Data Sheet (30-0102)Table of ContentsLife support policy4Features52.1: Specifications of the PANdrive motors5Order codes73.1: Order codes7Electrical and mechanical interfacing84.1 Dimensions8Dimensions of PCB84.1: Dimensions of base PCB8Dimensions of PDx-109-57 V294.2: Side view of PD-109-57-RS V294.3: Front view of PD-109-57-RS V2104.4: Rear view of PD-109-57-RS V2104.2 Connectors114.5: The TMCM-109 module and its connectors11Connector 1: Power supply, RS485, and GPI1/212Connector 2: RS232 and additional I/O124.1: Connector 1124.2: Connector 212Connectors 3 and 4: Motor13Operational ratings145.1: Operational ratings145.1 GPI1, GPI2, and disable inputs155.1: GPI1, GPI2, and disable inputs155.2: Example for GPI1, GPI2, and disable inputs15Functional description166.1 System architecture16Microcontroller (µC)16TMCL™ EEPROM16TMC428 motion controller166.1: Main parts of the PDx-109-57-RS V216TMC249 motor driver176.2 Power supply requirements176.3 Disable176.4 Communication interfaces RS232 and RS485186.5 Motor current setting186.1: Motor current examples186.6 Microstep resolution196.7 Reference switches196.8 stallGuard™ - sensorless motor stall detection196.9 Environment temperature considerations196.2: Microstep resolution setting196.10 State indication LEDs206.11 Firmware update206.4: State indication LEDs206.12 Resetting the module216.2: Pins for resetting the module21Putting the PDx-109-57 into operation22TMCM-109 operational description238.1 Calculation: Velocity and acceleration vs. microstep- and fullstep frequency238.1: TMC428 velocity parameters23Software25Revision history2610.1 Document revision2610.2 Firmware revision2610.1: Document revision2610.2: Firmware revision26References27Size: 567 KBPages: 27Language: EnglishOpen manual
