PD57/60/86-1378

TRINAMIC Motion Control...

PD57/60/86-1378 Hardware Manual Revision V1.21 - 2020-APR-24

Manufacturer: TRINAMIC Motion Control...

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PD57_V02 TRINAMIC | Alldatasheet

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Manufacturer or author: Provided By alldatasheet.com(free datasheet download site)
PDF pages: 24

Technical content

Datasheet sections

1.1 GENERAL&EATURES
1.2.1 STEALTHCHOP™
1.2.2 SPREADCyCLE™
1.2.3 STALLGUARD2
1.2.4 COOL3TEP
4 CONNECTORSAND,EDS
4.2 I//CONNECTOR
10.2 COPyRIGHT
10.5 DISCLAIMER:,IFE3UPPORT3ySTEMS
10.6 DISCLAIMER:INTENDED5SE
10.7 COLLATERALDOCUMENTS&4OOLS
11.2 DOCUMENT2EVISION

0!.DRIVE™FOR3TEPPER 0!.D2I6E™ 0D57/60/86-1378(ARDWARE-ANUAL (ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 4HE0D57/60/86-1378ISANEASyTOUSE0!.DRIVE™ SMARTSTEPPERDRIVE.4HEDRIVEISCONTROLLEDVIA AC!.BUSINTERFACEANDCOMESWITHTWO 1RMWAREOPTIONS – 4-C,™ANDC!.OPENm.7ITHITSBUILT- INHIGHRESOLUTIONENCODER,THE0D57/60/86-1378ISMAINLyDESIGNEDFORCLOSED-LOOPOPERATION,BUT ALSOFEATURES3TEALTHCHOP ™FORABSOLUTESILENTMOTORCONTROL,3PREADCyCLE ™FORHIGHSPEEDSTEPPER MOTORCOMMUTATIONASWELLAS3TALLGUARD2 ™ANDCOOL3TEP™.4HEFULLyINTEGRATEDHARDWAREMOTION CONTROLLERSUPPORTSTRAPEzOIDALRAMPS,3Ix0OINT ™RAMPSANDS-SHAPEDRAMPS. &EATURES

0!.DRIVE™ SMARTMOTOR
3UPPLy6OLTAGE+12TO+526DC
C!.BUSINTERFACE
4-C,™ ORC!.OPENmPROTOCOL
INTEGRATEDRAMPMOTIONCONTROLLER WITHDIﬀERENTRAMPTyPES
3TEALTHCHOP™ SILENT07-MODE
3PREADCyCLE™ SMARTMIxEDDECAy
3TALLGUARD2™ LOADDETECTION
COOL3TEP™ AUTOMATICCURRENTSCAL- ING !PPLICATIONS
,AB-!UTOMATION
-ANUFACTURING
2OBOTICS
&ACTORy!UTOMATION
C.C 3IMPLI1ED"LOCKDIAGRAM h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONAT:WWW.TRINAMIC.COM 2EADENTIREDOCUMENTATION.

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 3/24 1 &EATURES 4HE0!.DRIVES™ 0D57/60/86-1378AREFULLMECHATRONICSOLUTIONSWITHSTATEOFTHEARTFEATURESET.4HEy AREHIGHLyINTEGRATEDANDO ﬀERCONVENIENTHANDLINGVIAC!.INTERFACE.%ACH0D57/60/86-1378INCLUDES ASTEPPERMOTOR,DRIVERELECTRONICS,ANDAFULLyFEATUREDHARDWAREMOTIONCONTROLLER. ITCANBEUSEDIN 246DCOR486DCNOMINALSUPPLyVOLTAGE.7ITHTHEBUILT-INHIGHRESOLUTIONMAGNETICENCODERANDTHE ADVANCEDRAMPGENEATORCHIPITISMAINLyDESIGNEDFORCLOSED-LOOPOPERATION.7ITH3TEALTHCHOP ™ THE 0D57/60/86-1378OﬀERSABSOLUTELySILENTANDSMOOTHMOTOROPERATIONFORLOWERANDMEDIUMVELOCITIES. 7ITH3PREADCyCLE™,THE0D57/60/86-1378OﬀERSAHIGHPERFORMANCECURRENTCONTROLLEDCHOPPERMODEFOR HIGHESTVELOCITIESWITHPERFECTzEROCROSSINGPERFORMANCE.7ITH3TALLGUARD2 ™,ASENSORLESSLOADDETECTION FEATUREISPROVIDEDFORAUTOMATICENDSTEPDETECTIONANDLOADMONITORING. 3TALLGUARD2 ™ ISALSOUSED FORTHEAUTOMATICCURRENTSCALINGFEATURECOOL3TEP ™.4HE0D57/60/86-1378ISEqUIPPEDWITHAC!.BUS INTERFACEANDTHREEDIGITALINPUTS.

