Pin assignment
Overview
Connection | Function |
---|---|
X1 | CANopen IN and external logic supply |
X2 | CANopen OUT and external logic supply |
X3 | Voltage supply |
X4 | Inputs and outputs |
S1 | 120 ohm termination resistor (switch set to ON) |
S2 | Hex coding switch for node-ID and baud rate |
X1 – CANopen IN and external logic supply
Connection for CANopen and the external logic supply. Type: M8, 5-pin, B-coded, male
Suitable Nanotec cable: ZK-M8-5-2M-1-PUR-S-F (not included in the scope of delivery)
Pin | Function | Note |
---|---|---|
1 | +UB Logic | 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 40 mA |
2 | CAN_SHLD | Connection for the shielding |
3 | CAN_H | CAN-High |
4 | CAN_L | CAN-Low |
5 | GND |
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.
X2 – CANopen OUT and external logic supply
Connection for CANopen and the external logic supply. Type: M8, 5-pin, B-coded, female
Suitable Nanotec cable: ZK-M8-5-2M-1-PUR-S-M (not included in the scope of delivery)
Pin | Function | Note |
---|---|---|
1 | +UB Logic | 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 40 mA |
2 | CAN_SHLD | Connection for the shielding |
3 | CAN_H | CAN-High |
4 | CAN_L | CAN-Low |
5 | GND |
X3 − voltage supply
Connection for the main supply. Type: M8, 3-pin, A-coded, male
Suitable Nanotec cable: ZK-M8-3-2M-1-AFF (not included in the scope of delivery)
Voltage source
The operating or supply voltage supplies a battery, a transformer with rectification and filtering, or a switching power supply.
Connections
Pin | Function | Note |
---|---|---|
1 | +Ub | 12-48 V, ±5% |
3 | GND | |
4 | n.c. |
Permissible operating voltage
The maximum operating voltage is 50.4 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).
X4 – inputs and outputs
Connection for inputs and outputs. Type: M8, 8-pin, A-coded, male
Suitable Nanotec cable: ZK-M8-5-2M-1-PUR-S-F (not included in the scope of delivery)
Connections
Pin | Function | Note |
---|---|---|
1 | GND | |
2 | Analog input | 10 bit, 0-10 V or 0-20 mA, switchable by means of software |
3 | Digital output 1 | Open drain, max. 24 V/100 mA |
4 | Digital output 2 | Open drain, max. 24 V/100 mA |
5 | Digital input 1 | 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz |
6 | Digital input 2 | 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz |
7 | Digital 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 |
8 | Digital 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 |
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 |
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 "left" 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.