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PANdrive™ for Stepper

PANDRIVE™

PD57/60/86-x-1260 Hardware Manual

Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22

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 ﬂange size stepper motors, the TMCM-1260 controller / driver electronics and TRINAMIC™

sensOstep™ encoder for step-loss detection.

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

Applications

• Laboratory Automation

• Manufacturing

• Semiconductor Handling

• Robotics

• Factory Automation

• Test & Measurement

• Life Science

• Biotechnology

• Liquid Handling

Simpliﬁed Block Diagram

…

V DC

Microcontroller

EEPROM

Step

Motor

485

MOSFET

Driver

Stage

Energy Efficient

Driver

TMC

262

Motion

Controller

Pre

Driver

USB

CAN

Encoder

1260

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (41 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD57/60/86-x-1260 Hardware Manual Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 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 ﬂange size stepper motors, the TMCM-1260 controller / driver electronics and TRINAMIC™ sensOstep™ encoder for step-loss detection.
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 Contents 1 Features 4 2 Order Codes 6 3 Mechanical and Electrical Interfacing 3.1 PD57-1-1260 and PD57-2-1260 Dimensions . 3.2 PD60-3-1260 and PD60-4-2-1260 Dimensions 3.3 PD86-3-1260 Dimensions . . . . . . . . . . . . 3.4 Stepper motor . . . . . . . . . . . . . . . . . . 3.5 Integrated sensOstep™ encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 16 Supplemental Directives 16.1 Producer Information . . . . . . . . . . 16.2 Copyright . . . . . . . . . . . . . . . . . 16.3 Trademark Designations and Symbols 16.4 Target User . . . . . . . . . . . . . . . . 16.5 Disclaimer: Life Support Systems . . . 16.6 Disclaimer: Intended Use . . . . . . . . 16.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 1 4 / 41 Features 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 ﬂange size stepper motors, the TMCM-1260 controller / driver electronics and TRINAMIC™ sensOstep™ encoder for step-loss detection.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 2 6 / 41 Order Codes The combination of motor and motor mounted controller/driver electronic is currently available with three different stepper motor series (NEMA23 / 57mm ﬂange size or NEMA24 / 60mm ﬂange size or NEMA34 / 86mm ﬂange size) and ﬁve different stepper motors (different length and holding torque): The length of the PANdrives is speciﬁed without the length of the axis.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 7 / 41 Order Code Description Size (LxWxH) PD57-2-1260-CANopen PANdrive™with NEMA23 stepper motor, 1.01Nm max., TMCM-1260 electronics, 2.8A RMS, +48V, integrated sensOstep™ encoder, S/D input, ext. Encoder input, 1 analog input, 4 digital inputs, 1 OD output, CAN, RS485 and USB interfaces, CANopen ﬁrmware 60mm x 60mm x 79mm PD60-3-1260-CANopen PANdrive™with NEMA24 stepper motor, 2.1Nm max.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 8 / 41 The TMCM-1260 controller/driver electronics is also available separately. Please refer to TMCM-1260 hardware manual for further details. ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 9
PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 3 3.1 9 / 41 Mechanical and Electrical Interfacing PD57-1-1260 and PD57-2-1260 Dimensions The PD57-1-1260 and PD57-2-1260 include one NEMA23 / 57mm stepper motors with 2.8A RMS rated coil current with the same TMCM-1260 controller / driver electronics mounted on its backside and integrated sensOstep™ encoder. The PD57-1-1260 uses the QSH5718-41-28-055 stepper motor with 0.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 3.2 10 / 41 PD60-3-1260 and PD60-4-2-1260 Dimensions The PD60-3-1260 and PD60-4-1260 include one NEMA24 / 60mm stepper motors with 2.8A RMS rated coil current with the same TMCM-1260 controller / driver electronics mounted on its backside and integrated sensOstep™ encoder. The PD60-3-1260 uses the QSH6018-65-28-210 stepper motor with 2.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 3.3 11 / 41 PD86-3-1260 Dimensions The PD86-3-1260 includes a NEMA34 / 86mm stepper motors with 5.5A RMS rated coil current with the TMCM-1260 controller / driver electronics mounted on its backside and integrated sensOstep™ encoder. The PD86-3-1260 uses the QSH8618-96-55-700 stepper motor with 7.0Nm holding torque.
