-1070 comes with approximately 40µF of onboard

ceramic capacitors.

NOTICE There is no reverse polarity protection on the supply

input!

The module will short any reversed supply voltage and

board electronics will get

damaged.
 NOTICE Power Up Sequence

We suggest to power up the PD42-1070 only with disabled

H-bridges. That is,

depending on your configuration the EN input should be

logically OFF.

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4.3 TTL UART Connection

To connect via the TTL UART interface to a host PC, we suggest using a USB serial
converter from TTL-UART

(5V) to USB interface.

Communication with the host PC, for example when using TRINAMIC’s TMCL-IDE, is done
via the Virtual

COM port installed by the converter driver.

More information on the TMCL-IDE and the latest release can be found here:
www.trinamic.com

The converter cable must be connected to pins 1, 8, and 9 (GND, RXD, TXD) of the
I/O connector.

Note Default Baud Rates

The default baud rate is 9600 bps.

In bootloader mode, the baud rate is 115200 bps.

 Info USB to UART converter

For example, the TTL-232R-5V from FTDI is working with

the module and has

been tested. More information on this converter is

available on the FTDI website:

www.ftdichip.com

NOTICE 5V TTL UART Level

The TTL UART interface works with 5V level. Take special

care when selecting a

converter cable for USB connection.

4.4 Status LEDs

The PD42-1070 has one green status LED. See figure 9 for its location.

State Description

Blinking Heartbeat, MCU active, normal operation

Permanent on Bootloader mode

Off Power Off

Table 7: LED state description

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2016-Aug-04 14 / 25

5 Functional Description

5.1 Typical Application Wiring

Wire the PD42-1070 as shown in the following figures.

• Connect the the power supply to V+ and GND.

• Connect the Step and Direction signals to your motion controller.

• Optional: Connect UART to a TTL UART interface with 5V logic levels. To

configure your PD42-1070

connect start the TMCL-IDE and use the parameterization tools. For detailed
instructions refer to the

PD42-1070-firmware-manual.

Note The TTL UART interface is not optically isolated. It

requires 5V level signals.

Nevertheless, it provides basic ESD and rail-to-rail

signal line protection for the

PD42-1070.

Figure 10: Typical application scenario with 5V

inputs

5.2 Optically Isolated Inputs with Common Anode Input

The control inputs of the PD42-1070 are optically isolated (not the TTL UART
interface). All optocouplers
share one common anode (COMM) input as shown in the figure above.

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Figure 11: Inputs with common anode input with 3.3V

to 5V

The typical voltage at COMM input is 5V. Nevertheless, 3.3V or voltages higher than
5V can also be used as

long as the current is through the optocouplers’ emitter is between 5mA to 20mA.
For 3.3V operation the

controller must be carefully selected with respect to its I/O ports, its actual
output voltage, and the series

resistor of the I/O ports. The user must make sure that the current through the
optocouplers’ emitter is

between 5mA to 20mA.

Note Step pulse width

Width of the step pulses should be between 2µs and

4µs, for maximum step

frequency.

With a larger step pulse width, for example 50% duty

cycle coming from a fre-

quency generator, the maximum input frequency

will be lower at ca. 9kHz..

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2016-Aug-04 16 / 25

Figure 12: Inputs with common anode input with >5V to

24V

The series resistors in the PD42-1070 are 270mOhms. For operation

with voltages higher than 5V an

additional external resistor Rexternal is required per input to limit the current.
See Table 8 as reference for

additional external resistor values.

COMM Voltage (V) Value of Rexternal (Ω)

3.3 -

5 -

9 300

12 500

15 700

24 1K5

Table 8: Additional resistor reference values

5.3 Optically Isolated Inputs with Common Cathode Input

The optocouplers inside PD42-1070 are bidirectional types (AC/DC). Thus, COMM can
also be used as

common cathode connection.

5.4 Thermal Behavior

The default configuration parameters of the PD42-1070 are set to the specified
maximum current of 1A

rms / 1.4A peak, which is the maximum motor phase current specified for the stepper
motor options given

in Table 4.

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2016-Aug-04 17 / 25

Typically, at this nominal current setting the stepper motor and the driver
electronics will get hot. Continu-

ous operation at maximum current is not guaranteed without cooling the motor since
the stepper driver

will switch off due to its internal over-temperature protection until temperature

falls below the threshold.

Note Operation with Maximum Current Setting

For table-top testing and application bring-up the

current should be reduced or
 the coolStep feature should be configured to keep
heating on a reasonable level.

