SMART SOLUTIONS FOR MOTION CONTROL PRODUCT GUIDE 2015 ABOUT TRINAMIC TR INAMIC – SMART SOLUT IONS FOR MOT ION CONTROL Based in Hamburg, Germany, TRINAMIC provides integrated Circuits and Modules for Motor and Motion Control to customers all over the world, most of them leaders in their Industry. The patented stallGuard™ load detection enables precise and silent homing without any homing switches. Integrated diagnostic features can detect potential system faults to reduce downtime. The use of small motors is increasing rapidly in many different types of products. In leading-edge industries such as biotechnology, lab automation, semiconductor handling equipment, CCTV and factory automation, TRINAMIC products control all kinds of embedded motion control systems. TRINAMIC cherishes the core values of German engineering and is committed to reliability, not only concerning the products, but also with regard to business ethics and processes. TRINAMIC’s application-driven approach and deep application understanding means that customers do not need in-depth knowledge of motors, nor of control circuitry. Consequently, the design phase is simplified, resulting in significant labor and cost savings in development as well as a reduction in the total cost of ownership. TRINAMICs quality management system is certified according to ISO9001 and ISO13485 (medical). Embedded in a network of strong strategic relationships with leading research institutions and industrial partners, TRINAMIC’s research efforts are superior, geared entirely to the enhancement of product performance, to innovation and invention, at the same time increasing efficiency and reducing power consumption. TRINAMIC’s Motion Control Language (TMCL) makes it easy to develop motion control applications and allows for shorter development cycles and a short time to market. With a history going back more than 20 years and a traditional private ownership of the company shares, TRINAMIC is able to give a commitment to long term availability. TRINAMIC customers benefit from the company’s extensive knowledge of motor physics and its library of intellectual property (IP), built over years of application knowledge. Headquartered in Hamburg, Germany, TRINAMIC products are sold via a global distribution network. TRINAMIC Motion Control made easy TRINAMIC is a fabless semiconductor company and serves the market with self developed integrated circuits for the control of small electrical motors in a wide variety of applications. TRINAMIC ’s integrated circuits are manufactured to the highest standards in the world’s most advanced manufacturing plants. 2 TRINAMIC PRODUCT GUIDE Product development at TRINAMIC focuses on meeting customer demands for miniaturization, efficiency, diagnostic support and protection, all of which ensure the reliability of the complete system. TRINAMIC is committed to energy efficient solutions. With industry leading technologies such as the patented coolStep™, TRINAMIC products add energy-saving to the ease of use and precision of stepper Motors. TRINAMIC P R O D U C T G U I D E 3 INNOVATIONS stallGuardTM TRINAMIC’s patented sensorless stall detection stallGuard™ enables customers to detect mechanical overload conditions and stall conditions without external sensors, by measuring the load at a predefined point where a step loss has not yet occurred. Thus, eliminates the need for reference or end switches. This reduces cost and complexity of applications, where a reference point is required. When compared to pure mechanical referencing, stress on the mechanic and noise is reduced. stallGuard2TM Improved version of the successfull stallGuard™ feature. stallGuard2™ is the world’s first sensorless high resolution load detection implemented in a standard stepper motor driver. This gives the user easy and cost effective real time feedback of his application. It enables to scan the motion system without additional sensors. This