PD57 TRINAMIC | Alldatasheet

Document overview

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  • PDF pages: 25

Technical content

Datasheet sections

  • 1.1 GENERAL&EATURES
  • 1.2.1 STEALTHCHOP™
  • 1.2.2 SPREADCyCLE™
  • 1.3 STALLGUARD2
  • 1.4 COOL3TEP
  • 4 CONNECTORSAND,EDS

0!.DRIVE™FOR3TEPPER 0!.D2I6E™ 0D57/60-x-1076(ARDWARE-ANUAL (ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 4HE0D57/60-1076ISANEASyTOUSE0!.DRIVE™SMARTSTEPPERMOTOR.4HEMODULEISCONTROLLEDVIA ASTEPANDDIRECTIONINTERFACE. /NECON 1GURATIONPINSELECTSTHECURRENTCONTROLMODEBETWEEN STEALTHCHOP™ FORABSOLUTESILENTMOTORCONTROLANDSPREADCyCLE ™ FORHIGHSPEED. !44,5!24 INTERFACEALLOWSFORMOREADVANCEDCON 1GURATION,FORExAMPLEOFTHESTALLGUARD2 ™ANDCOOL3TEP™ FEATURES,ANDPERMANENTPARAMETERSTORAGEVIA4-C, ™-IDE. &EATURES

  • 3UPPLy6OLTAGE+10...+306DC
  • 5PTO3!2-3MOTORCURRENT
  • 3TEPANDDIRECTIONINTERFACE
  • MICRO0LyER™ TO256t-STEPS
  • STEALTHCHOP™ SILENT07-MODE
  • SPREADCyCLE™ SMARTMIXEDDECAy
  • STALLGUARD2™ LOADDETECTION
  • COOL3TEP™ AUTOM.CURRENTSCALING
  • 5!24CON1GURATIONINTERFACE !PPLICATIONS
  • ,AB-!UTOMATION
  • -ANUFACTURING
  • 2OBOTICS
  • &ACTORy!UTOMATION
  • C.C 3IMPLI1ED"LOCKDIAGRAM µC TMCL Memory Step Motor cDriver with stealthChop UART STEP/DIR EN CHOP 9...24V SPI SPI h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONAT:WWW.TRINAMIC.COM 2EADENTIREDOCUMENTATION.

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 3/25 1 &EATURES 4HE0!.DRIVE™ 0D57/60-x-1076ISAFULLMECHATRONICSOLUTIONWITHSTATEOFTHEARTFEATURESET. ITISHIGHLy INTEGRATEDANDO ffERSACONVENIENTHANDLING. 4HE0D57/60-x-1076INCLUDESASTEPPERMOTORANDDRIVERELECTRONICS. ITCANBEUSEDINMANyDECENTRALIzED VOLTAGE.7ITHSTEALTHCHOP™,THE0D57/60-x-1076OffERSABSOLUTELySILENTANDSMOOTHMOTOROPERATIONFOR LOWERANDMEDIUMVELOCITIES.7ITHSPREADCyCLE ™,THE0D57/60-x-1076OffERSAHIGHPERFORMANCECURRENT CONTROLLEDCHOPPERMODEFORHIGHESTVELOCITIESWITHPERFECTzEROCROSSINGPERFORMANCE.7ITHSTALLGUARD2 ™, ASENSORLESSLOADDETECTIONFEATUREISPROVIDED,WHICHISREqUIREDFORUSINGTHEAUTOMATICCURRENTSCALING FEATURECOOL3TEP™.4HE0D57/60-x-1076CANBEUSEDWITHASIMPLESTEPANDDIRECTIONINTERFACEANDCANBE CON1GUREDUSINGA44,5!24INTERFACE. STALLGUARD2ANDCOOL3TEPMUSTBECON 1GUREDVIA44,5!24INTERFACEANDAREDISABLEDByDEFAULT.

