Pin assignment Overview Connector Function X1 Voltage supply X2 Inputs/outputs and logic supply X3 EtherCAT IN X4 EtherCAT OUT X5 Connection for external holding brake X6 Mini-USB Note: All pins with designation GND are internally connected. X1 — voltage supply Connection for the main supply (power). Connector type: M12, 4-pin, L-coded, male Suitable Nanotec cable: ZK-M12-4-...-...-LFF (not included in the scope of delivery) Note: The integrated control is supplied by the logic supply (on X2), the connection of which is necessary for communication and for operation. 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. Pin assignment Pin Function Note 1 +UB 12…57.6 V DC red (when using cable ZK-M12-4-...-...-LFF) 2 +UB 12…57.6 V DC red/white (when using cable ZK-M12-4-...-...-LFF) 3 GND black (when using cable ZK-M12-4-...-...-LFF) 4 GND black/white (when using cable ZK-M12-4-...-...-LFF) Note: Damage to the electronics if the supply voltage is connected with reversed polarity! ► Observe the pin assignment. ► Install a line protection device (fuse) in the supply line. Permissible operating voltage The maximum operating voltage is 57.6 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 CRS500JT-73-15RAA from VITROHM with 5 W continuous output). The minimum operating voltage is 12 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 (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). 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 (PD6-EB…): 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/outputs and external logic supply Connection for the digital and analog inputs/outputs and the 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 level, switchable by means of software with object 3240h, max. 1 MHz 3 Digital input 2 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 4 Digital input 3 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 5 Digital input 4 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 6 Digital input 5 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 7 Digital input 6 5 V / 24 V level, 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. 30 V / 100 mA 10 Digital output 2 Digital output, open drain, max. 30 V / 100 mA 11 Voltage output +5 V±5%, max. 250 mA, short-circuit proof 12 +UB Logic +24 V DC (12…30 V), input voltage for the logic supply Note: The logic supply powers the electronics, the encoder and the communication interface. The windings of the motor are not supplied by the logic supply. The following switching thresholds apply for inputs 1 to 6: Max. Voltage Switching thresholds Switching on Switching off 5 V > 4.09 V < 0.95 V 24 V > 14.74 V < 3.78 V Alternative function 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 / Clock Input im Clock-Direction -Modus - Input 1 / -Clock Input im Clock-Direction -Modus Clock -Clock 3 Input 2/ Direction Input in Clock-Direction -Mode + Input 1 / +Clock Input in Clock-Direction -Mode Direction Clock 4 Input 3 -Input 2/- Direction Input in Clock-Direction .Mode Release -Direction 5 Input 4 + Input 2/ + Direction Input in Clock-Direction -Mode Digitaler Input 4 Direction 6 Input 5 - Input 3 Digitaler Input 5 -Release 7 Input 6 +Input 3 Digitaler Input 6 Release Connecting an external encoder You can connect an external encoder to the pins of the digital inputs, which you can assign to a control loop. See chapter Configuring the sensors and Assignment of the feedbacks to the control loops. Note: The pins occupied by the encoder signals can no longer be used as clock/direction input. Incremental encoders are supported with or without index, single-ended or differential: Pin Single-ended Differential 1 GND GND 2 A\ A 3 A B 4 B\ I 5 B 6 I\ 7 I Note: You can connect 5 V encoders to the voltage output on pin 11 provided the required current does not exceed 250 mA. For 24 V encoders, you must: provide an external supply voltage and set the corresponding bits in 3240h:06h to the value "1" to switch the level to 24 V. X3 — EtherCAT IN Connection for EtherCAT. Connector 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 - X4 — 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 - X5 – external holding brake Connection for an optional external holding brake. Connector type: M8, 3-pin, A-coded, female Pin Function Note 1 Brake Internally connected to +UB 2 Brake GND PWM-controlled open-drain output, max. 1.5 A 4 n.c. Not connected You can find further details on controlling the holding brake in chapter Automatic brake control. X6 — Mini USB Mini USB port.
