PD-1021 V1.2 Hardware Manual (Rev. 1.01 / 2013-JUL-23) 2
www.trinamic.com
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 Dimensions ........................................................................................................................................................... 6
3.1.1 Dimensions of PD28-1-1021 ....................................................................................................................... 6
3.1.2 Dimensions of PD28-3-1021 ....................................................................................................................... 7
3.2 Motor Characteristics .......................................................................................................................................... 8
3.3 Connectors ............................................................................................................................................................. 9
3.3.1 Power, Communication and I/O Connector ........................................................................................ 10
3.3.2 Motor Connector .......................................................................................................................................... 11
3.4 Power Supply ..................................................................................................................................................... 12
3.5 Communication .................................................................................................................................................. 13
3.5.1 RS485 .............................................................................................................................................................. 13
3.6 Inputs and Outputs .......................................................................................................................................... 14
3.6.1 Digital Inputs IN_0, IN_1, IN_2, IN_3 .................................................................................................... 14
3.6.2 Outputs OUT_0, OUT_1 ............................................................................................................................... 15
4 Reset to Factory Defaults ......................................................................................................................................... 16
5 On-board LED ............................................................................................................................................................... 16
6 Operational Ratings ................................................................................................................................................... 17
7 Torque Curves ............................................................................................................................................................. 18
8 Functional description .............................................................................................................................................. 19
9 Life Support Policy ..................................................................................................................................................... 20
10 Revision History .......................................................................................................................................................... 21
10.1 Document Revision ........................................................................................................................................... 21
10.2 Hardware Revision ............................................................................................................................................ 21
11 References .................................................................................................................................................................... 21