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PD4-E ModbusRTU Online Manual

Technical details and pin assignment Parent topic: Technical details and pin assignment

Pin assignment

Overview

Connection Function
X1 Modbus RTU IN
X2 Modbus RTU OUT
X3 Voltage supply
X4 Inputs/outputs and external logic supply
L1 Power LED, see chapter Power LED
S1 Hex coding switch for slave address and baud rate
S2 150 ohm termination resistor (switch set to ON)
Note: All pins with designation GND are internally connected.

X1 − Modbus RTU (RS-485) IN

Connection for Modbus RTU. 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 n.c. Internally connected with pin 1 of X2
2 RS-485-
3 COMMON GND Electrically isolated from the GND of the main supply and the inputs/outputs
4 RS-485+
5 n.c.

RS-485 line polarization

Note: The controller is not equipped with line polarization and expects the master device to have one.
If the master device on the bus does not have line polarization of its own, a pair of resistors must be attached to the RS-485 balanced cables:
  • 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
The value of these resistors must be between 450 ohm and 650 ohm. A 650 ohm resistor permits a higher number of devices on the bus.

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 − Modbus RTU (RS-485) OUT

Connection for Modbus RTU. 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 n.c. Internally connected with pin 1 of X1
2 RS-485-
3 COMMON GND Electrically isolated from the GND of the main supply and the inputs/outputs
4 RS-485+
5 n.c.

RS-485 line polarization

Note: The controller is not equipped with line polarization and expects the master device to have one.
If the master device on the bus does not have line polarization of its own, a pair of resistors must be attached to the RS-485 balanced cables:
  • 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
The value of these resistors must be between 450 ohm and 650 ohm. A 650 ohm resistor permits a higher number of devices on the bus.

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.

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

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. 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 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

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 slave address and baud rate

Rotary switch S1 can be used to set the source for the slave address and the baud rate. See chapter Communication settings.

Switch S2 - 150 ohm termination resistor

DIP switch S2 switches the termination of 150 ohm between RS-485+ and RS-485- on (DIP switch set to "ON", left) or off.

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