User Manual
PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 2
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Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 PD57-1160 and PD60-1160 Dimensions ......................................................................................................... 6
3.1.1 PD57-1160 Dimensions ................................................................................................................................ 6
3.1.2 PD60-1160 Dimensions ................................................................................................................................ 7
3.2 Connectors of PD-1160 ....................................................................................................................................... 8
3.2.1 Power Connector ........................................................................................................................................... 9
3.2.1.1 Power Supply .......................................................................................................................................... 9
3.2.2 Serial Communication Connector ........................................................................................................... 10
3.2.2.1 RS485 ....................................................................................................................................................... 11
3.2.2.2 CAN ........................................................................................................................................................... 12
3.2.3 Multipurpose I/O Connector ..................................................................................................................... 13
3.2.3.1 Digital Inputs STOP_L, STOP_R, and HOME ................................................................................... 13
3.2.3.2 General Purpose Inputs IN_0 and IN_1 ......................................................................................... 14
3.2.3.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 14
3.2.4 Step/Direction Connector .......................................................................................................................... 15
3.2.4.1 Step / Direction / Enable Inputs ...................................................................................................... 15
3.2.5 Encoder Connector ...................................................................................................................................... 16
3.2.5.1 Encoder Inputs ...................................................................................................................................... 16
3.2.6 Motor Connector .......................................................................................................................................... 17
3.2.7 Mini-USB Connector .................................................................................................................................... 18
4 Jumpers ......................................................................................................................................................................... 19
4.1 RS485 Bus Termination .................................................................................................................................... 19
4.2 CAN Bus Termination ....................................................................................................................................... 19
5 Reset to Factory Defaults ......................................................................................................................................... 20
6 On-board LEDs ............................................................................................................................................................. 21
7 Operational Ratings ................................................................................................................................................... 22
8 Torque Curves ............................................................................................................................................................. 24
8.1 Curves of PD57-1160 ......................................................................................................................................... 24
8.1.1 PD57-1-1160 Torque Curves ...................................................................................................................... 24
8.1.2 PD57-2-1160 Torque Curves ...................................................................................................................... 26
8.2 Curves of PD60-1160 ......................................................................................................................................... 28
8.2.1 PD60-3-1160 Torque Curves ...................................................................................................................... 28
8.2.2 PD60-4-1160 Torque Curves ...................................................................................................................... 29
9 Functional Description .............................................................................................................................................. 30
10 PD-1160 Operational Description ........................................................................................................................... 31
10.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 31
11 Life Support Policy ..................................................................................................................................................... 33
12 Revision History .......................................................................................................................................................... 34
12.1 Document Revision ........................................................................................................................................... 34
12.2 Hardware Revision ............................................................................................................................................ 34
13 References .................................................................................................................................................................... 34