PD3-109-57-RS TRINAMIC, PD3-109-57-RS Datasheet - Page 15

• Manufacturer Part Number: PD3-109-57-RS
• Description: STEPPER MOTOR, PANDRIV, 57MM, 1.63NM
• Manufacturer: TRINAMIC

Specifications of PD3-109-57-RS

• Torque Max: 1.63N-m
• Current Rating: 3A
• No. Of Phases: 2
• External Depth: 57mm
• External Length / Height: 78.5mm
• External Width: 57mm
• Holding Torque: 1.63N-m
• Steps Per Revolution: RoHS Compliant
• Coil Type: Bipolar
• Svhc: No SVHC (15-Dec-2010)
• Rohs Compliant: Yes

PD-109-57 / TMCM-109-57 Manual (V1.07 / Jul 18th, 2006)
6 Putting the TMCM-109 into Operation
On the basis of a small example it is shown step by step how the TMCM-109 is set into operation.
Users who are already familiar with TMCL and other Trinamic modules may skip this chapter.
Example: The following application is to be implemented on the TMCM-109 module using the TMCL-
IDE Software development environment.
The simple application is:
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•
•
•
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To implement this simple application on theTMCM-109 it is necessary to do the following things:
Step 1:
Step 2:
Step 3:
Step 4:
Step 5:
Step 6:
Step 7:
A detailed documentation about the TMCL operations and the TMCL IDE can be found in the TMCL
Reference and Programming Manual. The next chapter shows how the velocity and acceleration
values are calculated.
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Move the Motor to position 150000
Wait 2 seconds
Move the Motor back to position 0
Wait 1 second
Start again with the first step
//A simple example for using TMCL and the TMCL-IDE
Loop:
Connect the host interface to the PC
Switch on the power supply. The activity LED should start to flash. This indicates the
correct configuration of the microcontroller.
Start the TMCL-IDE Software development environment. Enter the program shown in
the following listing. A description of the TMCL commands can be found in the TMCL
Reference and Programming Manual.
Click the “Assemble” icon to convert the TMCL program into byte code.
Then download the program to the TMCM-109 module by clicking the “Download”
icon.
Connect the motor to the motor connector
Connect the power supply voltage to the module
Click the “Run” icon. The downloaded program will now be executed.
SAP 4, 0, 100
MVP ABS, 0, 150000
WAIT POS, 0, 0
WAIT TICKS, 0, 200
MVP ABS, 0, 0
WAIT POS, 0, 0
WAIT TICKS, 0, 100
JA Loop
//Move to position 150000
//Move back to position 0
//Set the maximum speed
//Infinite Loop
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