PANDRIVE™
PANdrive™ for Stepper
PD57/60-x-1076 Hardware Manual
Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
The PD57/60-1076 is an easy to use PANdrive™ smart stepper motor. The module is controlled via
a step and direction interface. One configuration pin selects the current control mode between
StealthChop™ for absolute silent motor control and SpreadCycle™ for high speed. A TTL UART interface allows for more advanced configuration, for example of the StallGuard2™ and CoolStep™
features, and permanent parameter storage via TMCL™-IDE.
Features
•
•
•
•
•
•
•
•
•
Supply Voltage +10. . . +30V DC
Up to 3A RMS motor current
Step and direction interface
MicroPlyer™ to 256 microsteps
StealthChop™ silent PWM mode
SpreadCycle™ smart mixed decay
StallGuard2™ load detection
CoolStep™ autom. current scaling
UART configuration interface
Applications
• Lab-Automation
• Manufacturing
• Robotics
• Factory Automation
• CNC
Simplified Block Diagram
9...24V
UART
TMCL
Memory
SPI
µC
SPI
cDriver
with
stealthChop
STEP/DIR
EN
CHOP
©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
Read entire documentation.
Step
Motor
2 / 25
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
Contents
1 Features
1.1 General Features . . . . . . .
1.2 TRINAMIC’s Unique Features
1.2.1
stealthChop™ . . . .
1.2.2
spreadCycle™ . . . .
1.3 stallGuard2 . . . . . . . . . . .
1.4 coolStep . . . . . . . . . . . .
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3
3
4
4
4
5
5
2 Order Codes
6
3 Mechanical and Electrical Interfacing
3.1 PD57/60-x-1076 Dimensions and Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 PD57/60-x-1076 Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 PD57/60-x-1076 Torque Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
7
8
9
4 Connectors and LEDs
4.1 Motor Connector . . .
4.2 Power + I/O Connector
4.3 TTL UART Connection
4.4 Status LEDs . . . . . .
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11
11
12
13
13
5 Functional Description
5.1 Typical Application Wiring . . . . . . . . . . . . . . . . .
5.2 Optically Isolated Inputs with Common Anode Input .
5.3 Optically Isolated Inputs with Common Cathode Input
5.4 Thermal Behavior . . . . . . . . . . . . . . . . . . . . . .
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14
14
14
16
17
6 Operational Ratings and Characteristics
6.1 Absolute Maximum Ratings . . . . . . . . . . . . . . . .
6.2 Electrical Characteristics (Ambient Temperature 25° C)
6.3 I/O Ratings (Ambient Temperature 25° C) . . . . . . . .
6.4 Functional Characteristics . . . . . . . . . . . . . . . . .
6.5 Other Requirements . . . . . . . . . . . . . . . . . . . .
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18
18
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19
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7 Abbreviations used in this Manual
20
8 Figures Index
21
9 Tables Index
22
10 Supplemental Directives
10.1 Producer Information . . . . . . . . . .
10.2 Copyright . . . . . . . . . . . . . . . . . .
10.3 Trademark Designations and Symbols .
10.4 Target User . . . . . . . . . . . . . . . .
10.5 Disclaimer: Life Support Systems . . . .
10.6 Disclaimer: Intended Use . . . . . . . .
10.7 Collateral Documents & Tools . . . . . .
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23
23
23
23
23
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23
24
11 Revision History
25
11.1 Hardware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
11.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
©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
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
1
3 / 25
Features
The PANdrive™ PD57/60-x-1076 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling.
The PD57/60-x-1076 includes a stepper motor and driver electronics. It can be used in many decentralized
applications and has been designed for 0.55. . . 3.1 Nm max. holding torque and 24V DC nominal supply
voltage. With StealthChop™, the PD57/60-x-1076 offers absolutely silent and smooth motor operation
for lower and medium velocities. With SpreadCycle™, the PD57/60-x-1076 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, which is required for using the automatic
current scaling feature CoolStep™. The PD57/60-x-1076 can be used with a simple step and direction
interface and can be configured using a TTL UART interface.
stallGuard2 and coolStep must be configured via TTL UART interface and are disabled by default.