1.1 GENERAL&EATURES

-AINCHARACTERISTICS

3UPPLy6OLTAGE+246OR+486NOMINAL(+106...+526DC).
UPTO9!2-3PHASECURRENT(DEPENDINGONTHEMOTOR).
(IGHESTMICROSTEPRESOLUTION,UPTO256MICROSTEPSPERFULLSTEP.
!VAILABLEWITHENCLOSUREANDMOUNTEDTO.%-!23/57MMOR.%-!24/60MM 2ANGESIzEMOTOR.
0ERMANENTONBOARD4-C,PROGRAMANDPARAMETERSTORAGE.
DIﬀERENTKINDSOFRAMPS:TRAPEzOIDALRAMPS,SIx-POINTRAMPSAND3-SHAPEDRAMPS.
CLOSEDLOOPOPERATIONPOSSIBLE.
.OISELESS3TEALTHCHOP™ CHOPPERMODEFORSLOWTOMEDIUMVELOCITIES.
(IGHPERFORMANCE3PREADCyCLE ™ CHOPPERMODE.
(IGH-PRECISIONSENSORLESSLOADMEASUREMENTWITH3TALLGUARD2 ™. I//S
(OMEANDREFERENCESWITCHINPUTS.
%NABLEINPUTTOPOWER-ON/-Oﬀ DRIVER(-BRIDGES. C!.BUS INTERFACE
3TANDARDC!."US INTERFACEFORCONTROLANDCON 1GURATION
C!.BITRATEOF20...1000K"IT/S
4-C,™ BASEDPROTOCOLWITH4-C, 1RMWAREOPTION
C!.OPENmPROTOCOLWITHD3402DEVICEPRO 1LEWITHC!.OPEN 1RMWAREOPTION h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 4/24 1.2 42I.!-IC’S5NIqUE&EATURES

1.2.1 STEALTHCHOP™

STEALTHCHOPISANExTREMELyqUIETMODEOFOPERATIONFORLOWANDMEDIUMVELOCITIES. ITISBASEDONAVOLTAGE MODE07-.DURINGSTANDSTILLANDATLOWVELOCITIES,THEMOTORISABSOLUTELyNOISELESS.4HUS,STEALTHCHOP OPERATEDSTEPPERMOTORAPPLICATIONSAREVERySUITABLEFORINDOORORHOMEUSE. 4HEMOTOROPERATES ABSOLUTELyFREEOFVIBRATIONATLOWVELOCITIES.7ITHSTEALTHCHOP,THEMOTORCURRENTISAPPLIEDByDRIVING ACERTAINE ﬀECTIVEVOLTAGEINTOTHECOIL,USINGAVOLTAGEMODE07-.4HEREARENOMORECON 1GURATIONS REqUIREDExCEPTFORTHEREGULATIONOFTHE07-VOLTAGETOyIELDTHEMOTORTARGETCURRENT. FIGuRE1:-OTORCOILSINEwAVECuRRENTuSINGSTEALTHCHOP(MEASuREDwITHCuRRENTPRObE)

1.2.2 SPREADCyCLE™

4HESPREADCyCLECHOPPERISAHIGH-PRECISION,HySTERESIS-BASED,ANDSIMPLETOUSECHOPPERMODE,WHICH AUTOMATICALLyDETERMINESTHEOPTIMUMLENGTHFORTHEFAST-DECAyPHASE.3EVERALPARAMETERSAREAVAILABLETO OPTIMIzETHECHOPPERTOTHEAPPLICATION.SPREADCyCLEO ﬀERSOPTIMALzEROCROSSINGPERFORMANCECOMPARED TOOTHERCURRENTCONTROLLEDCHOPPERALGORITHMSANDTHEREByALLOWSFORHIGHESTSMOOTHNESS.4HETRUETARGET CURRENTISPOWEREDINTOTHEMOTORCOILS. FIGuRE2:SPREADCyCLEPRINCIPLE

1.2.3 STALLGUARD2

STALLGUARD2ISAHIGH-PRECISIONSENSORLESSLOADMEASUREMENTUSINGTHEBACK%-&OFTHEMOTORCOILS. IT CANBEUSEDFORSTALLDETECTIONASWELLASOTHERUSESATLOADSBELOWTHOSEWHICHSTALLTHEMOTOR. 4HE h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 5/24 STALLGUARD2MEASUREMENTVALUECHANGESLINEARLyOVERAWIDERANGEOFLOAD,VELOCITy,ANDCURRENTSETTINGS. !TMAxIMUMMOTORLOAD,THEVALUEREACHESzEROORISNEARzERO.4HISISTHEMOSTENERGy-E /uniFB03CIENTPOINTOF OPERATIONFORTHEMOTOR. Load [Nm] stallGuard2 Initial stallGuard2 (SG) value: 100% Max. load stallGuard2 (SG) value: 0 Maximum load reached. Motor close to stall. Motor stalls FIGuRE3:STALLGuARD2,OAD-EASuREMENTASAFuNCTIONOF,OAD