Especially, when there is no other cooling option for

the motor.

For proper and continuous operation at maximum

current, the motor flange

must be mounted to the applications mechanical

interface with good contact.

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6 Operational Ratings and Characteristics

6.1 Absolute Maximum Ratings

Parameter
Min Max Unit

Supply voltage
+9 +28 V

Working temperature
-30 +40 ° C

Motor coil current / sine wave peak

1.4 A

Continuous motor current (RMS)

1.0 A

NOTICE Avoid exceeding the absolute maximum rating under

all circumstances.

Stresses above those listed under "‘Absolute

Maximum Ratings"’ may cause

permanent damage to the device. This is a

stress rating only and functional

operation of the device at those or any other conditions

above those indicated in

the operation listings of this specification is not

implied. Exposure to maximum

rating conditions for extended periods may affect device

reliability.

Keep the power supply voltage below the upper

limit of +28V! Otherwise

the board electronics will seriously be damaged!

Especially, when the selected

operating voltage is near the upper limit a

regulated power supply is highly

recommended.

6.2 Electrical Characteristics (Ambient Temperature 25° C)

Parameter Symbol Min

Typ Max Unit

Supply voltage V DD 9
24 26 V

Motor coil current / sine wave peak (chopper regu- ICOILpeak 0

1.4 A

lated, adjustable via TTL UART interface)

Continuous motor current (RMS) ICOILRMS 0

1.0 A

Power supply current IDD

≪ ICOIL 1.4∗ICOIL A

Table 10: Electrical Characteristics

6.3 I/O Ratings (Ambient Temperature 25° C)

Parameter Symbol
Min Typ Max Unit

COMM input voltage VCOMM

3.3 5 +V DD V

Input frequency of optically isolated I/Os fin

45 kHz

TTL UART input voltage VT T L_IN

5 5.5 V

TTL UART low level voltage VT LLL

0 1.75 V

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TTL UART high level voltage VT T LH

3.25 5 V

TTL UART output voltage VT T

L_OUT 5 V

Table 11: Operational ratings of optically isolated inputs and TTL

UART interface

6.4 Functional Characteristics

Parameter Description / Value

Control 4-wire interface with Step, Direction, Enable, and

Chopper Mode Switch

Step Pulse Width The step pulse width should be between 2µs and 4µs for
maximum frequency.

With a larger step pulse width, for example

50% duty cycle coming from a

frequency generator, the maximum input frequency will

be lower at ca. 9kHz.

Communication 2-wire TTL UART interface for configuration, 9600-

115200 bps (default 57600

bps)

Driving Mode spreadCycle and stealthChop chopper modes

(selectable with CHOP input),

adaptive automatic current reduction using stallGuard2

and coolStep

Stepping Resolution Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256
step, default is 1/16 with internal

interpolation to 1/256
 Table 12: Functional Characteristics

6.5 Other Requirements

Specifications Description or Value

Cooling Free air

Working environment Avoid dust, water, oil mist and corrosive gases, no
condensation, no frosting

Working temperature -30° C to +40° C

Table 13: Other Requirements and Characteristics

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7 Abbreviations used in this Manual

Abbreviation Description

COMM Common Anode or common cathode

IDE Integrated Development Environment

 LED Light Emmitting Diode

RMS Root Mean Square value

TMCL TR INAMIC Motion Control Language

TTL Transistor Transistor Logic

UART Universal Asynchronous Receiver Transmitter

USB Universal Serial Bus

Table 14: Abbreviations used in this Manual

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8 Figures Index

1 Motor coil sine wave current using 7

PD42-2-1070 torque vs. speed . . . . 10

stealthChop (measured with current 8

PD42-3-1070 torque vs. speed . . . . 10

probe) . . . . . . . . . . . . . . . . . . . 4 9
PD42-1070 connectors (pin 1 high-
 2 spreadCycle principle . . . . . . . . . . 4
lighted in red) . . . . . . . . . . . . . . 11

3 stallGuard2 Load Measurement as a 10

Typical application scenario with 5V in-

Function of Load . . . . . . . . . . . . 5
puts . . . . . . . . . . . . . . . . . . . . 14

4 Energy Efficiency Example with coolStep 5 11

Inputs with common anode input with

5 PD42-1070 mechanical dimensions

3.3V to 5V . . . . . . . . . . . . . . . . 15

with motor . . . . . . . . . . . . . . . . 7 12
Inputs with common anode input with