can help to find the right motor and mechanics during development phase or to detect abrasion or mechanical stiffnes. coolStepTM Sensorless load dependent current control using the stallGuard2™ feature. First time coolStep™ enables to drive a stepper motor in a energy efficient way. Up to now stepper motors are driven with constant current. The new TMC260, TMC261 and TMC262 stepper motor driver series detects the actual load of the motor and adjusts the current accordingly. This eliminates the security current margin and allow also to boost the motor avoiding stall and step loss to improve the reliability of the entire system. dcStepTM dcStep™ closes the gap between fully featured closed Loop Stepper Motor Drives and cost efficient open Loop Systems. While most open loop Stepper Drives will loose steps in an overload situation, dcStep drives will reduce the speed in order to overcome the resistance. Thus the integ- rity of the position counter is always given. With dcStep™ a stepper motor will act similar as a dc Motor with regards to energy efficiency. dcStep™ allows for auto ramping and turning the motor as fast as possible in the actual load situation. spreadCycleTM New patent pending constant Toff chopper scheme. Using the spreadCycle chopper the µStep current sine wave is always well formed with a smooth zero crossing. Due to this effect the stepper motor can be driven very fast without resonance effects. All the coolStep™ drivers are using this new technology. stealthChopTM stealthChop™ is a new patent pending technology which delivers exceptionally quiet stepper motor performance. Trinamic’s stealthChop™ minimizes magnetostriction by implementing a PWM algorithm that relies predominantly on voltage modulation for motor control at lower speeds. This technology minimizes PWM current fluctuation, which is the primary cause of low-speed hum. TMCL™ – the TRINAMIC Motion Control Language – is a programming language dedicated to motion control applications. The software includes commands for moving one or more motor axes at certain velocities or to certain positions and for setting all relevant parameters of the motion controller. It is possible to access additional general purpose digital and analog inputs and outputs. TMCL™ is available on most TRINAMIC modules with integrated motion controller. Program development is supported by the TMCL-IDE – a PC based integrated development environment which is available free of charge. INNOVAT ION – MADE BY TR INAMIC TRINAMIC is an innovative company with over 20 years of experiences in design and marketing of motion control chips, modules, and mechatronic drives. Within its history, TRINAMIC engineers have been granted many patents including Dual Interface Control, and Automatic Mixed Decay. Our innovations address the needs of the OEM market and provide ideal solutions for our customers’ applications. This significantly reduces project time and cost as well as design risk. An average of 6 months faster time to market compared to an in-house development can be achieved. 4 TRINAMIC PRODUCT GUIDE TMCLTM TRINAMIC P R O D U C T G U I D E 5 SERVICE & SUPPORT Our engineering team and customer service offers: ff High-level specification, jointly with customer ff Technical specification and system architecture ff IC s and PCB in-house design ff Software development COOPERATION LONG LIFE AVA ILABILI T Y TRINAMIC offers lifecycles of up to 10 years for almost all of our products, which reduces costs of re-designing, re-qualification and re-certifying for our customers. This does not only save valuable resources but reduces time-to-market. ff Fast prototyping QUALI T Y ff Testing and qualification ff Logistic warehouse ff After sales & technical support ff RMA repair Today TRINAMIC has strategic alliances with partners to ensure access to the latest technologies and processes. TRINAMIC's QMS is ISO 9001:2000 certified by Germanischer Lloyd and