1.2.4 COOL3TEP

COOL3TEPISALOAD-ADAPTIVEAUTOMATICCURRENTSCALINGBASEDONTHELOADMEASUREMENTVIASTALLGUARD2. COOL3TEPADAPTSTHEREqUIREDCURRENTTOTHELOAD.%NERGyCONSUMPTIONCANBEREDUCEDByASMUCHAS75%. COOL3TEPALLOWSSUBSTANTIALENERGySAVINGS,ESPECIALLyFORMOTORSWHICHSEEVARyINGLOADSOROPERATEATA HIGHDUTyCyCLE."ECAUSEASTEPPERMOTORAPPLICATIONNEEDSTOWORKWITHATORqUERESERVEOF30%TO50%, EVENACONSTANT-LOADAPPLICATIONALLOWSSIGNI 1CANTENERGySAVINGSBECAUSECOOL3TEPAUTOMATICALLyENABLES TORqUERESERVEWHENREqUIRED.2EDUCINGPOWERCONSUMPTIONKEEPSTHESySTEMCOOLER,INCREASESMOTOR LIFE,ANDALLOWSFORCOSTREDUCTION. 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 50v torque reserve FIGuRE4:ENERGyE /uniFB03CIENCyExAMPLEwITHCOOL3TEP h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 6/24 2 /RDERCODES /RDERCODE DESCRIPTION 3IzE(,x7x() 0D57-1-1378-4-C, 0!.DRIVE,0.55.M,3!2-3,+486DC,C!.INTER- FACE,4-C,1RMWARE 60MMx60MMx65MM 0D57-2-1378-4-C, 0!.DRIVE,1.01.M,3!2-3,+486DC,C!.INTER- FACE,4-C,1RMWARE 60MMx60MMx75MM 0D60-3-1378-4-C, 0!.DRIVE,2.1.M,3!2-3,+486DC,C!.INTER- FACE,4-C,1RMWARE 60MMx60MMx89MM 0D60-4-1378-4-C, 0!.DRIVE,3.1.M,3!2-3,+486DC,C!.INTER- FACE,4-C,1RMWARE 60MMx60MMx110MM 0D60-4(-1378-4-C, 0!.DRIVE,3.M,9!2-3,+486DC,C!.INTER- FACE,4-C,1RMWARE 60MMx60MMx110MM 0D86-3-1378-4-C, 0!.DRIVE,7.M,5.5!2-3,+486DC,C!.INTER- FACE,4-C,1RMWARE 86MMx86MMx120MM FACE,C!.OPEN1RMWARE 60MMx60MMx65MM FACE,C!.OPEN1RMWARE 60MMx60MMx75MM FACE,C!.OPEN1RMWARE 60MMx60MMx89MM FACE,C!.OPEN1RMWARE 60MMx60MMx110MM 0D60-4(-1378-C!.OPEN0!.DRIVE,3.M,9!2-3,+486DC,C!.INTER- FACE,C!.OPEN1RMWARE 60MMx60MMx110MM FACE,C!.OPEN1RMWARE 86MMx86MMx120MM 4AbLE1:/RDERCODESMODuLES(ELECTRONICS+ENCLOSuRE)AND0A.DRIVES ™ /RDERCODE DESCRIPTION 0D-1378-C!",%CABLELOOMFOR0Dxx-1378:

1xCABLELOOMFORPOWERCONNECTORWITH2-PINJ346(SERIESCONNECTOR
1xCABLELOOMFOR I//CONNECTORWITH8-PINJ34%(SERIESCONNECTOR 4AbLE2:/RDERCODESCAbLELOOM h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 7/24 3 -ECHANICALANDELECTRICAL INTERFACING 3.1 0D57/60/86-1378DIMENSIONS 4HE0D57/60/86-1378INCLUDESTHE4-C--1378STEPPERMOTORCONTROLLER/DRIVERMODULE(ELECTRONICS+ ENCAPSULATINGENCLOSURE)ANDA.%-!23/57MM 2ANGESIzE,.%-!24/60MM 2ANGESIzEOR.%-!34/ 86MM2ANGESIzEBIPOLARSTEPPERMOTOR.CURRENTLy,THEREISACHOICEBETWEENTWO.%-!23/57MM 2ANGE SIzE,THREE.%-!24/60MM2ANGESIzEANDONE.%-!34/86MM 2ANGESIzESTEPPERMOTORSWITHDI ﬀERENT LENGTHSANDDI ﬀERENTHOLDINGTORqUES.4HESTEPPERMOTORSARERATEDFORCOILCURRENTSBETWEEN2.8!2-3 AND9!2-3-PERFECTLy 1TTINGTOTHE4-C--1378ELECTRONICS. 4HEDIMENSIONSOFTHECONTROLLER/DRIVERUNITAREAPPROx.60MMx60MMx24.5MM(4-C--1378ELECTRONICS +ENCAPSULATINGENCLOSURE).4HEREAREFOURMOUNTINGHOLESFOR-3SCREWSFORMOUNTINGTHE0D57/60/86- 1378.4HESEMOUNTINGHOLESARELOCATEDINTHEBOTTOM/BASEPLATEANDACCESSIBLEAFTERREMOVINGTHETOP COVER(SEE5,RIGHT1GURE,MOUNTINGHOLESMARKEDRED).4WOOFTHEMATOPPOSITEPOSITIONSCANBEUSEDFOR MOUNTINGTHEMODULETOTHEBACKSIDEOFOUR.%-!23STEPPERMOTORS(SCREW/THREADLENGTHDEPENDSON MOTORSIzE).4HEOTHERTWOCANBEUSEDFORMOUNTINGTHEMODULETOTHEBACKSIDEOFOUR.%-!24STEPPER MOTORS(SCREW/THREADLENGTHDEPENDSONMOTORSIzE). Length FIGuRE5:0D57/60/86-1378ALLDIMENSIONSINMM 3.2 0D57/60/86-1378DIMENSIONSAND7EIGHT 7HENMOUNTEDTOTHESTEPPERMOTORTHEOVERALLSIzEOFTHE0!.DRIVEISTHEHOUSINGHEIGHTPLUSMOTOR BODySIzE. /RDERCODE ,ENGTHINMM 7EIGHTING 0D57-1-1378 65 ≈520 0D57-2-1378 75 ≈720 0D60-3-1378 89 ≈1270 0D60-4-1378 110 ≈1470 0D60-4(-1378 110 ≈1470 0D86-3-1378 120 ≈1470 4AbLE3:,ENGTHANDwEIGHT h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 8/24 3.3 0D57/60/86-1378-OTOR0ARAMETERS 3PECI1CATIONS 5NIT 0D57-1-13780D57-2-13780D60-3-13780D60-4-1378 3TEPANGLE o 1.8 1.8 1.8 1.8 3TEPANGLEACCURACy % +/-5 +/-5 +/-5 +/-5 -Ax.MOTORTEMPERATURE oC 80 80 80 80 3HAFTRADIALPLAy(450GLOAD) MM 0.02 0.02 0.02 0.02 3HAFTAxIALPLAy(450GLOAD) MM 0.08 0.08 0.08 0.08 -Ax RADIAL FORCE (20MM FROMFRONT 2ANGE) . 57 57 57 57 -AxAxIALFORCE . 15 15 15 15 2ATEDVOLTAGE 6 2.0 2.3 3.36 4.17 2ATEDPHASECURRENT ! 2.8 2.8 2.8 2.8 0HASERESISTANCEAT20oC Ω 0.7 0.83 1.2 1.5 INSULATIONCLASS " " " " 2OTORINERTIA GCM2 120 275 570 840 7EIGHT KG 0.45 0.65 1.2 1.4 4AbLE4:.E-A23/57MMAND.E-A24/60MMSTEPPERMOTORTECHNICALDATA 3PECI1CATIONS 5NIT 0D60-4(-13780D86-3-1378 3TEPANGLE o 1.8 1.8 3TEPANGLEACCURACy +/-5 +/-5 +/-5 -Ax.MOTORTEMPERATURE oC 80 80 3HAFTRADIALPLAy(450GLOAD) MM 0.02 0.02 3HAFTAxIALPLAy(450GLOAD) MM 0.08 0.08 -Ax RADIAL FORCE (20MM FROMFRONT 2ANGE) . 57 220 -AxAxIALFORCE . 15 60 2ATEDVOLTAGE 6 2.1 2.56 2ATEDPHASECURRENT ! 9 5.5 0HASERESISTANCEAT20oC Ω 0.15 0.45 0HASEINDUCTANCE(TyP.) M( 0.6 4.5 h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 9/24 3PECI1CATIONS 5NIT 0D60-4(-13780D86-3-1378 (OLDINGTORqUE .M 3.0 7.0 INSULATIONCLASS " " 2OTORINERTIA GCM2 840 2700 7EIGHT KG 1.4 2.87 4AbLE5:.E-A24/60MMAND.E-A34/86MMSTEPPERMOTORTECHNICALDATA h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 10/24 3.4 0D57/60/86-13784ORqUECURVES 4HEFOLLOWINGDIAGRAMSSHOWTHETORqUEVS. SPEEDCURVESFORTHE0D57-1-1378,THE0D57-2-1378,THE 0D60-3-1378ANDTHE0D60-4-1378WITH3PREADCyCLE™ CHOPPERMODESELECTED,486SUPPLyVOLTAGEAND RATEDMOTORCURRENT. FIGuRE6:0D57-1-1378TORquEVS.VELOCITy486/2.8A,256µSTEPS FIGuRE7:0D57-2-1378TORquEVS.VELOCITy486/2.8A,256µSTEPS h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 11/24 FIGuRE8:0D60-3-1378TORquEVS.VELOCITy486/2.8A,256µSTEPS FIGuRE9:0D60-4-1378TORquEVS.VELOCITy486/2.8A,256µSTEPS h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 12/24 FIGuRE10:0D60-4(-1378TORquEVS.VELOCITy486/9A,256µSTEPS FIGuRE11:0D86-3-1378TORquEVS.VELOCITy486/5.5A,256µSTEPS h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 13/24

