PD3-013-42 TRINAMIC, PD3-013-42 Datasheet - Page 18

• 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

6.2.1.4 StallGuard (G)
The StallGuard feature is available in the default mode 0 (SPI) only. It is a sensorless load
measurement and stall-detection. Overload is indicated before steps are lost. The command letter ‘g’
provides the actual StallGuard value of the motor so easy calibration is possible. To use StallGuard in
an actual application, some manual tests should be done first, because the StallGuard level depends
upon the motor velocities and on the occurrence of resonances. When switching on StallGuard, the
motor operation mode is changed and microstep resolution may be worse. Thus, StallGuard should be
switched off when not in use.
6.2.1.5 Limit Switch (L)
The parameter ‘L’ defines the different reference entrances of the module. The motor stops when the
defined position is reached.
To activate a reference switch set the appropriate bit to 1. When motor stops the position counter is
set to zero.
Example:
AL 8 ⇒ ENTER : Activates REF_B = 1. When destination reached motor stops and position counter is
set to zero.
6.2.1.6 Alert settings (N)
The bit settings are as follows:
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
Value
-7..-1
1..7
0
Bit
0
1
Motor stops when StallGuard value is reached and position is set zero
(useful for reference run).
StallGuard function is deactivated (default)
Motor stops when StallGuard value is reached and position is not set zero.
Value Description
0
1
0
1
ALARM output is inactive
ALARM output is active
No function
ALARM is set to active when driver detects a failure
Bit
0
1
2
3
4
5
6
7
Table 6.6: Alert adjustments
Table 6.5: Limit switch
Table 6.4: StallGuard
Motor stops at
REF_B = 0
REF_A = 0
GPI = 0
REF_B = 1
REF_A = 1
GPI = 1
0: soft stop, 1: hard stop
0: sets position zero
1: sets position not to zero
Description