PD6-E/-EB Modbus RTU Online Manual: Pin assignment

Overview


Connector	Function
X1	Voltage supply
X2	Inputs/outputs and logic supply
X3	Modbus RTU IN
X4	Modbus RTU OUT
X5	Connection for external holding brake
X6	Mini-USB
S1	Hex coding switch for node-ID and baud rate
S2	150 ohm termination resistor (switch set to ON)

Note: All pins with designation GND are internally connected.

X1 — voltage supply

Connection for the main supply (power). Connector type: M12, 4-pin, L-coded, male

Suitable Nanotec cable: ZK-M12-4-...-...-LFF (not included in the scope of delivery)

Note: The integrated control is supplied by the logic supply (on X2), the connection of which is necessary for communication and for operation.

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…57.6 V DC red (when using cable ZK-M12-4-...-...-LFF)
2	+UB	12…57.6 V DC red/white (when using cable ZK-M12-4-...-...-LFF)
3	GND	black (when using cable ZK-M12-4-...-...-LFF)
4	GND	black/white (when using cable ZK-M12-4-...-...-LFF)

Note:

Damage to the electronics if the supply voltage is connected with reversed polarity!
► Observe the pin assignment.
► Install a line protection device (fuse) in the supply line.

Permissible operating voltage

The maximum operating voltage is 57.6 V DC. If the input voltage of the controller exceeds the threshold value set in 2034_h, the motor is switched off and an error triggered. Above the response threshold set in 4021_h:02_h, the integrated ballast circuit is activated (wirewound resistor CRS500JT-73-15RAA from VITROHM with 5 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 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 (PD6-EB…): 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.

X2 — Inputs/outputs and external logic supply

Connection for the digital and analog inputs/outputs and the logic supply. Connector 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 level, switchable by means of software with object 3240_h, max. 1 MHz
3	Digital input 2	5 V / 24 V level, switchable by means of software with object 3240_h, max. 1 MHz
4	Digital input 3	5 V / 24 V level, switchable by means of software with object 3240_h, max. 1 MHz
5	Digital input 4	5 V / 24 V level, switchable by means of software with object 3240_h, max. 1 MHz
6	Digital input 5	5 V / 24 V level, switchable by means of software with object 3240_h, max. 1 MHz
7	Digital input 6	5 V / 24 V level, switchable by means of software with object 3240_h, max. 1 MHz
8	Analog input	10 bit, 0 V…+10 V or 0…20 mA, switchable by means of software with object 3221_h
9	Digital output 1	Digital output, open drain, max. 30 V / 100 mA
10	Digital output 2	Digital output, open drain, max. 30 V / 100 mA
11	Voltage output	+5 V±5%, max. 250 mA, short-circuit proof
12	+UB Logic	+24 V DC (12…30 V), input voltage for the logic supply

Note:

The logic supply powers the electronics, the encoder and the communication interface.

The windings of the motor are not supplied by the logic supply.

The following switching thresholds apply for inputs 1 to 6:


Max. Voltage	Switching thresholds
Max. Voltage	Switching on	Switching off
5 V	> 4.09 V	< 0.95 V
24 V	> 14.74 V	< 3.78 V

Alternative function

In 4015_h, 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 3240_h:07_h 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
Pin	Single-ended	Differential	Single-ended	Differential
2	Input 1 / Clock Input im Clock-Direction -Modus	- Input 1 / -Clock Input im Clock-Direction -Modus	Clock	-Clock
3	Input 2/ Direction Input in Clock-Direction -Mode	+ Input 1 / +Clock Input in Clock-Direction -Mode	Direction	Clock
4	Input 3	-Input 2/- Direction Input in Clock-Direction .Mode	Release	-Direction
5	Input 4	+ Input 2/ + Direction Input in Clock-Direction -Mode	Digitaler Input 4	Direction
6	Input 5	- Input 3	Digitaler Input 5	-Release
7	Input 6	+Input 3	Digitaler Input 6	Release

Connecting an external encoder

You can connect an external encoder to the pins of the digital inputs, which you can assign to a control loop. See chapter Configuring the sensors and Assignment of the feedbacks to the control loops.

Note: The pins occupied by the encoder signals can no longer be used as clock/direction input.

Incremental encoders are supported with or without index, single-ended or differential:


Pin	Single-ended	Differential
1	GND	GND
2	A\	A
3	A	B
4	B\	I
5	B
6	I\
7	I

Note:

You can connect 5 V encoders to the voltage output on pin 11 provided the required current does not exceed 250 mA.

For 24 V encoders, you must:

provide an external supply voltage
and set the corresponding bits in 3240_h:06_h to the value "1" to switch the level to 24 V.

X3 — Modbus RTU (RS-485) IN

Connection for Modbus RTU. Connector type: M12, 5-pin, B-coded, male

Suitable Nanotec cable: ZK-M12-5-2M-1-B-S (not included in the scope of delivery)


Pin	Function	Note
1	n.c.	Internally connected with pin 1 of X4
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.

X4 — Modbus RTU (RS-485) OUT

Connection for Modbus RTU. Connector type: M12, 5-pin, B-coded, female


Pin	Function	Note
1	n.c.	Internally connected with pin 1 of X3
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.

X5 – external holding brake

Connection for an optional external holding brake. Connector type: M8, 3-pin, A-coded, female


Pin	Function	Note
1	Brake	Internally connected to +UB
2	Brake GND	PWM-controlled open-drain output, max. 1.5 A
4	n.c.	Not connected

You can find further details on controlling the holding brake in chapter Automatic brake control.

X6 — Mini USB

Mini USB port.

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.

S2 switch – 150 ohm termination resistor

Switch S2 switches the termination of 150 ohm between RS485+ and RS485- on (DIP switch set to "ON", left) or off.