Trinamic PANdrives™  - PDF Catalogues

PANdrive PD-146-60-SE

Description
60mm stepper motor with integrated controller/driver and sensOstep™ encoder

The PD-146-60-SE PANdrive™ is a full mechatronic solution including 60mm flange high torque motor, a motion controller/driver and an integrated high resolution sensOstep™ encoder. The PANdrive™ is equipped with the high performance motion controller TMC457 for high dynamic, high resolution and S-shaped acceleration ramps. It can be host controlled by serial interface.  The chopSync™ feature allows high speed movement without midrange resonance problems. The internal sensOstep™ encoder can be used to detect step loss or to control the target position. In addition there is an input for an optional external incremental encoder. The power supply, interface and the multi purpose I/Os can be connected with small D-SUB connectors.The PD-146-60-SE-TMCL 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 guaranteed. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed on board. The TMCL™ program can be stored in the on board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. With the "-CANopen" firmware option it is possible to operate the module in CANopen networks together with other equipment.

Specifications
Electrical data

• 24V (nominal) supply voltage

Motor data

• flange size: 60mm/NEMA24
• shaft diameter: 8mm with D-cut
• shaft length: 25mm
• motor current: 2.8A

Interface

• CAN, RS-232 and RS-485 host interface 
• 2 stop switch inputs
• 1 homing/reference input (5V & 24V compatible)
• 2 general purpose inputs (24V compatible)
• 3 general purpose outputs (open drain, max.1A rms)
• shutdown input
• break output (open drain, max. 1A rms)
• incremental encoder (ABN)

Features

• up to 1024 times microstepping 
• memory for 2048 TMCL™ commands 
• automatic S-shaped or trapezoidal acceleration ramp generation in hardware 
• easyPID™ controller for position maintenance (using external encoder)
• on the fly alteration of motion parameters (e.g. position, velocity, acceleration) 
• dynamic current control
• chopSync™ feature for higher motor speed by reducing midrange resonances
• integrated absolute sensOstep™ encoder (max. 4096 cpr)

Software

• stand-alone or remote controlled operation using TMCL™ (Trinamic Motion Control Language)
• PC-based application development software TMCL-IDE included
• optional: CANopen firmware (CiA301 / CiA402)

Available Models

• PD1-146-60-SE (-option): 1.10 Nm / QMot motor QSH6018-45-28-110
• PD2-146-60-SE (-option): 1.65 Nm / QMot motor QSH6018-56-28-165
• PD3-146-60-SE (-option): 2.10 Nm / QMot motor QSH6018-65-28-210
• PD4-146-60-SE (-option): 3.10 Nm / QMot motor QSH6018-86-28-310

Order Options

• -TMCL   (TMCL™ firmware)
• -CANopen   (CANopen™ firmware)

Other

• D-SUB connectors (9-pin standard & 26-pin high density)
• RoHS compliant
  

 

 

 

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