4 CONNECTORSAND,EDS

4HE0D57/60/86-1378ISEqUIPPEDWITHTHREECONNECTORS– ONEEIGHT-PINCONNECTORFORCOMMUNICATION (C!.)ANDADDITIONAL I//(HOMESWITCHANDSTOPSWITCHESASWELLASONEGENERALPURPOSEOUTPUT),ONE-FOUR PINCONNECTORFORCONNECTINGTHEMOTORANDONETWO-PINCONNECTORFORCONNECTINGTOTHEPOWERSUPPLy. Motor + Power CAN + I/Os Green LED Red LED 2 1 FIGuRE12:0D57/60/86-1378CONNECTORS /VERVIEWOFCONNECTORANDMATINGCONNECTORTyPES: ,ABEL CONNECTORTyPE -ATINGCONNECTORTyPE 0OWERCONNECTOR J34"20-6((J346(SERIES,2PINS, 3.96MMPITCH) CONNECTORHOUSING:J346(2-2. CONTACTS:J3436(-414-01.17IRE: 1.25MM2,!7G16 C!.AND I//CONNECTOR J34 "8"-%(-! (J34 %( SERIES, 8PINS,2.5MMPITCH) CONNECTOR HOUSING: J34 %(2- 8 CONTACTS: J34 3%(-0014-00.6 7IRE:0.33MM2,!7G22 -OTORCONNECTOR J34"40-6((J346(SERIES,4PINS, 3.96MMPITCH) CONNECTORHOUSING:J346(2-4. CONTACTS:J3436(-414-01.17IRE: 1.25MM2,!7G16 4AbLE6:CONNECTORANDMATINGCONNECTORS 4.1 0OWER3UPPLyCONNECTOR 0INNU. 0INNAME DESCRIPTION 1 G.D GROUNDCONNECTION 2 +486 3UPPLyPOWERCONNECTION 4AbLE7:0D57/60/86-13780OwERSuPPLyCONNECTORPINASSIGMENT 4.2I//CONNECTOR h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 14/24 0INNO. 0INNAME DESCRIPTION 1 C!._( DIﬀERENTIALC!.BUSSIGNAL(NON-INVERTING) 2 C!._, DIﬀERENTIALC!.BUSSIGNAL(INVERTING) 3 G.D 3IGNALGROUNDCONNECTION 4 +56 56OUTPUT,100M!MAxIMUMLOAD,E.G. FOREND/HOMESWITCHCIRCUITOR ExTERNALENCODERSUPPLy 5 (/-%(G0I0) GENERALPURPOSEINPUT0AND(/-%SWITCHINPUT(+5644,COMPATIBLE10K PULL-UPTO+56). 6 2%&,(G0I1) GENERALPURPOSEINPUT1ANDSTOPSWITCHINPUT2%&,/34/0_,. 7 2%&2(G0I2) GENERALPURPOSEINPUT2ANDSTOPSWITCHINPUT2%&2/34/0_2. 8 %..(G0I3) %.!",%./4INPUT(ACTIVELOW)FORDRIVERSTAGE,0=ENABLED,1=DISABLED(+56 44,COMPATIBLE,INTERNAL10KPULL-UPTO+56) 4AbLE8:0D57/60/86-1378I//CONNECTORPINASSIGNMENT NOT ICE !LWAySkEEPTHEPOWERSUPPLyVOLTAGEBELOWTHEUPPERLIMITOF526! /TH- ERWISETHEDRIVERELECTRONICSWILLBESERIOUSLyDAMAGED. %SPECIALLy,WHENTHE SELECTEDOPERATINGVOLTAGEISNEARTHEUPPERLIMITAREGULATEDPOWERSUPPLyIS HIGHLyRECOMMENDED. NOT ICE !DDExTERNALPOWERSUPPLyCAPACITORS! ITISRECOMMENDEDTOCONNECTANELEC- TROLyTICCAPACITOROFSIGNI 1CANTSIzE(E.G.4700µ&/636)TOTHEPOWERSUPPLyLINES NExTTOTHE0D57/60/86-1378! 2ULEOFTHUMBFORSIzEOFELECTROLyTICCAPACITOR: C = 1000µF A ×ISUPPLY INADDITIONTOPOWERSTABILIzATION(BU ﬀER)AND 1LTERINGTHISADDEDCAPACITORWILL ALSOREDUCEANyVOLTAGESPIKESWHICHMIGHTOTHERWISEOCCURFROMACOMBINATION OFHIGHINDUCTANCEPOWERSUPPLyWIRESANDTHECERAMICCAPACITORS. INADDITION ITWILLLIMITSLEW-RATEOFPOWERSUPPLyVOLTAGEATTHEMODULE. 4HELOW%32OF CERAMIC-ONLy1LTERCAPACITORSMAyCAUSESTABILITyPROBLEMSWITHSOMESWITCHING POWERSUPPLIES. NOT ICE 4IEENN TOG.DINORDERTOENABLEDRIVERSTAGE! 0LEASENOTETHATPIN8OFTHE I//CONNECTORISADRIVERSTAGEENABLEINPUT(ACTIVELOW)WITHANINTERNALPULL-UP RESISTOR.INORDERTOENABLEMOTORDRIVERSTAGEANDBEABLETOMOVETHEMOTOR USINGAPPROPRIATESOFTWARECOMMANDSITISNECESSARyTOTIETHISINPUTTOG.D. 4.3 C!.CONNECTION &ORREMOTECONTROLANDCOMMUNICATIONWITHAHOSTSySTEMTHE0D57/60/86-1378PROVIDESAC!.BUS INTERFACE.