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PANdrive™ for Stepper

PANDRIVE™

PD57/60-1276 Hardware Manual

Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03

PD57/60-1276 is an easy to use PANdrive™ smart stepper motor. The module is controlled via a

CAN bus interface and comes with two ﬁrmware options – TMCL and CANopen. PD57/60-1276 fea-

tures stealthChop™ for absolute silent motor control, spreadCycle™ for high speed stepper motor

commutation, a fully integrated hardware motion controller with sixPoint™ motion ramps, as well

as stallGuard2™ and coolStep™.

Features

• PANdrive™ smart motor

• Supply Voltage +10 to +30V DC

• CAN bus interface

• TMCL or CANopen protocol

•

Integrated

sixPoint™

ramp motion

controller

• stealthChop™ silent PWM mode

• spreadCycle™ smart mixed decay

• stallGuard2™ load detection

• coolStep™ autom. current scaling

Applications

• Lab-Automation

• Manufacturing

• Robotics

• Factory Automation

• CNC

Simpliﬁed Block Diagram

CAN

Stepper

Motor

Energy Efficient

Driver

TMC

262

TMCM-1276

Input

SPI

PD57/60-x-1276

10...30V DC

TMCL™

Memory

I2C

ARM

Cortex M0+™

Microcontroller

REFL/REFR

ENCA/ENCB

ENABLE

Stepper

Motor

Controller

Driver

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (24 pages)

