Техническая Спецификация для Trinamic 30-0102 PD1-109-57-RS V2 Stepper Motor With Integrated Controller 30-0102
Модели
30-0102
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25)
5
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
2 Features
The PANdrive PDx-109-57 V2 features a full mechatronic solution including a 57mm flange
motor. It is based on the TMCM-109-57 electronics and offers RS232 and RS485 interfaces. The
power supply, the interface and the multipurpose I/Os can be connected via two pluggable
screw terminal connectors. With the stallGuard™ feature it is possible to detect motor overload
or motor stall.
The TMCM-109-57 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. 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.
Applications
motor. It is based on the TMCM-109-57 electronics and offers RS232 and RS485 interfaces. The
power supply, the interface and the multipurpose I/Os can be connected via two pluggable
screw terminal connectors. With the stallGuard™ feature it is possible to detect motor overload
or motor stall.
The TMCM-109-57 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. 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.
Applications
decentralized mechatronic drive with integrated intelligence
high-precision drives with high dynamics and torque
Electrical data
18V to 55V motor supply voltage for highest motor dynamics
up to 2.8A RMS nominal motor current
Motor data
all PANdrive Motors optimized for 2.8A RMS motor current
flange max. 56.5mm x 56.5mm
D-cut of 15mm length and 0.5mm depth
more specifications:
Specifications
Parameter Units
QSH5718
-41-28-055 -51-28-101 56-28-126
-76-28-189
Number of Leads
N˚
4
4
4
4
Step Angle
˚
1.8
1.8
1.8
1.8
Step Angle Accuracy
%
5
5
5
5
Rated Voltage
V
RATED
V
2
2.3
2.5
3.2
Rated Phase Current
I
RMS RATED
A
2.8
2.8
2.8
2.8
Phase Resistance at 20°C
R
COIL
Ω
0.7
0.83
0.9
1.13
Phase Inductance (typ.)
mH
1.4
2.2
2.5
3.6
Holding Torque
Nm
0.55
1.01
1.26
1.89
Detent Torque
Nm
0.020
0.035
0.039
0.066
Rotor Inertia
g cm
2
120
275
300
480
Insulation Class
B
B
B
B
Max. applicable voltage
V
75
75
75
75
Max. radial force
(20mm from front flange)
(20mm from front flange)
N
75
75
75
75
Max. axial force
N
15
15
15
15
Weight
kg
0.45
0.65
0.7
1
Length
mm
41
51
56
76
Temp. Rise (rated current,
2 phase on)
2 phase on)
˚C
+80 max
+80 max
+80 max
+80 max
Ambient Temperature
˚C
-20 +50
-20 +50
-20 +50
-20 +50
Table 2.1: Specifications of the PANdrive motors