6 PD42-1-1070 torque vs. speed . . . . 9

>5V to 24V . . . . . . . . . . . . . . . . 16

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9 Tables Index

1 Order codes modules . . . . . . . . . 6 10

Electrical Characteristics . . . . . . . . 18

2 Order codes cable loom . . . . . . . . 6 11

Operational ratings of optically iso-

3 PD42-x-1070 length and weight . . . . 7 lated

inputs and TTL UART interface . 19

4 PD42-1070 Motor Parameters . . . . 8 12

Functional Characteristics . . . . . . . 19

5 Motor connector pinning . . . . . . . 11 13 Other

Requirements and Characteristics 19
 6 I/O connector pinning . . . . . . . . . 12 14
Abbreviations used in this Manual . . 20

7 LED state description . . . . . . . . . . 13 15

Hardware Revision . . . . . . . . . . . 25

8 Additional resistor reference values . 16 16

Document Revision . . . . . . . . . . . 25

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10 Supplemental Directives

10.1 Producer Information

10.2 Copyright

TR INAMIC owns the content of this user manual in its entirety, including but not
limited to pictures, logos,

trademarks, and resources. © Copyright 2016 TRINAMIC. All rights reserved.

Electronically published by

TR INAMIC, Germany.

Redistributions of source or derived format (for example, Portable Document Format

or Hypertext Markup

Language) must retain the above copyright notice, and the complete
Datasheet User Manual docu-

mentation of this product including associated Application Notes; and a reference

to other available

product-related documentation.
10.3 Trademark Designations and Symbols

Trademark designations and symbols used in this documentation indicate that a

product or feature is

owned and registered as trademark and/or patent either by TRINAMIC or by other

manufacturers, whose

products are used or referred to in combination with TRINAMIC’s products and

TRINAMIC’s product docu-

mentation.

This Hardware Manual is a non-commercial publication that seeks to provide concise

scientific and technical

user information to the target user. Thus, trademark designations and symbols are
only entered in the

Short Spec of this document that introduces the product at a quick glance. The
trademark designation

/symbol is also entered when the product or feature name occurs for the first time
in the document. All

trademarks and brand names used are property of their respective owners.

10.4 Target User

The documentation provided here, is for programmers and engineers only, who are
equipped with the

necessary skills and have been trained to work with this type of product.

The Target User knows how to responsibly make use of this product without causing
harm to himself or

others, and without causing damage to systems or devices, in which the user
incorporates the product.

10.5 Disclaimer: Life Support Systems

TR INAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its
products for use in life

support systems, without the specific written consent of TRINAMIC Motion Control
GmbH & Co. KG.

Life support systems are equipment intended to support or sustain life, and whose
failure to perform,

when properly used in accordance with instructions provided, can be reasonably

expected to result in

personal injury or death.

Information given in this document is believed to be accurate and reliable.

However, no responsibility

is assumed for the consequences of its use nor for any infringement of patents or
other rights of third

parties which may result from its use. Specifications are subject to change without
notice.

10.6 Disclaimer: Intended Use

The data specified in this user manual is intended solely for the purpose of product
description. No repre-

sentations or warranties, either express or implied, of merchantability, fitness for

a particular purpose

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or of any other nature are made hereunder with respect to information/specification

or the products to
which information refers and no guarantee with respect to compliance to the
intended use is given.

In particular, this also applies to the stated possible applications or areas of

applications of the product.

TR INAMIC products are not designed for and must not be used in connection with any
applications where

the failure of such products would reasonably be expected to result in significant

personal injury or death

(safety-Critical Applications) without TRINAMIC’s specific written consent.

TR INAMIC products are not designed nor intended for use in military or aerospace
applications or environ-

ments or in automotive applications unless specifically designated for such use by

TRINAMIC. TRINAMIC

conveys no patent, copyright, mask work right or other trade mark right to this
product. TRINAMIC assumes

no liability for any patent and/or other trade mark rights of a third party
resulting from processing or

handling of the product and/or any other use of the product.

10.7 Collateral Documents & Tools

This product documentation is related and/or associated with additional tool kits,
firmware and other

items, as provided on the product page at: www.trinamic.com.

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11 Revision History

11.1 Hardware Revision

Version Date Description

1.00 26.06.2016 Initial release.

Table 15: Hardware Revision

11.2 Document Revision

Version Date Description

1.00 26.06.2016 Initial release.

Table 16: Document Revision

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