PANDRIVE PANdriveforStepper PD57/60/86-x-1260HardwareManual HardwareVersionV1.10 DocumentRevisionV1.202019-03-22 ThePANdrivePD57-1-1260,PD57-2-1260,PD60-3-1260,PD60-4-1260,andPD86-3-1260arepowerful andcompactfullmechatronicsolutionsincludingNEMA23/57mmorNEMA24/60mmorNEMA34 /86mmangesizesteppermotors,theTMCM-1260controller/driverelectronicsandTRINAMIC sensOstepencoderforstep-lossdetection. Features StepperMotorNEMA23/57mmor NEMA24/60mmorNEMA34/86mm 0.55-7.0Nm withcontroller/driver LinearandsixPointramps +24Vand+48VDCsupplyvoltage Upto5.5ARMSmotorcurrent RS485,CAN&USBinterface integratedsensOstepencoderand supportforexternalencoder S/Dinterface multi-purposeinputsandoutputs Applications LaboratoryAutomation Robotics LifeScience Manufacturing FactoryAutomation Biotechnology SemiconductorHandling Test&Measurement LiquidHandling SimpliedBlockDiagram PD57/60-x-1260 EEPROM Step USB MOSFET Driver RS485 Microcontroller Stage Motion Energy Efficient CAN Controller Motor Driver + TMC262 I/Os Pre-Driver Encoder 1254V DC DC/DC 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat:www.trinamic.com Readentiredocumentation.PD57/60/86-x-1260HardwareManualHardwareVersionV1.10 DocumentRevisionV1.202019-03-22 2/41 Contents 1 Features 4 2 OrderCodes 6 3 MechanicalandElectrical Interfacing 9 3.1 PD57-1-1260andPD57-2-1260Dimensions . 9 3.2 PD60-3-1260andPD60-4-2-1260Dimensions 10 3.3 PD86-3-1260Dimensions 11 3.4 Steppermotor 12 3.5 IntegratedsensOstepencoder 13 4 Connectors 14 4.1 PowerSupplyInputConnector . 15 4.2 MotorConnector . 16 4.3 RS485+CANConnector . 16 4.4 USBConnector 17 4.5 I/OConnector . 17 5 On-BoardLEDs 18 6 ResettoFactoryDefaults 19 7 I/Os 20 7.1 AnaloginputIN0 . 20 7.2 DigitalinputsIN1andIN2 20 7.3 HOME/STOP L/STOP Rswitchinputs . 21 7.4 Externalincrementalencoderinput 21 7.5 Step/Directioninputs 22 8 Communication 23 8.1 RS485 . 23 8.2 CAN 24 9 Motordrivercurrent 26 10 Torquecurves 28 10.1 PD57-1-1260TorqueCurve . 28 10.2 PD57-2-1260TorqueCurve . 29 10.3 PD60-3-1260TorqueCurve . 30 10.4 PD60-4-1260TorqueCurve . 31 10.5 PD86-3-1260TorqueCurve . 32 11 FunctionalDescription 33 12 OperationalRatingsandCharacteristics 34 13 AbbreviationsusedinthisManual 36 14 Figures Index 37 15 Tables Index 38 2019TRINAMICMotionControlGmbH&Co.KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com