PD4-116-60-SE TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], PD4-116-60-SE Datasheet

PD4-116-60-SE

Manufacturer Part Number

PD4-116-60-SE

Description

60mm/NEMA24 Stepper Motor with Controller/Driver, with Encoder and Serial Interface

Manufacturer

TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

Datasheet

1.PD4-116-60-SE.pdf (1 pages)

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1 0 mm

I N F O

MECHATRON I C D R I V E S W I T H S T E P P E R M O T O R

The PD-116-60-SE is a full mechatronic solution including a 60

mm flange motor (NEMA24). It combines a convenient controller

electronic and a sensOstep™ encoder with a range of different

motor types. The PD-116-60-SE offers four motor torque options

and can be controlled via RS-232 or CAN interface. Power supply,

RS232 interface and multi purpose I/Os can be connected via a

15-pin D-Sub connector and CAN via a 9-pin D-Sub connector.

The chopSync™ feature allows high speed movement avoiding

resonances. The PD-116-60-SE 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 guar-

anteed. Communication traffic is kept very low since all time

critical operations, e.g. ramp calculation are performed onboard.

The TMCL program can be stored in the on-board EEPROM for

stand-alone operation. An optional firmware allows to control

the PD-116-60-SE via CANopen. The firmware of the module can

be updated via the serial interface.

www.trinamic.com – for detailed information and datasheets

24V

O R D E R C O D E

PD1-116-60-SE (-option)

PD2-116-60-SE (-option)

PD3-116-60-SE (-option)

PD4-116-60-SE (-option)

O P T I ON S

TMCL

CANopen

PD-116-60-SE

5V Power Supply

RS232

Address

Selector

CAN

programmable

Controller

with TMC428

Motion

sensOstep™

high power

Memory

Encoder

Driver

TMC249

TMCL

D ESC RI PTI ON

PANdrive 1.10 Nm, 77 mm length with motor QSH6018-45-28-110

PANdrive 1.65 Nm, 88 mm length with motor QSH6018-56-28-165

PANdrive 2.10 Nm, 97 mm length with motor QSH6018-65-28-210

PANdrive 3.10 Nm, 118 mm length with motor QSH6018-86-28-310

with TMCL firmware

with CANopen firmware

MOSFET

Driver

Stage

Motor

Step

E LECTRICA L

M OTOR DAT A

INTE RFACE

F EATURES

S OFTWARE

O THER

DATA

•

PD -

6 0 m m / N E M A 2 4

S t e p p e r M o t o r w i t h

C o n t r o ll e r / D r i v e r,

w i t h E nc o d e r a n d

S e r i a l I n t e r fa c e

M A IN CH A R AC T ER IS T IC S

nom. 24V DC supply voltage (28.5V max.)

up to 2.8A RMS coil current

holding torque 1.10 / 1.65 / 2.10 / 3.10 Nm

please also refer to the motor datasheet

CAN 2.0b (up-to 1Mbit/s) and RS232 interface

five 24V compatible inputs (stop- and home-

switch) and 3 open-collector outputs

sensOstep™ encoder (max. 4096 incr./rot.)

chopSync™ for high velocity operation

stallGuard™ for motor stall detection

up to 64 times microstepping

memory for 2048 TMCL commands

rotary switches to adjust CAN-ID

motion profile calculation in real-time

on the fly alteration of motion parameters

dynamic current control

integrated protection

TRINAMIC driver technology:

low power dissipation, no heatsink required

stand-alone operation using TMCL

or remote controlled operation

PC-based application development

software TMCL-IDE included

optional CANopen firmware (CiA 301, 402)

15-pin D-Sub connector (male)

9-pin D-Sub connector (male)

RoHS compliant

1 1 6- 6 0

PA Nd ri ves

-SE

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