PD3-110-42-232 TRINAMIC, PD3-110-42-232 Datasheet - Page 9

• 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

5 Functional Description
In Figure 5.1 the main parts oft the TMCM-110 module are shown. The module mainly consists of the µC, a
TMC428 motion controller, a TMC246 stepper motor driver, the TMCL program memory (EEPROM) and the
host interfaces (RS232, RS485, IIC and CAN).
5.1 System Architecture
The TMCM-110 integrates a microcontroller with the TMCL (Trinamic Motion Control Language) operating
system. The motion control real-time tasks are realized by the TMC428.
5.1.1 Microcontroller
On this module, the Atmel ATmega32 is used to run the TMCL operating system and to control the TMC428.
The CPU has 32Kbyte flash memory and a 1Kbyte EEPROM. The microcontroller runs the TMCL (Trinamic
Motion Control Language) operating system which makes it possible to execute TMCL commands that are
sent to the module from the host via the interface. The microcontroller interprets the TMCL commands and
controls the TMC428 which executes the motion commands.
The flash ROM of the microcontroller holds the TMCL operating system and the EEPROM memory of the
microcontroller is used to permanently store configuration data.
The TMCL operating system can be updated via the host interface. Please use the latest version of the
TMCL IDE to do this. As already mentioned above the Trinamic CANnes card or the Trinamic USB2X
interface is needed to connect the module with CAN or IIC interface to the PC to update the OS.
5.1.2
To store TMCL programs for stand alone operation the TMCM-110 module is equipped with a 16kByte
EEPROM attached to the microcontroller. The EEPROM can store TMCL programs consisting of up to 2048
TMCL commands.
5.1.3 TMC428 Motion Controller
The TMC428 is a high-performance stepper motor control IC and can control up to three 2-phase-stepper-
motors (on this module, only one motor can be used). Motion parameters like speed or acceleration are sent
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Host
7..30V DC
EEPROM
RS-232
RS-485
CAN
5V Power Supply
I/O
IIC
or
or
or
Figure 5.1: Application Environment
EEPROM
2
TMCL
TMCM-110-42 Manual
µC
TMC428
PD-110-42
Driver
TMC246
+5V
Motor
Switches
Step
REF-
9