PANdrive for Stepper Motors
PANDRIVE
PD57/60-x-1260 Hardware Manual
Hardware Version V1.10 | Document Revision V1.10 • 2018-04-30
The PANdrive™ PD57-1-1260, PD57-2-1260, PD60-3-1260 amd PD60-4-1260 are powerful and com-
pact full mechatronic solutions including NEMA23 / 57mm or NEMA24 / 60mm ange size stepper
motors, the TMCM-1260 controller / driver electronics and TRINAMIC™ sensOstep™ encoder for
step-loss detection.
Features
• Stepper Motor NEMA23 / 57mm or
NEMA24 / 60mm
• 0.55 - 3.1Nm
• with controller / driver
• Linear and sixPoint™ ramps
• +24V and +48V DC supply voltage
• Up to 3A RMS motor current
• RS485, CAN & USB interface
• integrated sensOstep encoder and
support for external encoder
• S/D interface
• multi-purpose inputs and outputs
Applications
• Laboratory Automation
• Manufacturing
• Semiconductor Handling
• Robotics
• Factory Automation
• Test & Measurement
• Life Science
• Biotechnology
• Liquid Handling
Simpli ed Block Diagram
EEPROM
PD57/60-x-1260
Step
USB
RS485
CAN
I/Os
Microcontroller
Motion
Energy Efficient
Controller
Driver
+
TMC262
Pre-Driver
MOSFET
Driver
Stage
Motor
12…54V DC
DC/DC
Encoder
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at:
www.trinamic.com
Read entire documentation.
PD57/60-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.10 • 2018-04-30
2 / 38
Contents
1 Features
2 Order Codes
3 Mechanical and Electrical Interfacing
3.1 PD57-1-1260 and PD57-2-1260 Dimensions
.
3.2 PD60-3-1260 and PD60-4-2-1260 Dimensions
3.3 Stepper motor
. . . . . . . . . . . . . . . . . . .
3.4 Integrated sensOstep™ encoder
. . . . . . . .
4 Connectors
4.1 Power Supply Input Connector
4.2 Motor Connector
. . . . . . . .
4.3 RS485 + CAN Connector
. . . .
4.4 USB Connector
. . . . . . . . .
4.5 I/O Connector
. . . . . . . . . .
5 On-Board LEDs
6 Reset to Factory Defaults
7 I/Os
7.1 Analog input IN0
. . . . . . . . . . . .
7.2 Digital inputs IN1 and IN2
. . . . . . .
7.3 HOME/STOP_L/STOP_R switch inputs
7.4 External incremental encoder input
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7.5 Step/Direction inputs
. . . . . . . . . .
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4
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8 Communication
21
8.1 RS485
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
8.2 CAN
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9 Motor driver current
10 Torque curves
10.1 PD57-1-1260 Torque Curve
10.2 PD57-2-1260 Torque Curve
10.3 PD60-3-1260 Torque Curve
10.4 PD60-4-1260 Torque Curve
11 Functional Description
12 Operational Ratings and Characteristics
13 Abbreviations used in this Manual
14 Figures Index
15 Tables Index
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35
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
PD57/60-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.10 • 2018-04-30
3 / 38
16 Supplemental Directives
16.1 Producer Information
. . . . . . . . .
16.2 Copyright
. . . . . . . . . . . . . . . . .
16.3 Trademark Designations and Symbols
16.4 Target User
. . . . . . . . . . . . . . . .
16.5 Disclaimer: Life Support Systems
. . .
16.6 Disclaimer: Intended Use
. . . . . . .
16.7 Collateral Documents & Tools
. . . . .
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17 Revision History
38
17.1 Hardware Revision
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
17.2 Document Revision
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
PD57/60-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.10 • 2018-04-30
4 / 38
1 Features
The PANdrive™ PD57-1-1260, PD57-2-1260, PD60-3-1260 amd PD60-4-1260 are small and compact full
mechatronic solutions including NEMA23 / 57mm or NEMA24 / 60mm ange size stepper motors, the
TMCM-1260 controller / driver electronics and TRINAMIC™ sensOstep™ encoder for step-loss detection. The
four PANdrives include stepper motor with different lengths and different holding torques (PD57-1-1260:
0.55Nm, PD57-2-1260: 1.01Nm, PD60-3-1260: 2.1Nm and PD60-4-1260: 3.1Nm) but, same electronics and
encoder setup. The PANdrives support both, stand-alone operation e.g. using the on-board I/Os together
with the build-in TMCL scripting feature and remote operation using one of the available communication
interfaces and even a mixture of both.
Motion Controller
• Motion pro le calculation in real-time
• On the y alteration of motor parameters (e.g. position, velocity, acceleration)
• Linear and unique sixPoint™ramp in hardware
• Encoder interface and Reference / Stop switch inputs
Driver
• Motor current: 3A RMS, 4A peak (programmable in software)
• Supply voltage: +24V and +48V DC (+12. . . +54V DC)
• 256 microsteps per fullstep
• spreadCycle™highly dynamic current control chopper
• stealthChop™for quiet operation and smooth motion
• programmable Step/Dir interface for driver-only applications with microstep interpolation
Encoder
• integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation)
for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5
encoder steps)
• support for external A/B incremental encoder in addition / as an alternative for the integrated
encoder
• programmable encoder scaling and support for motor stop on encoder deviation
Interfaces
• RS485 interface (up-to 1Mbit/s)
• CAN interface (up-to 1Mbit/s)
• USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)
• Step/Dir input (optically isolated)
• Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)
• 2 general purpose digital inputs
• Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)
• 1 analog input (0..10V nom. input range)
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
PD57/60-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.10 • 2018-04-30
5 / 38
• HOME switch input (shared with analog input)
Mechanical data
• PD57-1-1260 size: 60mm x 60mm, length = 69mm (without mating connectors and motor axis)
• PD57-2-1260 size: 60mm x 60mm, length = 79mm (without mating connectors and motor axis)
• PD60-3-1260 size: 60mm x 60mm, length = 93mm (without mating connectors and motor axis)
• PD60-4-1260 size: 60mm x 60mm, length = 114mm (without mating connectors and motor axis)
• 4 mounting holes for M3 screws
Software
• TMCL™ remote (direct mode) and standalone operation (memory for up to 1024 TMCL™ commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see PD57/60-x-
1260 TMCL rmware manual for more details
• CANopen rmware with CANopen standard protocol stack for the CAN interface. Please see PD57/60-
x-1260
CANopen rmware manual for more details.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
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