N5 CANopen Online Manual

Pin assignment

Overview

Connector Function
X1 Ethernet
X2 Encoder and Hall sensor connection
X3 Digital/analog inputs and outputs
X4 Brake connection
X5 Motor connection
X6 Voltage supply
X7 External logic supply, input voltage +24 V DC
Voltage supply for encoder, input voltage +24 V DC
X8 CANopen IN
X9 CANopen OUT
S1 Hex coding switch for node-ID, 16s place (e.g., 0xF 0)
S2 Hex coding switch for node-ID, 1s place (e.g., 0xF 0)
S3 PIN1 120 ohm termination resistor (switch set to ON)
  PIN2 reserved
L1 Power LED

Connector X1 – Ethernet

Pin 1 is marked with an asterisk "*".

Connector X2 – encoder/Hall sensor

Note:

Two types of encoder/Hall sensor are supported:

  1. Encoder/Hall sensor with 5 V supply voltage. In this case, nothing is to be connected to connector X7; object 2059h must be set to the value "0" (factory setting).
  2. Encoder/Hall sensor with 24 V supply voltage. In this case, you must connect a voltage of 24 V DC to connector X7 (see Connector X7 – voltage supply for encoder/Hall sensor, external logic supply) and set object 2059h to the value "1".

Pin 1 and pin 2 are marked in the figure.

Pin Function Note
1 GND
2 Vcc +5 V DC (factory setting) or +24 V DC, output voltage switchable by means of software with object 2059h.
3 A 5/24 V signal, max. 1 MHz
4 B 5/24 V signal, max. 1 MHz
5 A\ 5/24 V signal, max. 1 MHz
6 B\ 5/24 V signal, max. 1 MHz
7 I 5/24 V signal
8 I\ 5/24 V signal
9 Hall 1 5/24 V signal, max. 1 MHz
10 Hall 2 5/24 V signal, max. 1 MHz
11 Hall 3 5/24 V signal, max. 1 MHz
12 Shielding Shielding

It must be ensured that the encoder reaches the switching thresholds specified below. Otherwise, an additional external circuit is necessary.

Type Switching thresholds
On Off
Single-ended 5 V > approx. 2.8 V < approx. 1.1 V
Differential 5 V > approx. 2.8 V < approx. 2 V
     
Single-ended 24 V > approx. 12 V < approx. 6.8 V
Differential 24 V > approx. 12 V < approx. 8 V

The internal wiring of the encoder inputs is shown in the following.

Connector X3 – inputs and outputs

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 GND
2 Input 1 5 V / 24 V digital input, switchable by means of software with object 3240h, max. 1 MHz
3 Input 2 5 V / 24 V digital input, switchable by means of software with object 3240, max. 1 MHz
4 Input 3 5 V / 24 V digital input, switchable by means of software with object 3240, max. 1 MHz, direction input in clock-direction mode
5 Input 4 5 V / 24 V digital input, switchable by means of software with object 3240, max. 1 MHz, clock input in clock-direction mode
6 Input 5 Digital input 5 V to 24 V, not switchable by means of software, max. 1 MHz
7 Input 6 Digital input 5 V to 24 V, not switchable by means of software, max. 1 MHz
8 Analog input 1 -10 V…+10 V or 0…20 mA, switchable by means of software with object 3221h
9 Analog input 2 -10 V…+10 V or 0…20 mA, switchable by means of software with object 3221h
10 Output 1 Digital output, open drain, max. 24 V / 0.5 A
11 Output 2 Digital output, open drain, max. 24 V / 0.5 A
12 Shielding Shielding
The following switching thresholds apply for inputs 1 to 4:
Max. Voltage Switching thresholds
Safe switch on Safe switch off
5 V > approx. 3 V < approx. 1 V
24 V > approx. 16 V < approx. 7 V
The following switching thresholds apply for inputs 5 and 6 (wide-range inputs from 5-24 V):
Switching thresholds
On Off
> approx. 3 V < approx. 2 V
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

Connector X4 – brake connection

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 Brake + Internally connected to +UB
2 Brake - PWM-controlled open drain output, max. 1.5 A
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

Connector X5 – motor connection

Pin 1 is marked with an asterisk "*".