EN ISO 13485 certified for “Medical Components” by Medcert. TRINAMIC GREEN We refer to the Directive 2011/65/EU of the European Parliament and the Council on the Restriction of the use of certain Hazardous Substances in electrical and electronic equipment. That means, all electrical and electronic equipment put on the market by TRINAMIC are compliant with the RoHS directive currently valid RESPONSIBILI T Y – PROV IDED BY TR INAMIC TR INAMIC MEMBERSHIPS TRINAMICs ambitions are to commence different innovation platforms, where various industries and leading suppliers join forces to support, promote and advance the technology. TRINAMIC is member of the following organizations: 6 TRINAMIC PRODUCT GUIDE The EtherCAT Technology Group is a global organization in which OEM, End Users and Technology Providers join in order to support and promote the technology development. EtherCAT sets new standards for real-time performance and topology flexibility, whilst meeting or undercutting field bus cost levels. INNOMAG is an innovate platform for Magnetic Microsystems that combines the interests and potentials of manufacturers, service providers and users in a network. The target is to develop applications of magnetic Microsystems and nanotechnologies in Germany. www.ethercat.org www.innomag.org CiA is the international users’ and manufacturers’ group that develops and supports CANopen and other CAN-based higher-layer protocols. The nonprofit group was founded in 1992 to provide CAN-based technical, product and marketing information. www.can-cia.de TRINAMIC P R O D U C T G U I D E 7 APPLICATIONS APPLICATIONS FACTORY AUTOMATION MEDICAL & LAB AUTOMATION ff Textile ff Analyzers ff Semiconductor Handling ff Cryostats ff Chip feeder ff Eye inspection ff Pick & place machines ff Dental milling ff Valves ff Peristaltic pumps ff Electronic Manufacturing ff Liquid handling robots SECURITY OFFICE AUTOMATION ff CCTV cameras ff POS printer ff X-Ray scanner ff Copy binder ff Radar detection ff Copy machines ff Access control systems ff Multi function printers ROBOTICS ff Digital printing ff Educational Robots ff Paper handling ff Autonomous systems BANKING & VENDING WHAT IS YOUR APPLICAT ION? AEROSPACE & HOMELAND SECURITY ff Antenna positioning ff ATM ff Long range high precision camera ff Vending machines ff Border control ff Cash recycler ff Automated retail systems OTHERS ff Stage lighting ff Art installations 8 TRINAMIC PRODUCT GUIDE TRINAMIC P R O D U C T G U I D E 9 MODULES MODULES MOTION CONT ROL PROFILES STEPPER MOTOR DRIVER Acceleration and positioning matter. Full stop. TMCM-1043 - Premium Performance Step and Direction Driver Driving a stepper motor at velocities higher than its physical start stop frequency requires a defined acceleration. For the great majority of positioning applications linear ramping profiles are sufficient. v(t) v_max ax ∆v ax a_ m a_ m _m ax -a _m ax -a ∆v v_min t t1 t2 acceleration constant velocity t3 t4 deceleration TRINAMICs advanced sixPoint™ ramping profile allows for faster positioning by adding a free configurable start stop frequency to a linear motion profile plus adding a reduced acceleration value at high velocity to reduce the jerk at the end of a standard acceleration ramp. ∆t56 t6 t7 t8 acceleration deceleration motor stop v acceleration phase acceleration phase deceleration phase VMAX AX AM DM AX A1 D1 VSTOP VSTART 0 Nnom reached v nom For high speed positioning as well as for handling of jerk sensitive goods or objects with extensive inertia sinusoidal (S-shaped) ramping profiles might be necessary. -bow -a nom a nom bow ramp phase 1 bow 2 3 4 Nnom : number of steps Vnom : maximum velocity Anom : maximum acceleration B 10 5 : increase of acceleration (bow) TRINAMIC PRODUCT GUIDE The stepDancer dances the performance tango but the cost limbo. 