1 Features

The PANdrive™ PD-1160 is a full mechatronic solution with state of the art feature set. It is highly integrated and offers a convenient handling. The PD-1160 includes a stepper motor, controller/driver electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and has been designed for 0.55… 3.1Nm max. holding torque and 24 or 48 V DC nominal supply voltage. With its high energy efficiency from TRINAMIC’s coolStep technology cost for power consumption is kept down. The TMCL™ firmware allows for standalone operation and direct mode.

MAIN CHARACTERISTICS

Motion controller

Motion profile calculation in real-time

On the fly alteration of motor parameters (e.g. position, velocity, acceleration)

High performance microcontroller for overall system control and serial communication protocol handling

Bipolar stepper motor driver

Up to 256 microsteps per full step

High-efficient operation, low power dissipation

Dynamic current control

Integrated protection

stallGuard2 feature for stall detection

coolStep feature for reduced power consumption and heat dissipation

Encoder

sensOstep magnetic encoder (1024 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning supervision

Interface for connection of external incremental a/b/n encoder

Interfaces

- RS485 interface

- CAN (2.0B up to 1Mbit/s) interface

- USB full speed (12Mbit/s) interface

- Step/Direction interface (optically isolated)

- 3 inputs for stop switches and home switch (+24V compatible) with programmable pull-up

- 2 general purpose inputs (+24V compatible) and 2 general purpose outputs (open collector)

- Incremental a/b/n encoder interface (TTL and open-collector signals supported directly)

Safety features

- Shutdown input – driver will be disabled in hardware as long as this pin is left open or shorted to ground

- Separate supply voltage inputs for driver and digital logic – driver supply voltage may be switched off externally while supply for digital logic and therefore digital logic remains active

Software

TMCL: standalone operation or remote controlled operation,

program memory (non volatile) for up to 2048 TMCL commands, and

PC-based application development software TMCL-IDE available for free.

- Ready for CANopen

Electrical and mechanical data

- Supply voltage: common supply voltages +12 V DC / +24 V DC / +48 V DC supported (+9 V… +51 V DC)

- Motor current: up to 2.8 A RMS (programmable)

0.55… 3.1Nm max. holding torque (depends on motor)

With NEMA23 (57mm motor flange size) or NEMA24 (60mm motor flange size) stepper motor