1.1 GENERAL&EATURES

-AINCHARACTERISTICS

  • 3UPPLy6OLTAGE+106TO+306DC
  • 3!2-3PHASECURRENT(CA.4.2!PEAKPHASECURRENT)
  • (IGHESTMICROSTEPRESOLUTION,UPTO256MICROSTEPSPERFULLSTEP
  • MICRO0LyER™ MICROSTEPINTERPOLATORFOROBTAININGINCREASEDSMOOTHNESSOFMICROSTEPPINGOVERALOW FREqUENCy34%0/DI2INTERFACE
  • 7ITHHOUSINGANDMOTORMOUNTED
  • 0ERMANENTONBOARDPARAMETERSTORAGE
  • 3IMPLESTEP&DIRECTIONMODE
  • .OISELESSSTEALTHCHOP™ CHOPPERMODEFORSLOWTOMEDIUMVELOCITIES
  • (IGHPERFORMANCESPREADCyCLE ™ CHOPPERMODE
  • (IGH-PRECISIONSENSORLESSLOADMEASUREMENTWITHSTALLGUARD2 ™
  • !UTOMATICCURRENTSCALINGALGORITHMCOOL3TEP ™ TOSAVEENERGyANDKEEPyOURDRIVECOOL /PTICALLyISOLATEDINPUTS
  • 3TEP&DIRECTIONINTERFACEWITHUPTO45K(zINPUTFREqUENCy
  • %NABLEINPUTTOPOWER-ON/-Off DRIVER(-BRIDGES
  • -ODESELECTINPUTTOSWITCHBETWEENTHETWOCHOPPERMODES 44,5!24 INTERFACE
  • 44,-LEVEL5!24INTERFACEFORPARAMETERCON 1GURATION
  • INTERFACESPEED9600-115200BPS(DEFAULT9600BPS)
  • 4-C,-BASEDPROTOCOLFORONLINECON 1GURATIONANDPERMANENTPARAMETERSETTINGS
  • "OOTLOADERFOR 1RMWAREUPDATES h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 4/25 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 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 5/25

1.3 STALLGUARD2

STALLGUARD2ISAHIGH-PRECISIONSENSORLESSLOADMEASUREMENTUSINGTHEBACK%-&OFTHEMOTORCOILS. IT CANBEUSEDFORSTALLDETECTIONASWELLASOTHERUSESATLOADSBELOWTHOSEWHICHSTALLTHEMOTOR. 4HE 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

1.4 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 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 6/25 2 /RDERCODES /RDERCODE DESCRIPTION 3IzE(,X7X() 0D57-1-10760!.DRIVE,0.55.M,3!2-3,+246DC,44,5!24INTERFACE,3/D INTERFACE,%NABLE,-ODE3ELECT 60MMX60MMX54MM 0D57-2-10760!.DRIVE,1.01.M,3!2-3,+246DC,44,5!24INTERFACE,3/D INTERFACE,%NABLE,-ODE3ELECT 60MMX60MMX64MM 0D60-3-10760!.DRIVE,2.1.M,3!2-3,+246DC,44,5!24INTERFACE,3/D INTERFACE,%NABLE,-ODE3ELECT 60MMX60MMX78MM 0D60-4-10760!.DRIVE,3.1.M,3!2-3,+246DC,44,5!24INTERFACE,3/D INTERFACE,%NABLE,-ODE3ELECT 60MMX60MMX99MM 4AbLE1:/RDERCODES0A.DRIVES /RDERCODE DESCRIPTION 0D-1076-C!",%CABLELOOMFOR0DXX-1076AND0D57/60-x-1076.CONTAINS:

  • 1XCABLELOOMFORMOTORCONNECTORWITH4-PINJ34%(FEMALECONNECTOR
  • 1XCABLELOOMFOR0OWER+ I//CONNECTORWITH9-INJ34%(FEMALECONNECTOR 4AbLE2:/RDERCODESCAbLELOOM h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 7/25 3 -ECHANICALANDELECTRICAL INTERFACING 3.1 0D57/60-x-1076DIMENSIONSAND7EIGHT 4HE0D57/60-x-1076INCLUDESTHE4-C--1076STEPPERMOTORDRIVERMODULEANDA.%-!23OR.%-!24 BIPOLARSTEPPERMOTOR.DEPENDINGONTHEMOTORSIzETHELENGTHVARIES. Length FIGURE5:0D57/60-x-1076MECHANICALDIMENSIONSwITHMOTOR /RDERCODE ,ENGTHINMM 7EIGHTING 0D57-1-107654 ≈ 520 0D57-2-107664 ≈ 720 0D60-3-107678 ≈ 1270 0D60-4-107699 ≈ 1470 4AbLE3:0D57/60-x-1076LENGTHANDwEIGHT h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 8/25 3.2 0D57/60-x-1076-OTOR0ARAMETERS 3PECI1CATIONS 5NIT 0D57-1-10760D57-2-10760D60-3-10760D60-4-1076 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 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 9/25 3.3 0D57/60-x-10764ORqUECURVES 4HEFOLLOWINGDIAGRAMSSHOWTHETORqUEVS. SPEEDCURVESFORTHE0D57-1-1076,THE0D57-2-1076,THE 0D60-3-1076ANDTHE0D60-4-1076WITHSPREADCyCLECHOPPERMODESELECTED,246SUPPLyVOLTAGEANDRATED MOTORCURRENT(2.8!2-3/4!PEAK). FIGURE6:0D57-1-1076TORqUEVS.VELOCITy246/2.8A,256µSTEPS FIGURE7:0D57-2-1076TORqUEVS.VELOCITy246/2.8A,256µSTEPS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 10/25 FIGURE8:0D60-3-1076TORqUEVS.VELOCITy246/2.8A,256µSTEPS FIGURE9:0D60-4-1076TORqUEVS.VELOCITy246/2.8A,256µSTEPS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 11/25

4 CONNECTORSAND,EDS

FIGURE10:0D57/60-x-1076CONNECTORS 4.1 -OTORCONNECTOR 0INNO. 0INNAME DESCRIPTION 1 "1 -OTORPHASE!PIN1 2 "2 -OTORPHASE!PIN2 3 !1 -OTORPHASE"PIN1 4 !2 -OTORPHASE"PIN2 4AbLE5:-OTORCONNECTORPINNING NOT ICE DONOTCONNECTORDISCONNECTMOTORDURINGOPERATION! -OTORCABLEANDMOTORINDUCTIVITyMIGHTLEADTOVOLTAGESPIKESWHENTHEMOTORIS (DIS)CONNECTEDWHILEENERGIzED.4HESEVOLTAGESPIKESMIGHTEXCEEDVOLTAGELIMITS OFTHEDRIVER-/3&%4SANDMIGHTPERMANENTLyDAMAGETHEM.4HEREFORE,ALWAyS SWITCHOff ORDISCONNECTPOWERSUPPLyBEFORE(DIS)CONNECTINGTHEMOTOR. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 12/25 4.2 0OWER+I//CONNECTOR 0INNO. 0INNAME DESCRIPTION 1 G.D 3UPPLyGROUNDCONNECTION,ALSOUSEDFOR53"SERIALCONVERTERGROUNDCONNECTION 2 6+ 3UPPLyVOLTAGE(VDD)+106TO+306DC

