User Manual

PD57/60-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03
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1 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. . . 3.1 Nm maximum holding torque and 24V DC nominal
supply voltage. With stealthChop ™ , the PD57/60-1276 offers absolutely silent and smooth motor operation
for lower and medium velocities. With spreadCycle ™ , the PD57/60-1276 offers a high performance current
controlled chopper mode for highest velocities with perfect zero crossing performance. With stallGuard2 ™ ,
a sensorless load detection feature is provided for automatic end step detection and load monitoring.
stallGuard2 is also used for the automatic current scaling feature coolStep ™ . The PD57/60-1276 comes
with a CAN bus interface and four (4) digital inputs.
1.1 General Features
Main Characteristics
• Supply Voltage +24V nom. (+10V to +30V DC)
• 3A RMS phase current (ca. 4.2A peak phase current)
• Highest micro step resolution, up to 256 micro steps per full step
• Available with enclosure and mounted to NEMA23 / 57mm or NEMA24 / 60mm flange size motor
• Permanent onboard parameter storage
• Advanced sixPoint™ ramp hardware motion controller
• Noiseless stealthChop™ chopper mode for slow to medium velocities
• High performance spreadCycle™ chopper mode
• High-precision sensorless load measurement with stallGuard2™
• Automatic current scaling algorithm coolStep™ to save energy and keep your drive cool
I/Os
• Home and reference switch inputs
• Enable input to power-on/-off driver H-bridges
• Optionally configurable analog input
• Optionally configurable incremental encoder inputs (quadrature channels A and B only, no N channel)
CAN Bus Interface
• Standard CAN Bus Interface for control and configuration
• CAN bit rate of 20. . . 1000kBit/s
• TMCL-based protocol with TMCL firmware option
• CANopen protocol with DS402 device profile with CANopen firmware option
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