PD3-013-42 TRINAMIC, PD3-013-42 Datasheet - Page 22

• 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

6.2.2.4 Chopper mode 3 (Phase and SPI)
This mode combines the modes 2 (Phase) and 0 (SPI) in order to provide highest accuracy at lower
velocities and also the possibility for faster movements. Through the switching between modes some
microsteps may be lost. Microstep resolution must not be higher than 64. It is set according to Phase
mode, so possible values for Z (microstep resolution) are 2, 3 or 4.
Conversion of values above to motors with different fullstep resolutions:
6.2.2.5 Chopper mode 4 (PWM and SPI)
This mode combines the modes 1 (PWM) and 0 (SPI) in order to provide higher accuracy (up to 64
microsteps) at lower velocities and also the possibility for faster movements. For higher velocities in
SPI mode the microstep resolution is always 16, but set resolution is simulated. Through the switching
between modes some microsteps may be lost. Microstep resolution must not be higher than 64. It is
set according to Phase mode, so possible values for Z (microstep resolution) are 2, 3 or 4. This mode
should only be used in very special occasions and mode 3 should be preferred if a combination of high
accuracy at slow movements and high speed is needed.
6.3 Step / Direction
Additional Parameters can be set by RS485 i.e. to set a maximum velocity or microsteps per round.
The Step-Direction controls are as follows:
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
µ-steps
64
32
16
Control
Motor
v
motor
(
rounds
V-value
/
) s
Step frequency
=
Table 6.11: Chopper mode 3 switching velocities
192000
Table 6.12: External signals and motor reactions
Velocity
Phase to SPI
96000
48000
v
table
(
rounds
200
Rounds/s
/
) s
decrease of Step
⋅
Acceleration
motors
Increase or
frequency
2.24
2.24
2.24
fullsteps
per
wired or connected
V-value
Direction open
revolution
Rotate right
to V
COM
25000
12500
SPI to Phase
6250
connected to
Rounds/s
Rotate left
Direction
Ground
0.29
0.29
0.29