PD57/60/86-1378 Hardware Manual • Hardware Version V1.10 | Document Revision V1.21 • 2020-APR-24

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6.4

Functional Characteristics

Parameter

Description / Value

Control

CAN bus interface and four digital inputs for referencing, incremental encoder,

and NOT_ENABLE

Communication

CAN bus interface for control and con guration, 20. . . 1000kBit/s

Driving Mode

SpreadCycle™, StealthChop™, and constant Toff chopper, adaptive current con-

trol via StallGuard2™ and coolstep

Stepping Resolution

Full, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128, 1/256 step

Table 14: Functional Characteristics

6.5

Other Requirements

Speci cations

Description or Value

Cooling

Free air

Working environment

Avoid dust, water, oil mist and corrosive gases, no condensation, no frosting

Working temperature

-20° C to +50° C

Table 15: Other Requirements and Characteristics

7

Abbreviations used in this Manual

Abbreviation

Description

CAN

Controller Area Network

IDE

Integrated Development Environment

LED

Light Emmitting Diode

RMS

Root Mean Square value

TMCL

TRINAMIC Motion Control Language

TTL

Transistor Transistor Logic

UART

Universal Asynchronous Receiver Transmitter

USB

Universal Serial Bus

Table 16: Abbreviations used in this Manual

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