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PANdrive™ for Stepper
PD57/60/86-x-1260 Hardware Manual
Hardware Version V1.10 | Document Revision V1.31 • 2021-AUG-18
The PANdrive™ PD57-1-1260, PD57-2-1260, PD60-3-1260, PD60-4-1260, and PD86-3-1260 are powerful
and compact full mechatronic solutions including NEMA23 / 57mm or NEMA24 / 60mm or NEMA34
/ 86mm ange size stepper motors, the TMCM-1260 controller / driver electronics and TRINAMIC™
sensOstep™ encoder for step-loss detection.
Applications
• Laboratory Automation
• Manufacturing
• Semiconductor Handling
Simpli ed Block Diagram
©2021 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.
• Robotics
• Factory Automation
• Test & Measurement
Features
• Stepper Motor NEMA23 / 57mm or
NEMA24 / 60mm or NEMA34 / 86mm
• 0.55 - 7.0Nm
• with controller / driver
• Linear and sixPoint™ ramps
• +24V and +48V DC supply voltage
• Up to 5.5A RMS motor current
• RS485, CAN & USB interface
• integrated sensOstep encoder and
support for external encoder
• S/D interface
• multi-purpose inputs and outputs
• Life Science
• Biotechnology
• Liquid Handling
PANDRIVE™
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Related Manuals for Trinamic PANdrive PD57 1260 Series
Summary of Contents for Trinamic PANdrive PD57 1260 Series
- Page 1 The PANdrive™ PD57-1-1260, PD57-2-1260, PD60-3-1260, PD60-4-1260, and PD86-3-1260 are powerful and compact full mechatronic solutions including NEMA23 / 57mm or NEMA24 / 60mm or NEMA34 / 86mm ange size stepper motors, the TMCM-1260 controller / driver electronics and TRINAMIC™ sensOstep™ encoder for step-loss detection.
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Page 2: Table Of Contents
......... . 39 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. - Page 3 ..........41 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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Page 4: Features
NEMA23 / 57mm or NEMA24 / 60mm or NEMA34 / 86mm ange size stepper motors, the TMCM-1260 controller / driver electronics and TRINAMIC™ sen- sOstep™ encoder for step-loss detection. The ve PANdrives include stepper motors with different lengths and different holding torques (PD57-1-1260: 0.55Nm, PD57-2-1260: 1.01Nm, PD60-3-1260: 2.1Nm and... - Page 5 • CANopen rmware with CANopen standard protocol stack for the CAN interface. Please see PD57/60/86- x-1260 CANopen rmware manual for more details. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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Page 6: Order Codes
1 analog input, 4 digital inputs, 1 OD output, CAN, RS485 and USB interfaces, CANopen rmware ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at... - Page 7 • 1x Micro-USB cable Table 2: TMCM-1260 Cable Loom ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at...
- Page 8 The TMCM-1260 controller/driver electronics is also available separately. Please refer to TMCM-1260 hard- ware manual for further details. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at...
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Page 9: Mechanical And Electrical Interfacing
20±0.5 R 0.5 38.1±0.03 56.4±1 6.35 -0.012 1.6±0.3 56.4±1 47.14±0.2 6.35 -0.013 47.14±0.2 56.4±1 38.1±0.03 4-ø4.6 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 10: Pd60-3-1260 And Pd60-4-2-1260 Dimensions
Length 24±1 20±0.5 7.5±0.2 38.1±0.03 60±0.5 8 -0.015 47.14±0.2 47.14±0.2 8 -0.015 38.1±0.03 4-ø4.5 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 11: Pd86-3-1260 Dimensions
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 12: Stepper Motor
2700 Weight 0.45 0.65 Table 3: NEMA23, NEMA24, and NEMA34 stepper motor technical data ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 13: Integrated Sensostep™ Encoder
In order to prevent shorts and better protect the electronics the TMCM-1260 printed circuit board is coated after assembly of components. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 14: Connectors
Connector housing: JST PHR-5 (JST PH series, 5pins, 2mm pitch) Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 15: Power Supply Input Connector
Take care of polarity, wrong polarity can destroy the board! NOTICE Connect Enable pin to voltage >3.5V in order to enable motor movements! NOTICE ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 16: Motor Connector
Description Power (GND) Common system supply and signal ground RS485+ Bidirectional RS485 interface, diff. signal (non-inverting) ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 17: Usb Connector
Analog input (0. . . +10V) HOME switch input +24V tolerant, programmable (separate) pull-up to +5V ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 18: On-Board Leds
LED will be ashing fast. With CANopen rmware both LEDs are switched on/off/ ashing according to standard de ntion. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 19: Reset To Factory Defaults
