PD57-2-1378-TMCL

**PANDRIVE™** 

**PANdrive™for Stepper** 

## PD57/60/86-1378 Hardware Manual 

## Hardware Version V1.10 | Document Revision V1.21 • 2020-APR-24 

**The PD57/60/86-1378 is an easy to use PANdrive™smart stepper drive. The drive is controlled via a CAN bus interface and comes with two firmware options – TMCL™and CANopen®. With its builtin high resolution encoder, the PD57/60/86-1378 is mainly designed for closed-loop operation, but also features StealthChop™for absolute silent motor control, SpreadCycle™for high speed stepper motor commutation as well as StallGuard2™and CoolStep™. The fully integrated hardware motion controller supports trapezoidal ramps, SixPoint™ramps and s-shaped ramps.** 

Features 

- PANdrive™smart motor 

- Supply Voltage +12 to +52V DC 

- CAN bus interface 

- TMCL™or CANopen® protocol 

- Integrated ramp motion controller with different ramp types 

- StealthChop™silent PWM mode 

- SpreadCycle™smart mixed decay 

- StallGuard2™load detection 

- CoolStep™ automatic current scaling 

## Applications 

- Lab-Automation 

   - Robotics • CNC 

- Manufacturing • Factory Automation 

## Simplified Block Diagram 

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Read entire documentation. 

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## **Contents** 

|**1**|**Features**|**Features**||||**3**|
|---|---|---|---|---|---|---|
||1.1|General Features . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|3|
||1.2|TRINAMIC’s Unique Features .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.1 stealthChop™. . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.2 spreadCycle™. . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.3 stallGuard2 . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|4|
|||1.2.4 coolStep . . . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|5|
|**2**|**Order Codes**|||||**6**|
|**3**|**Mechanical and Electrical Interfacing**|||||**7**|
||3.1|PD57/60/86-1378 Dimensions|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|7|
||3.2|PD57/60/86-1378 Dimensions and||Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||7|
||3.3|PD57/60/86-1378 Motor Parameters|||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|8|
||3.4|PD57/60/86-1378 Torque Curves .||. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|10|
|**4**|**Connectors and LEDs**|||||**13**|
||4.1|Power Supply Connector<br>. . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13|
||4.2|I/O Connector . . . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13|
||4.3|CAN Connection<br>. . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|14|
||4.4|Motor Connector . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|15|
||4.5|LEDs<br>. . . . . . . . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16|
|**5**|**Functional Description**|||||**17**|
||5.1|Typical Application Wiring . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||5.2|Inputs<br>. . . . . . . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
|**6**|**Operational Ratings and Characteristics**|||||**18**|
||6.1|Absolute Maximum Ratings . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18|
||6.2|Electrical Characteristics (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . .||||18|
||6.3|I/O Ratings (Ambient Temperature||25°|C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18|
||6.4|Functional Characteristics . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19|
||6.5|Other Requirements . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|19|
|**7**|**Abbreviations used in this Manual**|||||**19**|
|**8**|**Figures Index**|||||**20**|
|**9**|**Tables Index**|||||**21**|
|**10 **|**Supplemental Directives**|||||**22**|
||10.1|Producer Information . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|
||10.2|Copyright<br>. . . . . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|
||10.3|Trademark Designations and Symbols|||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|
||10.4|Target User<br>. . . . . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|
||10.5|Disclaimer: Life Support Systems||. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|
||10.6|Disclaimer: Intended Use . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|
||10.7|Collateral Documents & Tools|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|23|
|**11 **|**Revision History**|||||**24**|
||11.1|Hardware Revision . . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|24|
||11.2|Document Revision. . . . . . .|. .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|24|



©2020 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com 

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## **1 Features** 

The PANdrives™ PD57/60/86-1378 are full mechatronic solutions with state of the art feature set. They are highly integrated and offer convenient handling via CAN interface. Each PD57/60/86-1378 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. . . 7 Nm maximum holding torque and 24V DC or 48V DC nominal supply voltage. With the built-in high resolution magnetic encoder and the advanced ramp geneator chip it is mainly designed for closed-loop operation. With StealthChop™ the PD57/60/86-1378 offers absolutely silent and smooth motor operation for lower and medium velocities. With SpreadCycle™, the PD57/60/86-1378 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 PD57/60/86-1378 is equipped with a CAN bus interface and three digital inputs. 

## **1.1 General Features** 

## **Main Characteristics** 

- Supply Voltage +24V or +48V nominal (+10V. . . +52V DC). 

