Pin assignment
Overview
Connector / operating element | Function | |
---|---|---|
X1 | Voltage supply | |
X2 | Inputs/outputs and logic supply | |
X3 | PROFINET IN | |
X4 | PROFINET OUT | |
X5 | Connection for external holding brake | |
X6 | Mini-USB |
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)
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…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) |
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 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 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).
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 3240h, max. 1 MHz |
3 | Digital input 2 | 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz |
4 | Digital input 3 | 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz |
5 | Digital input 4 | 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz |
6 | Digital input 5 | 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz |
7 | Digital input 6 | 5 V / 24 V level, 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. 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 |
The logic supply powers the electronics, the encoder and the communication interface.
The windings of the motor are not supplied by the logic supply.
Max. Voltage | Switching thresholds | |
---|---|---|
Switching on | Switching off | |
5 V | > 4.09 V | < 0.95 V |
24 V | > 14.74 V | < 3.78 V |
Alternative function
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 |
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.
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 |
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 3240h:06h to the value "1" to switch the level to 24 V.
X3 — PROFINET IN
Connection for PROFINET. Connector type: M12, 4-pin, D-coded, female
Suitable Nanotec cable: ZK-M12-4-2M-1-D-RJ45 (not included in the scope of delivery)
Pin | Function | Note |
---|---|---|
1 | TD+ | Transmission Data + |
2 | RD+ | Receiver Data + |
3 | TD- | Transmission Data - |
4 | RD- | Receiver Data - |
X4 — PROFINET OUT
Connection for PROFINET. Type: M12, 4-pin, D-coded, female
Suitable Nanotec cable: ZK-M12-4-2M-1-D-RJ45 (not included in the scope of delivery)
Pin | Function | Note |
---|---|---|
1 | TD+ | Transmission Data + |
2 | RD+ | Receiver Data + |
3 | TD- | Transmission Data - |
4 | RD- | Receiver Data - |
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.