User Manual

PD57/60-x-1076 Hardware Manual • Hardware Version V1.10 | Document Revision V1.02 • 2018-SEP-03
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1 Features
The PANdrive ™ PD57/60-x-1076 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling.
The PD57/60-x-1076 includes a stepper motor and driver electronics. It can be used in many decentralized
applications and has been designed for 0.55. . . 3.1 Nm max. holding torque and 24V DC nominal supply
voltage. With stealthChop ™ , the PD57/60-x-1076 offers absolutely silent and smooth motor operation for
lower and medium velocities. With spreadCycle ™ , the PD57/60-x-1076 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, which is required for using the automatic current scaling
feature coolStep ™ . The PD57/60-x-1076 can be used with a simple step and direction interface and can be
configured using a TTL UART interface.
stallGuard2 and coolStep must be configured via TTL UART interface and are disabled by default.
1.1 General Features
Main Characteristics
• Supply Voltage +10V to +30V DC
• 3A RMS phase current (ca. 4.2A peak phase current)
• Highest micro step resolution, up to 256 micro steps per full step
• microPlyer ™ microstep interpolator for obtaining increased smoothness of microstepping over a low
frequency STEP/DIR interface
• With housing and motor mounted
• Permanent onboard parameter storage
• Simple step & direction mode
• Noiseless stealthChop™ chopper mode for slow to medium velocities
• High performance spreadCycle™ chopper mode
• High-precision sensorless load measurement with stallGuard2™
• Automatic current scaling algorithm coolStep™ to save energy and keep your drive cool
Optically Isolated Inputs
• Step & direction interface with up to 45kHz input frequency
• Enable input to power-on/-off driver H-bridges
• Mode select input to switch between the two chopper modes
TTL UART Interface
• TTL-level UART interface for parameter configuration
• Interface speed 9600-115200 bps (default 9600 bps)
• TMCL-based protocol for online configuration and permanent parameter settings
• Bootloader for firmware updates
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