Stepper motor with
controller/driver
0.55… 3.1Nm / 24V DC
sensOstep™ encoder
USB, RS485, and RS232
MECHATRONIC DRIVES WITH STEPPER MOTOR PANdrive
Hardware Version V1.0
HARDWARE MANUAL
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PD-1161
UNIQUE FEATURES:
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
PD-1161 V1.0 Hardware Manual (Rev. 1.13 / 2012-JUL-30) 2
Table of Contents
1 Features ........................................................................................................................................................................... 3
2 Order Codes ................................................................................................................................................................... 5
3 Mechanical and Electrical Interfacing ..................................................................................................................... 6
3.1 PD-1161 and PD-1161 Dimensions.................................................................................................................. 6
3.1.1 PD57-1161 Dimensions ................................................................................................................................ 6
3.1.2 PD60-1161 Dimensions ................................................................................................................................ 7
3.2 Connectors of PD-1161 ....................................................................................................................................... 8
3.2.1 Interface and Power Supply Connector ................................................................................................. 9
3.2.2 USB Connector ............................................................................................................................................. 10
3.2.3 In/Out Connector ......................................................................................................................................... 11
3.2.4 Motor Connector .......................................................................................................................................... 12
4 Reset to Factory Defaults ......................................................................................................................................... 13
5 On-board LEDs ............................................................................................................................................................. 14
6 Operational Ratings ................................................................................................................................................... 15
7 Torque Curves ............................................................................................................................................................. 16
7.1 Curves of PD57-1161 ......................................................................................................................................... 16
7.1.1 PD57-1-1161 Torque Curves ...................................................................................................................... 16
7.1.2 PD57-2-1161 Torque Curves ...................................................................................................................... 17
7.2 Curves of PD60-1161 ......................................................................................................................................... 18
7.2.1 PD60-3-1161 Torque Curves ...................................................................................................................... 18
7.2.2 PD60-4-1161 Torque Curves ...................................................................................................................... 18
8 Functional Description .............................................................................................................................................. 19
9 PD-1161 Operational Description ........................................................................................................................... 20
9.1 Calculation: Velocity and Acceleration vs. Microstep and Fullstep Frequency ................................ 20
10 Life Support Policy ..................................................................................................................................................... 22
11 Revision History .......................................................................................................................................................... 23
11.1 Document Revision ........................................................................................................................................... 23
11.2 Hardware Revision ............................................................................................................................................ 23
12 References .................................................................................................................................................................... 23
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PD-1161 V1.0 Hardware Manual (Rev. 1.13 / 2012-JUL-30) 3
1 Features
The PANdrive™ PD-1161 is a full mechatronic solution with state of the art feature set. It is highly
integrated and offers a convenient handling. The PD-1161 includes a stepper motor, controller/driver
electronics, and TRINAMICs sensOstep™ encoder. It can be used in many decentralized applications and
has been designed for 0.55… 3.1Nm max. holding torque and 24V DC nominal supply voltage. With its
high energy efficiency from TRINAMIC’s coolStep technology cost for power consumption is kept down. The
TMCL™ firmware allows for standalone operation and direct mode.
MAIN CHARACTERISTICS
Motion controller
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol
handling
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2 feature for stall detection
- coolStep feature for reduced power consumption and heat dissipation
Encoder
- sensOstep magnetic encoder (max. 1024 positions per rotation) e.g. for step-loss detection under all
operating conditions and positioning supervision
Interfaces
- inputs for stop switches (left and right) and home switch
- 1 analog input
- 2 general purpose outputs (open collector with freewheeling diodes)
- USB, RS232, and RS485 communication interfaces
Software
- TMCL: standalone operation or remote controlled operation,
program memory (non volatile) for up to 2048 TMCL commands, and
PC-based application development software TMCL-IDE available for free.
Electrical and mechanical data
- Supply voltage: +24V DC nominal (10… 30V DC)
- Motor current: up to 2.8A RMS (programmable)
- 0.5… 3.1Nm max. holding torque (depends on motor)
- With NEMA23 (57mm motor flange size) or NEMA24 (60mm motor flange size) stepper motor
Refer to separate TMCL Firmware Manual, too.