Pin assignment Overview Connector Function X1 Voltage supply X2 Inputs/outputs and logic supply X3 EtherCAT IN X4 EtherCAT OUT X5 Connection for external holding brake X6 Mini-USB Note: All pins with designation GND are internally connected. X1 — voltage supply Connection for the main supply (power). Connector type: M12, 4-pin, L-coded, male Suitable Nanotec cable: ZK-M12-4-...-...-LFF (not included in the scope of delivery) Note: The integrated control is supplied by the logic supply (on X2), the connection of which is necessary for communication and for operation. 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. Pin assignment Pin Function Note 1 +UB 12…57.6 V DC red (when using cable ZK-M12-4-...-...-LFF) 2 +UB 12…57.6 V DC red/white (when using cable ZK-M12-4-...-...-LFF) 3 GND black (when using cable ZK-M12-4-...-...-LFF) 4 GND black/white (when using cable ZK-M12-4-...-...-LFF) Note: Damage to the electronics if the supply voltage is connected with reversed polarity! ► Observe the pin assignment. ► Install a line protection device (fuse) in the supply line. Permissible operating voltage The maximum operating voltage is 57.6 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 CRS500JT-73-15RAA from VITROHM with 5 W continuous output). The minimum operating voltage is 12 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 (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). 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 (PD6-EB…): 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/outputs and external logic supply Connection for the digital and analog inputs/outputs and the 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 level, switchable by means of software with object 3240h, max. 1 MHz 3 Digital input 2 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 4 Digital input 3 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 5 Digital input 4 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 6 Digital input 5 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 7 Digital input 6 5 V / 24 V level, 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. 30 V / 100 mA 10 Digital output 2 Digital output, open drain, max. 30 V / 100 mA 11 Voltage output +5 V±5%, max. 250 mA, short-circuit proof 12 +UB Logic +24 V DC (12…30 V), input voltage for the logic supply Note: The logic supply powers the electronics, the encoder and the communication interface. The windings of the motor are not supplied by the logic supply. The following switching thresholds apply for inputs 1 to 6: Max. Voltage Switching thresholds Switching on Switching off 5 V > 4.09 V < 0.95 V 24 V > 14.74 V < 3.78 V Alternative function 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 / Clock Input im Clock-Direction -Modus - Input 1 / -Clock Input im Clock-Direction -Modus Clock -Clock 3 Input 2/ Direction Input in Clock-Direction -Mode + Input 1 / +Clock Input in Clock-Direction -Mode Direction Clock 4 Input 3 -Input 2/- Direction Input in Clock-Direction .Mode Release -Direction 5 Input 4 + Input 2/ + Direction Input in Clock-Direction -Mode Digitaler Input 4 Direction 6 Input 5 - Input 3 Digitaler Input 5 -Release 7 Input 6 +Input 3 Digitaler Input 6 Release Connecting an external encoder You can connect an external encoder to the pins of the digital inputs, which you can assign to a control loop. See chapter Configuring the sensors and Assignment of the feedbacks to the control loops. Note: The pins occupied by the encoder signals can no longer be used as clock/direction input. Incremental encoders are supported with or without index, single-ended or differential: Pin Single-ended Differential 1 GND GND 2 A\ A 3 A B 4 B\ I 5 B 6 I\ 7 I Note: You can connect 5 V encoders to the voltage output on pin 11 provided the required current does not exceed 250 mA. For 24 V encoders, you must: provide an external supply voltage and set the corresponding bits in 3240h:06h to the value "1" to switch the level to 24 V. X3 — EtherCAT IN Connection for EtherCAT. Connector 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 - X4 — 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 - X5 – external holding brake Connection for an optional external holding brake. Connector type: M8, 3-pin, A-coded, female Pin Function Note 1 Brake Internally connected to +UB 2 Brake GND PWM-controlled open-drain output, max. 1.5 A 4 n.c. Not connected You can find further details on controlling the holding brake in chapter Automatic brake control. X6 — Mini USB Mini USB port.
Overview Connector Function X1 Voltage supply X2 Inputs/outputs and logic supply X3 EtherCAT IN X4 EtherCAT OUT X5 Connection for external holding brake X6 Mini-USB Note: All pins with designation GND are internally connected.
