Pin assignment
Overview
| Connection | Function | |
|---|---|---|
| X1 | EtherCAT IN | |
| X2 | EtherCAT OUT | |
| X3 | Voltage supply | |
| X4 | Inputs/outputs and external logic supply | |
| L1 | Power LED, see chapter Power LED | |
| RUN | EtherCAT RUN LED, see chapter EtherCAT LEDs | |
| ERR | EtherCAT ERROR LED, see chapter EtherCAT LEDs | |
| LINK | EtherCAT LINK LED, see chapter EtherCAT LEDs | |
X1 − EtherCAT IN
Connection for EtherCAT. 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 - |
X2 − EtherCAT OUT
Connection for EtherCAT. 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 - |
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.
- 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 |
The minimum voltage for the variants of the motor with integrated holding brake (PD4-E591L42-EB… and PD4-EB59CD-EB…) is 22.4 V DC.
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 Z32041412209K6C000 from Vishay with 3 W continuous output).
The minimum operating voltage is 11.4 V DC (22.4 for variants with integrated brake). If the input voltage of the controller falls below 10 V (22.4 for variants with integrated brake), 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).
- 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.
Connector X4 - inputs/outputs and external logic supply
Connection for the digital and analog inputs/outputs and the external 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 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 |
| Max. Voltage | Switching thresholds | |
|---|---|---|
| Switching on | Switching off | |
| 5 V | > 4.09 V | < 0.95 V |
| 24 V | > 14.74 V | < 3.78 V |