1.1
General Features
Main Characteristics
• Supply Voltage +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
• MicroPlyer™ microstep interpolator for obtaining increased smoothness of microstepping over a
low frequency STEP/DIR interface
• With housing and motor mounted
• Permanent onboard parameter storage
• Simple step & direction mode
• 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
Optically Isolated Inputs
• Step & direction interface with up to 45kHz input frequency
• Enable input to power-on/-off driver H-bridges
• Mode select input to switch between the two chopper modes
TTL UART Interface
• TTL-level UART interface for parameter configuration
• Interface speed 9600-115200 bps (default 9600 bps)
• TMCL-based protocol for online configuration and permanent parameter settings
• Bootloader for firmware updates
©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
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
1.2
1.2.1
4 / 25
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. With stealthChop, the motor current is applied by driving
a certain effective voltage into the coil, using a voltage mode PWM. There are no more configurations
required except for the regulation of the PWM voltage to yield the motor target current.
Figure 1: Motor coil sine wave current using stealthChop (measured with current probe)
1.2.2
spreadCycle™
The spreadCycle chopper is a high-precision, hysteresis-based, and simple to use chopper mode, which
automatically determines the optimum length for the fast-decay phase. Several parameters are available
to optimize the chopper to the application. spreadCycle offers optimal zero crossing performance compared to other current controlled chopper algorithms and thereby allows for highest smoothness. The
true target current is powered into the motor coils.
Figure 2: spreadCycle principle
©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
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
1.3
5 / 25
stallGuard2
stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor coils. It
can be used for stall detection as well as other uses at loads below those which stall the motor. The
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.
Motor stalls
Figure 3: stallGuard2 Load Measurement as a Function of Load
1.4
coolStep
coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2.
coolStep adapts the required current to the load. Energy consumption can be reduced by as much as
75%. coolStep allows substantial energy savings, especially for motors which see varying loads or operate
at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to
50%, even a constant-load application allows significant energy savings because coolStep automatically
enables torque reserve when required. Reducing power consumption keeps the system cooler, increases
motor life, and allows for cost reduction.
0,9
Efficiency with coolStep
0,8
Efficiency with 50v torque reserve
0,7
0,6
0,5
Efficiency
0,4
0,3
0,2
0,1
0
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 4: Energy Efficiency Example with coolStep
©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
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
2
6 / 25
Order Codes
Order Code
Description
Size (LxWxH)
PD57-1-1076
PANdrive, 0.55Nm, 3A RMS, +24V DC, TTL UART interface,
S/D interface, Enable, Mode Select
60mm x 60mm x 54mm
PD57-2-1076
PANdrive, 1.01Nm, 3A RMS, +24V DC, TTL UART interface,
S/D interface, Enable, Mode Select
60mm x 60mm x 64mm
PD60-3-1076
PANdrive, 2.1Nm, 3A RMS, +24V DC, TTL UART interface, S/D
interface, Enable, Mode Select
60mm x 60mm x 78mm
PD60-4-1076
PANdrive, 3.1Nm, 3A RMS, +24V DC, TTL UART interface, S/D
interface, Enable, Mode Select
60mm x 60mm x 99mm
Table 1: Order codes PANdrives
Order Code
Description
PD-1076-CABLE
Cable loom for PDxx-1076 and PD57/60-x-1076. Contains:
• 1x cable loom for motor connector with 4-pin JST EH female connector
• 1x cable loom for Power + I/O connector with 9-in JST EH female connector
Table 2: Order codes cable loom
©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
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
3
3.1
7 / 25
Mechanical and Electrical Interfacing
PD57/60-x-1076 Dimensions and Weight
The PD57/60-x-1076 includes the TMCM-1076 stepper motor driver module and a NEMA23 or NEMA24
bipolar stepper motor. Depending on the motor size the length varies.
Length
Figure 5: PD57/60-x-1076 mechanical dimensions with motor
Order Code
Length in mm
Weight in g
PD57-1-1076
54
≈ 520
PD57-2-1076
64
≈ 720
PD60-3-1076
78
≈ 1270
PD60-4-1076
99
≈ 1470
Table 3: PD57/60-x-1076 length and weight
©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
8 / 25
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
3.2
PD57/60-x-1076 Motor Parameters
Specifications
Unit
PD57-1-1076
PD57-2-1076
PD60-3-1076
PD60-4-1076
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
0.02
Shaft axial play (450g load)
mm
0.08
0.08
0.08
0.08
Max radial force (20mm
from front flange)
N
57
57
57
57
Max axial force
N
15
15
15
15
Rated voltage
V
2.0
2.3
3.36
4.17
Rated phase current
A
2.8
2.8
2.8
2.8
Phase resistance at 20°C
Ω
0.7
0.83
1.2
1.5
Phase inductance (typ.)
mH
1.4
2.2
4.6
6.8
Holding torque
Nm
0.55
1.01
2.1
3.1
B
B
B
B
g cm
120
275
570
840
kg
0.45
0.65
1.2
1.4
Insulation class
Rotor inertia
Weight
2
Table 4: NEMA23 / 57mm and NEMA24 / 60mm stepper motor technical data
©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
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
3.3
9 / 25
PD57/60-x-1076 Torque Curves
The following diagrams show the torque vs. speed curves for the PD57-1-1076, the PD57-2-1076, the
PD60-3-1076 and the PD60-4-1076 with spreadCycle chopper mode selected, 24V supply voltage and rated
motor current (2.8A RMS / 4A peak).
Figure 6: PD57-1-1076 torque vs. velocity 24V / 2.8A, 256µsteps
Figure 7: PD57-2-1076 torque vs. velocity 24V / 2.8A, 256µsteps
©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
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
Figure 8: PD60-3-1076 torque vs. velocity 24V / 2.8A, 256µsteps
Figure 9: PD60-4-1076 torque vs. velocity 24V / 2.8A, 256µsteps
©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
10 / 25
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
4
11 / 25
Connectors and LEDs
Power + I/O
1
9
4
LED
1
Motor
Figure 10: PD57/60-x-1076 connectors
4.1
Motor Connector
Pin no.
Pin name
Description
1
B1
Motor phase A pin 1
2
B2
Motor phase A pin 2
3
A1
Motor phase B pin 1
4
A2
Motor phase B pin 2
Table 5: Motor connector pinning
NOTICE
Do not connect or disconnect motor during operation!
Motor cable and motor 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 or disconnect power supply before (dis)connecting the motor.
©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
PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.03 • 2019-AUG-01
4.2
12 / 25
Power + I/O Connector
Pin no.
Pin name
Description
1
GND
Supply ground connection, also used for USB serial converter ground connection
2
V+
Supply voltage (V DD) +10V to +30V DC
3
DIR
Optically isolated direction input of S/D interface
4
STEP
Optically isolated step input of S/D interface
5
EN
Optically isolated enable input of motor driver H-bridges
6
CHOP
Optically isolated chopper mode selection input
7
COMM
Opto-coupler common anode or cathode, connect to ground or VCCIO (3.3V to
6V - higher voltages possible with additional external resistors)
8
RXD
TTL-level UART receive line, use with USB serial converter TXD line to connect to
PC
9
TXD
TTL-level UART transmit line, use with USB serial converter RXD line to connect
to PC
Table 6: Power + I/O connector pinning
NOTICE
Supply Voltage Buffering / Add External Power Supply Capacitors
A sufficiently buffered power supply or an external electrolyte capacitor connected between V+ and GND is recommended for stable operation.
It is recommended to connect an electrolytic capacitor of significant size to the
power supply lines next to the PD57/60-x-1076.
Rule of thumb for size of electrolytic capacitor: C = 1000 µF
A ∗ ISU P P LY
The PD57/60-x-1076 comes with approximately 40µF of onboard ceramic
capacitors.
NOTICE
There is no reverse polarity protection on the supply input!
The module will short any reversed supply voltage and board electronics will get
damaged.
NOTICE
Power Up Sequence
The PD57/60-x-1076 must be powered up with disabled driver stage only. Depending on your configuration the EN input should be logically OFF. For example,
if COMM input is connected to 3.3V to 24V, the EN input must be 0V. If common
ground or 0V level is connected to COMM input, the EN input must have high
level.
©2021 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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4.3
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TTL UART Connection
To connect via the TTL UART interface to a host PC, we suggest using a USB serial converter from TTL-UART
(5V) to USB interface.
Communication with the host PC, for example when using TRINAMIC’s TMCL-IDE, is done via the Virtual
COM port installed by the converter driver.
More information on the TMCL-IDE and the latest release can be found here: www.trinamic.com
The converter cable must be connected to pins 1, 8, and 9 (GND, RXD, TXD) of the I/O connector.
Default Baud Rates
The default baud rate is 9600 bps.
In bootloader mode, the baud rate is 115200 bps.
Note
USB to UART converter
For example, the TTL-232R-5V from FTDI is working with the module and has
been tested. More information on this converter is available on the FTDI website:
www.ftdichip.com
Info
5V TTL UART Level
The TTL UART interface works with 5V level. Take special care when selecting a
converter cable for USB connection.
NOTICE
4.4
Status LEDs
The PD57/60-x-1076 has one green status LED. See figure 10 for its location.
State
Description
Blinking
Heartbeat, MCU active, normal operation
Permanent on
Bootloader mode
Off
Power Off
Table 7: LED state description
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Functional Description
5.1
Typical Application Wiring
Wire the PD57/60-x-1076 as shown in the following figures.
• Connect the the power supply to V+ and GND.
• Connect the Step and Direction signals to your motion controller.
• At power up time, the EN input must be low (= driver stage disabled)!
• Optional: Connect UART to a TTL UART interface with 5V logic levels. To configure your PD57/60-x1076 connect start the TMCL-IDE and use the parameterization tools. For detailed instructions refer
to the PD57/60-x-1076-firmware-manual.
Note
The TTL UART interface is not optically isolated. It requires 5V level signals.
Nevertheless, it provides basic ESD and rail-to-rail signal line protection for the
PD57/60-x-1076.
V+
TMCM-1076 /
PD-x-1076
9V-28V
GND
+5V
+5V
COMM
STEP
270 Ω
A1
A2
DIR
B1
270 Ω
B2
User
MCU
EN
270 Ω
CHOP
270 Ω
M
Driver &
Controller
GND
RXD
TXD
Figure 11: Typical application scenario with 5V inputs
5.2
Optically Isolated Inputs with Common Anode Input
The control inputs of the PD57/60-x-1076 are optically isolated (not the TTL UART interface). All optocouplers share one common anode (COMM) input as shown in the figure above.
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TMCM-1076 /
PD-x-1076
3.3V to +6V
15 / 25
+5V
COMM
STEP
270 Ω
A1
A2
DIR
B1
270 Ω
Driver &
Controller
User
MCU
EN
270 Ω
CHOP
270 Ω
B2
M
GND
Figure 12: Inputs with common anode input with 3.3V to 5V
The typical voltage at COMM input is 5V. Nevertheless, 3.3V or voltages higher than 5V can also be used as
long as the current is through the optocouplers’ emitter is between 5mA to 20mA. For 3.3V operation the
controller must be carefully selected with respect to its I/O ports, its actual output voltage, and the series
resistor of the I/O ports. The user must make sure that the current through the optocouplers’ emitter is
between 5mA to 20mA.
Note
Step pulse width
Width of the step pulses should be between 2µs and 4µs, for maximum step frequency.
With a larger step pulse width, for example 50% duty cycle coming from a frequency generator, the maximum input frequency will be lower at ca. 9kHz..
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TMCM-1076 /
PD-x-1076
16 / 25
+5V
>5V to +24V
COMM
Rexternal
270 Ω
A1
STEP
A2
GND
Rexternal
B1
270 Ω
Driver &
Controller
DIR
GND
Rexternal
270 Ω
GND
Rexternal
270 Ω
B2
M
EN
CHOP
GND
GND
Figure 13: Inputs with common anode input with >5V to 24V
The series resistors in the PD57/60-x-1076 are 270mOhms. For operation with voltages higher than 5V an
additional external resistor Rexternal is required per input to limit the current. See Table 8 as reference
for additional external resistor values.
COMM Voltage (V)
Value of Rexternal (Ω)
3.3
-
5
-
9
300
12
500
15
700
24
1K5
Table 8: Additional resistor reference values
Note
5.3
Rexternal Selection
Take care when selecting an additional external resistor. The resistor type must
have a fitting power rating. This depends on the voltage used at COMM input.
Optically Isolated Inputs with Common Cathode Input
The optocouplers inside PD57/60-x-1076 are bidirectional types (AC/DC). Thus, COMM can also be used
as common cathode connection.