- up to 9A RMS phase current (depending on the motor). 

- 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 TMCL program and parameter storage. 

- Different kinds of ramps: trapezoidal ramps, six-point ramps and S-shaped ramps. 

- Closed loop operation possible. 

- Noiseless StealthChop™chopper mode for slow to medium velocities. 

- High performance SpreadCycle™chopper mode. 

- High-precision sensorless load measurement with StallGuard2™. 

## **I/Os** 

- Home and reference switch inputs. 

- Enable input to power-on/-off driver H-bridges. 

## **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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## **1.2 TRINAMIC’s Unique Features** 

## **1.2.1 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_ 

## **1.2.3 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 

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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. 

**==> picture [387 x 159] intentionally omitted <==**

**----- Start of picture text -----**<br>
stallGuard2<br>Load [Nm]<br>Initial stallGuard2 (SG) value: 100%<br>Max. load<br>stallGuard2 (SG) value: 0<br>Maximum load reached.<br>Motor close to stall.<br>Motor stalls<br>**----- End of picture text -----**<br>


_Figure 3: stallGuard2 Load Measurement as a Function of Load_ 

## **1.2.4 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. 

**==> picture [325 x 155] intentionally omitted <==**

**----- Start of picture text -----**<br>
0,9<br>Efficiency with coolStep<br>0,8 Efficiency with 50v torque reserve<br>0,7<br>0,6<br>0,5<br>Efficiency<br>0,4<br>0,3<br>0,2<br>0,1<br>0<br>0 50 100 150 200 250 300 350<br>Velocity [RPM]<br>**----- End of picture text -----**<br>


_Figure 4: Energy Efficiency Example with coolStep_ 

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## **2 Order Codes** 

|Order Code|Description|Size (LxWxH)|
|---|---|---|
|PD57-1-1378-TMCL|PANdrive, 0.55Nm, 3A RMS, +48V DC, CAN inter-<br>face, TMCL frmware|60mm x 60mm x 65mm|
|PD57-2-1378-TMCL|PANdrive, 1.01Nm, 3A RMS, +48V DC, CAN inter-<br>face, TMCL frmware|60mm x 60mm x 75mm|
|PD60-3-1378-TMCL|PANdrive, 2.1Nm, 3A RMS, +48V DC, CAN inter-<br>face, TMCL frmware|60mm x 60mm x 89mm|
|PD60-4-1378-TMCL|PANdrive, 3.1Nm, 3A RMS, +48V DC, CAN inter-<br>face, TMCL frmware|60mm x 60mm x 110mm|
|PD60-4H-1378-TMCL|PANdrive, 3Nm, 9A RMS, +48V DC, CAN inter-<br>face, TMCL frmware|60mm x 60mm x 110mm|
|PD86-3-1378-TMCL|PANdrive, 7Nm, 5.5A RMS, +48V DC, CAN inter-<br>face, TMCL frmware|86mm x 86mm x 120mm|
|PD57-1-1378-CANopen|PANdrive, 0.55Nm, 3A RMS, +48V DC, CAN inter-<br>face, CANopen frmware|60mm x 60mm x 65mm|
|PD57-2-1378-CANopen|PANdrive, 1.01Nm, 3A RMS, +48V DC, CAN inter-<br>face, CANopen frmware|60mm x 60mm x 75mm|
|PD60-3-1378-CANopen|PANdrive, 2.1Nm, 3A RMS, +48V DC, CAN inter-<br>face, CANopen frmware|60mm x 60mm x 89mm|
|PD60-4-1378-CANopen|PANdrive, 3.1Nm, 3A RMS, +48V DC, CAN inter-<br>face, CANopen frmware|60mm x 60mm x 110mm|
|PD60-4H-1378-CANopen|PANdrive, 3Nm, 9A RMS, +48V DC, CAN inter-<br>face, CANopen frmware|60mm x 60mm x 110mm|
|PD86-3-1378-CANopen|PANdrive, 7Nm, 5.5A RMS, +48V DC, CAN inter-<br>face, CANopen frmware|86mm x 86mm x 120mm|



_Table 1: Order codes modules (electronics + enclosure) and PANdrives™_ 

|Order Code|Description|
|---|---|
|PD-1378-CABLE|Cable loom for PDxx-1378:<br>• 1x cable loom for power connector with 2-pin JST VH series connector<br>• 1x cable loom for I/O connector with 8-pin JST EH series connector|



