Trinamic PANdrive PD57 1260 Series User manual

PANdrive™for Stepper PANDRIVE™
PD57/60/86-x-1260 Hardware Manual
Hardware Version V1.10 | Document Revision V1.31 •2021-AUG-18
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
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Contents
1 Features 4
2 Order Codes 6
3 Mechanical and Electrical Interfacing 9
3.1 PD57-1-1260 and PD57-2-1260 Dimensions ............................. 9
3.2 PD60-3-1260 and PD60-4-2-1260 Dimensions ............................ 10
3.3 PD86-3-1260 Dimensions ........................................ 11
3.4 Stepper motor ............................................... 12
3.5 Integrated sensOstep™encoder .................................... 13
4 Connectors 14
4.1 Power Supply Input Connector ..................................... 15
4.2 Motor Connector ............................................. 16
4.3 RS485 + CAN Connector ......................................... 16
4.4 USB Connector .............................................. 17
4.5 I/O Connector ............................................... 17
5 On-Board LEDs 18
6 Reset to Factory Defaults 19
7 I/Os 20
7.1 Analog input IN0 ............................................. 20
7.2 Digital inputs IN1 and IN2 ........................................ 20
7.3 HOME/STOP_L/STOP_R switch inputs ................................. 21
7.4 External incremental encoder input .................................. 21
7.5 Step/Direction inputs ........................................... 22
8 Communication 23
8.1 RS485 .................................................... 23
8.2 CAN ..................................................... 24
9 Motor driver current 26
10 Torque curves 28
10.1 PD57-1-1260 Torque Curve ....................................... 28
10.2 PD57-2-1260 Torque Curve ....................................... 29
10.3 PD60-3-1260 Torque Curve ....................................... 30
10.4 PD60-4-1260 Torque Curve ....................................... 31
10.5 PD86-3-1260 Torque Curve ....................................... 32
11 Functional Description 33
12 Operational Ratings and Characteristics 34
13 Abbreviations used in this Manual 36
14 Figures Index 37
15 Tables Index 38
16 Supplemental Directives 39
16.1 Producer Information .......................................... 39
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16.2 Copyright .................................................. 39
16.3 Trademark Designations and Symbols ................................. 39
16.4 Target User ................................................ 39
16.5 Disclaimer: Life Support Systems .................................... 39
16.6 Disclaimer: Intended Use ........................................ 39
16.7 Collateral Documents & Tools ...................................... 40
17 Revision History 41
17.1 Hardware Revision ............................................ 41
17.2 Document Revision ............................................ 41
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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™sen-
sOstep™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 script-
ing feature 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 en-
coder
•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)
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•1 analog input (0..10V nom. input range)
•HOME switch input (shared with analog input)
Mechanical data
•PD57-1-1260 size: 60mm x 60mm, length = 69mm (without mating connectors and motor axis)
•PD57-2-1260 size: 60mm x 60mm, length = 79mm (without mating connectors and motor axis)
•PD60-3-1260 size: 60mm x 60mm, length = 93mm (without mating connectors and motor axis)
•PD60-4-1260 size: 60mm x 60mm, length = 114mm (without mating connectors and motor axis)
•PD86-3-1260 size: 86mm x 86mm, length = 126mm (without mating connectors and motor axis)
•4 mounting holes for M3 screws
Software
•TMCL™remote (direct mode) and standalone operation (memory for up to 1024 TMCL™commands),
fully supported by TMCL-IDE (PC based integrated development environment). Please see PD57/60/86-
x-1260 TMCL firmware manual for more details
•CANopen firmware with CANopen standard protocol stack for the CAN interface. Please see PD57/60/86-
x-1260 CANopen firmware manual for more details.
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2 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. For the overall length of the product please add
ca. 24mm.
