• FD2.1 Auxind

In picture: FD2.1AD coupled to a NEMA34 motor

Main characteristics


  • Dual H bridge, bipolar chopper, 40 kHz PWM
  • micro-step c\w configurable resolution (step/rev)
  • Motor current control with the load
  • Step accumulation to avoid motor stall
  • Absolute encoder over a single revolution (12 bits)
  • Auxiliary power supply for micro-processor, encoder and field buses
  • Step/dir and quadrature steps inputs
  • Start/stop, cycle/sequence selection
  • CANopen DSP402 and Modbus RTU
  • Firmware and parameters programming over field-bus
  • Multi-turn position restore at power-on
  • Mounted on NEMA 34 motors


FD2 belongs to Full Digital family drives, to be mounted directly on motor end-shield.

Integrated stepper motor allows to simplify cabling and to easily exploit the benefits of absolute magnetic encoder: verify the correct execution of ordered steps, control the motor current with the load, avoid motor stall and other functions described on firmware manual.

FD2 is equipped with configurable I/O’s: 

  • 6 digital inputs that can be configured as step/direction, quadrature steps, homing sensors, limit switch, start/stop, cycle and sequence selection, enable/disable motor current, etc. 
  • 2 digital outputs that can be configured as alarm, drive ok, running, etc.

Modbus RTU protocol is available over RS-232 (from 4 800 to 115 200 bps) and RS-485 ( from 4 800 to 921 600 bps).

Suffix A identifies the model equipped with CAN transceiver (e.g. FD2.1A) to communicate with CANopen DSP402 protocol (from 10 kHz to 1 MHz).

Suffix D identifies the model equipped with insulated DC/DC, used to keep the logic supplied also in case of loss of main power supply. This allows to maintain encoder position counting and field bus communication alive.

Ordering code, e.g. FD2.1A-1404+KA

Model Suffix Motor Cable
FD2.1 A 34HD2431-01 + KA
FD2.2: only I/O and RS-232

FD2.1: RS-485

only for FD2.1:

A: CANopen


Latest available firmware version: