Pin assignment
Overview
| Connector | Function |
|---|---|
| X1 | CANopen / RS-485 IN |
| X2 | CANopen / RS-485 OUT |
| X3 | Encoder/Hall sensor |
| X4 | Inputs and outputs |
| X5 | Motor |
| X6 | Voltage supply |
| X7 | Micro USB |
| S1 | Switch for 150 ohm termination resistor (RS-485) |
| S2 | Switch for 120 ohm termination resistor (CANopen) |
| DS | Default switch: switch for resetting the communication settings |
X1 – CANopen/RS-485 IN
Connection for CANopen and RS-485 (Modbus RTU). Type: JST B5B-XH-A
Suitable Nanotec cable: ZK-XHP-5-500-S (not included in the scope of delivery)
In the following figure, pin 1 is marked with a "1".
| Pin | Function | Note |
|---|---|---|
| 1 | RS-485- | |
| 2 | RS-485+ | |
| 3 | CAN_L | CAN-Low |
| 4 | CAN_H | CAN-High |
| 5 | GND |
RS-485 line polarization
- A pull-up resistor to a 5V voltage on the RS-485+ (D1) cable
- A pull-down resistor to earth (GND) on the RS-485- (D0) cable
In this case, a line polarization must be attached at a location for the entire serial bus. In general, this location should be on the master device or its connection. All other devices then no longer need to implement line polarization.
X2 – CANopen/RS-485 OUT
Connection for CANopen and RS-485 (Modbus RTU). Type: JST B5B-XH-A
Suitable Nanotec cable: ZK-XHP-5-500-S (not included in the scope of delivery)
In the following figure, pin 1 is marked with a "1".
| Pin | Function | Note |
|---|---|---|
| 1 | RS-485- | |
| 2 | RS-485+ | |
| 3 | CAN_L | CAN-Low |
| 4 | CAN_H | CAN-High |
| 5 | GND |
X3 – encoder/Hall sensor
Type: JST B8B-XH-A
Suitable Nanotec cables (not included in the scope of delivery):
- ZK-XHP-8-500-S (open ends)
- ZK-MCM-12-500-S-JXH (for NME2/NME3)
- ZK-TM4-10-500-S-JXH (for NTO3)
- ZK-JZH-8-500-S-JXH (for WEDL)
- ZK-LD-CL4 (line driver converter )
In the following figure, pin 1 is marked with a "1".
| Pin | Function | Note |
|---|---|---|
| 1 | +5 V DC | Supply voltage for encoder/Hall sensor, max. 200 mA |
| 2 | A | 5 V signal, max. 1 MHz |
| 3 | B | 5 V signal, max. 1 MHz |
| 4 | Index | 5 V signal |
| 5 | H1 | 5 V signal |
| 6 | H2 | 5 V signal |
| 7 | H3 | 5 V signal |
| 8 | GND |
The following switching thresholds apply for the encoder inputs:
| Max. Voltage | Switching thresholds | |
|---|---|---|
| On | Off | |
| 5 V | > 2 V | < 0.8 V |
X4 – inputs and outputs
Type: JST B8B-XH-A
Suitable Nanotec cable: ZK-XHP-8-500-S (not included in the scope of delivery)
In the following figure, pin 1 is marked with a "1".
| Pin | Function | Note |
|---|---|---|
| 1 | Digital input 1 | |
| 2 | Digital input 2 | |
| 3 | Digital input 3 | Direction input in clock-direction mode, max. 1 MHz |
| 4 | Digital input 4 | Clock input in clock-direction mode, max. 1 MHz |
| 5 | Analog input 1 | 10 bit, 0-10 V |
| 6 | Digital output 1 | Positive switching (high-side switch), max. 100 mA |
| 7 | Digital output 2 | Positive switching (high-side switch), max. 100 mA |
| 8 | GND |
To use the digital outputs, you must connect a voltage (12…30 V DC) to pin 2 of X6 (logic supply).
The typical output voltage corresponds to the connected logic supply – 0.6 V. The current should not exceed 100 mA.
| Max. Voltage | Switching thresholds | |
|---|---|---|
| On | Off | |
| 24 V | > 9 V | < 3.7 V |
| Max. Voltage | Switching thresholds | |
|---|---|---|
| On | Off | |
| 5 V | > 2 V | < 0.8 V |
X5 – motor connection
In the following figures, pin 1 is marked with a "1".
Type:
-
CL4-E-1-xx low current: JST B4B-XH-A
Suitable Nanotec cable: ZK-XHP-4-300 (not included in the scope of delivery)
-
CL4-E-2-xx high current: JST B4P-VH
Suitable Nanotec cable: ZK-VHR-4-500 (not included in the scope of delivery)
| Pin | Stepper motor function | BLDC function | Note |
|---|---|---|---|
| 1 | A | U | |
| 2 | A\ | V | |
| 3 | B | W | |
| 4 | B\ | n.c. |
X6 – voltage supply
Connection for the main supply and logic supply.
In the following figures, pin 1 is marked with a "1".
Type:
-
CL4-E-1-xx low current: JST B3B-XH-A
Suitable Nanotec cable: ZK-XHP-3-500 (not included in the scope of delivery)
-
CL4-E-2-xx high current: JST B3P-VH
Suitable Nanotec cable: ZK-VHR-3-500 (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.
- 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.
- ► A capacitor of at least 4700 µF is to be connected to the supply voltage (parallel) as close to the controller as possible.
Pin assignment
| Pin | Function | Note |
|---|---|---|
| 1 | +Ub | 12 … 58 V DC |
| 2 | +UB Logic |
12 … 30 V DC, input voltage for the optional logic supply and digital outputs Current consumption without outputs: approx. 27 mA |
| 3 | 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.
Permissible operating voltage
The maximum operating voltage is 58 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 12 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).
X7 – Micro USB
A cable of type "micro USB" is needed for this USB connection.
Switch S1 – Termination resistor RS-485
With this DIP switch, termination can be switched on (switch to ON) or off with 150 ohm between RS-485- and RS-485+.
Switch S2 – Termination resistor CANopen
With this DIP switch, termination can be switched on (switch to ON) or off with 120 ohm between CAN-L and CAN_H.
Switch DS – Default switch
- Short‑circuit the two copper openings (e.g. using a wire bridge).
- Do this for at least 3 seconds.
- The address and baud rate are then reset. The controller restarts automatically.
The following objects are affected: