PD60-4H-1278-CANOPEN

**PANDRIVE™** 

**PANdrive™for Stepper** 

## PD60/86-1278 Hardware Manual 

## Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

**PD60/86-1278 is a full-mechatronic solution combining of easy-to-use, high-power motion controller/driver module and PANdrive™smart stepper motor. The driver module is conveniently mounted on the NEMA24/34 size PANdrive™motor. This driver module is controlled via a CAN bus interface and comes with two firmware options – TMCL and CANopen. PD60/86-1278 features StealthChop™for absolute silent motor control, SpreadCycle™for high speed stepper motor commutation, a fully integrated hardware motion controller with SixPoint™motion ramps, as well as StallGuard2™and CoolStep™.** 

Features 

- Supply Voltage: +12V to +48V DC 

- Current per motor phase: 9A RMS 

- CAN bus interface 

- TMCL or CANopen protocol 

- Integrated SixPoint™ ramp motion controller 

- StealthChop™silent PWM mode 

- SpreadCycle™smart mixed decay 

- StallGuard2™load detection 

- CoolStep™ automatic current scaling 

## Applications 

- Lab-Automation 

- Manufacturing 

- Robotics • CNC 

- Factory Automation 

Simplified Block Diagram RELEETEELELELELELELET eT eT eee rere ee ee ee ee ee ee ee ee es 

> ©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 

Read entire documentation. 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

2 / 22 

## **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|
|||1.2.5 SixPoint™Motion Controller||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|5|
|**2**|**Order Codes**||||**7**|
|**3**|**Mechanical and Electrical Interfacing**||||**8**|
||3.1|PD60/86-1278 Dimensions . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|8|
||3.2|PD60/86-1278 Dimensions and|Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||8|
||3.3|PD60/86-1278 Motor Parameters||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9|
||3.4|PD60/86-1278 Torque Curves .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|10|
|**4**|**Connectors and LEDs**||||**11**|
||4.1|Power Connector . . . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11|
||4.2|CAN and I/O Connector . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
||4.3|Motor Connector . . . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12|
||4.4|CAN Connection<br>. . . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13|
||4.5|LEDs<br>. . . . . . . . . . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|14|
|**5**|**Functional Description**||||**15**|
||5.1|Typical Application Wiring . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|15|
||5.2|Inputs<br>. . . . . . . . . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|15|
|**6**|**Operational Ratings and Characteristics**||||**16**|
||6.1|Absolute Maximum Ratings . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16|
||6.2|Electrical Characteristics (Ambient Temperature 25° C) . . . . . . . . . . . . . . . . . . . . . . .|||16|
||6.3|I/O Ratings (Ambient Temperature||25° C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16|
||6.4|Functional Characteristics . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
||6.5|Other Requirements . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17|
|**7**|**Abbreviations used in this Manual**||||**17**|
|**8**|**Figures Index**||||**18**|
|**9**|**Tables Index**||||**19**|
|**10 **|**Supplemental Directives**||||**20**|
||10.1|Producer Information . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|20|
||10.2|Copyright<br>. . . . . . . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|20|
||10.3|Trademark Designations and Symbols<br>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|||20|
||10.4|Target User<br>. . . . . . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|20|
||10.5|Disclaimer: Life Support Systems||. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|20|
||10.6|Disclaimer: Intended Use . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|20|
||10.7|Collateral Documents & Tools|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|21|
|**11 **|**Revision History**||||**22**|
||11.1|Hardware Revision . . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|
||11.2|Document Revision. . . . . . .|. .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|22|



©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

3 / 22 

## **1 Features** 

The PANdrives™ PD60/86-1278 are full mechatronic solutions with state of the art feature set. It is highly integrated and offers convenient handling via CAN interface. The PD60/86-1278 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 3.0Nm resp. 7.0Nm maximum holding torque and 24V or 48V DC nominal supply voltage. With StealthChop™, the PD60/86-1278 offers absolutely silent and smooth motor operation for lower and medium velocities. With SpreadCycle™ the PD60/86-1278 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 PD60/86-1278 comes with a CAN bus interface, three digital inputs and one digital output. 

