Discontinued Products

PD-140-42-SE is not recommended for new designs. For new designs please refer to PD-1140 family. For existing designs PD-140-42-SE will be further available.


The PD-140-42-SE PANdrive is a full mechatronic solution including a 42mm flange high torque motor, a motion controller/driver and a integrated sensOstep™ encoder. The PD-140-42-SE can be controlled via RS232, RS485, CAN or USB interface. The power supply, interface and the multi purpose I/Os can be connected with small JST connectors. The chopSync™ feature allows high speed movement without resonance problems. The PD-140-42-SE comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using predefined TMCL high level commands like „move to position“ or „constant rotation“ a rapid and fast development of motion control applications is guaranteed. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed on board. The TMCL program can be stored in the on board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. An optional firmware allows to control the PANdrive with the CANopen protocol. The internal sensOstepTM encoder can be used to detect step loss or to control the target position.

Special Features

  • stallGuard™

Technical Details

Motor Supply7…28.5V7…28.5V7…28.5V7…28.5V
CAN yes yes yes yes
CANopen yes yes yes yes
RS232 yes yes yes yes
RS485 yes yes yes yes
TMCL yes yes yes yes
USB yes yes yes yes



Hardware manual pdf650 KBNov 3, 2016 12:35 PM


TMCL firmware manual V1.07 pdf1.4 MBNov 3, 2016 12:36 PM
CANopen Firmware 3.20 Manual 2.01 pdf1.1 MBJul 31, 2017 10:02 AM


CANopen firmware V3.20 hex280 KBJul 20, 2017 10:33 AM


PCN-2017-07-04 - Firmware 3.20 pdf43 KBJul 31, 2017 7:13 AM