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 3.4 Stepper motor Main characteristics of the ﬁve different motors available as part of the PD57-x-1260 and PD60-x-1260 and PD86-3-1260 PANdrive™: Speciﬁcations Unit PD57-1-1260 PD57-2-... PD60-3-... PD60-4-... PD86-3-... Step angle ° 1.8 1.8 1.8 1.8 1.8 Step angle accuracy % +/-5 +/-5 +/-5 +/-5 +/-5 Ambient temperature °C -20. . . +50 -20. . . +50 -20. . . +50 -20. . .
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 13 / 41 3.5 Integrated sensOstep™ encoder The PD57/60/86-x-1260 PANdrives offer integrated sensOstep™ encoders based on hall sensor technology. As the name “sensOstep™“ already indicates intended use of this type of compact and highly integrated encoder is step loss detection of motor movements. As soon as the motor has been moved to a new location the position may be veriﬁed using this encoder feedback.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 4 14 / 41 Connectors The PD57/60/86-x-1260 offers six connectors altogehter. There is one power supply connector and two interface connectors - one with ﬁve pins for RS485 and CAN and a dedicated micro-USB connector. All other inputs and outputs are concentrated on one 8 pin connector.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 Connector Connector type on-board Mating connector type USB USB-micro B female connector USB-micro B male connector I/O JST B8B-PH-K-S (JST PH series, 8pins, 2mm pitch) Connector housing: JST PHR-8 Contacts: JST SPH-002T-P0.5S Wire: 0.22mm2, AWG 24 15 / 41 Table 4: Connector Types and Mating Connectors of the PD57/60/86-x-1260 4.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 4.2 16 / 41 Motor Connector Two four pin motor connectors are available. Either of them can be used for connecting a bipolar stepper motor. Both connectors are connected to the same driver stage therefore, just one connector should be used at the same time.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 Pin Label Direction 3 RS485- Bidirectional RS485 interface, diff. signal (inverting) 4 CAN_H Bidirectional CAN interface, diff. signal (non-inverting) 5 CAN_L Bidirectional CAN interface, diff. signal (inverting) 17 / 41 Description Table 7: RS485 + CAN Connector Pin Assignment 4.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 6 19 / 41 Reset to Factory Defaults It is possible to reset all settings in ﬁrmware for the PD57/60/86-x-1260 to factory defaults without establishing a working communication connection. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got lost.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 20 / 41 7 I/Os The I/O connector (8pin JST PH series) offers one analog input, two non-isolated digital inputs with integrated pull-ups (programmable) and two optically isolated inputs. All inputs can be used for different purposes explained in more detail in the following subsections. 7.1 Analog input IN0 The PD57/60/86-x-1260 offers one analog input. The analog input voltage range is approx. 0..+10V.
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 +5V microcontroller +5V...24V +3V3 +5V 2k2 or 10k IN1 IN2 or 22k microcontroller 33pF TMCM-1260 pull-up disabled pull-up enabled Figure 5: Digital inputs IN1 and IN2 7.3 HOME/STOP_L/STOP_R switch inputs The PD57/60/86-x-1260 offers two optically isolated inputs which can be used as left (STOP_L) and right (STOP_R) stop switch inputs.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 22 / 41 +5V microcontroller +3V3 +5V 2k2 ENC_A, ENC_B or 10k 22k microcontroller 33pF TMCM-1260 pull-up enabled Figure 7: External encoder input 7.5 Step/Direction inputs The PD57/60/86-x-1260 may be used as driver with an external motion controller.
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 8 Communication 8.1 RS485 For remote control and communication with a host system the PD57/60/86-x-1260 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network: 1. BUS STRUCTURE: The network topology should follow a bus structure as closely as possible.
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 Host c:> Slave Slave Slave node 1 node n-1 node n } termination resistor (120 Ohm) CAN termination resistor (120 Ohm) keep distance as short as possible Figure 12: CAN bus structure with termination resistors 2. BUS TERMINATION: Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 9 26 / 41 Motor driver current The on-board stepper motor driver operates current controlled. The driver current may be programmed in software with 32 effective scaling steps in hardware. Explanation of different columns in table below: Motor current setting in software (TMCL) These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby current).
