User manual

PANdrivesMECHATRONIC DRIVES WITH STEPPER MOTOR
INFO
M A IN C HAR AC T ER IST IC S
www.trinamic.com – for detailed information and datasheets
10 mm
The PD-113-57/60-SE is a full mechatronic solution including
a 57 or 60 mm flange motor (NEMA23/NEMA24). It combines
a convenient controller electronic and a sensOstep™ encoder
with a range of different motor types and can be controlled via
RS-232 or RS485 interface. The chopSync™ feature allows high
velocity operation avoiding resonances. The PD-113-57/60-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 traf
-
fic is kept very low since all time critical operations, e.g. ramp
calculation are performed onboard.
ELECTRICAL
DATA
nom. 24V DC supply voltage (28.5V max.)
up to 2.8A RMS coil current
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MOTOR DATA please also refer to the motor datasheet•
INTERFACE RS232 or RS485 interface
2 inputs for reference switches
2 general purpose inputs (+24V compatible)
2 general purpose outputs (open-collector)
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FEATURES sensOstep™ encoder (max. 256 incr./rot.)
chopSync™ for high velocity operation
stallGuard™ for motor stall detection
up to 16 times microstepping
memory for 2048 TMCL commands
motion profile calculation in real-time
on the fly alteration of motion parameters
dynamic current control
integrated protection
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SOFTWARE stand-alone operation using TMCL
or remote controlled operation
PC-based application development
software TMCL-IDE included
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OTHER RoHS compliant•
PD-113-57-SE
PD-
113-60-SE
57mm / NEMA23 or
60mm / NEMA24
Stepper Motor with
Controller / Driver,
with Encoder and
Serial Interface
OR D ER C ODE DE S CRI P TIO N
PD1-113-57-SE (-option)
PANdrive 0.55 Nm, 65 mm length with motor QSH5718-41-28-055
PD2-113-57-SE (-option)
PANdrive 1.01 Nm, 75 mm length with motor QSH5718-51-28-101
PD3-113-57-SE (-option)
PANdrive 1.26 Nm, 80 mm length with motor QSH5718-56-28-126
PD4-113-57-SE (-option)
PANdrive 1.89 Nm, 100 mm length with motor QSH5718-76-28-189
PD1-113-60-SE (-option)
PANdrive 1.10 Nm, 69 mm length with motor QSH6018-45-28-110
PD2-113-60-SE (-option)
PANdrive 1.65 Nm, 80 mm length with motor QSH6018-56-28-165
PD3-113-60-SE (-option)
PANdrive 2.10 Nm, 89 mm length with motor QSH6018-65-28-210
PD4-113-60-SE (-option)
PANdrive 3.10 Nm, 110 mm length with motor QSH6018-86-28-310
OP T ION S
232
RS232 interface
485
RS485 interface
5V Power Supply
24V
PD-113-57/60-SE
MOSFET
Driver
Stage
TMCL
Memory
sensOstep™
Encoder
high power
Driver
TMC249
Step
Motor
programmable
Motion
Controller
with TMC428
RS232
or
RS
485
85