Features

• PANdrive™ smart motor

• Supply Voltage +12 to +52V DC

• CAN bus interface

• TMCL™ or CANopen® protocol

• Integrated ramp motion controller

with different ramp types

• StealthChop™ silent PWM mode

• SpreadCycle™ smart mixed decay

• StallGuard2™ load detection

• CoolStep™ automatic current scaling

Applications

• Lab-Automation

• Manufacturing

• Robotics

• Factory Automation

• CNC

1 Features

The PANdrives™ PD57/60/86-1378 are full mechatronic solutions with state of the art feature set. They

are highly integrated and offer convenient handling via CAN interface. Each PD57/60/86-1378 includes

a stepper motor, driver electronics, and a fully featured hardware motion controller. It can be used in

many decentralized applications and has been designed for 0.55. . . 7 Nm maximum holding torque and

24V DC or 48V DC nominal supply voltage. With the built-in high resolution magnetic encoder and the

advanced ramp geneator chip it is mainly designed for closed-loop operation. With StealthChop™ the

PD57/60/86-1378 offers absolutely silent and smooth motor operation for lower and medium velocities.

With SpreadCycle™, the PD57/60/86-1378 offers a high performance current controlled chopper mode for

highest velocities with perfect zero crossing performance. With StallGuard2™, a sensorless load detection

feature is provided for automatic end step detection and load monitoring. StallGuard2™ is also used

for the automatic current scaling feature CoolStep™. The PD57/60/86-1378 is equipped with a CAN bus

interface and three digital inputs.

1.1 General Features

Main Characteristics

• Supply Voltage +24V or +48V nominal (+10V. . . +52V DC).

• up to 9A RMS phase current (depending on the motor).

• Highest micro step resolution, up to 256 micro steps per full step.

• Available with enclosure and mounted to NEMA23 / 57mm or NEMA24 / 60mm 2ange size motor.

• Permanent onboard TMCL program and parameter storage.

• Different kinds of ramps: trapezoidal ramps, six-point ramps and S-shaped ramps.

• Closed loop operation possible.

• Noiseless StealthChop™ chopper mode for slow to medium velocities.

• High performance SpreadCycle™ chopper mode.

• High-precision sensorless load measurement with StallGuard2™.

I/Os

• Home and reference switch inputs.

• Enable input to power-on/-off driver H-bridges.

CAN Bus Interface

• Standard CAN Bus Interface for control and con1guration

• CAN bit rate of 20. . . 1000kBit/s

• TMCL™ based protocol with TMCL 1rmware option

• CANopen® protocol with DS402 device pro1le with CANopen 1rmware option