1 -A VACTUAL V nom reached -bow The TMCM-1043-KIT desktop starter comes with an intuitive GUI for quick prototyping and ideal parameter selection, a programmer and a breakout cable, as well as a motor and a power supply for an immediate and easy design start. t TMCM-1043 6 7 time TRINAMIC sinusoidal rampform motion controllers allow for an alteration of all motion parameters on the fly. PRODUCT 2-Phase bipolar Stepper motor type 0.4A...1.4A Phase current (RMS) 9..28V Anom reached izable smart power driver allowing for adaption to a broad range of embedded motion control and mechatronics requirements (i.e. enabling modification of phase current, standby current, microstep resolution, etc.). With its optional evaluation and programming kit, TMCM-1043-KIT, or with the high volume programming adapter, stepDancer becomes a fully custom- V1 With regards to faster positioning this profile can be even better than sinusoidal ramping. velocity t5 TZEROWAI T ∆t01 t0 TRINAMIC motion controllers with linear ramping allow for a fast and accurate positioning of one or several axes and offload the MCU from timeconsuming real time tasks. The stepDancer™ TMCM-1043 is a Step and Direction microstepping driver for 2-phase bipolar stepper motors. For a quick and easy out-ofthe-box experience, the premium performance TMCM-1043 is pre-programmed with the most common parameter set for NEMA17 stepper motors. TRINAMICs patented proprietary interpolator, microPlyer, interpolates from 16 microsteps to 256 microsteps per fullstep, allowing for a smooth and noiseless movement on comparatively low input frequencies. Its miniaturized form factor makes the PCB mountable on NEMA17 motors. The PCB also integrates all required protection circuitry and interface hardware into a compact and robust assembly. The latest TRINAMIC driver technology delivers the lowest power dissipation with no need for additional/external cooling. 256 Step/Direction Motor supply voltage Max. microstep resolution Control interface Programmable motor current Programmable microstep resolution spreadCycle™ chopper microPlyer™ 37mm x 37mm Board Dimensions [mm²] TRINAMIC P R O D U C T G U I D E 11 MODULES MODULES STEPPER MOT OR DRIVER + CONTROLLER W I T H C O O L S T E P ™ STEPPER MOTOR DRIVER + CONTROLLER WITH COOLSTEP™ Universal Stepper Motor Controller/Driver 2™ rd ua llG sta ™ tep olS ™ CL O I/ lti mu TMCM-1110 A 2,8 V 24 5 48 RS B ps Ste 6μ 25 co US TM c o o l S t e p™ sensorless closed loop current control PRODUCT load detection TMCM-1021 TMCM-1140 Number of axes TMCM-1141 TMCM-1160 TMCM-1161 TMCM-1180 TMCM-1181 TMCM-1110 TMCM-6110 TMCM-3110 PRODUCT Number of axes 1 1 1 1 1 1 1 1 6 3 Max. phase current RMS [A] 0.7 2 1.1 2.8 2.8 5.5 6.4 1.0 / 2.8 1.1 2.8 Max. phase current RMS [A] Supply voltage typical DC [V] 24 24 24 48 24 48 24 24 24 48 Supply voltage typical DC [V] Supply voltage range DC [V] 9 - 28 9 - 28 9 - 28 9 - 51 10 - 30 18 - 55 10…28.5 10 - 30 9 - 28 9 - 52 Supply voltage range DC [V] 256 256 256 256 256 256 256 256 256 256 3-axis 6-axis 3-axis TMCL controller 876 2048 2048 2048 2048 2048 2048 2048 2048 2048 TMCL program memory [commands] Max. microstep resolution TMCL controller TMCL program memory [commands] Motion Controller in hardware Motion Controller in hardware - linear linear linear linear linear linear linear linear linear linear Interface: RS-232 - - - - - - - - Interface: RS-232 Interface: RS-485 Interface: RS-485 Interface: CAN - - - - - Interface: CAN Interface: USB - Interface: USB Acceleration ramps CANopen ready S/D Driver interface Encoder interface sensOstep encoder resolution [ppr] Ref./End switch inputs Shutdown input GP IN (digital) GP OUT (digital) GP IN/OUT Acceleration ramps CANopen ready - - - - - - (GP IN) - opto isolated opto isolated (GP IN) opto isolated - 1x IN, 2x OUT TTL - 3x IN S/D Driver interface - (ABN) - ABN - ABN - (ABN TTL) - ABN Encoder interface 1024 1024 - 1024 1024 256 1024 - - - (3x 24V) (3x 24V) (3x 24V) 2x (5/24V) (3x 24V) 3x 24V 3x, 24V compatible 6x TTL 12x 5/24V 6x 5/24V - - - - - - - - (2x 