MECHATRO N I C D R I V E S W I T H S T E P P E R M O T O R P A Nd r i ves P D - 1 1 6 - 6 0 -SE 60mm / NEMA24 Stepper Motor with Controller / Driver, with Encoder and Serial Interface 10 mm M A IN CH A R AC T ER IS T IC S INFO The PD-116-60-SE is a full mechatronic solution including a 60 ELECTRICAL DATA mm flange motor (NEMA24). It combines a convenient controller electronic and a sensOstep™ encoder with a range of different • up to 2.8A RMS coil current MOTOR DATA INTERFACE • CAN 2.0b (up-to 1Mbit/s) and RS232 interface • five 24V compatible inputs (stop- and homeswitch) and 3 open-collector outputs RS232 interface and multi purpose I/Os can be connected via a 15-pin D-Sub connector and CAN via a 9-pin D-Sub connector. The chopSync™ feature allows high speed movement avoiding • holding torque 1.10 / 1.65 / 2.10 / 3.10 Nm • please also refer to the motor datasheet motor types. The PD-116-60-SE offers four motor torque options and can be controlled via RS-232 or CAN interface. Power supply, • nom. 24V DC supply voltage (28.5V max.) FEATURES • sensOstep™ encoder (max. 4096 incr./rot.) resonances. The PD-116-60-SE comes with the PC based software • chopSync™ for high velocity operation development environment TMCL-IDE for the Trinamic Motion • stallGuard™ for motor stall detection Control Language (TMCL). Using predefined TMCL high level • up to 64 times microstepping commands like „move to position“ or „constant rotation“ a rapid • memory for 2048 TMCL commands and fast development of motion control applications is guar- • rotary switches to adjust CAN-ID anteed. Communication traffic is kept very low since all time • motion profile calculation in real-time critical operations, e.g. ramp calculation are performed onboard. • on the fly alteration of motion parameters The TMCL program can be stored in the on-board EEPROM for • dynamic current control stand-alone operation. An optional firmware allows to control • integrated protection the PD-116-60-SE via CANopen. The firmware of the module can • TRINAMIC driver technology: low power dissipation, no heatsink required be updated via the serial interface. SOFTWARE TMCL Memory PD-116-60-SE CAN RS232 Address programmable Motion Controller Driver TMC249 with TMC428 Selector 24V high power 5V Power Supply MOSFET Driver Stage • PC-based application development software TMCL-IDE included Step • optional CANopen firmware (CiA 301, 402) Motor sensOstep™ Encoder • stand-alone operation using TMCL or remote controlled operation OTHER • 15-pin D-Sub connector (male) • 9-pin D-Sub connector (male) • RoHS compliant ORDER CODE DESCRIPTION PD1-116-60-SE (-option) PANdrive 1.10 Nm, 77 mm length with motor QSH6018-45-28-110 PD2-116-60-SE (-option) PANdrive 1.65 Nm, 88 mm length with motor QSH6018-56-28-165 PD3-116-60-SE (-option) PANdrive 2.10 Nm, 97 mm length with motor QSH6018-65-28-210 PD4-116-60-SE (-option) PANdrive 3.10 Nm, 118 mm length with motor QSH6018-86-28-310 OPTIONS TMCL with TMCL firmware CANopen with CANopen firmware www.trinamic.com – for detailed information and datasheets 86