User Manual

PD57/60-1260 TMCL
Firmware Manual Firmware Version V1.44 | Document Revision V1.02 2018-SEP-05
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1 Features
The PANdrive
PD57/60-1260 is a full mechatronic solution with state of the art feature set. It is highly
integrated and oers a convenient handling. The PD57/60-1260 includes a stepper motor, controller/driver
electronics and Trinamics SensOstep
encoder. It can be used in many decentralized applications and
has been designed for 0.55. . . 3.10Nm maximum holding torque and 24V DC or 48V DC nominal supply
voltage. With its high energy eciency from Trinamics CoolStep
technology cost for power consumption
is kept down. The TMCL rmware allows for standalone operation and direct mode control.
Main characteristics
Motion controller & stepper motor driver:
Hardware motion prole calculation in real-time.
On the y alteration of motion parameters (e.g. position, velocity, acceleration).
High performance microcontroller for overall system control and communication protocol
handling.
Up to 256 microsteps per full step.
High-ecient operation, low power dissipation.
Dynamic current control.
Integrated protection.
StallGuard2 feature for stall detection.
CoolStep feature for reduced power consumption and heat dissipation.
StealthChop feature for quiet operation and smooth motion.
DcStep feature for load dependent speed control.
Encoder
SensOstep magnetic encoder with 1024 increments per round.
Usable for example for step-loss detection under all operating conditions and positioning
supervision.
Interface for additional external encoder.
Interfaces
USB interface.
RS485 bus.
CAN bus.
Step/Direction inputs.
Three general-purpose digital inputs (Alternate functions: home switch, quadrature encoder
input).
One dedicated analog input.
Two stop switch inputs.
One general purpose digital output (open drain max. 1A).
Software
TMCL remote controlled operation via USB, RS485 or CAN interface and/or stand-alone operation via TMCL
programming. PC-based application development software TMCL-IDE available for free.
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