3 DI2 /PTICALLyISOLATEDDIRECTIONINPUTOF3/DINTERFACE

4 34%0 /PTICALLyISOLATEDSTEPINPUTOF3/DINTERFACE 5 %. /PTICALLyISOLATEDENABLEINPUTOFMOTORDRIVER(-BRIDGES

6 C(/0 /PTICALLyISOLATEDCHOPPERMODESELECTIONINPUT

7 C/-- /PTO-COUPLERCOMMONANODEORCATHODE,CONNECTTOGROUNDOR6CC I/(3.36TO 66-HIGHERVOLTAGESPOSSIBLEWITHADDITIONALEXTERNALRESISTORS) 8 28D 44,-LEVEL5!24RECEIVELINE,USEWITH53"SERIALCONVERTER48DLINETOCONNECTTO 9 48D 44,-LEVEL5!24TRANSMITLINE,USEWITH53"SERIALCONVERTER28DLINETOCONNECTTO 4AbLE6:0OwER+ I//CONNECTORPINNING NOT ICE 3UPPLy6OLTAGEBU ff ERING/!DDExTERNAL0OWER3UPPLyCAPACITORS ! SU/uniFB03CIENTLy BUffERED POWER SUPPLy OR AN EXTERNAL ELECTROLyTE CAPACITOR CONNECTEDBETWEEN6+ANDG.DISRECOMMENDEDFORSTABLEOPERATION. ITISRECOMMENDEDTOCONNECTANELECTROLyTICCAPACITOROFSIGNI 1CANTSIzETOTHE POWERSUPPLyLINESNEXTTOTHE0D57/60-x-1076. 2ULEOFTHUMBFORSIzEOFELECTROLyTICCAPACITOR: C = 1000µF A ∗ ISUPPLY 4HE 0D57/60-x-1076 COMES WITH APPROXIMATELy 40µ& OF ONBOARD CERAMIC CAPACITORS. NOT ICE 4HEREISNOREVERSEPOLARITyPROTECTIONONTHESUPPLyINPUT! 4HEMODULEWILLSHORTANyREVERSEDSUPPLyVOLTAGEANDBOARDELECTRONICSWILLGET DAMAGED. NOT ICE 0OWER5P3EqUENCE 4HE0D57/60-x-1076MUSTBEPOWEREDUPWITHDISABLEDDRIVERSTAGEONLy. DE- PENDINGONyOURCON 1GURATIONTHE%.INPUTSHOULDBELOGICALLy/&&.&OREXAMPLE, IFC/--INPUTISCONNECTEDTO3.36TO246,THE%.INPUTMUSTBE06. IFCOMMON GROUNDOR06LEVELISCONNECTEDTOC/--INPUT,THE%.INPUTMUSTHAVEHIGH LEVEL. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 13/25 4.3 44,5!24CONNECTION 4OCONNECTVIATHE44,5!24INTERFACETOAHOST0C,WESUGGESTUSINGA53"SERIALCONVERTERFROM44,-5!24 (56)TO53"INTERFACE. COMMUNICATIONWITHTHEHOST0C,FOREXAMPLEWHENUSING42 I.!-IC’S4-C,-ID%,ISDONEVIATHE6IRTUAL C/-PORTINSTALLEDByTHECONVERTERDRIVER. -OREINFORMATIONONTHE4-C,- ID%ANDTHELATESTRELEASECANBEFOUNDHERE:WWW.TRINAMIC.COM 4HECONVERTERCABLEMUSTBECONNECTEDTOPINS1,8,AND9(G.D,28D,48D)OFTHE I//CONNECTOR. NOTE DEFAULTBAUD2ATES 4HEDEFAULTBAUDRATEIS9600BPS. INBOOTLOADERMODE,THEBAUDRATEIS115200BPS. INfO 53BTO5!24CONVERTER &OREXAMPLE,THE44,-2322-56FROM&4DIISWORKINGWITHTHEMODULEANDHAS BEENTESTED.-OREINFORMATIONONTHISCONVERTERISAVAILABLEONTHE&4D IWEBSITE: WWW.FTDICHIP.COM NOT ICE 5644,5!24,EVEL 4HE44,5!24INTERFACEWORKSWITH56LEVEL.4AKESPECIALCAREWHENSELECTINGA CONVERTERCABLEFOR53"CONNECTION. 4.4 3TATUS,EDS 4HE0D57/60-x-1076HASONEGREENSTATUS,%D.3EE1GURE10FORITSLOCATION. 3TATE DESCRIPTION "LINKING (EARTBEAT,-C5ACTIVE,NORMALOPERATION 0ERMANENTON "OOTLOADERMODE /ff 0OWER/ff 4AbLE7:,EDSTATEDESCRIPTION h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 14/25 5 &UNCTIONALDESCRIPTION 5.1 4yPICAL!PPLICATION7IRING 7IRETHE0D57/60-x-1076ASSHOWNINTHEFOLLOWING1GURES.

