NANOTEC PD4-C5918M4204-E-01 User manual

Manual PD4-C
Fieldbus: USB
For use with the following devices:
· PD4-C5918M4204-E-01
· PD4-C5918L4204-E-01
· PD4-C6018L4204-E-01
· PD4-CB59M024035-E-01
Valid with firmware version FIR-v1626 Manual Version: 1.4.1
and since hardware version W005
NANOTEC ELECTRONIC GmbH & Co. KG Tel. [phone]
Kapellenstraße 6 Fax [phone]
85622 Feldkirchen/Munich, Germany [email protected]

Manual PD4-C (USB)
Contents
Contents
1 Editorial....................................................................................................... 7
2 Release notes............................................................................................. 8
3 Safety instructions and warnings.............................................................9
3.1 Important information.............................................................................................................................9
3.2 Personnel qualifications.........................................................................................................................9
3.3 General danger and warning notes.....................................................................................................10
3.4 Danger and warning signs..................................................................................................................10
3.5 Other information.................................................................................................................................10
4 About this manual....................................................................................11
4.1 Introduction..........................................................................................................................................11
4.2 Numerical values.................................................................................................................................11
4.3 Bits.......................................................................................................................................................11
4.4 Counting direction (arrows).................................................................................................................11
5 Technical data and pin configuration.................................................... 12
5.1 Dimensioned drawings........................................................................................................................ 12
5.2 Electrical properties.............................................................................................................................12
5.3 Overtemperature protection.................................................................................................................13
5.4 LED signaling...................................................................................................................................... 15
5.5 Pin configuration..................................................................................................................................16
6 Configuration............................................................................................ 20
6.1 General information.............................................................................................................................20
6.2 DIP switches........................................................................................................................................20
6.3 USB port..............................................................................................................................................21
6.4 Configuration file..................................................................................................................................22
6.5 NanoJ program....................................................................................................................................24
7 Setup and commissioning.......................................................................26
7.1 Safety instructions............................................................................................................................... 26
7.2 General................................................................................................................................................26
8 General concepts..................................................................................... 29
8.1 DS402 Power State machine..............................................................................................................29
8.2 User-defined units............................................................................................................................... 33
9 Operating modes......................................................................................37
9.1 Profile Position.....................................................................................................................................37
9.2 Velocity................................................................................................................................................ 46
9.3 Profile Velocity.....................................................................................................................................48
9.4 Profile Torque......................................................................................................................................51

Manual PD4-C (USB)
Contents
9.5 Homing.................................................................................................................................................53
9.6 Clock/direction mode...........................................................................................................................61
9.7 Analogue Mode................................................................................................................................... 62
10 Special functions....................................................................................64
10.1 Digital inputs and outputs..................................................................................................................64
10.2 I2t motor overload protection.............................................................................................................72
10.3 Save Objects.....................................................................................................................................74
11 Programming with NanoJ......................................................................75
11.1 Introduction........................................................................................................................................75
11.2 Available computing time.................................................................................................................. 75
11.3 Interaction of the user program with the motor controller.................................................................75
11.4 Object dictionary entries for controlling and configuring the VMM....................................................77
11.5 NanoJ Easy V2................................................................................................................................. 77
11.6 System calls...................................................................................................................................... 80
12 Object directory description..................................................................82
12.1 Overview............................................................................................................................................82
12.2 Structure of the object description.................................................................................................... 82
12.3 Object description..............................................................................................................................82
12.4 Value description...............................................................................................................................84
12.5 Description.........................................................................................................................................84
1000h Device Type....................................................................................................................................85
1001h Error Register.................................................................................................................................86
1003h Pre-defined Error Field...................................................................................................................87
1008h Manufacturer Device Name............................................................................................................90
1009h Manufacturer Hardware Version.....................................................................................................91
100Ah Manufacturer Software Version......................................................................................................91
1010h Store Parameters........................................................................................................................... 91
1011h Restore Default Parameters...........................................................................................................93
1018h Identity Object.................................................................................................................................95
1020h Verify Configuration........................................................................................................................96
2028h MODBUS Slave Address............................................................................................................... 97
202Ah MODBUS RTU Baudrate...............................................................................................................98
202Ch MODBUS RTU Stop Bits...............................................................................................................98
202Dh MODBUS RTU Parity.................................................................................................................... 99
2030h Pole Pair Count..............................................................................................................................99
2031h Maximum Current.........................................................................................................................100
2032h Maximum Speed...........................................................................................................................100
2033h Plunger Block............................................................................................................................... 101
2034h Upper Voltage Warning Level......................................................................................................102
2035h Lower Voltage Warning Level......................................................................................................102
2036h Open Loop Current Reduction Idle Time.....................................................................................103
2037h Open Loop Current Reduction Value/factor.................................................................................103
2039h Motor Currents..............................................................................................................................104
203Ah Homing On Block Configuration.................................................................................................. 105
203Bh I2t Parameters..............................................................................................................................107
203Dh Torque Window............................................................................................................................109
203Eh Torque Window Time...................................................................................................................109
2050h Encoder Alignment....................................................................................................................... 110
2051h Encoder Optimization................................................................................................................... 110
2052h Encoder Resolution...................................................................................................................... 112
2056h Limit Switch Tolerance Band........................................................................................................112
2057h Clock Direction Multiplier..............................................................................................................113
2058h Clock Direction Divider.................................................................................................................113