_Table 2: Order codes cable loom_ 

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## **3 Mechanical and Electrical Interfacing** 

## **3.1 PD57/60/86-1378 Dimensions** 

The PD57/60/86-1378 includes the TMCM-1378 stepper motor controller/driver module (electronics + encapsulating enclosure) and a NEMA23 / 57mm flange size, NEMA24 / 60mm flange size or NEMA34 / 86mm flange size bipolar stepper motor. Currently, there is a choice between two NEMA23 / 57mm flange size, three NEMA24 / 60mm flange size and one NEMA34 / 86mm flange size stepper motors with different lengths and different holding torques. The stepper motors are rated for coil currents between 2.8A RMS and 9A RMS - perfectly fitting to the TMCM-1378 electronics. 

The dimensions of the controller/driver unit are approx. 60mm x 60mm x 24.5mm (TMCM-1378 electronics + encapsulating enclosure). There are four mounting holes for M3 screws for mounting the PD57/60/861378. These mounting holes are located in the bottom / base plate and accessible after removing the top cover (see 5, right figure, mounting holes marked red). Two of them at opposite positions can be used for mounting the module to the backside of our NEMA23 stepper motors (screw/thread length depends on motor size). The other two can be used for mounting the module to the backside of our NEMA24 stepper motors (screw/thread length depends on motor size). 

**==> picture [9 x 33] intentionally omitted <==**

**----- Start of picture text -----**<br>
h<br>t<br>g<br>n<br>e<br>L<br>**----- End of picture text -----**<br>


_Figure 5: PD57/60/86-1378 all dimensions in mm_ 

## **3.2 PD57/60/86-1378 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|
|---|---|---|
|PD57-1-1378|65|_≈_520|
|PD57-2-1378|75|_≈_720|
|PD60-3-1378|89|_≈_1270|
|PD60-4-1378|110|_≈_1470|
|PD60-4H-1378|110|_≈_1470|
|PD86-3-1378|120|_≈_1470|



_Table 3: Length and weight_ 

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## **3.3 PD57/60/86-1378 Motor Parameters** 

|Specifcations|Unit|PD57-1-1378|PD57-2-1378|PD60-3-1378|PD60-4-1378|
|---|---|---|---|---|---|
|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<br>from front fange)|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|
|Insulation class||B|B|B|B|
|Rotor inertia|g cm2|120|275|570|840|
|Weight|kg|0.45|0.65|1.2|1.4|



_Table 4: NEMA23 / 57mm and NEMA24 / 60mm stepper motor technical data_ 

|Specifcations|Unit|PD60-4H-1378|PD86-3-1378|
|---|---|---|---|
|Step angle|°|1.8|1.8|
|Step angle accuracy|+/-5|+/-5|+/-5|
|Ambient temperature|°C|-20. . . +50|-20. . . +50|
|Max. motor temperature|°C|80|80|
|Shaft radial play (450g load)|mm|0.02|0.02|
|Shaft axial play (450g load)|mm|0.08|0.08|
|Max radial force (20mm<br>from front fange)|N|57|220|
|Max axial force|N|15|60|
|Rated voltage|V|2.1|2.56|
|Rated phase current|A|9|5.5|
|Phase resistance at 20°C|Ω|0.15|0.45|
|Phase inductance (typ.)|mH|0.6|4.5|



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|Specifcations|Unit|PD60-4H-1378|PD86-3-1378|
|---|---|---|---|
|Holding torque|Nm|3.0|7.0|
|Insulation class||B|B|
|Rotor inertia|g cm2|840|2700|
|Weight|kg|1.4|2.87|



_Table 5: NEMA24 / 60mm and NEMA34 / 86mm stepper motor technical data_ 

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## **3.4 PD57/60/86-1378 Torque Curves** 

The following diagrams show the torque vs. speed curves for the PD57-1-1378, the PD57-2-1378, the PD60-3-1378 and the PD60-4-1378 with SpreadCycle™ chopper mode selected, 48V supply voltage and rated motor current. 