  • CONNECTTHETHEPOWERSUPPLyTO6+ANDG.D.
  • CONNECTTHE3TEPANDDIRECTIONSIGNALSTOyOURMOTIONCONTROLLER.
  • !TPOWERUPTIME,THE%.INPUTMUSTBELOW(=DRIVERSTAGEDISABLED)!
  • /PTIONAL:CONNECT5!24TOA44,5!24INTERFACEWITH56LOGICLEVELS.4OCON 1GUREyOUR0D57/60-x- 1076CONNECTSTARTTHE4-C,-ID%ANDUSETHEPARAMETERIzATIONTOOLS.&ORDETAILEDINSTRUCTIONSREFER TOTHE0D57/60-x-1076-1RMWARE-MANUAL. NOTE 4HE44,5!24INTERFACEIS NOTOPTICALLyISOLATED.ITREqUIRES56LEVELSIGNALS. .EVERTHELESS,ITPROVIDESBASIC%3DANDRAIL-TO-RAILSIGNALLINEPROTECTIONFORTHE 0D57/60-x-1076. +5V +5V TMCM-1076 / PD-x-1076 GND EN DIR STEP CHOP User MCU B1 M COMM 270Ω 270Ω 270Ω 270Ω RXD TXD Driver & Controller 9V-28V GND FIGURE11:4yPICALAPPLICATIONSCENARIOwITH56INPUTS 5.2 /PTICALLyISOLATEDINPUTSWITHCOMMON!NODE INPUT 4HECONTROLINPUTSOFTHE0D57/60-x-1076AREOPTICALLyISOLATED(NOTTHE44,5!24INTERFACE).!LLOPTOCOU- PLERSSHAREONECOMMONANODE(C/--)INPUTASSHOWNINTHE 1GUREABOVE. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 15/25 +5V3.3V to +6V Driver & Controller TMCM-1076 / PD-x-1076 GND EN DIR STEP CHOP User MCU B1 M COMM 270Ω 270Ω 270Ω 270Ω FIGURE12:INPUTSwITHCOMMONANODEINPUTwITH3.36TO56 4HETyPICALVOLTAGEATC/--INPUTIS56..EVERTHELESS,3.36ORVOLTAGESHIGHERTHAN56CANALSOBEUSEDAS LONGASTHECURRENTISTHROUGHTHEOPTOCOUPLERS ’EMITTERISBETWEEN5M!TO20M!.&OR3.36OPERATIONTHE CONTROLLERMUSTBECAREFULLySELECTEDWITHRESPECTTOITS I//PORTS,ITSACTUALOUTPUTVOLTAGE,ANDTHESERIES RESISTOROFTHE I//PORTS.4HEUSERMUSTMAKESURETHATTHECURRENTTHROUGHTHEOPTOCOUPLERS ’EMITTERIS BETWEEN5M!TO20M!. NOTE 3TEPPULSEWIDTH 7IDTHOFTHESTEPPULSESSHOULDBEBETWEEN2 tSAND4 tS,FORMAXIMUMSTEP FREqUENCy. 7ITHALARGERSTEPPULSEWIDTH,FOREXAMPLE50%DUTyCyCLECOMINGFROMAFRE- qUENCyGENERATOR,THEMAXIMUMINPUTFREqUENCyWILLBELOWERATCA. 9K(z.. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 16/25 270Ω +5V >5V to +24V Driver & Controller TMCM-1076 / PD-x-1076 GND B1 M COMM 270Ω 270Ω 270Ω EN GND DIR GND STEP GND CHOP GND Rexternal Rexternal Rexternal Rexternal FIGURE13:INPUTSwITHCOMMONANODEINPUTwITH>56TO246 4HESERIESRESISTORSINTHE0D57/60-x-1076ARE270M/HMS.