PD3-110-42-232 TRINAMIC, PD3-110-42-232 Datasheet - Page 13

• Manufacturer Part Number: PD3-110-42-232
• Description: STEPPER MOTOR, PANDRIV, 42MM, 0.50NM
• Manufacturer: TRINAMIC

Specifications of PD3-110-42-232

• Torque Max: 0.49N-m
• Current Rating: 1A
• No. Of Phases: 2
• External Depth: 42mm
• External Length / Height: 49.5mm
• External Width: 42mm
• Holding Torque: 0.50N-m
• Steps Per Revolution: RoHS Compliant
• Coil Type: Bipolar
• Svhc: No SVHC (15-Dec-2010)
• Rohs Compliant: Yes

7 TMCM-110 Operational Description
7.1 Calculation: Velocity and Acceleration vs. Microstep- and
The values of the parameters sent to the TMC428 do not have typical motor values, like rotations per second
as velocity. But these values can be calculated from the TMC428 parameters, as shown in this document.
The parameters for the TMC428 are:
f
velocity
a_max
pulse_div
ramp_div
Usrs
Table 7.1: TMC428 Velocity parameters
The microstep-frequency of the stepper motor is calculated with
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be divided
by the number of microsteps per fullstep.
The change in the pulse rate per time unit (microstep frequency change per second – the acceleration a) is
given by
This results in an acceleration in fullsteps of:
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
CLK
Parameter
Fullstep Frequency
Clock frequency
Maximum acceleration
Velocity pre-divider. The higher the value is, the less
is the maximum velocity.
Default value = 3
Can be changed in TMCL using SAP 154.
Acceleration pre-divider. The higher the value is, the
less is the maximum acceleration
default value = 7
Can be change in TMCL using SAP 153.
Microstep resolution (microsteps per fullstep = 2
Can be changed in TMCL using SAP 140.
usf
[
Hz
]
fsf
=
af
[
Description
2
Hz
f
=
CLK
pulse
]
2
TMCM-110-42 Manual
[
=
usrs
a
_
Hz
div
usf
a
]
⋅
2
=
with af: acceleration in fullsteps
⋅
2048
usrs
[
velocity
2
Hz
pulse
]
f
⋅
CLK
_
32
with fsf: fullstep-frequency
div
2
+
ramp
with usf: microstep-frequency
⋅
a
max
_
div
usrs
+
29
).
16 MHz
0..2047
0..2047
0..13
0..13
0..6
Range
13