ME C HA T R O N I C D R I V E S W IT H S T EP P ER M OT O R
P A Nd r ives
PD-
1 16 -6 0
-SE
6 0 m m / N E MA 2 4
S t e pp e r M ot o r wi t h
C o n tr o l l e r / D ri v e r ,
w i t h E n c o de r a nd
S e r ia l I n te r f a ce
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
mm flange motor (NEMA24). It combines a convenient controller
electronic and a sensOstep™ encoder with a range of different
motor types. The PD-116-60-SE offers four motor torque options
and can be controlled via RS-232 or CAN interface. Power supply,
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
resonances. The PD-116-60-SE comes with the PC based software
development environment TMCL-IDE for the Trinamic Motion
Control Language (TMCL). Using predefined TMCL high level
commands like „move to position“ or „constant rotation“ a rapid
and fast development of motion control applications is guar-
anteed. Communication traffic is kept very low since all time
critical operations, e.g. ramp calculation are performed onboard.
The TMCL program can be stored in the on-board EEPROM for
stand-alone operation. An optional firmware allows to control
the PD-116-60-SE via CANopen. The firmware of the module can
be updated via the serial interface.
ELECTRICAL
DATA
• nom. 24V DC supply voltage (28.5V max.)
• up to 2.8A RMS coil current
• holding torque 1.10 / 1.65 / 2.10 / 3.10 Nm
• please also refer to the motor datasheet
• CAN 2.0b (up-to 1Mbit/s) and RS232 interface
• five 24V compatible inputs (stop- and home-
switch) and 3 open-collector outputs
MOTOR DATA
INTERFACE
FEATURES
• sensOstep™ encoder (max. 4096 incr./rot.)
• chopSync™ for high velocity operation
• stallGuard™ for motor stall detection
• up to 64 times microstepping
• memory for 2048 TMCL commands
• rotary switches to adjust CAN-ID
• motion profile calculation in real-time
• on the fly alteration of motion parameters
• dynamic current control
• integrated protection
• TRINAMIC driver technology:
low power dissipation, no heatsink required
SOFTWARE
• stand-alone operation using TMCL
or remote controlled operation
• PC-based application development
software TMCL-IDE included
• optional CANopen firmware (CiA 301, 402)
• 15-pin D-Sub connector (male)
• 9-pin D-Sub connector (male)
• RoHS compliant
PD-116-60-SE
CAN
RS232
Address
Selector
TMCL
Memory
programmable
Motion
Controller
with TMC428
high power
Driver
TMC249
MOSFET
Driver
Stage
Step
Motor
OTHER
24V
5V Power Supply
sensOstep™
Encoder
O R D ER C O D E
D ESC RI PT IO N
PD1-116-60-SE (-option)
PD2-116-60-SE (-option)
PD3-116-60-SE (-option)
PD4-116-60-SE (-option)
O P T IO N S
PANdrive 1.10 Nm, 77 mm length with motor QSH6018-45-28-110
PANdrive 1.65 Nm, 88 mm length with motor QSH6018-56-28-165
PANdrive 2.10 Nm, 97 mm length with motor QSH6018-65-28-210
PANdrive 3.10 Nm, 118 mm length with motor QSH6018-86-28-310
TMCL
CANopen
with TMCL firmware
with CANopen firmware
www.trinamic.com
– for detailed information and datasheets
86
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
