Pin assignment Overview Connector Function X1 CANopen IN and external logic supply X2 CANopen OUT and external logic supply X3 Voltage supply X4 Inputs/outputs and external logic supply L1 Power LED, see chapter Power LED S1 Hex coding switch for node-ID and baud rate S2 120 ohm termination resistor (switch set to ON) Note: All pins with designation GND are internally connected. X1 – CANopen IN and external logic supply Connection for CANopen and the external logic supply. Type: M12, 5-pin, A-coded, male Suitable Nanotec cable: ZK-M12-5-2M-1-AFF (not included in the scope of delivery) Pin Function Note 1 CAN_SHLD Connection for the shielding 2 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X2 and pin 12 of X4 3 GND Internally connected to all GND pins 4 CAN_H CAN-High 5 CAN_L CAN-Low Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4. 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. X2 – CANopen OUT and external logic supply Connection for CANopen and the external logic supply. Connector type: M12, 5-pin, A-coded, female Suitable Nanotec cable: ZK-M12-5-2M-1-A-S-M (not included in the scope of delivery) Pin Function Note 1 CAN_SHLD Connection for the shielding 2 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X1 and pin 12 of X4 3 GND Internally connected to all GND pins 4 CAN_H CAN-High 5 CAN_L CAN-Low Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4. X3 – voltage supply Connection for the main supply. Type: M12, 5-pin, B-coded, male Suitable Nanotec cable: ZK-M12-5-2M-1-B-S (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. 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. Pin assignment Pin Function Note 1 +Ub 12 - 48 V DC ±5% 2 +Ub 12 - 48 V DC ±5% 3 GND 4 GND 5 n.c. Not used Note: The minimum voltage for the variants of the motor with integrated holding brake (PD4-E591L42-EB-65-2 and PD4-EB59CD-EB-65-2) is 22.4 V DC. The rated voltage of the variant PD4-EB59MB... is 24 V. Permissible operating voltage The maximum operating voltage is 50.4 V DC, except for variant PD4-EB59MB... (25.2 V). 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 (22.4 for variants with integrated brake). If the input voltage of the controller falls below 10 V (22.4 for variants with integrated brake), 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 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. X4 – Inputs/outputs and external logic supply Connection for the digital and analog inputs/outputs and the external logic supply. Type: M12, 12-pin, A-coded, male Suitable Nanotec cable: ZK-M12-12-2M-1-AFF (not included in the scope of delivery) Pin Function Note 1 GND 2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 4 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 5 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 6 Digital input 5 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 7 Digital input 6 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 8 Analog input 10 bit, 0 V…+10 V or 0…20 mA, switchable by means of software with object 3221h 9 Digital output 1 Digital output, open drain, max. 24 V / 100 mA 10 Digital output 2 Digital output, open drain, max. 24 V / 100 mA 11 Voltage output +5 V, max. 100 mA 12 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X1 and X2 Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4. 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. In 4015h, you can activate the alternative function of the digital inputs, which is used for the special drive modes. See chapter Special drive modes (clock-direction and analog speed). If you set 3240h:07h to the value "1", three differential inputs are available instead of six single-ended inputs. The following table shows all possible combinations: Pin Basic function Alternative function Single-ended Differential Single-ended Differential 2 Input 1 - Input 1 Release –Enable 3 Input 2 / Direction input in clock-direction mode + Input 1 Direction Release 4 Input 3 / clock input in clock-direction mode - Input 2 / - Direction input in clock-direction mode Clock –Direction 5 Input 4 + Input 2 / + Direction input in clock-direction mode Digital input 4 Direction 6 Input 5 - Input 3 / - Clock input in clock-direction mode Digital input 5 –Clock 7 Input 6 + Input 3 / + Clock input in clock-direction mode Digital input 6 Clock The following switching thresholds apply for inputs 1 to 6: Max. Voltage Switching thresholds Switching on Switching off 5 V > 4.09 V < 0.95 V 24 V > 14.74 V < 3.78 V Switch S1 - hex coding switch for node-ID and baud rate Rotary switch S1 can be used to set the source for the node-ID and the baud rate. See chapter Setting node-ID and baud rate. Switch S2 - 120 ohm termination resistor Switch S2 switches the termination of 120 ohm between CAN_H and CAN_L of the CAN bus on (DIP switch set to "ON", left) or off.