&ORPROPEROPERATIONTHEFOLLOWINGITEMSSHOULDBETAKENINTOACCOUNTWHENSETTINGUPAC!. NETWORK: BUS3TRUCTURE 4HENETWORKTOPOLOGySHOULDFOLLOWABUSSTRUCTUREASCLOSELyASPOSSIBLE.4HATIS,THE CONNECTIONBETWEENEACHNODEANDTHEBUSITSELFSHOULDBEASSHORTASPOSSIBLE."ASICALLy,ITSHOULDBE SHORTCOMPAREDTOTHELENGTHOFTHEBUS. h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 15/24 FIGuRE13:CA.buSSTRCuTuRE BUS4ERMINATION %SPECIALLyFORLONGERBUSSESAND/ORMULTIPLENODESCONNECTEDTOTHEBUSAND/ORHIGH COMMUNICATIONSPEEDS,THEBUSSHOULDBEPROPERLyTERMINATEDATBOTHENDS.4HE0D57/60/86-1378DOES NOTINTEGRATEANyTERMINATIONRESISTOR.4HEREFORE,120/HMTERMINATIONRESISTORSATBOTHENDSOFTHEBUS HAVETOBEADDEDExTERNALLy. .UMBEROF.ODES 4HEBUSTRANSCEIVERUSEDONTHE0D57/60/86-1378(4J!1051)SUPPORTSATLEAST100 NODESUNDEROPTIMUMCONDITIONS.0RACTICALLyACHIEVABLENUMBEROFNODESPERC!.BUSHIGHLyDEPENDON BUSLENGTH(LONGERBUS →LESSNODES)ANDCOMMUNICATIONSPEED(HIGHERSPEED →LESSNODES). C!.BUS!DAPTERS 4OqUICKLyCONNECTTOTHE0D57/60/86-1378A0CBASEDINTERGATEDDEVELOPMENT ENVIRONMENT4-C,-ID%ISAVAILABLE. ,ATESTRELEASECANBEDOWNLOADEDFORFREEFROMOURWEBSITE: WWW.TRINAMIC.COM!NUMBEROFCOMMONC!.INTERFACEADAPTERSFROMDI ﬀERENTMANUFACTURESISSUPPORTED FROMWITHINTHISSOFTWARE.0LEASEMAKESURETOCHECKOURWEBSITEFROMTIMETOTIMEFORTHELATESTVERSION OFTHESOFTWARE! 4.4 -OTORCONNECTOR 0INNO. 0INNAME DESCRIPTION 1 "1 -OTORPHASE"PIN1 2 "2 -OTORPHASE"PIN2 3 !1 -OTORPHASE!PIN1 4 !2 -OTORPHASE!PIN2 4AbLE9:-OTORCONNECTORPINNING NOT ICE DONOTCONNECTORDISCONNECTMOTORDURINGOPERATION! -OTORCABLEANDMO- TORINDUCTIVITyMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORISCONNECTED/DISCON- NECTEDWHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTExCEEDVOLTAGELIMITSOFTHE DRIVER-/3&%4SANDMIGHTPERMANENTLyDAMAGETHEM.4HEREFORE,ALWAySSWITCH Oﬀ ORDISCONNECTPOWERSUPPLyBEFORECONNECTINGORDISCONNECTINGTHEMOTOR. h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 16/24 4.5 ,EDS 4HE0D57/60/86-1378INCLUDESTWO,%DS:ONEGREENSTATUS,%DANDONEREDERROR,%D.3EE 1GURE14FOR ,%DLOCATION. Motor + Power CAN + I/Os Green LED Red LED 2 1 FIGuRE14:0D57/60/86-1378,EDCOLORSANDLOCATION DEPENDINGONTHE 1RMWAREOPTION(4-C,ORC!.OPEN),THESE,%DSHAVEDI ﬀERENTFUNCTIONALITy. -AIN STATESFOR4-C,: 3TATEGREEN,%D 3TATERED,%D DESCRIPTION4-C,&IRMWARE &LASHING Oﬀ &IRMWARERUNNING(NORMALOPERATIONMODE) 0ERMANENTON 0ERMANENTON "OOTLOADERMODE,1RMWAREUPDATESUPPORTED 4AbLE10:,EDFuNCTIONALITyDESCRIPTION &ORC!.OPEN 1RMWARE,%DFUNCTIONALITyHASBEENIMPLEMENTEDACCORDINGTOTHEC!.OPENmSTANDARD. h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 17/24 5 &UNCTIONALDESCRIPTION 5.1 4yPICAL!PPLICATION7IRING 4HE0D57/60/86-1378DRIVER/CONTROLLER’SWIRINGISSTRAIGHTFORWARDASSHOWNINTHEFOLLOWING 1GURE.

