Pin assignment Overview Connection Function X1 Voltage supply X2 Digital/analog inputs and outputs X3 Micro USB connection X4 CANopen IN X5 CANopen OUT S1 Hex coding switch for node-ID and baud rate, 1s place (e.g., 0Fh) S2 Hex coding switch for node-ID and baud rate, 16s place (e.g., F0h) S3 120 ohm termination resistor (switch set to ON) L1 Power LED Note: All pins with designation GND are internally connected. X1 – voltage supply 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. Connections Type: base strip, WE RM 5 mm 2 pole, straight (Würth Elektronik No. 691 311 700 102) Mating connector (included in scope of delivery): Würth Elektronik no. 691 352 710 002 (or equivalent) Nanotec article number: ZCPHOFKC-2,5HC-2 Pin Function Note 1 +UB 12-48 V DC, ±5% 2 GND Connection data min max Conductor cross section, rigid, min. 0.2 mm2 3.0 mm2 Conductor cross section, flexible, min. 0.2 mm2 3.0 mm2 Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 3.0 mm2 Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve min. 0.25 mm2 3.0 mm2 Conductor cross section, min. AWG 24 12 Min. AWG acc. to UL/CUL 24 12 Permissible operating voltage The maximum operating voltage is 50.4 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 CR257-05T15R from VITROHM with 5 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 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. X2 – inputs and outputs Type: Phoenix base strip. MCV 0.5/12-G-2.5 Mating connector (included in scope of delivery): Phoenix no. 1881422 (or equivalent) Nanotec article number: ZCPHOFK-MC0,5-12 Pin Function Note 1 +10 V DC Output voltage, max. capacity 200 mA 2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 4 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 5 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 6 Digital input 5 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 7 Digital input 6 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 8 Analog input 1 10 bit, 0-10 V or 0-20 mA, switchable by means of software with object 3221h 9 Analog input 2 10 bit, 0-10 V, not switchable by means of software 10 Digital output 1 Open drain, maximum 24 V / 100 mA 11 Digital output 2 Open drain, maximum 24 V / 100 mA 12 GND 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. Where: Switching on Switching off Voltage at input pin+ against GND > switch-on threshold Voltage at input pin- against GND > switch-on threshold 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 Digital input 3 / Clock input in clock-direction mode –Input 2 / –Direction input in clock-direction mode Clock –Direction 5 Digital input 4 +Input 2 / +Direction input in clock-direction mode Digital input 4 Direction 6 Digital input 5 –Input 3 / –Clock input in clock-direction mode Digital input 5 –Clock 7 Digital 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 (worst-case calculations) On Off 5 V > 4.94 V < 0.48 V 24 V > 20.24 V < 2.94 V Max. Voltage Current consumption 5 V Approx. 0.3 mA 24 V Approx. 2.7 mA Connection data min max Conductor cross section, rigid, min. 0.14 mm2 0.5 mm2 Conductor cross section, flexible, min. 0.14 mm2 0.5 mm2 Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 0.5 mm2 Conductor cross section, min. AWG 26 20 Min. AWG acc. to UL/CUL 28 20 X3 − Micro USB A cable of type "micro USB" is needed for this USB connection. X4 and X5 − CANopen IN/OUT Type: RJ45, vertical, THT Both connectors are configured identically according to the following table. Pin Function Note 1 CAN_H CAN-High 2 CAN_L CAN-Low 3 CAN GND Internally connected with pin 7 4 n.c. 5 n.c. 6 CAN SHIELD Connection for the shielding 7 GND Internally connected with pin 3 8 +UB Logic +24 V DC, input voltage, current consumption: approx. 50 mA Note: 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. S1 – CANopen node-ID and baud rate Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate. The value of this switch is added to the value of switch S2; this switch thereby sets the 1s place. The same switch can also be used to select one of the special drive modes and switch between open and closed loop. See chapter Special drive modes (clock-direction and analog speed). S2 – CANopen node-ID and baud rate Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate. The value of this switch is multiplied by 16 and added to the value of switch S1; this switch thereby sets the 16s place. Example Switch S2 is set to the value 1h, switch S1 to the value Fh; the result is the value 1Fh. S3 – 120 ohm termination resistor Switches the termination of 120 Ω between CAN_H and CAN_L of the CAN bus on or off (see X4 and X5 − CANopen IN/OUT).