Pin assignment Overview Connector Function X1 CANopen IN and external logic supply X2 CANopen OUT and external logic supply X3 Voltage supply X4 Inputs/outputs and external logic supply L1 Power LED, see chapter Power LED S1 Hex coding switch for node-ID and baud rate S2 120 ohm termination resistor (switch set to ON) Note: All pins with designation GND are internally connected. X1 – CANopen IN and external logic supply Connection for CANopen and the external logic supply. Type: M12, 5-pin, A-coded, male Suitable Nanotec cable: ZK-M12-5-2M-1-AFF (not included in the scope of delivery) Pin Function Note 1 CAN_SHLD Connection for the shielding 2 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X2 and pin 12 of X4 3 GND Internally connected to all GND pins 4 CAN_H CAN-High 5 CAN_L CAN-Low Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4. 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. X2 – CANopen OUT and external logic supply Connection for CANopen and the external logic supply. Connector type: M12, 5-pin, A-coded, female Suitable Nanotec cable: ZK-M12-5-2M-1-A-S-M (not included in the scope of delivery) Pin Function Note 1 CAN_SHLD Connection for the shielding 2 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X1 and pin 12 of X4 3 GND Internally connected to all GND pins 4 CAN_H CAN-High 5 CAN_L CAN-Low Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4. X3 – voltage supply Connection for the main supply. Type: M12, 5-pin, B-coded, male Suitable Nanotec cable: ZK-M12-5-2M-1-B-S (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. 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. Pin assignment Pin Function Note 1 +Ub 12 - 48 V DC ±5% 2 +Ub 12 - 48 V DC ±5% 3 GND 4 GND 5 n.c. Not used Note: The minimum voltage for the variants of the motor with integrated holding brake (PD4-E591L42-EB-65-2 and PD4-EB59CD-EB-65-2) is 22.4 V DC. The rated voltage of the variant PD4-EB59MB... is 24 V. Permissible operating voltage The maximum operating voltage is 50.4 V DC, except for variant PD4-EB59MB... (25.2 V). 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 (22.4 for variants with integrated brake). If the input voltage of the controller falls below 10 V (22.4 for variants with integrated brake), 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 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. X4 – Inputs/outputs and external logic supply Connection for the digital and analog inputs/outputs and the external logic supply. Type: M12, 12-pin, A-coded, male Suitable Nanotec cable: ZK-M12-12-2M-1-AFF (not included in the scope of delivery) Pin Function Note 1 GND 2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 4 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 5 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 6 Digital input 5 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 7 Digital input 6 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 8 Analog input 10 bit, 0 V…+10 V or 0…20 mA, switchable by means of software with object 3221h 9 Digital output 1 Digital output, open drain, max. 24 V / 100 mA 10 Digital output 2 Digital output, open drain, max. 24 V / 100 mA 11 Voltage output +5 V, max. 100 mA 12 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X1 and X2 Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4. 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. In 4015h, you can activate the alternative function of the digital inputs, which is used for the special drive modes. See chapter Special drive modes (clock-direction and analog speed). If you set 3240h:07h to the value "1", three differential inputs are available instead of six single-ended inputs. The following table shows all possible combinations: Pin Basic function Alternative function Single-ended Differential Single-ended Differential 2 Input 1 - Input 1 Release –Enable 3 Input 2 / Direction input in clock-direction mode + Input 1 Direction Release 4 Input 3 / clock input in clock-direction mode - Input 2 / - Direction input in clock-direction mode Clock –Direction 5 Input 4 + Input 2 / + Direction input in clock-direction mode Digital input 4 Direction 6 Input 5 - Input 3 / - Clock input in clock-direction mode Digital input 5 –Clock 7 Input 6 + Input 3 / + Clock input in clock-direction mode Digital input 6 Clock The following switching thresholds apply for inputs 1 to 6: Max. Voltage Switching thresholds Switching on Switching off 5 V > 4.09 V < 0.95 V 24 V > 14.74 V < 3.78 V Switch S1 - hex coding switch for node-ID and baud rate Rotary switch S1 can be used to set the source for the node-ID and the baud rate. See chapter Setting node-ID and baud rate. Switch S2 - 120 ohm termination resistor Switch S2 switches the termination of 120 ohm between CAN_H and CAN_L of the CAN bus on (DIP switch set to "ON", left) or off.
Overview Connector Function X1 CANopen IN and external logic supply X2 CANopen OUT and external logic supply X3 Voltage supply X4 Inputs/outputs and external logic supply L1 Power LED, see chapter Power LED S1 Hex coding switch for node-ID and baud rate S2 120 ohm termination resistor (switch set to ON) Note: All pins with designation GND are internally connected.