Order Code Description Size (LxWxH)
PD57-1-1260-TMCL PANdrive™with NEMA23 stepper motor, 0.55Nm
max., TMCM-1260 electronics, 2.8A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1
OD output, CAN, RS485 and USB interfaces, TMCL
firmware
60mm x 60mm x 69mm
PD57-2-1260-TMCL PANdrive™with NEMA23 stepper motor, 1.01Nm
max., TMCM-1260 electronics, 2.8A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1
OD output, CAN, RS485 and USB interfaces, TMCL
firmware
60mm x 60mm x 79mm
PD60-3-1260-TMCL PANdrive™with NEMA24 stepper motor, 2.1Nm
max., TMCM-1260 electronics, 2.8A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1
OD output, CAN, RS485 and USB interfaces, TMCL
firmware
60mm x 60mm x 93mm
PD60-4-1260-TMCL PANdrive™with NEMA24 stepper motor, 3.1Nm
max., TMCM-1260 electronics, 2.8A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1
OD output, CAN, RS485 and USB interfaces, TMCL
firmware
60mm x 60mm x 114mm
PD86-3-1260-TMCL PANdrive™with NEMA34 stepper motor, 7.0Nm
max., TMCM-1260 electronics, 5.5A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1
OD output, CAN, RS485 and USB interfaces, TMCL
firmware
86mm x 86mm x 126mm
PD57-1-1260-CANopen PANdrive™with NEMA23 stepper motor, 0.55Nm
max., TMCM-1260 electronics, 2.8A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1 OD
output, CAN, RS485 and USB interfaces, CANopen
firmware
60mm x 60mm x 69mm
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Order Code Description Size (LxWxH)
PD57-2-1260-CANopen PANdrive™with NEMA23 stepper motor, 1.01Nm
max., TMCM-1260 electronics, 2.8A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder 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., TMCM-1260 electronics, 2.8A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1 OD
output, CAN, RS485 and USB interfaces, CANopen
firmware
60mm x 60mm x 93mm
PD60-4-1260-CANopen PANdrive™with NEMA24 stepper motor, 3.1Nm
max., TMCM-1260 electronics, 2.8A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1 OD
output, CAN, RS485 and USB interfaces, CANopen
firmware
60mm x 60mm x 114mm
PD86-3-1260-CANopen PANdrive™with NEMA34 stepper motor, 7.0Nm
max., TMCM-1260 electronics, 5.5A RMS, +48V, in-
tegrated sensOstep™encoder, S/D input, ext. En-
coder input, 1 analog input, 4 digital inputs, 1 OD
output, CAN, RS485 and USB interfaces, CANopen
firmware
86mm x 86mm x 126mm
Table 1: TMCM-1260 Order Code
A cable loom set is available for this module:
Order Code Description
TMCM-1260-CABLE Cable loom for TMCM-1260:
•1x cable loom for power supply connector (cable length 200mm, 4pin
JST VH connector at one end, open wires at other end)
•1x cable loom for RS485 + CAN connector (cable length 200mm, 5pin
JST PH connector at one end, open wires at other end)
•1x cable loom for motor connector (cable length 200mm, 4pin JST EH
connector at one end, open wires at other end)
•1x cable loom for (alternate high power) motor connector (cable
length 200mm, 4pin JST VH connector at one end, open wires at other
end)
•1x cable loom for I/O connector (cable length 200mm, 8pin JST PH
connector at one end, open wires at other end)
•1x Micro-USB cable
Table 2: TMCM-1260 Cable Loom
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The TMCM-1260 controller/driver electronics is also available separately. Please refer to TMCM-1260 hard-
ware manual for further details.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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3 Mechanical and Electrical Interfacing
3.1 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 inte-
grated sensOstep™encoder. The PD57-1-1260 uses the QSH5718-41-28-055 stepper motor with 0.55Nm
holding torque and the PD57-2-1260 uses the QSH5718-51-28-101 stepper motor with 1.01Nm holding
torque. Please see also stepper motor manuals and TMCM-1260 hardware and firmware manuals for
more details.
NOTICE Note: In order to make proper use of the integrated sensOstep™encoder (the
sensor IC is placed on the bottom of the pcb) the TMCM-1260 electronics should
not be removed/moved relative to the motor. In case the integrated encoder
feature is not used, the electronics may be moved or even removed from the
motor and placed somewhere else according to application requirements.
