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PD60-4H-1461-COE
Stepper Motor Driver, CANopen overEtherCAT, 1-Axis, 24 to 48 VDC, 9A, PANdrive PD60-x-1461 Series
⚠️ Reference pricing provided. In case of supply shortages, we will connect you with our trusted procurement partners to ensure your project's continuity.
- Manufacturer: TRINAMIC / ANALOG DEVICES
- Product type: Stepper Motor Drives
- SVHC: No SVHC (16-Jul-2019)
- No. of Phases: -
- Product Range: PANdrive PD60-x-1461 Series
- Output Current Max: 9A
- Supply Voltage Max: 48VDC
- Supply Voltage Min: 24VDC
- Control / Drive Type: 1-Axis Controller / Driver Module
| Delivery and price | |
|---|---|
| Units per pack | 1 |
| Price | 683.02 € |
| Current stock | 10+ |
| Lead time | 30 days |
Datasheet
**PANDRIVE™** **PANdrive™for Stepper** ## PD60-4H-1461-CoE Hardware Manual Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 **PD60-4H-1461-CoE is a single axis stepper motor servo drive for up to +48V supply voltage and up to 3Nm torque. A built-in magnetic encoder is used for closed loop operation of the motor. The module communicates using the CANopen over EtherCAT® protocol. The PD60-4H-1461-CoE comes with a housing and can be interfaced with M8 type connectors.** Features - Supply Voltage +24 to +48V DC - Up to 3Nm - Field Oriented Control (FOC) of the stepper motor - Integrated position feedback - EtherCAT® interface - CoE protocol - NEMA24 size stepper motor - Housing ## Applications - Lab-Automation - Manufacturing - Robotics • CNC - Factory Automation ## Simplified Block Diagram - ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com **EtherCAT®** is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Read entire documentation. PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 2 / 18 ## **Contents** |**1**|**Features**|**Features**||**3**| |---|---|---|---|---| |**2**|**Order Codes**|||**4**| |**3**|**Mechanical and Electrical Interfacing**|||**5**| ||3.1|Module Size . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|5| ||3.2|Supply Bufering<br>. . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|6| |**4**|**Connectors and Signals**|||**7**| ||4.1|Supply Connector C1 . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|8| ||4.2|EtherCAT IN Port Connector C2 . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|9| ||4.3|EtherCAT OUT Port Connector C3|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|10| ||4.4|LEDs Signals . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|11| |**5**|**Operational Ratings and Characteristics**|||**12**| ||5.1|Absolute Maximum Ratings . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12| ||5.2|Operational Ratings (Ambient Temperature 25°C) . . . . . . . . . . . . . . . . . . . . . . . . . .||12| ||5.3|Other Requirements . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|12| ||5.4|Torque curve<br>. . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|13| |**6**|**Figures Index**|||**14**| |**7**|**Tables Index**|||**15**| |**8**|**Supplemental Directives**|||**16**| ||8.1|Producer Information<br>. . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| ||8.2|Copyright . . . . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| ||8.3|Trademark Designations and Symbols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .||16| ||8.4|Target User<br>. . . . . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| ||8.5|Disclaimer: Life Support Systems .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| ||8.6|Disclaimer: Intended Use<br>. . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|16| ||8.7|Collateral Documents & Tools. . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|17| |**9**|**Revision History**|||**18**| ||9.1|Hardware Revision . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18| ||9.2|Document Revision . . . . . . . . .|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .|18| > ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 3 / 18 ## **1 Features** PD60-4H-1461-CoE is a single axis stepper motor servo drive for up to +48V supply voltage and ca. 3Nm torque. A built-in magnetic encoder is used for closed loop operation of the motor. The module communicates using the CANopen over EtherCAT® protocol. The PD60-4H-1461-CoE comes with a housing and can be interfaced with M8 type connectors. ## **Controller & Driver** - Motor current: up to 9A RMS - Supply voltage: +24...+48V DC (nominal) - Closed loop / FOC stepper motor operation - Integrated Hall position sensor with a resolution of 16384 - Temperature rating: -30...