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PD2-CB CANopen Online Manual

Technical details and pin assignment Parent topic: Technical details and pin assignment

Pin assignment

Overview

Connection Function
X1 Voltage supply, inputs and outputs
X2 CANopen IN and external logic supply
X3 CANopen OUT and external logic supply
S1 120 ohm termination resistor (switch set to ON)
S2 Hex coding switch for node-ID and baud rate
L1 Power LED

Note: All pins with designation GND are internally connected.

X1 – voltage supply, inputs and outputs

Voltage source

The operating or supply voltage supplies a battery, a transformer with rectification and filtering, or a switching power supply.

Note:
  • EMC: For a DC power supply line longer than 30 m or when using the motor on a DC bus, additional interference-suppression and protection measures are necessary.
  • ► An EMI filter is to be inserted in the DC supply line as close as possible to the controller/motor.
  • ► Long data or supply lines are to be routed through ferrites.

Connections

  • Type: Phoenix Contact MCDN 1.5/ 6-G1-3.5 P26THR
  • Mating connector (included in scope of delivery): 2x Phönix Contact FMC 1.5/ 6-ST-3.5 (or equivalent)
  • Nanotec article number: ZCPHOF-MC1,5-6
Pin Function Note
a1 GND
a2 +Ub Rated voltage (±5%):
  • PD2-C4118X1404-E-08: 12 - 48 V DC,
  • PD2-C4118L1804-E-08: 12 - 48 V DC
  • PD2-CB42C048040-E-08: 12 - 48 V DC
  • PD2-CB42M024040-E-08: 12 - 24 V DC
a3 Input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
a4 Input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
a5 Input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz; this input is used as direction input in clock-direction mode
a6 Input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz; this input is used as clock input in clock-direction mode
b1 GND
b2 +10 V DC Constant output voltage, max. 150 mA
b3 Analog input 10 bit, 0-10 V or 0-20 mA, switchable by means of software with 3221
b4 Digital output 1 Open drain, max. 24 V/100 mA
b5 Digital output 2 Open drain, max. 24 V/100 mA
b6 Digital output 3 Open drain, max. 24 V/100 mA
The following switching thresholds apply for the digital inputs:
Max. Voltage

Switching thresholds

(worst-case calculations)
Switching on Switching off
5 V > 4.58 V < 0.4 V
24 V > 14.54 V < 1.53 V
Connection data min max
Conductor cross section, rigid, min. 0.2 mm2 1.5 mm2
Conductor cross section, flexible, min. 0.2 mm2 1.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 1.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve min. 0.25 mm2 0.75 mm2
Conductor cross section, min. AWG 24 16
Min. AWG acc. to UL/CUL 24 16

Permissible operating voltage

Depending on the motor type, the maximum operating voltage is:

  • PD2-C4118X1404: 50.5 V DC.
  • PD2-C4118L1804: 50.5 V DC.
  • PD2-CB42C048040: 50.5 V DC.
  • PD2-CB42M024040: 29 V DC.

If the input voltage of the controller exceeds the threshold value set in 2034h, the motor is switched off and an error triggered. Above the response threshold set in 4021h:02h, the integrated ballast circuit is activated (wirewound resistor Z32041412209K6C000 from Vishay with 3 W continuous output).

The minimum operating voltage is 11.4 V DC. If the input voltage of the controller falls below 10 V, the motor is switched off and an error triggered.

A charging capacitor of at least 4700 µF / 50 V (approx. 1000 µF per ampere rated current) must be connected in parallel to the supply voltage to avoid exceeding the permissible operating voltage (e. g., during braking).

Note:
  • Damage to the controller and/or its power supply due to excitation voltage of the motor!
  • Voltage peaks during operation may damage the controller and possibly its power supply.
  • ► Install suitable circuits (e.g., charging capacitor) that reduce voltage peaks.
  • ► With BLDC motors: Select a voltage source that corresponds to the rated voltage of the respective motor as specified in the motor data sheet.
  • ► Use a power supply with protection circuit to protect against overvoltage.

X2 – CANopen IN and external logic supply

Connector type: JST GH

Suitable Nanotec cable: ZK-PD4-C-CAN-4-500-S (not included in scope of delivery)

Pin Function Note
1 +UB Logic 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 35 mA
2 CAN_H CAN-High
3 CAN_L CAN-Low
4 GND
Note:

Should the main supply fail, the logic supply keeps the electronics, the encoder and the communication interface in operation.

The windings of the motor are not supplied by the logic supply.

X3 – CANopen OUT and external logic supply

Connector type: JST GH

Suitable Nanotec cable: ZK-PD4-C-CAN-4-500-S (not included in scope of delivery)

Pin Function Note
1 +UB Logic 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 35 mA
2 CAN_H CAN-High
3 CAN_L CAN-Low
4 GND

S1 – 120 ohm termination resistor

This DIP switch switches the termination of 120 Ω between CAN_H and CAN_L of the CAN bus on or off. The "up" switch position switches termination on (factory setting).

S2 – CANopen node-ID and baud rate

Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate.

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