0OWERSUPPLyMUSTBECONNECTEDTO6+ANDG.D.
C!.-USEAPPROPRIATEC!.INTERFACEADAPTER Power supply USB-CAN c:> Host CAN H +VS CAN L GND 1 8 GND FIGuRE15:4yPICALAPPLICATIONSCENARIOFORREMOTECONTROLOF0D57/60/86-1378 5.2INPUTS 4HEFOURINPUTSOFTHE0D57/60/86-1378ARE+5644,COMPATIBLEWITHINTERNALPULL-UPS(10K)TO+56ANDNOT OPTICALLyISOLATED. h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 18/24 6 /PERATIONAL2ATINGSANDCHARACTERISTICS 6.1 !BSOLUTE-AxIMUM2ATINGS 0ARAMETER -IN -Ax 5NIT 3UPPLyVOLTAGE +10 +52 6 7ORKINGTEMPERATURE -20 +50 oC -OTORCOILCURRENT/SINEWAVE PEAk 12.7! CONTINUOUSMOTORCURRENT( 2-3) 9.0 ! NOT ICE 3TRESSESABOVETHOSELISTEDUNDER" ‘!BSOLUTE-AxIMUM2ATINGS"’MAyCAUSEPER- MANENTDAMAGETOTHEDEVICE.4HISISASTRESSRATINGONLyANDFUNCTIONALOPERATION OFTHEDEVICEATTHOSEORANyOTHERCONDITIONSABOVETHOSEINDICATEDINTHEOP- ERATIONLISTINGSOFTHISSPECI 1CATIONISNOTIMPLIED.%xPOSURETOMAxIMUMRATING CONDITIONSFORExTENDEDPERIODSMAyA ﬀECTDEVICERELIABILITy. 6.2 ELECTRICALCHARACTERISTICS(!MBIENT4EMPERATURE25oC) 0ARAMETER 3yMBOL -IN 4yP -Ax 5NIT 3UPPLyVOLTAGE VDD 10 24OR48 52 6 -OTORCOILCURRENT/SINEWAVE PEAk(CHOPPERREGU- LATED,ADJUSTABLEVIA44,5!24INTERFACE) ICOILpeak 0 12.7 ! CONTINUOUSMOTORCURRENT( 2-3) ICOILRMS 0 9.0 ! 0OWERSUPPLyCURRENT IDD ≪ICOIL 1.4∗ICOIL ! 4AbLE12:ELECTRICALCHARACTERISTICS 6.3I//2ATINGS(!MBIENT4EMPERATURE25oC) 0ARAMETER 3yMBOL -IN 4yP -Ax 5NIT INPUTVOLTAGE VIN 5 5.5 6 ,OWLEVELVOLTAGE VL 0 1.5 6 (IGHLEVELVOLTAGE VH 3.5 5 6 6OLTAGEATOPENDRAINOUTPUTG0/(SWITCHEDO ﬀ) VOUT0 0 +30 6 /UTPUTSINKCURRENTOFOPENDRAINOUTPUTG0/(SWITCHEDON) IOUT0 0 100 M! 4AbLE13:I//RATINGS h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 19/24 6.4 &UNCTIONALCHARACTERISTICS 0ARAMETER DESCRIPTION/6ALUE CONTROL C!.BUSINTERFACEANDFOURDIGITALINPUTSFORREFERENCING,INCREMENTALENCODER, AND./4_%.!",% COMMUNICATION C!.BUSINTERFACEFORCONTROLANDCON 1GURATION,20...1000K"IT/S DRIVING-ODE 3PREADCyCLE™,3TEALTHCHOP™,ANDCONSTANT Toff CHOPPER,ADAPTIVECURRENTCON- TROLVIA3TALLGUARD2 ™ ANDCOOLSTEP 3TEPPING2ESOLUTION &ULL,1/2,1/4,1/8,1/16,1/32,1/64,1/128,1/256STEP 4AbLE14:FuNCTIONALCHARACTERISTICS 6.5 /THER2EqUIREMENTS 3PECI1CATIONS DESCRIPTIONOR6ALUE COOLING &REEAIR 7ORKINGENVIRONMENT !VOIDDUST,WATER,OILMISTANDCORROSIVEGASES,NOCONDENSATION,NOFROSTING 7ORKINGTEMPERATURE -20oCTO+50oC 4AbLE15:/THER2EquIREMENTSANDCHARACTERISTICS 7 !BBREVIATIONSUSEDINTHIS-ANUAL !BBREVIATION DESCRIPTION C!. CONTROLLER!REA.ETWORK ID% INTEGRATEDDEVELOPMENT%NVIRONMENT ,%D ,IGHT%MMITTINGDIODE 2-3 2OOT-EAN3qUAREVALUE 4-C, 42I.!-IC-OTIONCONTROL,ANGUAGE 44, 4RANSISTOR4RANSISTOR,OGIC 5!24 5NIVERSAL!SyNCHRONOUS2ECEIVER4RANSMITTER 53" 5NIVERSAL3ERIAL"US 4AbLE16:AbbREVIATIONSuSEDINTHIS-ANuAL h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 20/24 8 &IGURESINDEx 1 -OTORCOILSINEWAVECURRENTUSING STEALTHCHOP(MEASUREDWITHCURRENT

