User manual

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 4

2 Features

The PD86-1180 is a full mechatronic device consisting of a NEMA 34 (flange size 86mm) stepper motor,

controller/driver electronics and integrated encoder.

Applications

 Powerful single-axis stepper motor solutions

 Encoder feedback for high reliability operation

Electrical data

 Supply voltage: +24V DC or +48V DC nominal

 Motor current: up to 5.5A RMS (programmable)

PANdrive motor

 Two phase bipolar stepper motor with up to 5.5A RMS nom. coil current

 Holding torque: 7Nm

Integrated encoder

 Integrated sensOstep™ magnetic encoder (max. 256 increments per rotation) e.g. for step-loss

detection under all operating conditions and positioning

Integrated motion controller

 Motion profile calculation in real-time (TMC428 motion controller)

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

 High performance ARM7 microcontroller for overall system control and serial communication

protocol handling

Integrated bipolar stepper motor driver

 Up to 256 microsteps per full step

 High-efficient operation, low power dissipation (MOSFETs with low R

DS(ON)

)

 Dynamic current control

 Integrated protection

 Automatic load dependent motor current adaptation for reduced power consumption and heat

dissipation (coolStep™)

Interfaces

 inputs for stop switches (left and right) and home switch

 general purpose inputs and 2 general purpose outputs

 USB, RS232, RS485 and CAN (2.0B up to 1Mbit/s) communication interfaces

Safety features

 Shutdown input. The 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™: stand-alone operation or remote controlled operation

 TMCL™: program memory (non volatile) for up to 2048 TMCL™ commands

 TMCL™: PC-based application development software TMCL-IDE available for free

 CANopen (under development): CiA 301 + CiA 402 (homing mode, profile position mode and velocity

mode) supported

Please see separate TMCL™ and CANopen Firmware Manuals for additional information