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PD-1161 V1.0 Hardware Manual (Rev. 1.13 / 2012-JUL-30) 4
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
TRINAMICS UNIQUE FEATURES – EASY TO USE WITH TMCL
stallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those which
stall the motor. The stallGuard2 measurement value changes linearly over a wide range
of load, velocity, and current settings. At maximum motor load, the value goes to zero or
near to zero. This is the most energy-efficient point of operation for the motor.
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™ coolStep is a load-adaptive automatic current scaling based on the load measurement via
stallGuard2 adapting the required current to the load. Energy consumption can be
reduced by as much as 75%. coolStep allows substantial energy savings, especially for
motors which see varying loads or operate at a high duty cycle. Because a stepper motor
application needs to work with a torque reserve of 30% to 50%, even a constant-load
application allows significant energy savings because coolStep automatically enables
torque reserve when required. Reducing power consumption keeps the system cooler,
increases motor life, and allows reducing cost.
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Figure 1.2 Energy efficiency example with coolStep
PD-1161 V1.0 Hardware Manual (Rev. 1.13 / 2012-JUL-30) 5
Order code
Description
Size (mm3)
PD57-1-1161
PANdrive with 0.55Nm max./holding torque
60 x 60 x 58
PD57-2-1161
PANdrive with 1.01Nm max./holding torque
60 x 60 x 68
Order code
Description
Size (mm3)
PD60-3-1161
PANdrive with 2.10Nm max./holding torque
60 x 60 x 82
PD60-4-1161
PANdrive with 3.10Nm max./holding torque
60 x 60 x 103
Order code
Description
TMCM-1161-CABLE
Cable loom for PD-1161:
- 1x cable for interface connector
- 1x cable for In/Out connector
- 1x cable for motor connector
- 1x USB type A connector to mini-USB type B connector cable
2 Order Codes
The PD-1161 is currently available with two different stepper motor series (NEMA23 / 57mm flange size or
NEMA24 / 60mm flange size):
With NEMA 23 / 57mm flange size motor:
The length of the PANdrives is specified without the length of the axis. For the overall length of the
product please add 24mm.
Table 2.1 Order codes (PD57-1161)
With NEMA 24 / 60mm flange size motor:
The length of the PANdrives is specified without the length of the axis. For the total length of the
product add 24mm.
Table 2.2 Order codes (PD60-1161)
A cable loom set is available for this module:
Table 2.3 Cable loom order codes
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PD-1161 V1.0 Hardware Manual (Rev. 1.13 / 2012-JUL-30) 6
Length
56.4±1 6038.1±0.025
1.6
5
6,35-0.013
24±1
20±0.5
R 0.5
17
6
38.1±0.025
47.14±0.2
4-ø4.6
56.4±1
56.4±1
6.35-0.013
60
60
47.14±0.2
Model
Length (mm)
PD57-1-1161
41
PD57-2-1161
51
3 Mechanical and Electrical Interfacing
3.1 PD-1161 and PD-1161 Dimensions
3.1.1 PD57-1161 Dimensions
The PD57-1161 includes the TMCM-1161 stepper motor controller/driver module, the magnetic encoder
based on sensOstep technology and a NEMA23 bipolar stepper motor. Currently, there is a choice
between four NEMA 23/57mm bipolar stepper motors with different lengths and different holding
torques.
Fgure 3.1 Dimensions of PD57-1161
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PD-1161 V1.0 Hardware Manual (Rev. 1.13 / 2012-JUL-30) 7
Length
5
9
38.1±0.025
1.6
24±1
8-0.013
20±0.5
7.5±0.2
60±0.5
60
17
6
60
47.14±0.2
60
38.1±0.025
8
47.14±0.2
4-ø4.5
Model
Length (mm)
PD60-3-1161
65
PD60-4-1161
86
3.1.2 PD60-1161 Dimensions
Currently, there is a choice between four NEMA 24/60mm bipolar stepper motors with different lengths
and different holding torques.
Figure 3.2 Dimensions of PD60-1161
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