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 27 / 41 Motor current setting in software (TMCL) Current scaling step (CS) Motor current ICOIL [A] peak Motor current ICOIL [A] RMS 128. . . 135 16 2.158 1.526 136. . . 143 17 2.285 1.616 144. . . 151 18 2.412 1.706 152. . . 159 19 2.539 1.795 160. . . 167 20 2.666 1.885 168. . . 175 21 2.793 1.975 176. . . 183 22 2.920 2.065 184. . . 191 23 3.047 2.154 192. . . 199 24 3.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 10 10.1 Torque curves PD57-1-1260 Torque Curve Figure 13: PD57-1-1260 torque vs. velocity 24V / 2.8A, 256µsteps Figure 14: PD57-1-1260 torque vs. velocity 48V / 2.8A, 256µsteps ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 10.2 PD57-2-1260 Torque Curve Figure 15: PD57-2-1260 torque vs. velocity 24V / 2.8A, 256µsteps Figure 16: PD57-2-1260 torque vs. velocity 48V / 2.8A, 256µsteps ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 10.3 PD60-3-1260 Torque Curve Figure 17: PD60-3-1260 torque vs. velocity 24V / 2.8A, 256µsteps Figure 18: PD60-3-1260 torque vs. velocity 48V / 2.8A, 256µsteps ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 10.4 PD60-4-1260 Torque Curve Figure 19: PD60-4-1260 torque vs. velocity 24V / 2.8A, 256µsteps Figure 20: PD60-4-1260 torque vs. velocity 48V / 2.8A, 256µsteps ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 10.5 PD86-3-1260 Torque Curve Figure 21: PD86-3-1260 torque vs. velocity 48V / 5.5A, full step operation ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 11 33 / 41 Functional Description The PD57/60/86-x-1260 is a full mechatronic solution including a NEMA23 or NEMA24 or NEMA34 ﬂange size bipolar stepper motor. It includes the controller / driver electronics TMCM-1260 and a choice between ﬁve different NEMA 23 / 57mm and NEMA24 / 60mm and NEMA34 / 86mm ﬂange size bipolar hybrid stepper motors with different length and torque.
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 12 Operational Ratings and Characteristics NOTICE Never Exceed the absolute maximum ratings! Keep the power supply voltage below the upper limit of +54V! Otherwise the board electronics will seriously be damaged! Especially, when the selected operating voltage is near the upper limit a regulated power supply is highly recommended.
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/ 41 PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 Operational Ratings of the I/Os Symbol Parameter VSTOP_L/R_OFF Switch-off opto-isolated inputs (voltage between input and ISO_COM) fSTEP/DIR Max.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 13 Abbreviations used in this Manual Abbreviation Description IDE Integrated Development Environment LED Light Emmitting Diode RMS Root Mean Square value TMCL TRINAMIC Motion Control Language Table 16: Abbreviations used in this Manual ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 14 1 2 3 4 5 6 7 8 9 10 11 12 13 37 / 41 Figures Index PD57/60/86-x-1260 connectors . . . . . PD57/60/86-x-1260 LEDs . . . . . . . . Reset to factory default settings . . . . Analog input IN0 . . . . . . . . . . . . . Digital inputs IN1 and IN2 . . . . . . . . Stop switch inputs . . . . . . . . . . . . External encoder input . . . . . . . . . . Step/Direction input . . . . . . . . . . .
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 15 1 2 3 4 5 6 7 8 9 38 / 41 Tables Index TMCM-1260 Order Code . . . . . . . . . TMCM-1260 Cable Loom . . . . . . . . . NEMA23, NEMA24, and NEMA34 stepper motor technical data . . . . . . Connector Types and Mating Connectors of the PD57/60/86-x-1260 . Power Supply Connector Pin Assignment Motor Connector Pin Assignment . . . RS485 + CAN Connector Pin Assignment USB Connector Pin Assignment . . . .
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 16 39 / 41 Supplemental Directives 16.1 Producer Information 16.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2019 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 40 / 41 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22 17 17.1 41 / 41 Revision History Hardware Revision Version Date Author Description V1.0 2017-OCT-30 GE Initial version V1.1 2018-FEB-21 GE Linear pre-regulator for driver supply added for better heat distribution on the pcb Table 17: Hardware Revision 17.2 Document Revision Version Date Author Description 1.00 2018-MAR-29 GE Initial version based on TMCM-1260 hardware manual 1.