5/24V) (3x 5/24V) (3x 5/24V) (5x 5/24V) (3x 5/24V) (5x 5/24V) - (3x TTL) 6x 5/24V 6x 5/24V - 1x 5V, 1x OD, 1A (1x OD, 100mA 2x OD, 1A 2x OD, 100mA 2x OD, 1A 2x OC, 100mA 2x OD, 100mA 6x OD, 100mA + 2x OD, 1A 6x OD, 100mA + 2x OD, 1A sensOstep encoder resolution [ppr] Ref./End switch inputs Shutdown input GP IN (digital) GP OUT (digital) GP IN/OUT 2x OD, 100mA - - - - - - 6x TTL - - 1x 0-6.6V 12 bit 1x 0-10V 12 bit 1x 0-10V 12 bit 2x 0-10V 12 bit 1x 0-10V 12 bit 2x 0-10V 12 bit 2x 0-10V 1x 0-10V, 12 bit 2x 0-10V, 12 bit 2x 0-10V, 12 bit 28 x 28 37 x 37 37 x 37 60 x 60 60 x 60 86 x 86 86 x 86 55 x 85 100 x 130 100 x 130 Board Dimensions [mm²] Connector type JST JST JST JST JST JST JST pluggable screw + header JST, D-SUB, JST, D-SUB, Connector type Protection type Protection type GP IN (analog) Board Dimensions [mm²] GP IN (analog) open frame open frame open frame open frame open frame open frame open frame open frame open frame open frame stallGuard2™ stallGuard2™ coolStep™ coolStep™ spreadCycle™ Chopper spreadCycle™ Chopper microPlyer™ [µSteps] Motor mountable Related Cable Loom 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 NEMA 17 NEMA 17 NEMA 23/24 NEMA 23/24 NEMA 34 NEMA 34 - - - TMCM-1140-CABLE TMCM-1141-CABLE TMCM-1160-CABLE TMCM-1161-CABLE TMCM-1180-CABLE TMCM-1181-Cable - TMCM-6110-CABLE TMCM-3110-CABLE active active active active active active preview active active active ()= optional function TRINAMIC PRODUCT GUIDE microPlyer™ [μSteps] Motor mountable NEMA 11 TMCM-1021-CABLE Product Status 12 Max. microstep resolution Related Cable Loom Product Status ()= optional function TRINAMIC P R O D U C T G U I D E 13 MODULES MODULES STEPPER MOT OR CONTROLLER/DRIVER PR E M I U M S E L F S E N S I N G PRODUCT Number of axes Max. phase current RMS [A] STEPPER MOTOR CONTROLLER/DRIVER PREMIUM FOC TMCM-3212 TMCM-3213 TMCM-6210 TMCM-6211 TMCM-1310 TMCM-1311 TMCM-3314 TMCM-3315 3 3 6 6 1 1 3 3 PRODUCT Number of axes 2.8 2.8 0.7 0.7 3 3 6.4 6.4 Max. phase current RMS [A] Supply voltage typical DC [V] 24, 48 24, 48 12, 24 12, 24 48 48 48 48 Supply voltage typical DC [V] Supply voltage range DC [V] 10 - 53 10 - 53 10 - 28 10 - 28 9 - 51 9 - 51 10 - 53 10 - 53 256 256 256 256 256 256 256 256 Max. microstep resolution Motion Controller in hardware Supply voltage range DC [V] Max. microstep resolution Motion Controller in hardware - - sixPoint™ sixPoint™ sixPoint™ sixPoint™ linear linear sixPoint™ / s-shaped sixPoint™ / s-shaped Interface: RS-485 - - - - Interface: RS-485 Interface: CAN - - - - Interface: CAN Acceleration ramps Acceleration ramps Interface: USB Interface: USB Interface: EtherCAT - - - - Interface: EtherCAT CANopen ready - - - - CANopen ready CANopen over EtherCAT - - - - CANopen over EtherCAT Encoder interface Ref./End switch inputs Shutdown input GP IN (digital) GP OUT (digital) GP IN/OUT GP IN (analog) Board Dimensions [mm²] 3x 5V 3x 5V (opt) 3x 5V (opt) (opt) ABN, SSI ABN ABN ABN Encoder interface 3x 5V (opt) 2x 5…24V 2x 5…24V 3x 5V 3x 5V Ref./End switch inputs Shutdown input - - 4x 5-24V (opt) 4x 5-24V (opt) 4x 5-24V (opt) 4x 5-24V (opt) 6x5-24V 6x5-24V (4x 5-24V) (4x 5-24V) GP IN (digital) 4x OD/1A 4x OD/1A 4x OD/1A 4x OD/1A 6x OD, 100mA + 2x OD, 1A 6x OD, 100mA + 2x OD, 1A 4x OD, 1A 4x OD, 1A GP OUT (digital) - - - - 2x 0-10V 2x 0-10V (4x 0-10V) (4x 0-10V) GP IN (analog) 4x 0-10V (opt) 4x 0-10V (opt) 4x 0-10V (opt) 4x 0-10V (opt) 110 x 110 110 x 110 275 x 100 275 x 100 Board Dimensions [mm²] 215x100 215x100 215x100 215x100 Field Oriented Control dcStep™ closed loop position control stallGuard2™ stallGuard2™ coolStep™ coolStep™ spreadCycle™ Chopper spreadCycle™ Chopper stealthChop™ PWM stealthChop™ PWM Product Status preview preview preview preview active active preview preview Product Status S/D = Step/Direction 14 TRINAMIC PRODUCT GUIDE TRINAMIC P R O D U C T G U I D E 15 PANdrives PANdrives PANdrives TM WITH STEPPER MOTOR PRODUCT Motor flange size [mm] P A N d r