3 STALLGUARD2,OAD-EASUREMENTASA

4 %NERGy%/uniFB03CIENCy%xAMPLEWITHCOOL3TEP 5 5 0D57/60/86-1378ALLDIMENSIONSINMM 7 6 0D57-1-1378TORqUEVS.VELOCITy486/ 7 0D57-2-1378TORqUEVS.VELOCITy486/ 8 0D60-3-1378TORqUEVS.VELOCITy486/ 9 0D60-4-1378TORqUEVS.VELOCITy486/ 10 0D60-4(-1378TORqUEVS.VELOCITy486/ 11 0D86-3-1378TORqUEVS.VELOCITy486/ 140D57/60/86-1378,%DCOLORSANDLOCATION16 154yPICALAPPLICATIONSCENARIOFORREMOTE h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 21/24 9 4ABLESINDEx 1 /RDERCODESMODULES(ELECTRONICS+ 4 .%-!23/57MMAND.%-!24/60MM 5 .%-!24/60MMAND.%-!34/86MM 6 CONNECTORANDMATINGCONNECTORS. . . 13 7 0D57/60/86-13780OWERSUPPLy 8 0D57/60/86-1378I//CONNECTORPIN 15 /THER2EqUIREMENTSANDCHARACTERISTICS 19 16 !BBREVIATIONSUSEDINTHIS-ANUAL . . . 19 h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 22/24 10 3UPPLEMENTALDIRECTIVES 10.1 0RODUCERINFORMATION

10.2 COPyRIGHT

42I.!-ICOWNSTHECONTENTOFTHISUSERMANUALINITSENTIRETy,INCLUDINGBUTNOTLIMITEDTOPICTURES,LOGOS, TRADEMARKS,ANDRESOURCES.hCOPyRIGHT202042 I.!-IC.!LLRIGHTSRESERVED.%LECTRONICALLyPUBLISHEDBy 42I.!-IC,GERMANy. 2EDISTRIBUTIONSOFSOURCEORDERIVEDFORMAT(FORExAMPLE,0ORTABLEDOCUMENT&ORMATOR(yPERTExT-ARKUP ,ANGUAGE)MUSTRETAINTHEABOVECOPyRIGHTNOTICE, ANDTHECOMPLETEDATASHEET5SER-ANUALDOCU- MENTATIONOFTHISPRODUCTINCLUDINGASSOCIATED!PPLICATION.OTES;ANDAREFERENCETOOTHERAVAILABLE PRODUCT-RELATEDDOCUMENTATION. 10.3 4RADEMARkDESIGNATIONSAND3yMBOLS 4RADEMARKDESIGNATIONSANDSyMBOLSUSEDINTHISDOCUMENTATIONINDICATETHATAPRODUCTORFEATUREIS OWNEDANDREGISTEREDASTRADEMARKAND/ORPATENTEITHERBy42 I.!-ICORByOTHERMANUFACTURERS,WHOSE PRODUCTSAREUSEDORREFERREDTOINCOMBINATIONWITH42 I.!-IC’SPRODUCTSAND42 I.!-IC’SPRODUCTDOCU- MENTATION. 4HIS(ARDWARE-ANUALISANON-COMMERCIALPUBLICATIONTHATSEEKSTOPROVIDECONCISESCIENTI 1CANDTECHNICAL USERINFORMATIONTOTHETARGETUSER.4HUS,TRADEMARKDESIGNATIONSANDSyMBOLSAREONLyENTEREDINTHE 3HORT3PECOFTHISDOCUMENTTHATINTRODUCESTHEPRODUCTATAqUICKGLANCE.4HETRADEMARKDESIGNATION /SyMBOLISALSOENTEREDWHENTHEPRODUCTORFEATURENAMEOCCURSFORTHE 1RSTTIMEINTHEDOCUMENT.!LL TRADEMARKSANDBRANDNAMESUSEDAREPROPERTyOFTHEIRRESPECTIVEOWNERS. 10.4 4ARGET5SER 4HEDOCUMENTATIONPROVIDEDHERE,ISFORPROGRAMMERSANDENGINEERSONLy,WHOAREEqUIPPEDWITHTHE NECESSARySKILLSANDHAVEBEENTRAINEDTOWORKWITHTHISTyPEOFPRODUCT. 4HE4ARGET5SERKNOWSHOWTORESPONSIBLyMAKEUSEOFTHISPRODUCTWITHOUTCAUSINGHARMTOHIMSELFOR OTHERS,ANDWITHOUTCAUSINGDAMAGETOSySTEMSORDEVICES,INWHICHTHEUSERINCORPORATESTHEPRODUCT.