_Figure 6: PD57-1-1378 torque vs. velocity 48V / 2.8A, 256µsteps_ 

_Figure 7: PD57-2-1378 torque vs. velocity 48V / 2.8A, 256µsteps_ 

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_Figure 8: PD60-3-1378 torque vs. velocity 48V / 2.8A, 256µsteps_ 

_Figure 9: PD60-4-1378 torque vs. velocity 48V / 2.8A, 256µsteps_ 

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_Figure 10: PD60-4H-1378 torque vs. velocity 48V / 9A, 256µsteps_ 

_Figure 11: PD86-3-1378 torque vs. velocity 48V / 5.5A, 256µsteps_ 

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## **4 Connectors and LEDs** 

The PD57/60/86-1378 is equipped with three connectors – one eight-pin connector for communication (CAN) and additional I/O (home switch and stop switches as well as one general purpose output), one-four pin connector for connecting the motor and one two-pin connector for connecting to the power supply. 

**==> picture [189 x 164] intentionally omitted <==**

**----- Start of picture text -----**<br>
CAN + I/Os<br>1 8<br>Green LED<br>Red LED<br>_ 4 1 2 i 1<br>Motor + Power<br>**----- End of picture text -----**<br>


_Figure 12: PD57/60/86-1378 connectors_ Overview of connector and mating connector types: Label Connector type Mating connector type Power connector JST B2P-VH (JST VH series, 2pins, Connector housing: JST VHR-2N 3.96mm pitch) Contacts: JST SVH-41T-P1.1 Wire: 1.25mm[2] , AWG 16 CAN and I/O connector JST B8B-EH-A (JST EH series, Connector housing: JST EHR8pins, 2.5mm pitch) 8 Contacts: JST SEH-001T-P0.6 Wire: 0.33mm[2] , AWG 22 Motor connector JST B4P-VH (JST VH series, 4pins, Connector housing: JST VHR-4N 3.96mm pitch) Contacts: JST SVH-41T-P1.1 Wire: 1.25mm[2] , AWG 16 ~~———~~ _Table 6: Connector and mating connectors_ **4.1 Power Supply Connector** Pin nu. Pin name Description 1 GND Ground connection 2 +48V Supply power connection ~~——~~ 

_Table 7: PD57/60/86-1378 Power supply connector pin assigment_ 

## **4.2 I/O Connector** 

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|Pin no.|Pin name|Description|
|---|---|---|
|1|CAN_H|Diferential CAN bus signal (non-inverting)|
|2|CAN_L|Diferential CAN bus signal (inverting)|
|3|GND|Signal ground connection|
|4|+5V|5V output, 100mA maximum load, e.g. for end / home switch circuit or<br>external encoder supply|
|5|HOME (GPI0)|General purpose input 0 and HOME switch input (+5V TTL compatible 10k<br>pull-up to +5V).|
|6|REFL (GPI1)|General purpose input 1 and stop switch input REFL / STOP_L.|
|7|REFR (GPI2)|General purpose input 2 and stop switch input REFR / STOP_R.|
|8|ENN (GPI3)|ENABLE NOT input (active low) for driver stage, 0 = enabled, 1 = disabled (+5V<br>TTL compatible, internal 10k pull-up to +5V)|



_Table 8: PD57/60/86-1378 I/O connector pin assignment_ 

|**_NOTICE_**|**Always keep the power supply voltage below the upper limit of 52V!** Oth-|
|---|---|
||erwise the driver electronics will be seriously damaged. Especially, when the|
||selected operating voltage is near the upper limit a regulated power supply is|
||highly recommended.|
|||
|**_NOTICE_**|**Add external power supply capacitors!** It is recommended to connect an elec-|
||trolytic capacitor of signifcant size (e.g. 4700_µ_F/63V) to the power supply lines|
||next to the PD57/60/86-1378!|
||Rule of thumb for size of electrolytic capacitor: _C_ = 1000_µF_<br>_A_<br>_× ISUP P LY_|
||In addition to power stabilization (bufer) and fltering this added capacitor will|
||also reduce any voltage spikes which might otherwise occur from a combination|
||of high inductance power supply wires and the ceramic capacitors. In addition|
||it will limit slew-rate of power supply voltage at the module. The low ESR of|
||ceramic-only flter capacitors may cause stability problems with some switching|
||power supplies.|
|||
|**_NOTICE_**|**Tie****_ENN_ to GND in order to enable driver stage!** Please note that pin 8 of the|
||I/O connector is a driver stage enable input (active low) with an internal pull-up|
||resistor. In order to enable motor driver stage and be able to move the motor|
||using appropriate software commands it is necessary to tie this input to GND.|



## **4.3 CAN Connection** 

For remote control and communication with a host system the PD57/60/86-1378 provides a CAN bus interface. For proper operation the following items should be taken into account when setting up a CAN network: 

**Bus Structure** The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus. 

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**==> picture [432 x 135] intentionally omitted <==**

_Figure 13: 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 PD57/60/86-1378 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally. 

