Technical Manual PD4-C Fieldbus: CANopen For use with the following variants: PD4-C5918X4204-E-08 PD4-C5918M4204-E-08 PD4-C5918L4204-E-08 PD4-C6018L4204-E-08 PD4-CB59M024035-E-08 Valid for firmware version FIR-v2213 and higher Manual version 3.3.0 and hardware version W006 and higher to the archive Introduction The PD4-C is a brushless motor with integrated controller. The integrated absolute encoder makes immediate operation possible in closed loop mode without homing. This manual describes the functions of the controller and the available operating modes. It also shows how you can address and program the controller via the communication interface. You can find further information on the product on us.nanotec.com. Version information Manual version Date Changes Firmware version 1.0.0 03.03.2014 Edition FIR-v1403 1.0.3 12.05.2014 Minor improvements and corrections, "Preset value" field now occupied FIR-v1419 1.1.0 16.05.2014 Following chapters added: Cyclic Synchronous Position Cyclic Synchronous Velocity Cyclic Synchronous Torque FIR-v1426 1.3.0 06.06.2014 PD4-CB59M024035-E-08 added Changeover of analog/digital inputs added FIR-v1426 1.4.0 23.07.2014 Chapter "Saving objects" added, savable added to the list of objects The following objects were shifted: "Read Analog Input": from 6402 h to 3320 h "Analogue Input Offset": from 6431 h to 3321 h "Analogue Input Pre-scaling": from 6432 h to 3322 h FIR-v1426 1.4.7 10.09.2014 Error corrections FIR-v1436 1.4.15 18.11.2014 Error corrections The "Mode of modulo operation" object in 2070h was replaced with the "Positioning option code" object in 60F2h FIR-v1446 1.5.0 11.03.2015 New chapter: Clock-direction mode FIR-v1504 1.5.1 24.04.2015 Error corrections New chapter Input Routing FIR-v1512 1.6.0 02.10.2015 Error corrections New chapter Overtemperature protection New chapter Output Routing New section Possible combinations of travel commands Addition to the connection data for the connectors Addition to the switching thresholds for digital inputs FIR-v1540 1.7.0 08.04.2016 Error corrections New chapter Interpolated Position Mode FIR-v1614 1.7.1 22.07.2016 Additions and error corrections FIR-v1626 2.0.0 01/2018 New chapter Environmental conditions New chapter Control modes New chapter Limitation of the range of motion New chapter Cycle times New chapter CANopen services Revision of chapter Commissioning Additions and error corrections FIR-v1650 2.0.1 04/2019 Additions and error corrections FIR-v1650 3.0.0 10/2019 New firmware generation: see document Instructions on how to perform firmware update to version: FIR-v1939. Addition to the connection data for the connectors FIR-v1939 3.1.0 11/2020 New firmware generation: see document Instructions on how to perform firmware update to version: FIR-v2039. New chapter Analog inputs Worst-case calculations for the switching thresholds of the inputs FIR-v2039 3.2.0 09/2021 Additions and error corrections FIR-v2139 3.3.0 07/2022 Correction of the baud rate values in Setting node-ID and baud rate.Changes in chapter Controller structure: New objects 321Ah, 321Bh, 321Ch, 321Dh and 321Eh for the control parameters replace 320Eh. The current controller in open-loop is now only parameterized in 3210h, object 320Fh has been removed.New object 6007h Abort Connection Option CodeNew object 230Eh Timer FIR-v2213 Copyright, marking and contact © 2013 – 2022 Nanotec Electronic GmbH & Co. KG. All rights reserved. Nanotec Electronic GmbH & Co. KG Kapellenstraße 6 85622 Feldkirchen Germany Phone: +49 89 900 686-0 Fax: +49 (89) 900 686-50 us.nanotec.com Intended use The PD4-C motor with integrated controller is used as a component of drive systems in a range of industrial applications. Use the product as intended within the limits defined in the technical data (in particular, see Permissible operating voltage) and the approved Environmental conditions. Under no circumstances may this Nanotec product be integrated as a safety component in a product or system. All products containing a component manufactured by Nanotec must, upon delivery to the end user, be provided with corresponding warning notices including instructions for safe use and safe operation. All warning notices provided by Nanotec must be passed on directly to the end user. Target group and qualification The product and this documentation are directed towards technically trained specialists staff such as: Development engineers Plant engineers Installers/service personnel Application engineers Only specialists may install, program and commission the product. Specialist staff are persons who have appropriate training and experience in working with motors and their control, are familiar with and understand the content of this technical manual, know the applicable regulations. Warranty and disclaimer Nanotec assumes no liability for damages and malfunctions resulting from installation errors, failure to observe this manual or improper repairs. The selection and use of Nanotec products is the responsibility of the plant engineer or end user. Nanotec accepts no responsibility for the integration of the product in the end system. Our general terms and conditions at www.nanotec.com apply. Note: Changes or modifications to the product are not permitted. EU directives for product safety The following EU directives were observed: RoHS directive (2011/65/EU, 2015/863/EU) EMC directive (2014/30/EU) Other applicable regulations In addition to this technical manual, the following regulations are to be observed: Accident-prevention regulations Local regulations on occupational safety Used icons All notices are in the same format. The degree of the hazard is divided into the following classes. CAUTION: The CAUTION notice indicates a possibly dangerous situation. Failure to observe the notice may result in moderately severe injuries. ► Describes how you can avoid the dangerous situation. Note: Indicates a possible incorrect operation of the product. Failure to observe the notice may result in damage to this or other products. ► Describes how you can avoid the incorrect operation. Tip: Shows a tip for the application or task. Emphasis in the text The following conventions are used in the document: Underlined text indicates cross references and hyperlinks: The following bits in object 6041h (statusword) have a special function: A list of available system calls can be found in chapter NanoJ functions in the NanoJ program. Text set in italics marks named objects: Read the installation manual. Use the Plug & Drive Studio software to perform the auto setup. For software: You can find the corresponding information in the Operation tab. For hardware: Use the ON/OFF switch to switch the device on. A text set in Courier marks a code section or programming command: The line with the od_write(0x6040, 0x00, 5 ); command has no effect. The NMT message is structured as follows: 000 | 81 2A A text in "quotation marks" marks user input: Start the NanoJ program by writing object 2300h, bit 0 = "1". If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h. Numerical values Numerical values are generally specified in decimal notation. The use of hexadecimal notation is indicated by a subscript h at the end of the number. The objects in the object dictionary are written with index and subindex as follows: <Index>:<Subindex> Both the index as well as the subindex are specified in hexadecimal notation. If no subindex is listed, the subindex is 00h. Example: Subindex 5 of object 1003h is addressed with 1003h:05h, subindex 00 of object 6040h with 6040h. Bits The numbering of individual bits in an object always begins with the LSB (bit number 0). See the following figure, which uses data type UNSIGNED8 as an example. Counting direction (arrows) In figures, the counting direction is always in the direction of an arrow. Objects 60C5h and 60C6h depicted as examples in the following figure are both specified as positive.