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5.4
17 / 25
Thermal Behavior
The default configuration parameters of the PD57/60-x-1076 are set to the specified maximum current of
3A RMS / 4.2A peak, which is the maximum motor phase current specified for the stepper motor options
given in Table 4.
Typically, at this nominal current setting the stepper motor and the driver electronics will get hot. Continuous operation at maximum current is not guaranteed without cooling the motor since the stepper driver
will switch off due to its internal over-temperature protection until temperature falls below the threshold.
Note
Operation with Maximum Current Setting
For table-top testing and application bring-up the current should be reduced or
the coolStep feature should be configured to keep heating on a reasonable level.
Especially, when there is no other cooling option for the motor.
For proper and continuous operation at maximum current, the motor flange
must be mounted to the applications mechanical interface with good contact.
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6
6.1
Operational Ratings and Characteristics
Absolute Maximum Ratings
Parameter
Min
Max
Unit
Supply voltage
+10
+30
V
Working temperature
-30
+40
°C
Motor coil current / sine wave peak
4.2
A
Continuous motor current (RMS)
3
A
NOTICE
Avoid exceeding the absolute maximum rating under all circumstances.
Stresses above those listed under "‘Absolute Maximum Ratings"’ may cause
permanent damage to the device. This is a stress rating only and functional
operation of the device at those or any other conditions above those indicated in
the operation listings of this specification is not implied. Exposure to maximum
rating conditions for extended periods may affect device reliability.
Keep the power supply voltage below the upper limit of +30V! Otherwise
the board electronics will seriously be damaged! Especially, when the selected
operating voltage is near the upper limit a regulated power supply is highly
recommended.
6.2
Electrical Characteristics (Ambient Temperature 25° C)
Parameter
Symbol
Min
Typ
Max
Unit
Supply voltage
V DD
10
24
30
V
Motor coil current / sine wave peak (chopper regulated, adjustable via TTL UART interface)
ICOILpeak
0
4.2
A
Continuous motor current (RMS)
ICOILRM S
0
3
A
Power supply current
IDD
1.4∗ICOIL
A
ICOIL
Table 10: Electrical Characteristics
6.3
I/O Ratings (Ambient Temperature 25° C)
Parameter
Symbol
Min
Typ
Max
Unit
COMM input voltage
VCOM M
3.3
5
+V DD
V
Input frequency of optically isolated I/Os
fin
45
kHz
TTL UART input voltage
VT T L_IN
5.5
V
TTL UART low level voltage
VT LLL
1.75
V
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0
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TTL UART high level voltage
VT T LH
TTL UART output voltage
VT T L_OU T
3.25
5
5
V
V
Table 11: Operational ratings of optically isolated inputs and TTL UART interface
6.4
Functional Characteristics
Parameter
Description / Value
Control
4-wire interface with Step, Direction, Enable, and Chopper Mode Switch
Step Pulse Width
The step pulse width should be between 2µs and 4µs for maximum frequency.
With a larger step pulse width, for example 50% duty cycle coming from a frequency generator, the maximum input frequency will be lower at ca. 9kHz.
Communication
2-wire TTL UART interface for configuration, 9600-115200 bps (default 57600
bps)
Driving Mode
spreadCycle and stealthChop chopper modes (selectable with CHOP input),
adaptive automatic current reduction using stallGuard2 and coolStep
Stepping Resolution
Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step, default is 1/16 with internal
interpolation to 1/256
Table 12: Functional Characteristics
6.5
Other Requirements
Specifications
Description or Value
Cooling
Free air
Working environment
Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting
Working temperature
-30° C to +40° C
Table 13: Other Requirements and Characteristics
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7
Abbreviations used in this Manual
Abbreviation
Description
COMM
Common Anode or common cathode
IDE
Integrated Development Environment
LED
Light Emmitting Diode
RMS
Root Mean Square value
TMCL
TRINAMIC Motion Control Language
TTL
Transistor Transistor Logic
UART
Universal Asynchronous Receiver Transmitter
USB
Universal Serial Bus
Table 14: Abbreviations used in this Manual
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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
PD57/60-x-1076 mechanical dimensions with motor . . . . . . . . . . . .