&OROPERATIONWITHVOLTAGESHIGHERTHAN56AN ADDITIONALEXTERNALRESISTOR Rexternal ISREqUIREDPERINPUTTOLIMITTHECURRENT.3EE4ABLE8ASREFERENCEFOR ADDITIONALEXTERNALRESISTORVALUES. C/--6OLTAGE(6) 6ALUEOF Rexternal (Ω) 3.3 - 5 - 9 300 12 500 15 700 24 1+5 4AbLE8:ADDITIONALRESISTORREFERENCEVALUES NOTE Rexternal 3ELECTION 4AKECAREWHENSELECTINGANADDITIONALEXTERNALRESISTOR.4HERESISTORTyPEMUST HAVEA 1TTINGPOWERRATING.4HISDEPENDSONTHEVOLTAGEUSEDATC/--INPUT. 5.3 /PTICALLyISOLATEDINPUTSWITHCOMMONCATHODE INPUT 4HEOPTOCOUPLERSINSIDE0D57/60-x-1076AREBIDIRECTIONALTyPES(!C/DC).4HUS,C/--CANALSOBEUSEDAS COMMONCATHODECONNECTION. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 17/25 5.4 4HERMALBEHAVIOR 4HEDEFAULTCON 1GURATIONPARAMETERSOFTHE0D57/60-x-1076ARESETTOTHESPECI1EDMAXIMUMCURRENTOF 3!2-3/4.2!PEAK,WHICHISTHEMAXIMUMMOTORPHASECURRENTSPECI 1EDFORTHESTEPPERMOTOROPTIONS GIVENIN4ABLE4. 4yPICALLy,ATTHISNOMINALCURRENTSETTINGTHESTEPPERMOTORANDTHEDRIVERELECTRONICSWILLGETHOT.CONTINU- OUSOPERATIONATMAXIMUMCURRENTISNOTGUARANTEEDWITHOUTCOOLINGTHEMOTORSINCETHESTEPPERDRIVER WILLSWITCHO ff DUETOITSINTERNALOVER-TEMPERATUREPROTECTIONUNTILTEMPERATUREFALLSBELOWTHETHRESHOLD. NOTE /PERATIONWITH-AxIMUMCURRENT3ETTING &ORTABLE-TOPTESTINGANDAPPLICATIONBRING-UPTHECURRENTSHOULDBEREDUCEDOR THECOOL3TEPFEATURESHOULDBECON 1GUREDTOKEEPHEATINGONAREASONABLELEVEL. %SPECIALLy,WHENTHEREISNOOTHERCOOLINGOPTIONFORTHEMOTOR. &ORPROPERANDCONTINUOUSOPERATIONATMAXIMUMCURRENT,THEMOTOR 2ANGE MUSTBEMOUNTEDTOTHEAPPLICATIONSMECHANICALINTERFACEWITHGOODCONTACT. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 18/25 6 /PERATIONAL2ATINGSANDCHARACTERISTICS 6.1 !BSOLUTE-AxIMUM2ATINGS 0ARAMETER -IN -AX 5NIT 3UPPLyVOLTAGE +10 +30 6 7ORKINGTEMPERATURE -30 +40 oC -OTORCOILCURRENT/SINEWAVE PEAk 4.2 ! CONTINUOUSMOTORCURRENT( 2-3) 3 ! NOT ICE !VOID ExCEEDING THE ABSOLUTE MAxIMUM RATING UNDER ALL CIRCUMSTANCES. 3TRESSESABOVETHOSELISTEDUNDER" ‘!BSOLUTE-AXIMUM2ATINGS" ’MAyCAUSE PERMANENTDAMAGETOTHEDEVICE. 4HISISASTRESSRATINGONLyANDFUNCTIONAL OPERATIONOFTHEDEVICEATTHOSEORANyOTHERCONDITIONSABOVETHOSEINDICATEDIN THEOPERATIONLISTINGSOFTHISSPECI 1CATIONISNOTIMPLIED.%XPOSURETOMAXIMUM RATINGCONDITIONSFOREXTENDEDPERIODSMAyA ffECTDEVICERELIABILITy. +EEP THE POWER SUPPLy VOLTAGE BELOW THE UPPER LIMIT OF +306! /THERWISE THEBOARDELECTRONICSWILLSERIOUSLyBEDAMAGED!