> **Number of Nodes** The bus transceiver used on the PD57/60/86-1378 (TJA1051) supports at least 100 nodes under optimum conditions. Practically achievable number of nodes per CAN bus highly depend on bus length (longer bus _→_ less nodes) and communication speed (higher speed _→_ less nodes). 

**CAN Bus Adapters** To quickly connect to the PD57/60/86-1378 a PC based intergated development environment TMCL-IDE is available. Latest release can be downloaded for free from our web site: www.trinamic.com A number of common CAN interface adapters from different manufactures is supported from within this software. Please make sure to check our web site from time to time for the latest version of the software! 

## **4.4 Motor Connector** 

|Pin no.|Pin name|Description|
|---|---|---|
|1|B1|Motor phase B pin 1|
|2|B2|Motor phase B pin 2|
|3|A1|Motor phase A pin 1|
|4|A2|Motor phase A pin 2|



_Table 9: 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 connected / disconnected 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 connecting or disconnecting the motor. 

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## **4.5 LEDs** 

The PD57/60/86-1378 includes two LEDs: one green status LED and one red error LED. See figure 14 for LED location. 

**==> picture [190 x 204] intentionally omitted <==**

**----- Start of picture text -----**<br>
CAN + I/Os<br>1 8<br>Green LED<br>Red LED<br>4 1 2 1<br>Motor + Power<br>**----- End of picture text -----**<br>


_Figure 14: PD57/60/86-1378 LED colors and location_ 

Depending on the firmware option (TMCL or CANopen), these LEDs have different functionality. Main states for TMCL: 

|State green LED|State red LED|Description TMCL Firmware|
|---|---|---|
|Flashing|off|Firmware running (normal operation mode)|
|Permanent on|Permanent on|Bootloader mode, firmware update supported|



_Table 10: LED functionality description_ 

For CANopen firmware LED functionality has been implemented according to the CANopen® standard. 

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## **5 Functional Description** 

## **5.1 Typical Application Wiring** 

The PD57/60/86-1378 driver/controller’s wiring is straightforward as shown in the following figure. 

- Power supply must be connected to V+ and GND. 

**==> picture [413 x 364] intentionally omitted <==**

**----- Start of picture text -----**<br>
• CAN - use appropriate CAN interface adapter<br>• ENN - connect ENN signal to GND in order to enable driver stage<br>Host<br>c:><br>GND<br>USB-CAN CAN L<br>CAN H<br>1 8<br>2 1<br>Power supply<br>GND<br>a] +VS<br>Figure 15: Typical application scenario for remote control of PD57/60/86-1378<br>5.2 Inputs<br>**----- End of picture text -----**<br>


The four inputs of the PD57/60/86-1378 are +5V TTL compatible with internal pull-ups (10k) to +5V and not optically isolated. 

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## **6 Operational Ratings and Characteristics** 

## **6.1 Absolute Maximum Ratings** 

|Parameter|Min|Max|Unit|
|---|---|---|---|
|Supply voltage|+10|+52|V|
|Working temperature|-20|+50|° C|
|Motor coil current / sine wave**peak**||12.7|A|
|Continuous motor current (**RMS**)||9.0|A|



_**NOTICE**_ 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. 

## **6.2 Electrical Characteristics (Ambient Temperature 25° C)** 

|Parameter|Symbol|Min|Typ|Max|Unit|
|---|---|---|---|---|---|
|Supply voltage|_V DD_|10|24 or 48|52|V|
|Motor coil current / sine wave**peak**(chopper regu-<br>lated, adjustable via TTL UART interface)|_ICOILpeak_|0||12.7|A|
|Continuous motor current (**RMS**)|_ICOILRMS_|0||9.0|A|
|Power supply current|_IDD_||_≪ICOIL_|1.4_∗ICOIL_|A|



_Table 12: Electrical Characteristics_ 

## **6.3 I/O Ratings (Ambient Temperature 25° C)** 

|Parameter|Symbol|Min|Typ|Max|Unit|
|---|---|---|---|---|---|
|Input voltage|_VIN_||5|5.5|V|
|Low level voltage|_VL_|0||1.5|V|
|High level voltage|_VH_|3.5||5|V|
|Voltage at open drain output GPO (switched of)|_VOUT_0|0||+30|V|
|Output sink current of open drain output GPO (switched on)|_IOUT_0|0||100|mA|



