PD57-1-1160-TMCL Analog Devices

MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrive Hardware Version V1.1 HARDWARE MANUAL + + PD-1160 Stepper Motor with Controller / Driver 0.55 - 3.1 Nm / 48 V sensOstep Encoder USB, RS485, and CAN Step/Dir Interface + + UNIQUE FEATURES TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany www.trinamic.com PD-1160 V1.1 Hardware Manual (Rev. 1.02 / 2013-JUL-23) 2 Table of Contents 1 Features ........................................................................................................................................................................... 3 2 Order Codes ................................................................................................................................................................... 5 3 Mechanical and Electrical Interfacing ..................................................................................................................... 6 3.1 PD57-1160 and PD60-1160 Dimensions ......................................................................................................... 6 3.1.1 PD57-1160 Dimensions ................................................................................................................................ 6 3.1.2 PD60-1160 Dimensions ................................................................................................................................ 7 3.2 Connectors of PD-1160 ....................................................................................................................................... 8 3.2.1 Power Connector ........................................................................................................................................... 9 3.2.1.1 Power Supply .......................................................................................................................................... 9 3.2.2 Serial Communication Connector ........................................................................................................... 10 3.2.2.1 RS485 ....................................................................................................................................................... 11 3.2.2.2 CAN ........................................................................................................................................................... 12 3.2.3 Multipurpose I/O Connector ..................................................................................................................... 13 3.2.3.1 Digital Inputs STOP L, STOP R, and HOME ................................................................................... 13 3.2.3.2 General Purpose Inputs IN 0 and IN 1 ......................................................................................... 14 3.2.3.3 Outputs OUT 0, OUT 1 ........................................................................................................................ 14 3.2.4 Step/Direction Connector .......................................................................................................................... 15 3.2.4.1 Step / Direction / Enable Inputs ...................................................................................................... 15 3.2.5 Encoder Connector ...................................................................................................................................... 16 3.2.5.1 Encoder Inputs ...................................................................................................................................... 16 3.2.6 Motor Connector .......................................................................................................................................... 17 3.2.7 Mini-USB Connector .................................................................................................................................... 18 4 Jumpers ......................................................................................................................................................................... 19 4.1 RS485 Bus Termination .................................................................................................................................... 19 4.2 CAN Bus Termination ....................................................................................................................................... 19 5 Reset to Factory Defaults ......................................................................................................................................... 20 6 On-board LEDs ............................................................................................................................................................. 21 7 Operational Ratings ................................................................................................................................................... 22 8 Torque Curves ............................................................................................................................................................. 24 8.1 Curves of PD57-1160 ......................................................................................................................................... 24 8.1.1 PD57-1-1160 Torque Curves ...................................................................................................................... 24 8.1.2 PD57-2-1160 Torque Curves ...................................................................................................................... 26 8.2 Curves of PD60-1160 ......................................................................................................................................... 28 8.2.1 PD60-3-1160 Torque Curves ...................................................................................................................... 28 8.2.2 PD60-4-1160 Torque Curves ...................................................................................................................... 29 9 Functional Description .............................................................................................................................................. 30 10 PD-1160 Operational Description ........................................................................................................................... 31 10.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 31 11 Life Support Policy ..................................................................................................................................................... 33 12 Revision History .......................................................................................................................................................... 34 12.1 Document Revision ........................................................................................................................................... 34 12.2 Hardware Revision ............................................................................................................................................ 34 13 References .................................................................................................................................................................... 34 www.trinamic.com