Electrical properties and technical data Property Description / value Operating voltage 12 - 48 V DC ±4% Rated current 6 Arms Peak current 10 Arms (for 1 second) Commutation Stepper motor open loop, stepper motor closed loop with encoder, BLDC sine commutated via Hall sensor, BLDC sine commutated via encoderNote: External wiring is required for encoder and Hall sensor! Operating modes Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Velocity Mode, Homing Mode, Interpolated Position Mode, Cyclic Sync Position Mode, Cyclic Sync Velocity Mode, Cyclic Synchronous Torque Mode, Clock-Direction Mode Set value setting / programming Clock-direction, analog, NanoJ program Interfaces 2x SPI, 1x I2C Encoder/Hall 2x encoder 1x Hall sensorNote: External wiring is required for encoder and Hall sensor! I/O 6x general I/O, 2x analog input, 1x output for the external brake (open drain), 1x output for the external ballast circuit Connector PCI Express 8x, 1.0 mm RM, 2×49 contacts Overtemperature Protection circuit at temperature > 75°C Polarity reversal protection Polarity reversal protection by power diode (short-circuit between +UB and GND, fuse necessary in supply line) Fuse size for polarity reversal protection: Imax (controller) < I (tripping current for fuse) < Imax (voltage supply) Charging capacitor For each ampere of rated current on the motor, Nanotec recommends a capacitance of approx. 1000 µF. Note: For the digital inputs, the switch-on threshold is 1.86 V, the switch-off threshold is 0.91 V. For the digital inputs, the maximum sampling frequency is 1 MHz. The range of the analog inputs is 0 … 3.3 V. Tip: If the fuse value (I tripping current for fuse) is very close to the maximum current consumption of the controller (Imax controller), a medium / slow tripping characteristics should be used.