PD57-1-1076 torque vs. velocity 24V /
2.8A, 256µsteps . . . . . . . . . . . . .
PD57-2-1076 torque vs. velocity 24V /
2.8A, 256µsteps . . . . . . . . . . . . .
8
4
4
5
5
7
9
9
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9
10
11
12
13
PD60-3-1076 torque vs. velocity 24V /
2.8A, 256µsteps . . . . . . . . . . . . .
PD60-4-1076 torque vs. velocity 24V /
2.8A, 256µsteps . . . . . . . . . . . . .
PD57/60-x-1076 connectors . . . . . .
Typical application scenario with 5V
inputs . . . . . . . . . . . . . . . . . . .
Inputs with common anode input
with 3.3V to 5V . . . . . . . . . . . . . .
Inputs with common anode input
with >5V to 24V . . . . . . . . . . . . .
10
10
11
14
15
16
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22 / 25
Tables Index
1
2
3
4
5
6
7
8
Order codes PANdrives . . . . . . . .
Order codes cable loom . . . . . . . .
PD57/60-x-1076 length and weight . .
NEMA23 / 57mm and NEMA24 /
60mm stepper motor technical data .
Motor connector pinning . . . . . . .
Power + I/O connector pinning . . . .
LED state description . . . . . . . . . .
Additional resistor reference values .
6
6
7
8
11
12
13
16
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10
11
12
13
14
15
16
Electrical Characteristics . . . . . . . .
Operational ratings of optically isolated inputs and TTL UART interface .
Functional Characteristics . . . . . . .
Other Requirements and Characteristics . . . . . . . . . . . . . . . . . . . . .
Abbreviations used in this Manual . .
Hardware Revision . . . . . . . . . . .
Document Revision . . . . . . . . . . .
18
19
19
19
20
25
25
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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 2021 TRINAMIC. All rights reserved. Electronically published by
TRINAMIC, Germany.
Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available productrelated documentation.
10.3
Trademark Designations and Symbols
Trademark designations and symbols used in this documentation indicate that a product or feature is
owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose
products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation.
This Hardware Manual is a non-commercial publication that seeks to provide concise scientific and technical user information to the target user. Thus, trademark designations and symbols are only entered in
the Short Spec of this document that introduces the product at a quick glance. The trademark designation
/symbol is also entered when the product or feature name occurs for the first time in the document. All
trademarks and brand names used are property of their respective owners.
10.4
Target User
The documentation provided here, is for programmers and engineers only, who are equipped with the
necessary skills and have been trained to work with this type of product.
The Target User knows how to responsibly make use of this product without causing harm to himself or
others, and without causing damage to systems or devices, in which the user incorporates the product.
10.5
Disclaimer: Life Support Systems
TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in
life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.
Life support systems are equipment intended to support or sustain life, and whose failure to perform,
when properly used in accordance with instructions provided, can be reasonably expected to result in
personal injury or death.
Information given in this document is believed to be accurate and reliable. However, no responsibility
is assumed for the consequences of its use nor for any infringement of patents or other rights of third
parties which may result from its use. Specifications are subject to change without notice.
10.6
Disclaimer: Intended Use
The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose
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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.
TRINAMIC products are not designed for and must not be used in connection with any applications where
the failure of such products would reasonably be expected to result in significant personal injury or death
(safety-Critical Applications) without TRINAMIC’s specific written consent.
TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC
conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing
or handling of the product and/or any other use of the product.
10.7
Collateral Documents & Tools
This product documentation is related and/or associated with additional tool kits, firmware and other
items, as provided on the product page at: www.trinamic.com.
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11.1
25 / 25
Revision History
Hardware Revision
Version
Date
Author
Description
1.00
2018-FEB-28
GE
First prototype version.
1.10
2018-APR-09
GE
Pull-ups for opto-isolator changed to lower values (to be compatible
with TMCM-1070).
Table 15: Hardware Revision
11.2
Document Revision
Version
Date
Author
Description
1.00
2018-MAR-26
GE
First release.
1.01
2018-JUL-18
SK
Order codes fixed.
1.02
2018-SEP-03
GE
Product photo updated.
1.03
2019-AUG-01
OK
Document meta information added.
Table 16: Document Revision
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