Length
56.4±138.1±0.03
1.6±0.3
5
24±1
20±0.5
R 0.5
60
28
4
6.35 -0.012
+0
38.1±0.03
47.14±0.2
4-ø4.6
56.4±1
56.4±1
6.35 -0.013
60
60
47.14±0.2
+0
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Length of the stepper motor “body” itsself is 41mm for the PD57-1-1260 and 51mm for the PD57-2-1260.
3.2 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 inte-
grated sensOstep™encoder. The PD60-3-1260 uses the QSH6018-65-28-210 stepper motor with 2.1Nm
holding torque and the PD60-4-1260 uses the QSH6018-86-28-310 stepper motor with 3.1Nm holding
torque. Please see also stepper motor manuals and TMCM-1260 hardware and firmware manuals for
more details.
NOTICE Note: In order to make proper use of the integrated sensOstep™encoder (the
sensor IC is placed on the bottom of the pcb) the TMCM-1260 electronics should
not be removed/moved relative to the motor. In case the integrated encoder
feature is not used, the electronics may be moved or even removed from the
motor and placed somewhere else according to application requirements.
Length
5
9
38
.
1
±
0
.
03
1
.
6
24
±
1
20
±
0
.
5
7
.
5
±
0
.
2
60
±
0
.
5
60
28
4
8
-
0
.
015
+
0
60
47
.
14
±
0
.
2
60
38
.
1
±
0
.
03
47
.
14
±
0
.
2
4
-
ø
4
.
5
8
-
0
.
015
+
0
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Length of the stepper motor “body” itsself is 65mm for the PD60-3-1260 and 86mm for the PD60-4-1260.
3.3 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. Please see also
stepper motor manuals and TMCM-1260 hardware and firmware manuals for more details.
NOTICE Note: In order to make proper use of the integrated sensOstep™encoder (the
sensor IC is placed on the bottom of the pcb) the TMCM-1260 electronics should
not be removed/moved relative to the motor. In case the integrated encoder
feature is not used, the electronics may be moved or even removed from the
motor and placed somewhere else according to application requirements.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Length of the stepper motor “body” itsself is 96mm for the PD86-3-1260.
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. . . +50 -20. . . +50
Max. motor temperature °C 80 80 80 80 80
Shaft radial play (450g load) mm 0.02 0.02 0.02 0.02 0.02
Shaft axial play (450g load) mm 0.08 0.08 0.08 0.08 0.08
Max radial force (20mm
from front flange)
N 57 57 57 57 220
Max axial force N 15 15 15 15 60
Rated voltage V 2.0 2.3 3.36 4.17 2.57
Rated phase current A 2.8 2.8 2.8 2.8 5.5
Phase resistance at 20°CΩ0.7 0.83 1.2 1.5 0.45
Phase inductance (typ.) mH 1.4 2.2 4.6 6.8 4.5
Holding torque Nm 0.55 1.01 2.1 3.1 7.0
Insulation class B B B B B
Rotor inertia g cm2120 275 570 840 2700
Weight kg 0.45 0.65 1.2 1.4 2.8
Table 3: NEMA23, NEMA24, and NEMA34 stepper motor technical data
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3.5 Integrated sensOstep™encoder
The PD57/60/86-x-1260 PANdrives offer integrated sensOstep™encoders based on hall sensor technol-
ogy. As the name “sensOstep™“ already indicates intended use of this type of compact and highly inte-
grated 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. In case the stepper motor has lost
one or multiple steps during movement e.g. due to overload / any obstacle encountered during move-
ment the motor axes will jump for at least one electrical period / 4 full steps. This can be detected using
the integrated encoder. In addition, step losses may be already detected during motor movements us-
ing the “deviation” setting available as part of the TMCL firmware (see PD57/60/86-x-1260 / TMCM-1240
firmware manual for more details).