Pin assignment Overview Connection Function X1 Voltage supply X2 Digital/analog inputs and outputs X3 Micro USB connection X4 CANopen IN X5 CANopen OUT S1 Hex coding switch for node-ID and baud rate, 1s place (e.g., 0Fh) S2 Hex coding switch for node-ID and baud rate, 16s place (e.g., F0h) S3 120 ohm termination resistor (switch set to ON) L1 Power LED Note: All pins with designation GND are internally connected. X1 – voltage supply 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. Connections Type: base strip, WE RM 5 mm 2 pole, straight (Würth Elektronik No. 691 311 700 102) Mating connector (included in scope of delivery): Würth Elektronik no. 691 352 710 002 (or equivalent) Nanotec article number: ZCPHOFKC-2,5HC-2 Pin Function Note 1 +UB 12-48 V DC, ±5% 2 GND Connection data min max Conductor cross section, rigid, min. 0.2 mm2 3.0 mm2 Conductor cross section, flexible, min. 0.2 mm2 3.0 mm2 Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 3.0 mm2 Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve min. 0.25 mm2 3.0 mm2 Conductor cross section, min. AWG 24 12 Min. AWG acc. to UL/CUL 24 12 Permissible operating voltage The maximum operating voltage is 50.4 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 CR257-05T15R from VITROHM with 5 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 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. X2 – inputs and outputs Type: Phoenix base strip. MCV 0.5/12-G-2.5 Mating connector (included in scope of delivery): Phoenix no. 1881422 (or equivalent) Nanotec article number: ZCPHOFK-MC0,5-12 Pin Function Note 1 +10 V DC Output voltage, max. capacity 200 mA 2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 4 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 5 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 6 Digital input 5 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 7 Digital input 6 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 8 Analog input 1 10 bit, 0-10 V or 0-20 mA, switchable by means of software with object 3221h 9 Analog input 2 10 bit, 0-10 V, not switchable by means of software 10 Digital output 1 Open drain, maximum 24 V / 100 mA 11 Digital output 2 Open drain, maximum 24 V / 100 mA 12 GND 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. Where: Switching on Switching off Voltage at input pin+ against GND > switch-on threshold Voltage at input pin- against GND > switch-on threshold 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 Digital input 3 / Clock input in clock-direction mode –Input 2 / –Direction input in clock-direction mode Clock –Direction 5 Digital input 4 +Input 2 / +Direction input in clock-direction mode Digital input 4 Direction 6 Digital input 5 –Input 3 / –Clock input in clock-direction mode Digital input 5 –Clock 7 Digital 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 (worst-case calculations) On Off 5 V > 4.94 V < 0.48 V 24 V > 20.24 V < 2.94 V Max. Voltage Current consumption 5 V Approx. 0.3 mA 24 V Approx. 2.7 mA Connection data min max Conductor cross section, rigid, min. 0.14 mm2 0.5 mm2 Conductor cross section, flexible, min. 0.14 mm2 0.5 mm2 Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 0.5 mm2 Conductor cross section, min. AWG 26 20 Min. AWG acc. to UL/CUL 28 20 X3 − Micro USB A cable of type "micro USB" is needed for this USB connection. X4 and X5 − CANopen IN/OUT Type: RJ45, vertical, THT Both connectors are configured identically according to the following table. Pin Function Note 1 CAN_H CAN-High 2 CAN_L CAN-Low 3 CAN GND Internally connected with pin 7 4 n.c. 5 n.c. 6 CAN SHIELD Connection for the shielding 7 GND Internally connected with pin 3 8 +UB Logic +24 V DC, input voltage, current consumption: approx. 50 mA Note: 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. S1 – CANopen node-ID and baud rate Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate. The value of this switch is added to the value of switch S2; this switch thereby sets the 1s place. The same switch can also be used to select one of the special drive modes and switch between open and closed loop. See chapter Special drive modes (clock-direction and analog speed). S2 – CANopen node-ID and baud rate Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate. The value of this switch is multiplied by 16 and added to the value of switch S1; this switch thereby sets the 16s place. Example Switch S2 is set to the value 1h, switch S1 to the value Fh; the result is the value 1Fh. S3 – 120 ohm termination resistor Switches the termination of 120 Ω between CAN_H and CAN_L of the CAN bus on or off (see X4 and X5 − CANopen IN/OUT).
Overview Connection Function X1 Voltage supply X2 Digital/analog inputs and outputs X3 Micro USB connection X4 CANopen IN X5 CANopen OUT S1 Hex coding switch for node-ID and baud rate, 1s place (e.g., 0Fh) S2 Hex coding switch for node-ID and baud rate, 16s place (e.g., F0h) S3 120 ohm termination resistor (switch set to ON) L1 Power LED Note: All pins with designation GND are internally connected.
