Discontinued Products

The PD-146-60-SE PANdrive™ is a full mechatronic solution including 60mm flange high torque motor, a motion controller/driver and an integrated high resolution sensOstep™ encoder. The PANdrive™ is equipped with the high performance motion controller TMC457 for high dynamic, high resolution and S-shaped acceleration ramps. It can be host controlled by serial interface. The chopSync™ feature allows high speed movement without midrange resonance problems. The internal sensOstep™ encoder can be used to detect step loss or to control the target position. In addition there is an input for an optional external incremental encoder. The power supply, interface and the multi purpose I/Os can be connected with small D-SUB connectors.The PD-146-60-SE-TMCL comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL™). Using predefined TMCL™ high level commands like „move to position“ or „constant rotation“ a rapid and fast development of motion control applications is guaranteed. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed on board. The TMCL™ program can be stored in the on board EEPROM for stand-alone operation. The firmware of the module can be updated via the serial interface. With the "-CANopen" firmware option it is possible to operate the module in CANopen networks together with other equipment.

Special Features

  • programmable microstep table
  • stallGuard™

Technical Details

Motor Supply7…34V7…34V7…34V7…34V
a/b/n incremental yes yes yes
CAN yes yes yes yes
CANopen yes yes yes yes
RS232 yes yes yes yes
RS485 yes yes yes yes
TMCL yes yes yes yes
CANopen yes
TMCL yes
programmable microstep table yes yes yes yes



Hardware manual pdf430 KBNov 3, 2016 12:36 PM


TMCL firmware manual V1.10 pdf1.8 MBNov 3, 2016 12:36 PM
Short specification pdf280 KBNov 3, 2016 12:36 PM


CANopen V3.09 zip110 KBDec 20, 2016 12:20 PM
TMCM-146 firmware V4.48 hex120 KBDec 20, 2016 12:20 PM