While the encoder offers 10bit (1024 steps) resolution per motor revolution the absolute position informa-
tion is less accurate and depends on the displacement of the hall sensor based encoder IC relative to the
magnet and motor axis among other factors. Every PANdrive™has been tested for maximum deviation
of +/- 5 encoder steps (static performance) relative to commanded microstep target position during final
tests after assembly at our factory. This will ensure more than adequate performance of the integrated
sensOstep™encoder for step loss detection during motor movements.
NOTICE Do not disassemble PANdrive™when using integrated encoder In order to
make proper use of the integrated sensOstep™encoder (the sensor IC is placed
on the bottom center of the pcb) the TMCM-1260 electronics should not be
removed/moved relative to the motor! Otherwise encoder performance might
suffer / not work.
Note: In case the integrated encoder feature is not used, the TMCM-1260
electronics may be moved or even removed from the motor and placed
somewhere else according to application requirements.
NOTICE Keep the electronics free of (metal) particles! The integrated sensOstep™en-
coder uses a magnet at the end of the motor axis in order to monitor position of
the motor axis. «««< HEAD The magnet naturally attracts especially tiny metal par-
ticles. These particles might be held on the top side of the PCB and even worse -
start moving in accordance with the rotating magnetic field ======= The magnet
naturally attracts especially tiny metal particles. These particles might be held
on the top side of the PCB and – even worse – start moving in accordance with
the rotating magnetic field »»»> 364467ec9aaa611190ef248caabb852f276fb5e4
as soon as the motor starts moving. This might lead to shorts of electronic
contacts / wires on the board and totally erratic behavior of the module! Use
compressed air for cleaning the module if necessary (especially in prototype
setups).
In order to prevent shorts and better protect the electronics the TMCM-1260
printed circuit board is coated after assembly of components.
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4 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. Furthermore, there is one connection
for the stepper motor with four pins with a choice between two connectors with different size, pitch and
current rating. For the line of PANdrives™the smaller one is used and already connected to the attached
motor.
NOTICE Start with power supply OFF and do not connect or disconnect motor dur-
ing operation! Motor cable and motor inductivity might lead to voltage spikes
when the motor is (dis)connected while energized. These voltage spikes might ex-
ceed voltage limits of the driver MOSFETs and might permanently damage them.
Therefore, always switch off / disconnect power supply or at least disable driver
stage before connecting / disconnecting motor.
I/O
RS485 + CAN
1 5
USB
1
8
Motor
14
Power
1
4
14
Figure 1: PD57/60/86-x-1260 connectors
Connector Types and Mating Connectors
Connector Connector type on-board Mating connector type
Power JST B4P-VH
(JST VH series, 4pins, 3.96mm pitch)
Connector housing: JST VHR-4N
Contacts: JST SVH-21T-P1.1
Wire: 0.83mm2, AWG 18
Motor JST JST B4P-VH
(JST VH series, 4pins, 3.96mm pitch)
or
JST JST B4B-EH-A
(JST EH series, 4pins, 2.5mm pitch)
Connector housing: JST VHR-4N
Contacts: JST SVH-21T-P1.1
Wire: 0.83mm2, AWG 18
or
Connector housing: JST EHR-4
Contacts: JST SEH-001T-P0.6
Wire: 0.33mm2, AWG 22
RS485+CAN JST B5B-PH-K-S
(JST PH series, 5pins, 2mm pitch)
Connector housing: JST PHR-5
Contacts: JST SPH-002T-P0.5S
Wire: 0.22mm2, AWG 24
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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
Table 4: Connector Types and Mating Connectors of the PD57/60/86-x-1260
4.1 Power Supply Input Connector
The PD57/60/86-x-1260 offers one 4pin JST VH series power supply input connector. In addition to main
power supply input and related ground connection this connector offers a separate logic supply input
with the option to keep the on-board logic alive while the driver stage is switched off. It is not necesary to
connect the logic supply input in case separate supplies are not required as the main power supply input
will always supply power to the driver stage and the logic part.
The power supply input connector offers a driver enable input. This input has to be connected to any
voltage above 3.5V up-to max. supply voltage of 54V in order to enable the driver stage. Leaving this pin
unconnected or connected to ground (voltage below 2.4V) will disable the driver stage regardless of any
settings in software. This input may be connected to main power supply input permanently in case an
enable input in hardware is not required.