X1 – voltage supply 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. Connections Type: base strip, WE RM 5 mm 2 pole, straight (Würth Elektronik No. 691 311 700 102) Mating connector (included in scope of delivery): Würth Elektronik no. 691 352 710 002 (or equivalent) Nanotec article number: ZCPHOFKC-2,5HC-2 Pin Function Note 1 +UB 12-48 V DC, ±5% 2 GND Connection data min max Conductor cross section, rigid, min. 0.2 mm2 3.0 mm2 Conductor cross section, flexible, min. 0.2 mm2 3.0 mm2 Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 3.0 mm2 Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve min. 0.25 mm2 3.0 mm2 Conductor cross section, min. AWG 24 12 Min. AWG acc. to UL/CUL 24 12 Permissible operating voltage The maximum operating voltage is 50.4 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 CR257-05T15R from VITROHM with 5 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 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.
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.
Connections Type: base strip, WE RM 5 mm 2 pole, straight (Würth Elektronik No. 691 311 700 102) Mating connector (included in scope of delivery): Würth Elektronik no. 691 352 710 002 (or equivalent) Nanotec article number: ZCPHOFKC-2,5HC-2 Pin Function Note 1 +UB 12-48 V DC, ±5% 2 GND Connection data min max Conductor cross section, rigid, min. 0.2 mm2 3.0 mm2 Conductor cross section, flexible, min. 0.2 mm2 3.0 mm2 Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 3.0 mm2 Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve min. 0.25 mm2 3.0 mm2 Conductor cross section, min. AWG 24 12 Min. AWG acc. to UL/CUL 24 12
Permissible operating voltage The maximum operating voltage is 50.4 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 CR257-05T15R from VITROHM with 5 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 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.
X2 – inputs and outputs Type: Phoenix base strip. MCV 0.5/12-G-2.5 Mating connector (included in scope of delivery): Phoenix no. 1881422 (or equivalent) Nanotec article number: ZCPHOFK-MC0,5-12 Pin Function Note 1 +10 V DC Output voltage, max. capacity 200 mA 2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 4 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 5 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 6 Digital input 5 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 7 Digital input 6 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below 8 Analog input 1 10 bit, 0-10 V or 0-20 mA, switchable by means of software with object 3221h 9 Analog input 2 10 bit, 0-10 V, not switchable by means of software 10 Digital output 1 Open drain, maximum 24 V / 100 mA 11 Digital output 2 Open drain, maximum 24 V / 100 mA 12 GND 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. Where: Switching on Switching off Voltage at input pin+ against GND > switch-on threshold Voltage at input pin- against GND > switch-on threshold 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 Digital input 3 / Clock input in clock-direction mode –Input 2 / –Direction input in clock-direction mode Clock –Direction 5 Digital input 4 +Input 2 / +Direction input in clock-direction mode Digital input 4 Direction 6 Digital input 5 –Input 3 / –Clock input in clock-direction mode Digital input 5 –Clock 7 Digital 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 (worst-case calculations) On Off 5 V > 4.94 V < 0.48 V 24 V > 20.24 V < 2.94 V Max. Voltage Current consumption 5 V Approx. 0.3 mA 24 V Approx. 2.7 mA Connection data min max Conductor cross section, rigid, min. 0.14 mm2 0.5 mm2 Conductor cross section, flexible, min. 0.14 mm2 0.5 mm2 Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 0.5 mm2 Conductor cross section, min. AWG 26 20 Min. AWG acc. to UL/CUL 28 20
X4 and X5 − CANopen IN/OUT Type: RJ45, vertical, THT Both connectors are configured identically according to the following table. Pin Function Note 1 CAN_H CAN-High 2 CAN_L CAN-Low 3 CAN GND Internally connected with pin 7 4 n.c. 5 n.c. 6 CAN SHIELD Connection for the shielding 7 GND Internally connected with pin 3 8 +UB Logic +24 V DC, input voltage, current consumption: approx. 50 mA Note: 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.
S1 – CANopen node-ID and baud rate Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate. The value of this switch is added to the value of switch S2; this switch thereby sets the 1s place. The same switch can also be used to select one of the special drive modes and switch between open and closed loop. See chapter Special drive modes (clock-direction and analog speed).
S2 – CANopen node-ID and baud rate Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate. The value of this switch is multiplied by 16 and added to the value of switch S1; this switch thereby sets the 16s place. Example Switch S2 is set to the value 1h, switch S1 to the value Fh; the result is the value 1Fh.
S3 – 120 ohm termination resistor Switches the termination of 120 Ω between CAN_H and CAN_L of the CAN bus on or off (see X4 and X5 − CANopen IN/OUT).