PAGE 1
PANDRIVE™ PANdrive™ for Stepper PD57/60-1276 Hardware Manual Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 PD57/60-1276 is an easy to use PANdrive™ smart stepper motor. The module is controlled via a CAN bus interface and comes with two ﬁrmware options – TMCL and CANopen.
PAGE 2
/ 24 PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 Contents 1 Features 1.1 General Features . . . . . . . . . . 1.2 TRINAMIC’s Unique Features . . . 1.2.1 stealthChop™ . . . . . . . . 1.2.2 spreadCycle™ . . . . . . . . 1.2.3 stallGuard2 . . . . . . . . . 1.2.4 coolStep . . . . . . . . . . . 1.2.5 sixPoint Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 1 3 / 24 Features The PANdrives™ PD57/60-1276 are full mechatronic solutions with state of the art feature set. It is highly integrated and offers convenient handling via CAN interface. The PD57/60-1276 includes a stepper motor, driver electronics, and a fully featured hardware motion controller. It can be used in many decentralized applications and has been designed for 0.55. . . 3.
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 1.2 1.2.1 4 / 24 TRINAMIC’s Unique Features stealthChop™ stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities.
PAGE 5
PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 5 / 24 stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value reaches zero or is near zero. This is the most energy-eﬃcient point of operation for the motor. stallGuard2 Load [Nm] Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall.
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 6 / 24 the acceleration ramps to the torque curves of a stepper motor and uses two different acceleration settings each for the acceleration phase and for the deceleration phase Figure 5: Typical motion proﬁle with TRINAMIC’s sixPoint motion controller ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 7
PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 2 7 / 24 Order Codes Order Code Description Size (LxWxH) PD57-1-1276-TMCL PANdrive, 0.55Nm, 3A RMS, +24V DC, CAN interface, TMCL ﬁrmware 60mm x 60mm x 54mm PD57-2-1276-TMCL PANdrive, 1.01Nm, 3A RMS, +24V DC, CAN interface, TMCL ﬁrmware 60mm x 60mm x 64mm PD60-3-1276-TMCL PANdrive, 2.1Nm, 3A RMS, +24V DC, CAN interface, TMCL ﬁrmware 60mm x 60mm x 78mm PD60-4-1276-TMCL PANdrive, 3.
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 3 3.1 8 / 24 Mechanical and Electrical Interfacing PD57/60-1276 Dimensions The PD57/60-1276 includes the TMCM-1276 stepper motor controller/driver module (electronics + encapsulating enclosure) and a NEMA23 / 57mm ﬂange size or NEMA24 / 60mm ﬂange size bipolar stepper motor.
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 3.2 9 / 24 PD57/60-1276 Dimensions and Weight When mounted to the stepper motor the overall size of the PANdrive is the housing height plus motor body size. Order Code Length in mm Weight in g PD57-1-1276 54 ≈ 520 PD57-2-1276 64 ≈ 720 PD60-3-1276 78 ≈ 1270 PD60-4-1276 99 ≈ 1470 Table 3: Length and weight ©2018 TRINAMIC Motion Control GmbH & Co.
PAGE 10
/ 24 PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 3.3 PD57/60-1276 Motor Parameters Speciﬁcations Unit PD57-1-1276 PD57-2-1276 PD60-3-1276 PD60-4-1276 Step angle ° 1.8 1.8 1.8 1.8 Step angle accuracy % +/-5 +/-5 +/-5 +/-5 Ambient temperature °C -20. . . +50 -20. . . +50 -20. . . +50 -20. . . +50 Max. motor temperature °C 80 80 80 80 Shaft radial play (450g load) mm 0.02 0.02 0.02 0.
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 3.4 11 / 24 PD57/60-1276 Torque Curves The following diagrams show the torque vs. speed curves for the PD57-1-1276, the PD57-2-1276, the PD60-3-1276 and the PD60-4-1276 with spreadCycle chopper mode selected, 24V supply voltage and rated motor current (2.8A RMS / 4A peak). Figure 7: PD57-1-1276 torque vs. velocity 24V / 2.8A, 256µsteps Figure 8: PD57-2-1276 torque vs. velocity 24V / 2.
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 Figure 9: PD60-3-1276 torque vs. velocity 24V / 2.8A, 256µsteps Figure 10: PD60-4-1276 torque vs. velocity 24V / 2.8A, 256µsteps ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
PAGE 13
PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 4 13 / 24 Connectors and LEDs The PD57/60-1276 offers two connectors - one 10-pin connector for power supply, communication (CAN) and four Inputs and one four pin connector for connecting the motor.
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 14 / 24 Pin no. Pin name Description 7 HOME (GPI0) General purpose input 0, can be used as HOME switch input, also. Conﬁgurable as analog input AIN0 via software (+5V compatible, internal 10k pull-up to +5V) 8 REFL (GPI1) General purpose input 1, can be used as left reference / stop switch input REFL / STOP_L, also.
PAGE 15
PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 15 / 24 Figure 12: CAN bus strcuture 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. The PD57/60-1276 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.
PAGE 16
PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 4.4 16 / 24 LEDs The PD57/60-1276 includes two LEDs: one green status LED and one red error LED. See ﬁgure 13 for LED location. Power + I/O 1 10 Green LED Red LED 4 1 Motor Figure 13: PD57/60-1276 LED colors and loacation Depending on the ﬁrmware option (TMCL or CANopen), these LEDs have different functionality.
PAGE 17
PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 5 17 / 24 Functional Description 5.1 Typical Application Wiring The PD57/60-1276 driver/controller’s wiring is straightforward as shown in the following ﬁgure. • Power supply must be connected to V+ and GND.
PAGE 18
/ 24 PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 6 6.1 Operational Ratings and Characteristics Absolute Maximum Ratings Parameter Min Max Unit Supply voltage +10 +30 V Working temperature -20 +50 °C Motor coil current / sine wave peak 4.2 A Continuous motor current (RMS) 3.0 A NOTICE 6.2 Stresses above those listed under "‘Absolute Maximum Ratings"’ may cause permanent damage to the device.
PAGE 19
PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 6.4 19 / 24 Functional Characteristics Parameter Description / Value Control CAN bus interface and four digital inputs for referencing, incremental encoder, and NOT_ENABLE Communication CAN bus interface for control and conﬁguration, 20. . .
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 8 20 / 24 Figures Index 1 2 3 4 5 6 7 Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . spreadCycle principle . . . . . . . . . . stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . Energy Eﬃciency Example with coolStep Typical motion proﬁle with TRINAMIC’s sixPoint motion controller . . . . . . .
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 9 21 / 24 Tables Index 1 2 3 4 5 6 Order codes modules (electronics + enclosure) and PANdrives™ . . . . . . Order codes cable loom . . . . . . . . Length and weight . . . . . . . . . . . NEMA23 / 57mm and NEMA24 / 60mm stepper motor technical data . Connector and mating connectors . . PD57/60-1276 Power and I/O connector pin assignment . . . . . . . . . . .
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 10 22 / 24 Supplemental Directives 10.1 Producer Information 10.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 23 / 24 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.
PAGE 24
PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03 11 11.1 24 / 24 Revision History Hardware Revision Version Date Author Description 1.00 2018-FEB-28 TMC First Prototypes. 1.10 2018-APR-05 TMC Minor corrections. Resistor added to crystal oscillator and one test pad removed. Table 15: Hardware Revision 11.2 Document Revision Version Date Author Description 1.00 2018-JUN-25 GE First version 1.01 2018-JUL-18 SK Fixed order codes 1.