## **1.1 General Features** 

## **Main Characteristics** 

- Supply Voltage +24VDC or +48VDC nominal (+12V to +48V DC). 

- 9A RMS phase current (ca. 12.7A peak phase current). 

- Highest micro step resolution, up to 256 micro steps per full step. 

- Available with enclosure and mounted to NEMA24 / 60mm or NEMA34 / 86mm flange size motor. 

- Permanent onboard parameter storage. 

- Advanced SixPoint™ramp hardware motion controller. 

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

- High performance SpreadCycle™chopper mode. 

- High-precision sensorless load measurement with StallGuard2™. 

- Automatic current scaling algorithm CoolStep™to save energy and to keep your drive cool. 

## **I/Os** 

- Home and reference switch inputs, also usable as general purpose inputs and ABN encoder inputs. 

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

- One general purpose output. 

## **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. 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

4 / 22 

## **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 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

5 / 22 

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 160] 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 156] 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™_ 

## **1.2.5 SixPoint™Motion Controller** 

TRINAMIC’s SixPoint™ motion controller is a new type of ramp generator, which offers faster machine operation compared to the classical linear acceleration ramps. The SixPoint™ ramp generator allows adapting the acceleration ramps to the torque curves of a stepper motor and uses two different acceleration settings each for the acceleration phase and for the deceleration phase. 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

6 / 22 

**==> picture [386 x 177] intentionally omitted <==**

_Figure 5: Typical motion profile with TRINAMIC’s SixPoint™motion controller_ 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

7 / 22 

## **2 Order Codes** 

|Order Code|Description|Size (LxWxH)|
|---|---|---|
|PD60-4H-1278-TMCL|PANdrive, 3Nm, 9A RMS, +48V DC, CAN inter-<br>face, TMCL frmware|60mm x 60mm x 113mm|
|PD60-4H-1278-CANopen|PANdrive, 3Nm, 9A RMS, +48V DC, CAN inter-<br>face, CANopen frmware|60mm x 60mm x 113mm|
|PD86-3-1278-TMCL|PANdrive, 7Nm, 5.5A RMS, +48V DC, CAN inter-<br>face, TMCL frmware|86mm x 86mm x 124mm|
|PD86-3-1278-CANopen|PANdrive, 7Nm, 5.5A RMS, +48V DC, CAN inter-<br>face, CANopen frmware|86mm x 86mm x 124mm|



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

|Order Code|Description|
|---|---|
|PD-1278-CABLE|Cable loom for PD-1278:<br>• 1x cable loom for power connector with 2-pin JST VH series connector<br>• 1x cable loom for CAN and I/O connector with 8-pin JST EH series connector|



_Table 2: Order codes cable loom_ 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

8 / 22 

## **3 Mechanical and Electrical Interfacing** 

## **3.1 PD60/86-1278 Dimensions** 

The PD60/86-1278 includes the TMCM-1278 stepper motor controller/driver module (electronics + encapsulating enclosure) and a NEMA24 / 60mm flange size or NEMA34 / 86mm flange size bipolar stepper motor. Currently, there is a choice between one NEMA24 / 60mm flange size and one NEMA34 / 86mm flange size stepper motor. The stepper motors are rated for 9A RMS coil current (NEMA24) and 5.5A RMS (NEMA34) - perfectly fitting to the TMCM-1278 electronics. 

The dimensions of the controller/driver unit are approx. 60mm x 60mm x 24,5mm (TMCM-1278 electronics + encapsulating enclosure). There are four mounting holes for M3 screws for mounting the PD60/86-1278 driver module. These mounting holes are located in the bottom / base plate of the module enclosure and accessible after removing the top cover and the PCB. 