X1 – CANopen IN and external logic supply Connection for CANopen and the external logic supply. Type: M12, 5-pin, A-coded, male Suitable Nanotec cable: ZK-M12-5-2M-1-AFF (not included in the scope of delivery) Pin Function Note 1 CAN_SHLD Connection for the shielding 2 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X2 and pin 12 of X4 3 GND Internally connected to all GND pins 4 CAN_H CAN-High 5 CAN_L CAN-Low Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4. 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.
X2 – CANopen OUT and external logic supply Connection for CANopen and the external logic supply. Connector type: M12, 5-pin, A-coded, female Suitable Nanotec cable: ZK-M12-5-2M-1-A-S-M (not included in the scope of delivery) Pin Function Note 1 CAN_SHLD Connection for the shielding 2 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X1 and pin 12 of X4 3 GND Internally connected to all GND pins 4 CAN_H CAN-High 5 CAN_L CAN-Low Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4.
X3 – voltage supply Connection for the main supply. Type: M12, 5-pin, B-coded, male Suitable Nanotec cable: ZK-M12-5-2M-1-B-S (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. 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. Pin assignment Pin Function Note 1 +Ub 12 - 48 V DC ±5% 2 +Ub 12 - 48 V DC ±5% 3 GND 4 GND 5 n.c. Not used Note: The minimum voltage for the variants of the motor with integrated holding brake (PD4-E591L42-EB-65-2 and PD4-EB59CD-EB-65-2) is 22.4 V DC. The rated voltage of the variant PD4-EB59MB... is 24 V. Permissible operating voltage The maximum operating voltage is 50.4 V DC, except for variant PD4-EB59MB... (25.2 V). 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 (22.4 for variants with integrated brake). If the input voltage of the controller falls below 10 V (22.4 for variants with integrated brake), 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 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.
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.
Pin assignment Pin Function Note 1 +Ub 12 - 48 V DC ±5% 2 +Ub 12 - 48 V DC ±5% 3 GND 4 GND 5 n.c. Not used Note: The minimum voltage for the variants of the motor with integrated holding brake (PD4-E591L42-EB-65-2 and PD4-EB59CD-EB-65-2) is 22.4 V DC. The rated voltage of the variant PD4-EB59MB... is 24 V.
Permissible operating voltage The maximum operating voltage is 50.4 V DC, except for variant PD4-EB59MB... (25.2 V). 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 (22.4 for variants with integrated brake). If the input voltage of the controller falls below 10 V (22.4 for variants with integrated brake), 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 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.
X4 – Inputs/outputs and external logic supply Connection for the digital and analog inputs/outputs and the external logic supply. Type: M12, 12-pin, A-coded, male Suitable Nanotec cable: ZK-M12-12-2M-1-AFF (not included in the scope of delivery) Pin Function Note 1 GND 2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 4 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 5 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 6 Digital input 5 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 7 Digital input 6 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz 8 Analog input 10 bit, 0 V…+10 V or 0…20 mA, switchable by means of software with object 3221h 9 Digital output 1 Digital output, open drain, max. 24 V / 100 mA 10 Digital output 2 Digital output, open drain, max. 24 V / 100 mA 11 Voltage output +5 V, max. 100 mA 12 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X1 and X2 Note: There is a cross connection between pin 2 of X1/X2 and pin 12 of X4. ► Never use different voltage sources for supplying the UB Logic via connections X1/X2 and X4. 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. In 4015h, you can activate the alternative function of the digital inputs, which is used for the special drive modes. See chapter Special drive modes (clock-direction and analog speed). If you set 3240h:07h to the value "1", three differential inputs are available instead of six single-ended inputs. The following table shows all possible combinations: Pin Basic function Alternative function Single-ended Differential Single-ended Differential 2 Input 1 - Input 1 Release –Enable 3 Input 2 / Direction input in clock-direction mode + Input 1 Direction Release 4 Input 3 / clock input in clock-direction mode - Input 2 / - Direction input in clock-direction mode Clock –Direction 5 Input 4 + Input 2 / + Direction input in clock-direction mode Digital input 4 Direction 6 Input 5 - Input 3 / - Clock input in clock-direction mode Digital input 5 –Clock 7 Input 6 + Input 3 / + Clock input in clock-direction mode Digital input 6 Clock The following switching thresholds apply for inputs 1 to 6: Max. Voltage Switching thresholds Switching on Switching off 5 V > 4.09 V < 0.95 V 24 V > 14.74 V < 3.78 V
Switch S1 - hex coding switch for node-ID and baud rate Rotary switch S1 can be used to set the source for the node-ID and the baud rate. See chapter Setting node-ID and baud rate.
Switch S2 - 120 ohm termination resistor Switch S2 switches the termination of 120 ohm between CAN_H and CAN_L of the CAN bus on (DIP switch set to "ON", left) or off.