PIN Function (stepper motor) Function (BLDC motor) Note
1 Shielding Shielding Shielding
2 A U
3 A\ V
4 B W
5 B\ Not used
6 Shielding Shielding Shielding
Connection data min max
Conductor cross section, rigid 0.2 mm2 2.5 mm2
Conductor cross section, flexible 0.2 mm2 2.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve 0.25 mm2 2.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve 0.25 mm2 1.5 mm2
Conductor cross section, AWG 24 12
2 conductors of the same cross section, flexible, min. TWIN-AEH with plastic sleeve 0.5 mm2 1.5 mm2
AWG acc. to UL/CUL 26 12

Connector X6 – 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

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 Shielding Shielding
2 +UB
  • For version N5-1 (low current): 12 V-5% …72 V +4% DC
  • For version N5-2 (high current) and up to hardware version w007: 12 V…48 V ±5% DC
  • For version N5-2 (high current) and hardware version w007b and higher: 12 V -5% …58.5 V DC
3 GND
Connection data min max
Conductor cross section, rigid 0.2 mm2 2.5 mm2
Conductor cross section, flexible 0.2 mm2 2.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve 0.25 mm2 2.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve 0.25 mm2 1.5 mm2
Conductor cross section, AWG 24 12
2 conductors of the same cross section, flexible, min. TWIN-AEH with plastic sleeve 0.5 mm2 1.5 mm2
AWG acc. to UL/CUL 26 12

Permissible operating voltage

Depending on the version, the maximum operating voltage is:

If the input voltage of the controller exceeds this threshold value, the motor is switched off and an error triggered. The integrated ballast circuit (25 W power) is activated above:

  • N5-1 (low current): 75 V DC
  • N5-2 (high current) and up to hardware version w007: 50.5 V DC
  • N5-2 (high current) and hardware version w007b and higher: 57.5 V DC.

The minimum operating voltage is 10 V DC. If the input voltage of the controller falls below this threshold value, 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).

Connector X7 – voltage supply for encoder/Hall sensor, external logic supply

Functionality

The voltage supply at X7 must be connected under one of the following conditions:
  1. A 24 V encoder/Hall sensor is used. In this case, a voltage of 24 V DC must be connected to X7 and bit 0 in object 2059h set to the value "1".
  2. A logic voltage supply is necessary for the controller to ensure continued access to the following functions should the power supply be lost at connector X6 (see "Connector X6 – voltage supply"):
    • Logical functionality of the controller
    • Controller communication
    • Encoder
    Note: The windings of the motor are not supplied by the logic supply.
    In this case, a voltage of 24 V DC must be connected to X7. With a 24 V encoder, object 2059h must be set to the value "1". In the case of a 5 V encoder, object 2059h is to be set to the value "0".

Connection

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 +UB Logic/encoder +24 V DC, supply voltage for logic and encoder/Hall sensor
2 GND
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

Connector X8 – CANopen IN

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 CAN+
2 CAN-
3 CAN GND Internally connected to PIN 7
4 n.c.
5 n.c.
6 CAN_SHLD Connection for the shielding
7 GND Internally connected to PIN 3
8 +UB Logic +24 V DC, input voltage, current consumption approx. 60 mA

Connector X9 – CANopen OUT

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 CAN+
2 CAN-
3 CAN GND Internally connected to PIN 7
4 n.c.
5 n.c.
6 CAN_SHLD Connection for the shielding
7 GND Internally connected to PIN 3
8 +UB Logic +24 V DC, input voltage, current consumption approx. 60 mA

Switch 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 multiplied by 16 and added to the value of switch S2; this switch thereby sets the 16s place.

Switch 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 added to the value of switch S1; this switch thereby sets the 1s place.

Example

  Switch S1 is set to the value "1h", switch S2 to the value "Fh"; the result is the value "1Fh".

Switch S3 – 120 ohm termination resistor

This DIP switch (PIN 1, marked with an asterisk "*") switches the termination of 120 Ω between CAN+ and CAN- of the CAN bus on or off.

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