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) |
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 |
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 |
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.
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 |
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).
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 |
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 |
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.