X1 — voltage supply Connection for the main supply (power). Connector type: M12, 4-pin, L-coded, male Suitable Nanotec cable: ZK-M12-4-...-...-LFF (not included in the scope of delivery) Note: The integrated control is supplied by the logic supply (on X2), the connection of which is necessary for communication and for operation. 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. Pin assignment Pin Function Note 1 +UB 12…57.6 V DC red (when using cable ZK-M12-4-...-...-LFF) 2 +UB 12…57.6 V DC red/white (when using cable ZK-M12-4-...-...-LFF) 3 GND black (when using cable ZK-M12-4-...-...-LFF) 4 GND black/white (when using cable ZK-M12-4-...-...-LFF) Note: Damage to the electronics if the supply voltage is connected with reversed polarity! ► Observe the pin assignment. ► Install a line protection device (fuse) in the supply line. Permissible operating voltage The maximum operating voltage is 57.6 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 CRS500JT-73-15RAA from VITROHM with 5 W continuous output). The minimum operating voltage is 12 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 (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). 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 (PD6-EB…): 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.
Pin assignment Pin Function Note 1 +UB 12…57.6 V DC red (when using cable ZK-M12-4-...-...-LFF) 2 +UB 12…57.6 V DC red/white (when using cable ZK-M12-4-...-...-LFF) 3 GND black (when using cable ZK-M12-4-...-...-LFF) 4 GND black/white (when using cable ZK-M12-4-...-...-LFF) Note: Damage to the electronics if the supply voltage is connected with reversed polarity! ► Observe the pin assignment. ► Install a line protection device (fuse) in the supply line.
Permissible operating voltage The maximum operating voltage is 57.6 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 CRS500JT-73-15RAA from VITROHM with 5 W continuous output). The minimum operating voltage is 12 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 (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). 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 (PD6-EB…): 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/outputs and external logic supply Connection for the digital and analog inputs/outputs and the 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 level, switchable by means of software with object 3240h, max. 1 MHz 3 Digital input 2 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 4 Digital input 3 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 5 Digital input 4 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 6 Digital input 5 5 V / 24 V level, switchable by means of software with object 3240h, max. 1 MHz 7 Digital input 6 5 V / 24 V level, 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. 30 V / 100 mA 10 Digital output 2 Digital output, open drain, max. 30 V / 100 mA 11 Voltage output +5 V±5%, max. 250 mA, short-circuit proof 12 +UB Logic +24 V DC (12…30 V), input voltage for the logic supply Note: The logic supply powers the electronics, the encoder and the communication interface. The windings of the motor are not supplied by the logic supply. The following switching thresholds apply for inputs 1 to 6: Max. Voltage Switching thresholds Switching on Switching off 5 V > 4.09 V < 0.95 V 24 V > 14.74 V < 3.78 V Alternative function 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 / Clock Input im Clock-Direction -Modus - Input 1 / -Clock Input im Clock-Direction -Modus Clock -Clock 3 Input 2/ Direction Input in Clock-Direction -Mode + Input 1 / +Clock Input in Clock-Direction -Mode Direction Clock 4 Input 3 -Input 2/- Direction Input in Clock-Direction .Mode Release -Direction 5 Input 4 + Input 2/ + Direction Input in Clock-Direction -Mode Digitaler Input 4 Direction 6 Input 5 - Input 3 Digitaler Input 5 -Release 7 Input 6 +Input 3 Digitaler Input 6 Release Connecting an external encoder You can connect an external encoder to the pins of the digital inputs, which you can assign to a control loop. See chapter Configuring the sensors and Assignment of the feedbacks to the control loops. Note: The pins occupied by the encoder signals can no longer be used as clock/direction input. Incremental encoders are supported with or without index, single-ended or differential: Pin Single-ended Differential 1 GND GND 2 A\ A 3 A B 4 B\ I 5 B 6 I\ 7 I Note: You can connect 5 V encoders to the voltage output on pin 11 provided the required current does not exceed 250 mA. For 24 V encoders, you must: provide an external supply voltage and set the corresponding bits in 3240h:06h to the value "1" to switch the level to 24 V.
X3 — EtherCAT IN Connection for EtherCAT. Connector 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 -
X4 — 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 -
X5 – external holding brake Connection for an optional external holding brake. Connector type: M8, 3-pin, A-coded, female Pin Function Note 1 Brake Internally connected to +UB 2 Brake GND PWM-controlled open-drain output, max. 1.5 A 4 n.c. Not connected You can find further details on controlling the holding brake in chapter Automatic brake control.