**==> picture [11 x 37] 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 6: PD60/86-1278 all dimensions in mm_ 

## **3.2 PD60/86-1278 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|
|---|---|---|
|PD60-4H-1278|113|_≈_1470|
|PD86-3-1278|124|_≈_2870|



_Table 3: Length and weight_ 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

9 / 22 

## **3.3 PD60/86-1278 Motor Parameters** 

|Specifcations|Unit|PD60-4H-1278|PD86-3-1278|
|---|---|---|---|
|Step angle|°|1.8|1.8|
|Step angle accuracy|%|+/-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|9.0|5.5|
|Phase resistance at 20°C|Ω|0.15|0.45|
|Phase inductance (typ.)|mH|0.6|4.5|
|Holding torque|Nm|3.0|7.0|
|Insulation class||B|B|
|Rotor inertia|g cm2|840|2700|
|Weight|kg|1.47|2.87|



_Table 4: NEMA24 / 60mm and NEMA34 / 86mm stepper motor technical data_ 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

10 / 22 

## **3.4 PD60/86-1278 Torque Curves** 

The following diagrams show the torque vs. speed curves for the PD60-4H-1278 and PD86-3-1278 with SpreadCycle™ chopper mode selected, 48V supply voltage and rated motor current (either 9A RMS / 12.7A peak or 5.5A RMS 7.8A peak). 

_Figure 7: PD60-4H-1278 torque vs. velocity 48V / 9A, 256µsteps_ 

_Figure 8: PD86-3-1278 torque vs. velocity 48V / 5.5A, 256µsteps_ 

©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

11 / 22 

## **4 Connectors and LEDs** 

The PD60/86-1278 offers three connectors - one two-pin connector for power supply; one eight-pin connector for communication (CAN) and I/O; one four-pin connector for connecting the motor. 

**==> picture [189 x 163] 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 9: PD60/86-1278 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 5: Connector and mating connectors_ **4.1 Power Connector** Pin no. Pin name Description 1 GND Ground 2 +48V Supply voltage (max. +52V DC) ~~op~~ _Table 6: Power connector_ 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

12 / 22 

## **4.2 CAN and I/O Connector** 

|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|GPO|General purpose output (open drain)|
|5|HOME (GPI0)|General purpose input 0, can be used as HOME switch input, also. Confg-<br>urable as analog input AIN0 via software (+5V compatible, internal 4k7 pull-up<br>to +5V)|
|6|REFL (GPI1)|General purpose input 1, can be used as left reference / stop switch input<br>REFL / STOP_L, also. Confgurable as incremental encoder input channel A via<br>software (+5V TTL compatible, internal 4k7 pull-up to +5V)|
|7|REFR (GPI2)|General purpose input 2, can be used as right reference / stop switch input<br>REFR / STOP_R, also. Confgurable as incremental encoder input channel B<br>via software (+5V TTL compatible, internal 4k7 pull-up to +5V)|
|8|ENN (GPI3)|ENABLE NOT input (active low) for driver stage, 0 = enabled, 1 = disabled (+5V<br>TTL compatible, internal 4k7 pull-up to +5V)|



_Table 7: PD60/86-1278CAN and I/O connector pin assignment_ 

## **4.3 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 8: 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. 

_**NOTICE**_ **Always keep the power supply voltage below the upper limit of 52V!** Otherwise 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. 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

13 / 22 

_**NOTICE**_ **Add external power supply capacitors!** It is recommended to connect an electrolytic capacitor of significant size (e.g. 4700 _µ_ F/63V) to the power supply lines next to the PD60/86-1278! Rule of thumb for size of electrolytic capacitor: _C_ =[1000] _A[µ][F] × ISUP P LY_ In addition to power stabilization (buffer) and filtering 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 filter 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 Power supply and 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. 

## **4.4 CAN Connection** 

For remote control and communication with a host system the PD60/86-1278 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. 

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

_Figure 10: 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 PD60/86-1278 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 PD60/86-1278 (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). 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

14 / 22 

**CAN Bus Adapters** To quickly connect to the PD60/86-1278 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! 

## **4.5 LEDs** 

The PD60/86-1278 includes two LEDs: one green status LED and one red error LED. See figure 11 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 11: PD60/86-1278 LED colors and loacation_ 

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 9: LED functionality description_ 

For CANopen firmware LED functionality has been implemented based on CANopen standard. 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

15 / 22 

## **5 Functional Description** 

## **5.1 Typical Application Wiring** 

The PD60/86-1278 driver/controller’s wiring is straightforward as shown in the following figure. 

