Technical Manual PD6-E
PROFINET / PROFIdrive
For use with the following variants:
PD6-E891S95-E-65-10, PD6-E891M95-E-65-10, PD6-E891L95-E-65-10, PD6-EB80SD-E-65-10, PD6-EB80MD-E-65-10, PD6-EB80LD-E-65-10, PD6-EB80CDE-E-65-10
Valid for firmware version FIR-v2315 and higher | Manual version 1.1.2 |
and hardware version W003 and higher | to the archive |
Introduction
The PD6-E is a brushless motor with integrated controller in protection class IP65. The integrated absolute encoder makes immediate operation possible in closed-loop mode without homing.
This manual describes the functions of the controller and the available operating modes. It also shows how you can address and program the controller via the communication interface.
According to the specifications, the product is a homogeneous P-device (peripheral device) with the corresponding PROFIdrive-API 33A0h on the PROFINET bus. It consists of only a PROFIdrive drive unit (a single axis) and supports PROFIdrive application class 3.
The product corresponds to Conformance Class B and has an integrated 2-port switch. It supports the RT class RT_CLASS_1. IRT (Isochronous Real Time) is not supported, though the product may still be integrated in an IRT network.
Version information
Manual version | Date | Changes | Firmware version | Hardware version |
---|---|---|---|---|
1.0.0 | 04/2023 | Edition | v2315 | W003 |
1.1.0 | 08/2023 | Correction: Application Class 1 (Speed Control mode) is currently not supported. | v2315 | W003 |
1.1.1 | 02/2024 | Updated Firmware: Object address (index) of Velocity Reference Value changed from 60000 to 1000. | v2315 | W003 |
1.1.2 | 03/2024 | Correction: Manufacturer telegram 900 is currently not supported. Correction: Telegram selection only through PNU922, PNU752 is currently not supported. . |
v2315 | W003 |
Copyright, marking and contact
© 2013 – 2024 Nanotec Electronic GmbH & Co. KG. All rights reserved.
Nanotec Electronic GmbH & Co. KG
Kapellenstraße 6
85622 Feldkirchen
Germany
Phone: +49 89 900 686-0
Fax: +49 (89) 900 686-50
Microsoft® Windows® 98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation.
TIA is a registered trademark of the Siemens corporation.
Intended use
The PD6-E motor with integrated controller is used as a component of drive systems in a range of industrial applications.
Use the product as intended within the limits defined in the technical data (in particular, see Permissible operating voltage) and the approved Environmental conditions.
Under no circumstances may this Nanotec product be integrated as a safety component in a product or system. All products containing a component manufactured by Nanotec must, upon delivery to the end user, be provided with corresponding warning notices including instructions for safe use and safe operation. All warning notices provided by Nanotec must be passed on directly to the end user.
Warranty and disclaimer
Nanotec shall not be liable for damage and malfunctions attributable to installation errors, failure to observe this document or improper repair. The plant engineer, operating company and user shall be responsible for the selection, operation and use of our products. Nanotec shall not take responsibility for integration of the product in the end system. The general terms and conditions listed at www.nanotec.de shall apply. Note: Conversion/modification of the product is prohibited.
Target group and qualification
The product and this documentation are directed towards technically trained specialists staff such as:
- Development engineers
- Plant engineers
- Installers/service personnel
- Application engineers
Only specialists may install, program and commission the product. Specialist staff are persons who
- have appropriate training and experience in working with motors and their control,
- are familiar with and understand the content of this technical manual,
- know the applicable regulations.
EU directives for product safety
The following EU directives were observed:
- RoHS directive (2011/65/EU, 2015/863/EU)
- EMC directive (2014/30/EU)
Other applicable regulations
In addition to this technical manual, the following regulations are to be observed:
- Accident-prevention regulations
- Local regulations on occupational safety
Used icons
All notices are in the same format. The degree of the hazard is divided into the following classes.
Emphasis in the text
The following conventions are used in the document:
Underlined text indicates cross references and hyperlinks:
- The following bits in object 6041h (statusword) have a special function:
- A list of available system calls can be found in chapter NanoJ functions in the NanoJ program.
Text set in italics marks named objects:
- Read the installation manual.
- Use the Plug & Drive Studio software to perform the auto setup.
- For software: You can find the corresponding information in the Operation tab.
- For hardware: Use the ON/OFF switch to switch the device on.
A text set in Courier
marks a code section or programming command:
- The line with the
od_write(0x6040, 0x00, 5 );
command has no effect. - The NMT message is structured as follows:
000 | 81 2A
A text in "quotation marks" marks user input:
- Start the NanoJ program by writing object 2300h, bit 0 = "1".
- If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h.
Numerical values
Numerical values are generally specified in decimal notation. The use of hexadecimal notation is indicated by a subscript h at the end of the number. Float values are marked with the subscript f at the end of the number.
The objects in the object dictionary are written with index and subindex as follows:
<Index>:<Subindex>
Both the index as well as the subindex are specified in hexadecimal notation. If no subindex is listed, the subindex is 00h.
PROFIDrive uses decimal notation for parameter numbers. If a parameter/object is noted in hexadecimal in this document, it is an object from the CiA 402 profile..
Example: Subindex 5 of object 1003h is addressed with
1003h:05h
, subindex 00 of object 6040h
with 6040h
.
Example: To activate the mode, set the parameter 930 Operating Mode to the value "2".
Bits
The numbering of individual bits in an object always begins with the LSB (bit number 0). See the following figure, which uses data type UNSIGNED8 as an example.
Counting direction (arrows)
In figures, the counting direction is always in the direction of an arrow. Objects 60C5h
and 60C6h
depicted as examples in the following figure are both specified as positive.