User Manual
PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22
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11 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. The PD57/60/86-x-1260 can be controlled via USB, RS485
or CAN serial interfaces. There are three general purpose digital inputs which can be used, also as STOP_L
/ STOP_R / HOME switch inputs (for reference movements, as end switches etc. depending on firmware,
mode and configuration) or for connecting an additional external encoder (incremental A/B/N). In addition,
there is one dedicated analog input for 0. . . +10V analog signals and two general-purpose outputs (one
open-drain and one switchable +5V supply output).
The PD57/60/86-x-1260 with TMCL
™
firmware option is supported by 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 a rapid and fast development of motion control applications is
guaranteed. Please refer to the PD57/60/86-x-1260 or TMCM-1260 firmware manuals for more information
about TMCL™ commands.
Communication trafic is kept low since all time critical operations, e.g. ramp calculation are performed on
board. Complete stand-alone or full remote control or anything in-between is possible. The firmware of the
module can be updated via the serial interface. As an alternative to TMCL, a CANopen firmware is available.
The PD57/60/86-x-1260 module contains the following main components:
• Microcontroller (ARM Cortex-M3™), responsible for overall control and communication
•
Highly integrated advanced stepper motor controller supporting linear and unique 6-points ramps in
hardware
•
Advanced stepper motor driver with stallGuard2
™
and coolStep
™
with MOSFET driver stage (8x
power N-MOSFETs for bipolar stepper motor)
• RS485, CAN and USB transceivers
• On-board voltage regulators (+5V and +3V3) required for supply of all on-board digital circuits
12
…
54
V DC
ARM
Cortex
-
M
3
TM
microcontroller
EEPROM
6
I
/
Os
Step
Motor
RS
485
MOSFET
Driver
Stage
Energy Efficient
Driver
TMC
262
Motion
Controller
+
Pre
-
Driver
SPI
USB
SPI
CAN
DC
/
DC
+
5
V
sensOstep™
Encoder
SPI
+
3
V
3
STOP
_
L
/
R
,
S
/
D
,
Encoder
PD
57
-
1
-
1260
PD
57
-
2
-
1260
PD
60
-
3
-
1260
PD
60
-
4
-
1260
QSH
5718
-
41
-
28
-
055
QSH
5718
-
51
-
28
-
101
QSH
6018
-
65
-
28
-
210
QSH
6018
-
86
-
28
-
310
TMCM
-
1260
Figure 22: PD57/60/86-x-1260 block diagram
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com