TMCM-1180 and PD86-1180 Hardware Manual (V1.05 / 2013-JUL-26)
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Features
The PD86-1180 is a full mechatronic solution with state of the arte feature set. It is highly integrated and
offers a convenient handling. The PD86-1180 consists of a NEMA 34 (flange size 86mm) stepper motor,
controller/driver electronics and integrated encoder.
The TMCM-1180 is an intelligent stepper motor controller/driver module featuring the new outstanding
coolStep™ technology for sensorless load dependent current control. This allows energy efficient motor
operation. With the advanced stallGuard2™ feature the load of the motor can be detected with high
resolution. The module is designed to be mounted directly on an 86mm flange QMot stepper motor.
M
AIN
C
HARACTERISTICS
Electrical data
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Supply voltage: +24V DC or +48V DC nominal
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Motor current: up to 5.5A RMS (programmable)
PANdrive motor
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Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current
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Holding torque: 7Nm
Encoder
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Integrated sensOstep magnetic encoder (max. 256 increments per rotation) e.g. for step-loss detection
under all operating conditions and positioning
Integrated motion controller
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Motion profile calculation in real-time (TMC428/429 motion controller)
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On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
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High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
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Up to 256 microsteps per full step
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High-efficient operation, low power dissipation
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Dynamic current control
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Integrated protection
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stallGuard2 feature for stall detection
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coolStep feature for reduced power consumption and heat dissipation
Interfaces
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inputs for stop switches (left and right) and home switch
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general purpose inputs and 2 general purpose outputs
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USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces
Safety features
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Shutdown input. The driver will be disabled in hardware as long as this pin is left open or shorted to
ground
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Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched off
externally while supply for digital logic and therefore digital logic remains active
Software
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Available with TMCL™ or CANopen
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Standalone TMCL operation or remote controlled operation
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Program memory (non volatile) for up to 2048 TMCL commands
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PC-based application development software TMCL-IDE available for free
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CANopen: CiA 301 + CiA 402 (homing mode, profile position mode and velocity mode) supported
Please see separate TMCL and CANopen Firmware Manuals for additional information