Short these two pads Figure 3: Reset to factory default settings ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 20: Analog Input In0
In case high-side switches are used the pull-ups must be switched off. For push-pull signals the pull-ups may be either switched on or off. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 21: Home/Stop_L/Stop_R Switch Inputs
(e.g. +5V TTL) and open-drain output signals are supported (single-ended). For open-drain outputs the internal pull-ups should be activated in software (default mode). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 22: Step/Direction Inputs
20kHz. For higher motor speed the step interpolator of the driver stage should be activated or the mi- crostep resolution reduced (default 256 microsteps per fullstep). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 23: Communication
There are actually two options which can be recommended: Add resistor (bias) network on one side of the bus, only (120R termination resistor still at both ends): ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 24: Can
Basically, it should be short compared to the length of the bus. ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. - Page 25 Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus -> less nodes) and communication speed (higher speed -> less nodes). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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Page 26: Motor Driver Current
104. . . 111 1.777 1.257 112. . . 119 1.904 1.347 120. . . 127 2.031 1.436 ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... - Page 27 In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis parameter 204 (see PD57/60/86-x-1260 rmware manual). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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Page 28: Torque Curves
Figure 13: PD57-1-1260 torque vs. velocity 24V / 2.8A, 256 steps Figure 14: PD57-1-1260 torque vs. velocity 48V / 2.8A, 256 steps ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 29: Pd57-2-1260 Torque Curve
Figure 15: PD57-2-1260 torque vs. velocity 24V / 2.8A, 256 steps Figure 16: PD57-2-1260 torque vs. velocity 48V / 2.8A, 256 steps ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 30: Pd60-3-1260 Torque Curve
Figure 17: PD60-3-1260 torque vs. velocity 24V / 2.8A, 256 steps Figure 18: PD60-3-1260 torque vs. velocity 48V / 2.8A, 256 steps ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 31: Pd60-4-1260 Torque Curve
Figure 19: PD60-4-1260 torque vs. velocity 24V / 2.8A, 256 steps Figure 20: PD60-4-1260 torque vs. velocity 48V / 2.8A, 256 steps ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 32: Pd86-3-1260 Torque Curve
32 / 41 10.5 PD86-3-1260 Torque Curve Figure 21: PD86-3-1260 torque vs. velocity 48V / 5.5A, full step operation ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at... -
Page 33: Functional Description
The PD57/60/86-x-1260 with TMCL™ rmware option is supported by the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using prede ned TMCL™ high level commands like move to position a rapid and fast development of motion control applications is guar- anteed. -
Page 34: Operational Ratings And Characteristics
0. . . +10.56V at the analog input IN0 is translated to 0. . . 4095 (12bit ADC, raw values). Above approx. +10.56V the analog input will saturate but, not being damaged (up-to VDD). ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. - Page 35 Number of nodes connected to single CAN network >110 Max. speed for CAN network 1Mbit/s Table 15: Operational ratings of the CAN interface ©2021 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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Page 36: Abbreviations Used In This Manual
Root Mean Square value TMCL TRINAMIC Motion Control Language Table 16: Abbreviations used in this Manual ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 37: Figures Index
2.8A, 256 steps ... . . PD57/60/86-x-1260 block diagram ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at... -
Page 38: Tables Index
..Document Revision ... ©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at... -
Page 39: Supplemental Directives
16.5 Disclaimer: Life Support Systems TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the speci c written consent of TRINAMIC Motion Control GmbH & Co. KG. -
Page 40: Collateral Documents & Tools
In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in signi cant personal injury or death (safety-Critical Applications) without TRINAMIC’s speci c written consent. -
Page 41: Revision History
1.30 2019-DEC-06 I/O Connector pin assignment corrected. 1.31 2021-AUG-18 New block diagram. Table 18: Document Revision ©2021 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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