Power Supply Connector Pin Assigment
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2 VMAIN Power (input) Main power supply input for the driver and on-board logic
12. . . 54V
3 Enable Digital input Driver enable input. A voltage above 3.5V is required here in
order to enable the on-board stepper motor driver. This in-
put maybe connected to main power supply input in order to
enable the driver stage.
4 VLOGIC Power (input) Optional separate power supply input for the on-board logic
12. . . 54V
Table 5: Power Supply Connector Pin Assignment
NOTICE Do not connect or disconnect motor during operation! Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
NOTICE Take care of polarity, wrong polarity can destroy the board!
NOTICE Connect Enable pin to voltage >3.5V in order to enable motor movements!
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4.2 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. While the more compact 4pin JST EH series connector is suitable for motor currents
up-to 3A RMS the larger JST VH series connector is able to support all motor current up-to 6A RMS (limit
of the unit). With the PANdrive version motor current is limited to 3A RMS and the JST EH connector is
used, only.
Motor Connector Pin Assignment
Pin Label Direction Description
1 B1 out Pin 1 of motor coil B
2 B2 out Pin 2 of motor coil B
3 A1 out Pin 1 of motor coil A
4 A2 out Pin 2 of motor coil A
Table 6: Motor Connector Pin Assignment
NOTICE Connect just one motor connector at the same time! Both connectors are
connected to the same driver stage.
NOTICE Do not connect or disconnect motor during operation! Motor cable and mo-
tor inductivity might lead to voltage spikes when the motor is (dis)connected
while energized. These voltage spikes might exceed voltage limits of the driver
MOSFETs and might permanently damage them. Therefore, always switch off
/ disconnect power supply or at least disable driver stage before connecting /
disconnecting motor.
NOTICE Do not mix-up power supply connector and the larger motor connector!
4.3 RS485 + CAN Connector
For serial communication the PD57/60/86-x-1260 offers selection between RS485, CAN and USB interfaces.
While the USB interface is available for configuration and service of the board, mainly (e.g. parameter
settings, firmware updates) a 5-pin JST PH series connector offers 2-wire RS485 and CAN interfaces for in
system communication.
NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are
not available at the same time. As soon as USB is physically attached to a host or
hub the CAN interface will be switched off.
RS485 + CAN Connector Pin Assignment
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2 RS485+ Bidirectional RS485 interface, diff. signal (non-inverting)
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Pin Label Direction Description
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)
Table 7: RS485 + CAN Connector Pin Assignment
4.4 USB Connector
For serial communication the PD57/60/86-x-1260 offers selection between RS485, CAN and USB inter-
faces. The USB interface via on-board micro-USB connector (type B) is available for configuration and
service of the board, mainly (e.g. parameter settings, firmware updates). The USB device interface sup-
ports full speed (12Mbit/s) communication and supports bus powered and self-powered operation. Dur-
ing bus-powered operation the low voltage logic part of the board will be powered, only. This includes
the microcontroller and the non-volatile memory and therefore allows parameter settings and firmware
updates of the board using a standard USB cable, only. Of course, for any motor movement main supply
via supply input connector is required.
NOTICE Due to hardware ressource sharing USB and CAN communication interfaces are
not available at the same time. As soon as USB is physically attached to a host or
hub the CAN interface will be switched off.
USB Connector Pin Assignment
Pin Label Direction Description
1 VBUS Power (+5V) USB +5V nom. power supply input
2 D- Bidirectional USB interface, diff. signal (inverting)
3 D+ Bidirectional USB interface, diff. signal (inverting)
4 ID Input connected to GND (via 100k resistor)
5 GND Power (GND) Common system supply and signal ground
Table 8: USB Connector Pin Assignment
4.5 I/O Connector
The PD57/60/86-x-1260 offers several inputs (two of them optically isolated) and one digital (open-drain)
output. The inputs include support for stop switches (left and right), home switch, step/direction, incre-
mental A/B channel encoder and analog (0. . . +10V) input. All this functionality is available via one 8pin JST
PH series I/O connector.