_Table 13: I/O ratings_ 

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## **6.4 Functional Characteristics** 

|Parameter|Description / Value|
|---|---|
|Control|CAN bus interface and four digital inputs for referencing, incremental encoder,<br>and NOT_ENABLE|
|Communication|CAN bus interface for control and confguration, 20. . . 1000kBit/s|
|Driving Mode|SpreadCycle™, StealthChop™, and constant_Toff_ chopper, adaptive current con-<br>trol via StallGuard2™and coolstep|
|Stepping Resolution|Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step|



_Table 14: Functional Characteristics_ 

## **6.5 Other Requirements** 

|Specifcations|Description or Value|
|---|---|
|Cooling|Free air|
|Working environment|Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting|
|Working temperature|-20° C to +50° C|



_Table 15: Other Requirements and Characteristics_ 

## **7 Abbreviations used in this Manual** 

|Abbreviation|Description|
|---|---|
|CAN|Controller Area Network|
|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 16: Abbreviations used in this Manual_ 

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## **8 Figures Index** 

- 1 Motor coil sine wave current using stealthChop (measured with current probe) . . . . . . . . . . . . . . . . . . . 4 

- 2 spreadCycle principle . . . . . . . . . . 4 3 stallGuard2 Load Measurement as a Function of Load . . . . . . . . . . . . . 5 

- 4 Energy Efficiency Example with coolStep 5 5 PD57/60/86-1378 all dimensions in mm 7 6 PD57-1-1378 torque vs. velocity 48V / 2.8A, 256 _µ_ steps . . . . . . . . . . . . . . 10 

- 7 PD57-2-1378 torque vs. velocity 48V / 

      - 8 PD60-3-1378 torque vs. velocity 48V / 

   - 2.8A, 256 _µ_ steps . . . . . . . . . . . . . . 11 

   - 4 9 PD60-4-1378 torque vs. velocity 48V / 4 2.8A, 256 _µ_ steps . . . . . . . . . . . . . . 11 10 PD60-4H-1378 torque vs. velocity 48V / 

   - 5 9A, 256 _µ_ steps . . . . . . . . . . . . . . . 12 5 11 PD86-3-1378 torque vs. velocity 48V / 7 5.5A, 256 _µ_ steps . . . . . . . . . . . . . . 12 12 PD57/60/86-1378 connectors . . . . . . 13 

   - 10 13 CAN bus strcuture . . . . . . . . . . . . 15 14 PD57/60/86-1378 LED colors and location 16 

   - 10 15 Typical application scenario for remote control of PD57/60/86-1378 . . . . . . . 17 

- 2.8A, 256 _µ_ steps . . . . . . . . . . . . . . 

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## **9 Tables Index** 

- 1 Order codes modules (electronics + 8 PD57/60/86-1378 I/O connector pin enclosure) and PANdrives™ . . . . . . . 6 assignment . . . . . . . . . . . . . . . . 14 

- 2 Order codes cable loom . . . . . . . . . 6 9 Motor connector pinning . . . . . . . . 15 3 Length and weight . . . . . . . . . . . . 7 10 LED functionality description . . . . . . 16 4 NEMA23 / 57mm and NEMA24 / 60mm 12 Electrical Characteristics . . . . . . . . . 18 stepper motor technical data . . . . . . 8 13 I/O ratings . . . . . . . . . . . . . . . . . 18 

- 5 NEMA24 / 60mm and NEMA34 / 86mm 14 Functional Characteristics . . . . . . . . 19 stepper motor technical data . . . . . . 9 15 Other Requirements and Characteristics 19 

- 6 Connector and mating connectors . . . 13 16 Abbreviations used in this Manual . . . 19 7 PD57/60/86-1378 Power supply 17 Hardware Revision . . . . . . . . . . . . 24 connector pin assigment . . . . . . . . 13 18 Document Revision . . . . . . . . . . . . 24 

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## **10 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 2020 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 product-related 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 Revision History** 

## **11.1 Hardware Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|2019-FEB-28|TMC|First prototypes.|
|1.10|2019-APR-05|TMC|Release version.|



_Table 17: Hardware Revision_ 

## **11.2 Document Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|2019-DEC-05|OK|First release.|
|1.10|2019-DEC-16|GE|Updates and corrections.|
|1.20|2020-JAN-29|GE|Motor characteristics updated.|
|1.21|2020-APR-24|OK|New block diagram.|



_Table 18: Document Revision_ 

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