10.5 DISCLAIMER:,IFE3UPPORT3ySTEMS

42I.!-IC-OTIONCONTROLGMB(&CO.+GDOESNOTAUTHORIzEORWARRANTANyOFITSPRODUCTSFORUSEINLIFE SUPPORTSySTEMS,WITHOUTTHESPECI 1CWRITTENCONSENTOF42 I.!-IC-OTIONCONTROLGMB(&CO.+G. ,IFESUPPORTSySTEMSAREEqUIPMENTINTENDEDTOSUPPORTORSUSTAINLIFE,ANDWHOSEFAILURETOPERFORM, WHENPROPERLyUSEDINACCORDANCEWITHINSTRUCTIONSPROVIDED,CANBEREASONABLyExPECTEDTORESULTIN PERSONALINJURyORDEATH. INFORMATIONGIVENINTHISDOCUMENTISBELIEVEDTOBEACCURATEANDRELIABLE.(OWEVER,NORESPONSIBILITy ISASSUMEDFORTHECONSEqUENCESOFITSUSENORFORANyINFRINGEMENTOFPATENTSOROTHERRIGHTSOFTHIRD PARTIESWHICHMAyRESULTFROMITSUSE.3PECI 1CATIONSARESUBJECTTOCHANGEWITHOUTNOTICE.

10.6 DISCLAIMER:INTENDED5SE

4HEDATASPECI 1EDINTHISUSERMANUALISINTENDEDSOLELyFORTHEPURPOSEOFPRODUCTDESCRIPTION..OREPRE- SENTATIONSORWARRANTIES,EITHERExPRESSORIMPLIED,OFMERCHANTABILITy, 1TNESSFORAPARTICULARPURPOSE h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 23/24 OROFANyOTHERNATUREAREMADEHEREUNDERWITHRESPECTTOINFORMATION/SPECI 1CATIONORTHEPRODUCTSTO WHICHINFORMATIONREFERSANDNOGUARANTEEWITHRESPECTTOCOMPLIANCETOTHEINTENDEDUSEISGIVEN. INPARTICULAR,THISALSOAPPLIESTOTHESTATEDPOSSIBLEAPPLICATIONSORAREASOFAPPLICATIONSOFTHEPRODUCT. 42I.!-ICPRODUCTSARENOTDESIGNEDFORANDMUSTNOTBEUSEDINCONNECTIONWITHANyAPPLICATIONSWHERE THEFAILUREOFSUCHPRODUCTSWOULDREASONABLyBEExPECTEDTORESULTINSIGNI 1CANTPERSONALINJURyORDEATH (SAFETy-CRITICAL!PPLICATIONS)WITHOUT42I.!-IC’SSPECI1CWRITTENCONSENT. 42I.!-ICPRODUCTSARENOTDESIGNEDNORINTENDEDFORUSEINMILITARyORAEROSPACEAPPLICATIONSORENVIRON- MENTSORINAUTOMOTIVEAPPLICATIONSUNLESSSPECI 1CALLyDESIGNATEDFORSUCHUSEBy42 I.!-IC.42I.!-IC CONVEySNOPATENT,COPyRIGHT,MASKWORKRIGHTOROTHERTRADEMARKRIGHTTOTHISPRODUCT.42 I.!-ICASSUMES NOLIABILITyFORANyPATENTAND/OROTHERTRADEMARKRIGHTSOFATHIRDPARTyRESULTINGFROMPROCESSINGOR HANDLINGOFTHEPRODUCTAND/ORANyOTHERUSEOFTHEPRODUCT.

10.7 COLLATERALDOCUMENTS&4OOLS

4HISPRODUCTDOCUMENTATIONISRELATEDAND/ORASSOCIATEDWITHADDITIONALTOOLKITS, 1RMWAREANDOTHER ITEMS,ASPROVIDEDONTHEPRODUCTPAGEAT:WWW.TRINAMIC.COM. h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60/86-1378(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.21•2020-!02-24 24/24 11 2EVISION(ISTORy 11.1 (ARDWARE2EVISION 6ERSION DATE !UTHOR DESCRIPTION 1.00 2019-&%"-284-C &IRSTPROTOTyPES. 1.10 2019-!02-054-C 2ELEASEVERSION. 4AbLE17:(ARDwARE2EVISION

11.2 DOCUMENT2EVISION

6ERSION DATE !UTHOR DESCRIPTION 1.00 2019-D%C-05/+ &IRSTRELEASE. 1.10 2019-D%C-16G% 5PDATESANDCORRECTIONS. 1.20 2020-J!.-29G% -OTORCHARACTERISTICSUPDATED. 1.21 2020-!02-24/+ .EWBLOCKDIAGRAM. 4AbLE18:DOCuMENT2EVISION h202042I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

Product Information

PD57/60/86-1378 specifications and overview.

Summary

PD57/60/86-1378 Hardware Manual Revision V1.21 - 2020-APR-24

Description

PD57/60/86-1378 Hardware Manual Revision V1.21 - 2020-APR-24

Source title PD57/60/86-1378 Datasheet(PDF) - TRINAMIC Motion Control GmbH & Co. KG.

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