+60° (standard version) ## **Interface and IO** - 1x M8 power input connector - 1x EtherCAT interface - 1x M8 EtherCAT IN port - 1x M8 EtherCAT OUT port ## **Mechanical data** - Max. dimension: 152.5mm x 64mm x 73mm (L/W/H) - Weight: ca. 1.6kg - NEMA24 sized stepper motor with up to 3Nm - Forced cooling via housing and motor ## **Software** - CANopen-over-EtherCAT (COE) with DS402 standard protocol stack. Please see PD60-4H-1461-CoE COE firmware manual for more details. > ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 4 / 18 ## **2 Order Codes** |Order Code|Description|Size (LxWxH)| |---|---|---| |PD60-4H-1461-CoE|Stepper Motor Servo Drive, CANopen-over-<br>EtherCAT frmware, housing, M8 connec-<br>tors, Weight: ca. 1.6kg|152mm x 64mm x 73mm| _Table 1: PD60-4H-1461-CoE Order Codes_ A cable loom set is available for this module: |Order Code|Description| |---|---| |PD60-4H-1461-Cable|Cable loom for PD60-4H-1461-CoE :<br>• 1x M8 cable for connecting to master (M8-RJ45)<br>• 1x M8 cable for connecting multiple M8 drives (M8-M8)<br>• 1x M8 cable for power (M8-open leads)| _Table 2: PD60-4H-1461-CoE Cable Loom_ ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 5 / 18 ## **3 Mechanical and Electrical Interfacing** ## **3.1 Module Size** The PD60-4H-1461-CoE comes potted inside an aluminum housing with an overall size of 152.5mm (overall length including shaft) x 64mm (width) x 73mm (height). _Figure 1: PD60-4H-1461-CoE Dimensions (all values in mm. Not for scale!)_ ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 6 / 18 ## **3.2 Supply Buffering** PD60-4H-1461-CoE includes limited onboard capacitance of ca. 450uF. Depending on your application and power supply make sure to add sufficient capacitors to the driver input to stabilize supply. Low ESR electrolyte caps are recommended to be connected to the power supply lines as close as possible to the drives. Rule of thumb for sizing the capacitance: _C_ = 1000 _[µ] A[F][∗][I][SUP P LY]_[with] _[ I][SUP P LY]_[=] _[ I][rms][ ∗] √_ 2 The capacitors should be selected with regard to high ripple current rating and providing enough headroom regarding the voltage rating. 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. In addition, a regulated power supply is highly recommended. ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 7 / 18 ## **4 Connectors and Signals** The PD60-4H-1461-CoE has 3 connectors altogether. _**NOTICE**_ **Start with power supply OFF and do not connect or disconnect motor dur-** ~~Ms~~ **ing operation!** Motor cable and motor inductance might lead to voltage spikes when the motor is (dis)connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs and might permanently damage them. Therefore, always switch off / disconnect power supply or at least disable driver stage before connecting / disconnecting motor. _**NOTICE**_ **Take care of polarity, wrong polarity can destroy the board!** ~~ee~~ _Figure 2: PD60-4H-1461-CoE side connectors (M8 type)_ |Connector|Description|Type| |---|---|---| |C1|Power supply|M8, 4-pin, male, A-coding, Binder Series 718, PN 866319112100004| |C2|EtherCAT IN port|M8, 4-pin, female, A-coding, Binder Series 718, PN 866618112100004| |C3|EtherCAT OUT port|M8, 4-pin, female, A-coding, Binder Series 718, PN 866618112100004| _Table 3: PD60-4H-1461-CoE connectors_ ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 8 / 18 ## **4.1 Supply Connector C1** Type: M8, 4-pin, male, A-coding Manufacturer: Binder PN: 866319112100004, Series 718 _Figure 3: M8 power connector pins_ |Pin|Signal|Description| |---|---|---| |1|GND|Supply ground| |2|GND|Supply ground| |3|+VM|Main drive supply, +24V...+48V DC| |4|+VM|Main drive supply, +24V...+48V DC| _Table 4: Supply connector C1_ ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 9 / 18 ## **4.2 EtherCAT IN Port Connector C2** Type: M8, 4-pin, female, A-coding Manufacturer: Binder PN: 866618112100004, Series 718 _Figure 4: M8 EtherCAT IN pins_ |Pin|Signal|Description| |---|---|---| |1|TD+|Transmit Data Plus, positive signal for the TD differential pair| |2|RD+|Receive Data Plus, positive signal for the RD differential pair| |3|RD-|Receive Data Minus, negative signal for the RD differential pair| |4|TD-|Transmit Data Minus, negative signal for the TD differential pair| _Table 5: EtherCAT IN connector C2_ ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 10 / 18 ## **4.3 EtherCAT OUT Port Connector C3** Type: M8, 4-pin, female, A-coding Manufacturer: Binder PN: 866618112100004, Series 718 _Figure 5: M8 EtherCAT OUT pins_ |Pin|Signal|Description| |---|---|---| |1|TD+|Transmit Data Plus, positive signal for the TD differential pair| |2|RD+|Receive Data Plus, positive signal for the RD differential pair| |3|RD-|Receive Data Minus, negative signal for the RD differential pair| |4|TD-|Transmit Data Minus, negative signal for the TD differential pair| _Table 6: EtherCAT OUT connector C3_ ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 11 / 18 ## **4.4 LEDs Signals** The PD60-4H-1461-CoE has 5 LEDs on the top side of the housing as given in the following drawing. **==> picture [183 x 190] intentionally omitted <==** **----- Start of picture text -----**<br> [4 ADI Irinamic’<br>PD60-4H-1461-CoE<br>48V<br>3Nm<br>......<br>EthercA,:-.....