PD3-013-42 TRINAMIC, PD3-013-42 Datasheet - Page 16

• Manufacturer Part Number: PD3-013-42
• Description: STEPPER MOTOR, PANDRIV, 42MM, 0.50NM
• Manufacturer: TRINAMIC

Specifications of PD3-013-42

• Coil Type: Bipolar
• Torque Max: 0.49N-m
• Current Rating: 1A
• External Depth: 42mm
• External Length / Height: 49.5mm
• External Width: 42mm
• Holding Torque: 0.49N-m
• Overall Length: 69mm
• Steps Per: RoHS Compliant
• Svhc: No SVHC (15-Dec-2010)
• Rohs Compliant: Yes

6.2.1 RS485 Commands
For RS485 commands write the address byte (default is A) first, followed by a command from the
following list. A small command letter provides the actual setting. All values are ASCII.
Examples:
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Command Function
M, m
1. Set chopper mode to SPI Mode:
2. Read out the actual mode
3. Change Microstep resolution ¼ of max. resolution
G, g
N, n
O, o
U, u
A, a
C, c
V, v
Y, y
Z, z
T, t
L, l
W
Q
R
E
P
S
X
AM 0 ⇒ ENTER
Am ⇒ ENTER
AZ 2 ⇒ ENTER
Acceleration
Set Motor
Current
Failure
Readout
StallGuard
Limit switch
Select Mode
Alert
Set Output
Set Position
Read I/Os
Read Current
Position
Changes
address byte
RS485-
Timeout
Set baud rate
Velocity for
Rotation
Store
parameters to
EEPROM
Version
number
Standby
current
Microstep
Resolution
Acceleration: v = 28.96 * a
Motor current in percentage of maximum
current
(0..100% * 1500mA). Refer to 6.2.1.2
Provides Failure readout. Refer 6.2.1.3
In mode 0 (SPI) the StallGuard feature is
functional. ‘g’ provides the actual StallGuard
value, not the setting. Refer 6.2.1.4
Used to switch on and off reference run
values. Refer
Select
2:PHASE, 3 & 4: Combinations, Refer 6.2.2
Alert output adjustments, Refer 6.2.1.6
Output adjustments, Refer 6.2.1.7
Set position without moving the motor
Provides out of the I/O the values of the
ports GPI, REF_A, REF_B, GPO and
ALARM. Refer to 6.2.1.8
Provides the current position of the motor
Capital letter followed by the command ‘S’
makes this letter the new address byte
Sets the RS485-Timeout
Sets baud rate for RS485 communication.
Refer to 6.2.1.9
Velocity for rotation / reference run
v = n * 0.149157 usteps/s
Additional Parameter 0 or missing: Carriage
Return (CR) comes after acceleration phase
Additional Parameter is 1: no delay of CR
Stores settings to EEPROM to restart with
the same performance. Refer 6.2.1.11
Provides version number of implemented
Software
Sets 0..100% of maximum current after 1
second motor inactivity. For no standby
current use the same value as for “Set motor
current”.
Sets the maximum microstep resolution (0:
max; 4: min). Refer to 6.2.1.12, Table 6.10
Table 6.1: RS485 Commands
chopper
Description
mode:
0:SPI,
1:PWM,
1Bit (others)
+/- 2500000
0..2500000
0, 1, 2, 3, 4
8 Bit (SPI)
-7..0..+7
Range
0..100
0..100
0 or 1
32 bit
32 bit
0…7
byte
2 bit
2 bit
0..4
Factory
Default
50
20
A
0
0
0
0
0
0
0
0
0