USB Connector Pin Assignment
Pin Label Direction Description
1 GND Power (GND) Common system supply and signal ground
2 IN0/HOME Input Analog input (0. . . +10V)
HOME switch input
+24V tolerant, programmable (separate) pull-up to +5V
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Pin Label Direction Description
3 IN1/ENC_A Input General purpose digital input
Incremental encoder input channel A
+24V tolerant, programmable pull-up (for IN1/IN2 together) to
+5V
4 IN2/ENC_B Input General purpose digital input
Incremental encoder input channel B
+24V tolerant, programmable pull-up (for IN1/IN2 together) to
+5V
5 STOP_L/STEP Input STOP left switch input
STEP pulse input
input optically isolated, +24V compatible
6 STOP_R/DIR Input STOP right switch input
DIR input
input optically isolated, +24V compatible
7 ISO_COM Power Common positive (+24V_ISO) or negative (GND_ISO) isolated
supply input for optically isolated inputs
8 OUT0 Output (OD) Open-Drain output. Output will be pulled low when activated.
Voltages up-to logic supply input level (or main supply input in
case separate logic supply is not used) are supported here. Max.
continuous pull-down current: 100mA
Table 9: I/O Connector Pin Assignment
All pins marked light green offer functional isolation towards main supply input. In case this is not required
ISO_COM may be connected to main ground or supply input, of course. The opto-couppler used are AC
types. This way, either high side switches or low side switches for both inputs are supported.
5 On-Board LEDs
The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on the
firmware version. With standard TMCL firmware the green LED should be flashing slowly during operation
and the red LED should be off. When there is no valid firmware programmed into the board or during
firmware update the red and green LEDs are permanently switched on. During reset to factory default
values the green LED will be flashing fast. With CANopen firmware both LEDs are switched on/off/flashing
according to standard defintion.
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Green LEDRed LED
Figure 2: PD57/60/86-x-1260 LEDs
6 Reset to Factory Defaults
It is possible to reset all settings in firmware for the PD57/60/86-x-1260 to factory defaults without estab-
lishing 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.
For this procedure two pads on the bottom side of the module have to be shorted (electrically connected
with each other) during power-on.
Please perform the following steps:
1. Switch power supply OFF (and disconnect USB cable if applicable)
2. Short CLK and DIO pads of programming pads on bottom of pcb (see figure 3)
3. Switch power supply ON again (or connect USB again if applicable)
4. Wait until the on-board red and green LEDs start flashing fast (this might take a while)
5. Switch power supply OFF again (and disconnect USB cable if applicable)
6. Remove short between pads
7. After switching power supply ON again (and / or connecting USB cable) all permanent settings have
been restored to factroy defaults
Short these two pads
Figure 3: Reset to factory default settings
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7 I/Os
The I/O connector (8pin JST PH series) offers one analog input, two non-isolated digital inputs with inte-
grated 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. For
voltages above +10V saturation takes place but, up-to 30V higher voltages are tolerated without destroying
the input. For analog to digital conversion the integrated ADC of the on-board microcontroller is used.
Resolution of this converter is 12bit (0..4095).
100nF
10k
22k
2k2
+3V3
microcontroller
microcontroller
IN0
+5V
TMCM-1260
pull-up
disabled
V
0..10V
Figure 4: Analog input IN0
The analog input can be used as digital input, also. There is an integrated pull-up to +5V which can be
switched on of off in software. When using this input as anlog input the pull-up should be usually switched
off.
7.2 Digital inputs IN1 and IN2
The PD57/60/86-x-1260 offers two digital inputs IN1 and IN2 which accept signals between 0 and 30V
with voltages above approx. 2.9V recognized as logical ’1’ and below 1V as logical ’0’. Both inputs offer
intergated pull-ups to +5V which can be switched on or off in software (always together). When using
the inputs with low-side switches (connected to GND), pull-ups usually should be switched on (default).
In case high-side switches are used the pull-ups must be switched off. For push-pull signals the pull-ups
may be either switched on or off.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com