User Manual
PD-1160 V1.1 Hardware Manual (Rev. 1.00 / 2012-JUN-12) 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
3.1.3 Power Connector ........................................................................................................................................... 9
3.1.3.1 Power Supply .......................................................................................................................................... 9
3.1.4 Serial Communication Connector ........................................................................................................... 10
3.1.4.1 RS485 ....................................................................................................................................................... 10
3.1.4.2 CAN ........................................................................................................................................................... 11
3.1.5 Multipurpose I/O Connector ..................................................................................................................... 12
3.1.5.1 Digital Inputs STOP_L, STOP_R, and HOME ................................................................................... 12
3.1.5.2 General Purpose Inputs IN_0 and IN_1 ......................................................................................... 13
3.1.5.3 Outputs OUT_0, OUT_1 ........................................................................................................................ 13
3.1.6 Step/Direction Connector .......................................................................................................................... 14
3.1.6.1 Step / Direction / Enable Inputs ...................................................................................................... 14
3.1.7 Encoder Connector ...................................................................................................................................... 15
3.1.7.1 Encoder Inputs ...................................................................................................................................... 15
3.1.8 Motor Connector .......................................................................................................................................... 16
3.1.9 Mini-USB Connector .................................................................................................................................... 17
4 Jumpers ......................................................................................................................................................................... 18
4.1 RS485 Bus Termination .................................................................................................................................... 18
4.2 CAN Bus Termination ....................................................................................................................................... 18
5 Reset to Factory Defaults ......................................................................................................................................... 19
6 On-board LEDs ............................................................................................................................................................. 20
7 Operational Ratings ................................................................................................................................................... 21
8 Torque Curves ............................................................................................................................................................. 23
8.1 Curves of PD57-1160 ......................................................................................................................................... 23
8.1.1 PD57-1-1160 Torque Curves ...................................................................................................................... 23
8.1.2 PD57-2-1160 Torque Curves ...................................................................................................................... 25
8.2 Curves of PD60-1160 ......................................................................................................................................... 27
8.2.1 PD60-3-1160 Torque Curves ...................................................................................................................... 27
8.2.2 PD60-4-1160 Torque Curves ...................................................................................................................... 28
9 Functional Description .............................................................................................................................................. 29
10 PD-1160 Operational Description ........................................................................................................................... 30
10.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 30
11 Life Support Policy ..................................................................................................................................................... 32
12 Revision History .......................................................................................................................................................... 33
12.1 Document Revision ........................................................................................................................................... 33
12.2 Hardware Revision ............................................................................................................................................ 33
13 References .................................................................................................................................................................... 33