i v e s TM W I T H S T E P P E R M O T O R PD28-1021 PD42-1140 PD42-1141 PD57-1160 PD57-1161 PD60-1160 PD60-1161 PD146-60-SE PD86-1180 28 * 28 42 * 42 42 * 42 57 * 57 57 * 57 60 * 60 60 * 60 60 * 60 86 * 86 Motor flange size [mm] Motor flange size NEMA 11 17 17 23 23 24 24 24 34 Motor flange size NEMA Supply voltage typical DC [V] 24 24 24 48 24 48 24 24 48 Supply voltage typical DC [V] Supply voltage range DC [V] 9 - 28 9 - 28 9 - 28 9 - 51 10 - 30 9 - 51 10 - 30 7 - 34 18 - 55 Supply voltage range DC [V] Max. resolution [µStep/rev] Max. resolution [µStep/rev] 51200 51200 51200 51200 51200 51200 51200 204800 51200 Fullstep Angle 1.8° 1.8 ° 1.8° 1.8° 1.8° 1.8° 1.8° 1.8° 1.8° TMCL controller 876 2048 2048 2048 2048 2048 2048 2048 2048 - TMCL program memory [commands] Motion Controller in hardware Acceleration ramps Fullstep angle TMCL controller TMCL program memory [commands] Motion Controller in hardware Acceleration ramps linear linear linear linear linear linear linear linear & S-shape linear Interface: RS-232 - - - - - Interface: RS-232 Interface: RS-485 Interface: RS-485 Interface: CAN - - - - Interface: CAN Interface: USB - Interface: USB CANopen ready - - - - CANopen ready (GP IN) - opto isolated opto isolated (GP IN) opto isolated (GP IN) - opto isolated - (ABN) - ABN - ABN - ABN ABN Encoder interface 1024 1024 - 1024 1024 1024 1024 4096 256 sensOstep encoder resolution [ppr] (3x 24V) (3x 24V) (3x 24V) 2x (5/24V) (3X 24V ) 2x (5/24V) (3x 24V) 3X 24V 3x 24V - - - S/D Driver interface Encoder interface sensOstep encoder resolution [ppr] Ref./End switch inputs Shutdown input GP IN (digital) GP OUT (digital) GP IN/OUT (2x 5/24V) (3x 5/24V) (3x 5/24V) (5x 5/24V) (3X 5/24V ) (5x 5/24V) (3x 5/24V) 2X 5/24V (5x 5/24V) - 1x 5V, 1x OD, Vdd (2x OD, Vdd) (2x OD, 24V) 2X OD, VDD (2x OD, 24V) 2x OD, Vdd 3X OD, 24V (2x OC, 24V) (2x OD, Vdd) - - - - - - - S/D Driver interface Ref./End switch inputs Shutdown input GP IN (digital) GP OUT (digital) GP IN/OUT GP IN (analog) (1x 0-6.6V) 1x 0-10V 1x 0-10V (2x 0-10V) 1 X 0-10V (2x 0-10V) 1x 0-10V (2X 0-10V ) (2x 0-10V) GP IN (analog) Connector type JST JST JST JST JST JST JST D-SUB 9+15 JST Connector type Protection type open frame open frame open frame open frame open frame open frame open frame IP10, PLAST IC IP10, light cover Protection type stallGuard2™ - stallGuard2™ coolStep™ - coolStep™ - spreadCycle™ chopper microPlyer™ [μSteps] spreadCycle™ chopper microPlyer™ [μSteps] 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 16 to 256 - 16 to 256 PD...-1… torque [Nm]/[oz in] 0.06 / 8.5 0.22 / 31 0.27 / 38 0.55 / 78 0.55 / 78 - - 1.10 / 156 - PD...-1… torque [Nm]/[oz in] PD...-2… torque [Nm]/[oz in] PD...-2… torque [Nm]/[oz in] PD...-3… torque [Nm]/[oz in] PD...-4… torque [Nm]/[oz in] Related Cable Loom - 0.36 / 50 0.35 / 50 1.01 / 143 1.01 / 143 - - 1.65 / 234 - 0.12 / 17 0.44 / 62 0.49 / 69 - - 2.10 / 297 2.10 / 297 2.10 / 297 7.0 / 991 PD...-3… torque [Nm]/[oz in] PD...-4… torque [Nm]/[oz in] - 0.7 / 99 - - - 3.10 / 439 3.10 / 439 3.10 / 439 - PD-1021-CABLE PD-1140-CABLE PD-1141-CABLE PD-1160-CABLE PD-1161-CABLE PD-1160-CABLE PD-1161-CABLE - PD-1180-CABLE S/D = Step/Direction 16 PRODUCT TRINAMIC PRODUCT GUIDE Related Cable Loom S/D = Step/Direction TRINAMIC P R O D U C T G U I D E 17 MODULES Disclaimer TRINAMIC reserves the right to make changes in the device or specifications described herein without notice. Information in this document is subject to change without notice. Please refer to the corresponding data sheets available on www.trinamic.com for detailed information. Any copying, disclosing or otherwise making use of the information is strictly prohibited. Life Support Policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Copyright 2015 Printed in Germany 18 TRINAMIC PRODUCT GUIDE TRINAMIC P R O D U C T G U I D E 19 VERSION 6.0 TRINAMIC Motion Control GmbH & Co. KG Waterloohain 5 • 22769 Hamburg • Germany www.trinamic.com 2015