%SPECIALLy,WHENTHESELECTED OPERATINGVOLTAGEISNEARTHEUPPERLIMITAREGULATEDPOWERSUPPLyISHIGHLy RECOMMENDED. 6.2 ELECTRICALCHARACTERISTICS(!MBIENT4EMPERATURE25oC) 0ARAMETER 3yMBOL -IN 4yP -AX 5NIT 3UPPLyVOLTAGE VDD 10 24 30 6 -OTORCOILCURRENT/SINEWAVE PEAk(CHOPPERREGU- LATED,ADJUSTABLEVIA44,5!24INTERFACE) ICOILpeak 0 4.2 ! CONTINUOUSMOTORCURRENT( 2-3) ICOILRMS 0 3 ! 0OWERSUPPLyCURRENT IDD ≪ ICOIL 1.4∗ICOIL ! 4AbLE10:ELECTRICALCHARACTERISTICS 6.3I//2ATINGS(!MBIENT4EMPERATURE25oC) 0ARAMETER 3yMBOL -IN 4yP -AX 5NIT C/--INPUTVOLTAGE VCOMM 3.3 5 +VDD 6 INPUTFREqUENCyOFOPTICALLyISOLATED I//S fin 45 K(z 44,5!24INPUTVOLTAGE VTTL_IN 5 5.5 6 44,5!24LOWLEVELVOLTAGE VTLLL 0 1.75 6 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 19/25 44,5!24HIGHLEVELVOLTAGE VTTLH 3.25 5 6 44,5!24OUTPUTVOLTAGE VTTL_OUT 5 6 4AbLE11:/PERATIONALRATINGSOFOPTICALLyISOLATEDINPUTSAND44,5A24INTERFACE 6.4 &UNCTIONALCHARACTERISTICS 0ARAMETER DESCRIPTION/6ALUE CONTROL 4-WIREINTERFACEWITH3TEP,DIRECTION,%NABLE,ANDCHOPPER-ODE3WITCH 3TEP0ULSE7IDTH 4HESTEPPULSEWIDTHSHOULDBEBETWEEN2 tSAND4 tSFORMAXIMUMFREqUENCy. 7ITHALARGERSTEPPULSEWIDTH, FOREXAMPLE50%DUTyCyCLECOMINGFROMA FREqUENCyGENERATOR,THEMAXIMUMINPUTFREqUENCyWILLBELOWERATCA.9K(z. COMMUNICATION 2-WIRE44,5!24INTERFACEFORCON 1GURATION,9600-115200BPS(DEFAULT57600 BPS) DRIVING-ODE SPREADCyCLEANDSTEALTHCHOPCHOPPERMODES(SELECTABLEWITHC(/0INPUT), ADAPTIVEAUTOMATICCURRENTREDUCTIONUSINGSTALLGUARD2ANDCOOL3TEP 3TEPPING2ESOLUTION &ULL,1/2,1/4,1/8,1/16,1/32,1/64,1/128,1/256STEP,DEFAULTIS1/16WITHINTERNAL INTERPOLATIONTO1/256 4AbLE12:FUNCTIONALCHARACTERISTICS 6.5 /THER2EqUIREMENTS 3PECI1CATIONS DESCRIPTIONOR6ALUE COOLING &REEAIR 7ORKINGENVIRONMENT !VOIDDUST,WATER,OILMISTANDCORROSIVEGASES,NOCONDENSATION,NOFROSTING 7ORKINGTEMPERATURE -30oCTO+40oC 4AbLE13:/THER2EqUIREMENTSANDCHARACTERISTICS h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 20/25 7 !BBREVIATIONSUSEDINTHIS-ANUAL !BBREVIATION DESCRIPTION C/-- COMMON!NODEORCOMMONCATHODE 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 4AbLE14:AbbREVIATIONSUSEDINTHIS-ANUAL h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 21/25 8 &IGURESINDEx 1 -OTOR COIL SINE WAVE CURRENT USING STEALTHCHOP(MEASUREDWITHCURRENT