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

**==> picture [411 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 12: Typical application scenario for remote control of PD60/86-1278<br>5.2 Inputs<br>**----- End of picture text -----**<br>


The three inputs of the PD60/86-1278 are +5V TTL compatible with internal pull-ups (4k7) to +5V and not optically isolated. 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

16 / 22 

## **6 Operational Ratings and Characteristics** 

## **6.1 Absolute Maximum Ratings** 

|Parameter|Min|Max|Unit|
|---|---|---|---|
|Supply voltage|+12|+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_|12|24 or 48|52|V|
|Motor coil current / sine wave**peak**(chopper regu-<br>lated, adjustable via CAN interface)|_ICOILpeak_|0||12.7|A|
|Continuous motor current (**RMS**)|_ICOILRMS_|0||9|A|
|Power supply current|_IDD_||_≪ICOIL_|4.5_∗ICOIL_|A|



_Table 11: 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 12: I/O ratings_ 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

17 / 22 

## **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 13: 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 14: 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 15: Abbreviations used in this Manual_ 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

18 / 22 

## **8 Figures Index** 

- 1 Motor coil sine wave current using 6 PD60/86-1278 all dimensions in mm . 8 StealthChop™(measured with current 7 PD60-4H-1278 torque vs. velocity 48V / probe) . . . . . . . . . . . . . . . . . . . 4 9A, 256 _µ_ steps . . . . . . . . . . . . . . . 10 

- 2 SpreadCycle™principle . . . . . . . . . 4 8 PD86-3-1278 torque vs. velocity 48V / 3 StallGuard2™Load Measurement as a 5.5A, 256 _µ_ steps . . . . . . . . . . . . . . 10 Function of Load . . . . . . . . . . . . . 5 9 PD60/86-1278 connectors . . . . . . . . 11 

- 4 Energy Efficiency Example with 10 CAN bus strcuture . . . . . . . . . . . . 13 CoolStep™ . . . . . . . . . . . . . . . . . 5 11 PD60/86-1278 LED colors and loacation 14 

- 5 Typical motion profile with TRINAMIC’s SixPoint™motion controller . . . . . . . 

- 12 Typical application scenario for remote 

- 6 control of PD60/86-1278 . . . . . . . . . 15 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

19 / 22 

## **9 Tables Index** 

|1|Order codes modules (electronics +||8|Motor connector pinning<br>. . . . . . . .|12|
|---|---|---|---|---|---|
||enclosure) and PANdrives™. . . . . . .|7|9|LED functionality description . . . . . .|14|
|2|Order codes cable loom . . . . . . . . .|7|11|Electrical Characteristics . . . . . . . . .|16|
|3|Length and weight . . . . . . . . . . . .|8|12|I/O ratings . . . . . . . . . . . . . . . . .|16|
|4|NEMA24 / 60mm and NEMA34 / 86mm||13|Functional Characteristics . . . . . . . .|17|
||stepper motor technical data . . . . . .|9|14|Other Requirements and Characteristics|17|
|5|Connector and mating connectors . . .|11|15|Abbreviations used in this Manual . . .|17|
|6|Power connector . . . . . . . . . . . . .|11|16|Hardware Revision . . . . . . . . . . . .|22|
|7|PD60/86-1278CAN and I/O connector||17|Document Revision . . . . . . . . . . . .|22|
||pin assignment . . . . . . . . . . . . . .|12||||



> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

20 / 22 

## **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 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

21 / 22 

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. 

> ©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 

PD60/86-1278 Hardware Manual • Hardware Version V1.10 | Document Revision V1.22 • 2020-APR-24 

22 / 22 

## **11 Revision History** 

## **11.1 Hardware Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.00|2019-APR-05|TMC|First Prototypes.|
|1.10|2019-AUG-05|TMC|First series release.|



## _Table 16: Hardware Revision_ 

## **11.2 Document Revision** 

|Version|Date|Author|Description|
|---|---|---|---|
|1.10|2019-AUG-29|HH|First release.|
|1.20|2019-DEC-12|GE|Updates and corrections.|
|1.21|2020-APR-07|OK|Table11corrected.|
|1.22|2020-APR-24|OK|New block diagram.|



_Table 17: Document Revision_ 

> ©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