<br>5O'v'<br>/7<br>0<br>UJ臣<br>5UJ<br>o<br>N<br>:UmV<br>8<br>UJ<br>o<br>Nl<br>'v'<br>/7<br>0<br>n<br>g<br>0<br>**----- End of picture text -----**<br> _Figure 6: PD60-4H-1461-CoE LEDs_ |LED Name|Description|Comment| |---|---|---| |MCU|MCU status LED / heart beat|Green LED| |L/A IN|EtherCAT link IN status and activity|Green LED| |~~L/A OUT~~|~~EtherCAT link OUT status and activity~~|Green LED| |~~L/A OUT~~||| |ECAT RUN|EtherCAT state machine RUN LED|Green LED| |ECAT ERR|EtherCAT state machine ERR LED|Red LED| _Table 7: PD60-4H-1461-CoE LEDs_ > ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 12 / 18 ## **5 Operational Ratings and Characteristics** ## **5.1 Absolute Maximum Ratings** |Parameter|Symbol|Min|Abs. Max|Unit| |---|---|---|---|---| |Driver supply voltage|+_V M_|-0.5|+56|V| |Working temperature range|_TA_|-30|+60|° C| |Storage temperature range|_TS_|-30|+60|° C| _Table 8: Absolute maximum ratings_ |**_NOTICE_**|Stresses above those listed under "‘Absolute Maximum Ratings"’ may cause per-<br>|| |---|---|---| |manent damage to the device. This is a stress rating only and functional opera-<br>tion of the device at those or any other conditions above those indicated in the<br>operation listings of this specifcation is not implied. Exposure to maximum rat-<br>ing conditions for extended periods may afect device reliability.||| ## **5.2 Operational Ratings (Ambient Temperature 25°C)** |Parameter|Symbol|Min|Typ|Max|Unit| |---|---|---|---|---|---| |Driver supply voltage|+_V M_|+24||+48|V| |Ambient temperature|_TA_||+25||° C| _Table 9: Operational ratings_ ## **5.3 Other Requirements** |Specifcations|Description or Value| |---|---| |Cooling|Free air or heat sink mounted depending on application and duty cycle| |Working environment|Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting| _Table 10: Other requirements and characteristics_ > 1 This is the maximum current rating. This is not for continuous operation but depends on duty cycle, ambient temperature, and cooling. > ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 13 / 18 ## **5.4 Torque curve** The maxmimum torque of ca. 3 Nm can be reached in standstill operation. **==> picture [473 x 305] intentionally omitted <==** **----- Start of picture text -----**<br> PD60-1461 @48V, 9A<br>3,0<br>2,5<br>2,0<br>1,5<br>1,0<br>0,5<br>0,0<br>0 200 400 600 800 1000 1200<br>Speed [rpm]<br>Torque [Nm]<br>**----- End of picture text -----**<br> _Figure 7: PD60-4H-1461-CoE Torque curve closed-loop at 48V and 9A._ ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 14 / 18 ## **6 Figures Index** |1|PD60-4H-1461-CoE Dimensions<br>. . .|5|5|M8 EtherCAT OUT pins . . . . . . . . .|10| |---|---|---|---|---|---| |2|PD60-4H-1461-CoE side connectors .|7|6|PD60-4H-1461-CoE LEDs . . . . . . . .|11| |3|M8 power connector pins . . . . . . .|8|7|PD60-4H-1461-CoE Torque curve . . .|13| |4|M8 EtherCAT IN pins . . . . . . . . . .|9|||| ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 15 / 18 ## **7 Tables Index** |1|PD60-4H-1461-CoE Order Codes . . .|4|7|PD60-4H-1461-CoE LEDs . . . . . . . .|11| |---|---|---|---|---|---| |2|PD60-4H-1461-CoE Cable Loom<br>. . .|4|8|Absolute maximum ratings . . . . . .|12| |3|PD60-4H-1461-CoE connectors . . . .|7|9|Operational ratings . . . . . . . . . . .|12| |4|Supply connector C1 . . . . . . . . . .|8|10|Other requirements and characteristics|12| |5|EtherCAT IN connector C2 . . . . . . .|9|11|Hardware Revision . . . . . . . . . . .|18| |6|EtherCAT OUT connector C3<br>. . . . .|10|12|Document Revision . . . . . . . . . . .|18| ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 16 / 18 ## **8 Supplemental Directives** ## **8.1 Producer Information** ## **8.2 Copyright** TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2023 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany. Redistribution of sources or derived formats (for example, Portable Document Format or Hypertext Markup Language) must retain the above copyright notice, and the complete data sheet, user manual, and documentation of this product including associated application notes; and a reference to other available product-related documentation. ## **8.3 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. ## **8.4 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. ## **8.5 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. ## **8.6 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 > ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 17 / 18 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. ## **8.7 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. > ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com PD60-4H-1461-CoE Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2023-MAR-09 18 / 18 ## **9 Revision History** ## **9.1 Hardware Revision** |Version|Date|Author|Description| |---|---|---|---| |V1.10|2021-JAN-10|MM/SK|Release Version| _Table 11: Hardware Revision_ ## **9.2 Document Revision** |Version|Date|Author|Description| |---|---|---|---| |V1.00|2022-JAN-04|SK|First release.| |V1.10|2022-JUL-19|FV|Updated Features, Drawing and Torque curve.| |V1.20|2022-SEP-14|FV|Updated product picture.| |V1.21|2023-MAR-09|OK|Updated cable order code (table2).| _Table 12: Document Revision_ ©2023 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com
Updated at April 29, 2026
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