Features
• PANdrive™ smart motor
• Supply Voltage +12 to +52V DC
• CAN bus interface
• TMCL™ or CANopen® protocol
• Integrated ramp motion controller
with different ramp types
• StealthChop™ silent PWM mode
• SpreadCycle™ smart mixed decay
• StallGuard2™ load detection
• CoolStep™ automatic current scaling

Applications
• Lab-Automation
• Manufacturing
• Robotics
• Factory Automation
• CNC

1 Features
The PANdrives™ PD57/60/86-1378 are full mechatronic solutions with state of the art feature set. They
are highly integrated and offer convenient handling via CAN interface. Each PD57/60/86-1378 includes
a stepper motor, driver electronics, and a fully featured hardware motion controller. It can be used in
many decentralized applications and has been designed for 0.55. . . 7 Nm maximum holding torque and
24V DC or 48V DC nominal supply voltage. With the built-in high resolution magnetic encoder and the
advanced ramp geneator chip it is mainly designed for closed-loop operation. With StealthChop™ the
PD57/60/86-1378 offers absolutely silent and smooth motor operation for lower and medium velocities.
With SpreadCycle™, the PD57/60/86-1378 offers a high performance current controlled chopper mode for
highest velocities with perfect zero crossing performance. With StallGuard2™, a sensorless load detection
feature is provided for automatic end step detection and load monitoring. StallGuard2™ is also used
for the automatic current scaling feature CoolStep™. The PD57/60/86-1378 is equipped with a CAN bus
interface and three digital inputs.
1.1 General Features
Main Characteristics
• Supply Voltage +24V or +48V nominal (+10V. . . +52V DC).
• up to 9A RMS phase current (depending on the motor).
• Highest micro step resolution, up to 256 micro steps per full step.
• Available with enclosure and mounted to NEMA23 / 57mm or NEMA24 / 60mm 2ange size motor.
• Permanent onboard TMCL program and parameter storage.
• Different kinds of ramps: trapezoidal ramps, six-point ramps and S-shaped ramps.
• Closed loop operation possible.
• Noiseless StealthChop™ chopper mode for slow to medium velocities.
• High performance SpreadCycle™ chopper mode.
• High-precision sensorless load measurement with StallGuard2™.
I/Os
• Home and reference switch inputs.
• Enable input to power-on/-off driver H-bridges.
CAN Bus Interface
• Standard CAN Bus Interface for control and con1guration
• CAN bit rate of 20. . . 1000kBit/s
• TMCL™ based protocol with TMCL 1rmware option
• CANopen® protocol with DS402 device pro1le with CANopen 1rmware option