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PD57/60/86-x-1260 Hardware Manual • Hardware Version V1.10 | Document Revision V1.20 • 2019-03-22

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1 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. The ﬁve PANdrives include stepper motors with diﬀerent lengths and

diﬀerent holding torques (PD57-1-1260: 0.55Nm, PD57-2-1260: 1.01Nm, PD60-3-1260: 2.1Nm and PD60-4-

1260: 3.1Nm and PD86-3-1260: 7.0Nm) but, same electronics and encoder setup. The PANdrives support

both, stand-alone operation e.g. using the on-board I/Os together with the build-in TMCL scripting fea-

ture and remote operation using one of the available communication interfaces and even a mixture of both.

Motion Controller

• Motion proﬁle calculation in real-time

• On the ﬂy alteration of motor parameters (e.g. position, velocity, acceleration)

• Linear and unique sixPoint™ramp in hardware

• Encoder interface and Reference / Stop switch inputs

Driver

• Motor current: 5.5A RMS, 7.7A peak (programmable in software)

• Supply voltage: +24V and +48V DC (+12. . . +54V DC)

• 256 microsteps per fullstep

• spreadCycle™highly dynamic current control chopper

• stealthChop™for quiet operation and smooth motion

• programmable Step/Dir interface for driver-only applications with microstep interpolation

Encoder

•

integrated sensOstep absolut position magnetic encoder (resolution: 1024 increments per rotation)

for step-loss detection under all operating conditions and positioning supervision (accuracy: +/- 5

encoder steps)

•

support for external A/B incremental encoder in addition / as an alternative for the integrated

encoder

• programmable encoder scaling and support for motor stop on encoder deviation

Interfaces

• RS485 interface (up-to 1Mbit/s)

• CAN interface (up-to 1Mbit/s)

• USB 2.0 full speed (12Mbit/s) device interface (micro-USB connector)

• Step/Dir input (optically isolated)

• Left and Right STOP switch inputs (optically isolated, shared with Step/Dir inputs)

• 2 general purpose digital inputs

• Encoder input for incremental A/B encoder signals (shared with general purpose digital inputs)

• 1 analog input (0..10V nom. input range)

Terms of delivery and rights to technical change reserved.

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