3 STALLGUARD2,OAD-EASUREMENTASA

4 %NERGy%/uniFB03CIENCy%XAMPLEWITHCOOL3TEP 5 5 0D57/60-x-1076 MECHANICAL DIMEN- 6 0D57-1-1076TORqUEVS.VELOCITy246/ 7 0D57-2-1076TORqUEVS.VELOCITy246/ 8 0D60-3-1076TORqUEVS.VELOCITy246/ 9 0D60-4-1076TORqUEVS.VELOCITy246/ 11 4yPICALAPPLICATIONSCENARIOWITH56IN-

12 INPUTSWITHCOMMONANODEINPUTWITH

13 INPUTSWITHCOMMONANODEINPUTWITH

h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 22/25 9 4ABLESINDEx 3 0D57/60-x-1076LENGTHANDWEIGHT. . 7 60MMSTEPPERMOTORTECHNICALDATA. 8 6 0OWER+ I//CONNECTORPINNING . . . . 12 8 !DDITIONALRESISTORREFERENCEVALUES . 16 11 /PERATIONAL RATINGS OF OPTICALLy ISO- LATEDINPUTSAND44,5!24INTERFACE . 19 13 /THER2EqUIREMENTSANDCHARACTERISTICS 19 14 !BBREVIATIONSUSEDINTHIS-ANUAL . . 20 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 23/25 10 3UPPLEMENTALDIRECTIVES 10.1 0RODUCERINFORMATION

10.2 COPyRIGHT

42I.!-ICOWNSTHECONTENTOFTHISUSERMANUALINITSENTIRETy,INCLUDINGBUTNOTLIMITEDTOPICTURES,LOGOS, TRADEMARKS,ANDRESOURCES.hCOPyRIGHT201842I.!-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 h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 24/25 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. h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

0D57/60-x-1076(ARDWARE-ANUAL•(ARDWARE6ERSION61.10|DOCUMENT2EVISION61.02•2018-3%0-03 25/25 11 2EVISION(ISTORy 11.1 (ARDWARE2EVISION 6ERSION DATE !UTHOR DESCRIPTION 1.00 2018-&%"-28G% &IRSTPROTOTyPEVERSION. 1.10 2018-!02-09G% 0ULL-UPSFOROPTO-ISOLATORCHANGEDTOLOWERVALUES(TOBECOMPATIBLE WITH4-C--1070). 4AbLE15:(ARDwARE2EVISION

11.2 DOCUMENT2EVISION

6ERSION DATE !UTHOR DESCRIPTION 1.00 2018--!2-26G% &IRSTRELEASE. 1.01 2018-J5,-183+ /RDERCODES 1XED. 1.02 2018-3%0-03G% 0RODUCTPHOTOUPDATED 4AbLE16:DOCUMENT2EVISION h201842I.!-IC-OTIONCONTROLGMB(&CO.+G,(AMBURG,GERMANy 4ERMSOFDELIVERyANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM