Trinamic PD57-1060, Firmware Manual

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PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29) 5
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
2 Features
The PD57/60-1060 is a full mechatronic device consisting of a NEMA 23 (flange size 57mm) or NEMA 24
(flange size 60mm) stepper motor, controller/driver electronics and integrated encoder. The electronics itself
is also available without the motor as TMCM-1060 module.
Applications

Compact single-axis stepper motor solutions

Encoder feedback for high reliability operation
Electrical data

Supply voltage: common supply vo12VDC / +24VDC / +48VDC supported (+9V… +51V DC)
(Please note: pre-series boards are limited to +40V max. supply voltage!)

Motor current: up to 2.8A RMS (programmable)
Integrated motor (for PD57/60-1060 only)

Two phase bipolar stepper motor with 2.8A RMS nom. coil current

Holding torque with 57mm motor: 0.55Nm, 1.01Nm, 1.26Nm or 1.89Nm

Holding torque with 60mm motor: 1.1Nm, 1.65Nm, 2.1Nm or 3.1Nm
Integrated encoder

Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) for step-loss detection
under all operating conditions
Integrated motion controller

High performance ARM7 microcontroller for overall system control and communication protocol handling
Integrated bipolar stepper motor driver (based on TMC262)

Up to 256 microsteps per full step

High-efficient operation, low power dissipation (MOSFETs with low R
DS(ON)
)

Dynamic current control

Integrated protection

High precision sensorless motor load measurement stallGuard2™

Automatic load dependent motor current adaptation for reduced power consumption and heat
dissipation (coolStep™)
Interfaces

2 inputs for stop switches / 1 input for home switch (+24V compatible) with programmable pull-up

2 general purpose inputs (+24V compatible) and 2 general purpose outputs (open collector)

USB (mini-USB), RS485 and CAN (2.0B up-to 1Mbit/s) serial communication interfaces

Step/direction interface (optically isolated)
Safety features

Shutdown input – driver will be disabled in hardware as long as this pin is left open or shorted to
ground

Separate supply voltage inputs for driver and digital logic. The driver supply voltage may be switched
off externally while the supply for the digital logic and therefore the digital logic itself remains active

On board 3A fuse
Software

Available with TMCL™

Stand-alone operation or remote controlled operation

Program memory (non volatile) for up to 2048 TMCL™ commands

PC-based application development software TMCL-IDE available for free
Please refer to separate Hardware Manual for further information.