PANDRIVE PANdriveforStepper PD57/60-1276HardwareManual HardwareVersionV1.10 DocumentRevisionV1.032019-AUG-01 PD57/60-1276isaneasytousePANdrivesmartsteppermotor. Themoduleiscontrolledviaa CANbusinterfaceandcomeswithtwormwareoptions TMCLandCANopen. PD57/60-1276 featuresStealthChopforabsolutesilentmotorcontrol, SpreadCycleforhighspeedstepper motorcommutation,afullyintegratedhardwaremotioncontrollerwithSixPointmotionramps, aswellasStallGuard2andCoolStep. Features PANdrivesmartmotor SupplyVoltage+10to+30VDC CANbusinterface TMCLorCANopenprotocol IntegratedSixPointrampmotion controller StealthChopsilentPWMmode SpreadCyclesmartmixeddecay StallGuard2loaddetection CoolStepautom.currentscaling Applications Lab-Automation Robotics CNC Manufacturing FactoryAutomation SimpliedBlockDiagram 4 Input REFL/REFR TMCL ENCA/ENCB Memory ENABLE I2C Stepper Stepper Energy Efficient Motor ARM SPI Driver Cortex M0+ Controller Microcontroller TMC262 & CAN Driver Motor 10...30V DC TMCM-1276 PD57/60-x-1276 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.PD57/60-1276HardwareManualHardwareVersionV1.10 DocumentRevisionV1.032019-AUG-01 2/24 Contents 1 Features 3 1.1 GeneralFeatures . 3 1.2 TRINAMICsUniqueFeatures 4 1.2.1 stealthChop . 4 1.2.2 spreadCycle . 4 1.2.3 stallGuard2 . 4 1.2.4 coolStep 5 1.2.5 sixPointMotionController 5 2 OrderCodes 7 3 MechanicalandElectrical Interfacing 8 3.1 PD57/60-1276Dimensions . 8 3.2 PD57/60-1276DimensionsandWeight 9 3.3 PD57/60-1276MotorParameters . 10 3.4 PD57/60-1276TorqueCurves . 11 4 ConnectorsandLEDs 13 4.1 PowersupplyandI/OConnector . 13 4.2 CANConnection . 14 4.3 MotorConnector . 15 4.4 LEDs 16 5 FunctionalDescription 17 5.1 TypicalApplicationWiring 17 5.2 Inputs . 17 6 OperationalRatingsandCharacteristics 18 6.1 AbsoluteMaximumRatings 18 6.2 ElectricalCharacteristics(AmbientTemperature25C) 18 6.3 I/ORatings(AmbientTemperature25C) 18 6.4 FunctionalCharacteristics 19 6.5 OtherRequirements . 19 7 AbbreviationsusedinthisManual 19 8 Figures Index 20 9 Tables Index 21 10 SupplementalDirectives 22 10.1 ProducerInformation 22 10.2 Copyright . 22 10.3 TrademarkDesignationsandSymbols 22 10.4 TargetUser 22 10.5 Disclaimer:LifeSupportSystems . 22 10.6 Disclaimer: IntendedUse 22 10.7 CollateralDocuments&Tools . 23 11 RevisionHistory 24 11.1 HardwareRevision 24 11.2 DocumentRevision . 24 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com