Manual PD4-C (USB)
Contents
2059h Encoder Configuration..................................................................................................................114
205Ah Encoder Boot Value.....................................................................................................................114
205Bh Clock Direction Or Clockwise/Counter Clockwise Mode..............................................................115
2060h Compensate Polepair Count........................................................................................................ 115
2061h Velocity Numerator.......................................................................................................................116
2062h Velocity Denominator....................................................................................................................116
2063h Acceleration Numerator................................................................................................................117
2064h Acceleration Denominator............................................................................................................ 117
2065h Jerk Numerator.............................................................................................................................118
2066h Jerk Denominator......................................................................................................................... 118
2067h Jerk Limit (internal).......................................................................................................................119
2084h Bootup Delay................................................................................................................................119
2101h Fieldbus Module Availability.........................................................................................................120
2102h Fieldbus Module Control.............................................................................................................. 121
2103h Fieldbus Module Status................................................................................................................122
2200h Sampler Control............................................................................................................................124
2201h Sampler Status.............................................................................................................................125
2202h Sample Data Selection.................................................................................................................125
2203h Sampler Buffer Information.......................................................................................................... 128
2204h Sample Time In Ms......................................................................................................................129
2300h NanoJ Control...............................................................................................................................129
2301h NanoJ Status................................................................................................................................130
2302h NanoJ Error Code........................................................................................................................ 131
230Fh Uptime Seconds...........................................................................................................................132
2310h NanoJ Input Data Selection......................................................................................................... 133
2320h NanoJ Output Data Selection.......................................................................................................136
2330h NanoJ In/output Data Selection................................................................................................... 140
2400h NanoJ Inputs................................................................................................................................ 143
2410h NanoJ Init Parameters..................................................................................................................144
2500h NanoJ Outputs..............................................................................................................................145
2600h NanoJ Debug Output....................................................................................................................146
2700h User Storage Area........................................................................................................................147
3202h Motor Drive Submode Select.......................................................................................................149
320Ah Motor Drive Sensor Display Open Loop......................................................................................150
320Bh Motor Drive Sensor Display Closed Loop....................................................................................151
3210h Motor Drive Parameter Set.......................................................................................................... 153
3212h Motor Drive Flags.........................................................................................................................157
3220h Analog Inputs................................................................................................................................158
3221h Analogue Inputs Control...............................................................................................................159
3225h Analogue Inputs Switches............................................................................................................160
3240h Digital Inputs Control....................................................................................................................161
3241h Digital Input Capture.....................................................................................................................163
3242h Digital Input Routing.....................................................................................................................165
3250h Digital Outputs Control.................................................................................................................167
3252h Digital Output Routing..................................................................................................................169
3320h Read Analogue Input....................................................................................................................170
3321h Analogue Input Offset...................................................................................................................171
3322h Analogue Input Pre-scaling.......................................................................................................... 172
3502h MODBUS Rx PDO Mapping........................................................................................................ 173
3602h MODBUS Tx PDO Mapping.........................................................................................................177
3700h Following Error Option Code........................................................................................................180
4012h HW Information.............................................................................................................................180
4040h Drive Serial Number.....................................................................................................................181
603Fh Error Code....................................................................................................................................182
6040h Controlword...................................................................................................................................182
6041h Statusword....................................................................................................................................183
6042h Vl Target Velocity.........................................................................................................................184
6043h Vl Velocity Demand......................................................................................................................185
6044h Vl Velocity Actual Value...............................................................................................................185

Manual PD4-C (USB)
Contents
6046h Vl Velocity Min Max Amount........................................................................................................186
6048h Vl Velocity Acceleration................................................................................................................187
6049h Vl Velocity Deceleration............................................................................................................... 188
604Ah Vl Velocity Quick Stop.................................................................................................................189
604Ch Vl Dimension Factor.................................................................................................................... 190
605Ah Quick Stop Option Code..............................................................................................................191
605Bh Shutdown Option Code................................................................................................................191
605Ch Disable Option Code....................................................................................................................192
605Dh Halt Option Code.........................................................................................................................192
605Eh Fault Option Code........................................................................................................................193
6060h Modes Of Operation.....................................................................................................................194
6061h Modes Of Operation Display........................................................................................................194
6062h Position Demand Value................................................................................................................195
6063h Position Actual Internal Value......................................................................................................195
6064h Position Actual Value................................................................................................................... 196
6065h Following Error Window............................................................................................................... 196
6066h Following Error Time Out.............................................................................................................197
6067h Position Window...........................................................................................................................197
6068h Position Window Time..................................................................................................................198
606Bh Velocity Demand Value................................................................................................................198
606Ch Velocity Actual Value...................................................................................................................199
606Dh Velocity Window...........................................................................................................................199
606Eh Velocity Window Time..................................................................................................................200
6071h Target Torque...............................................................................................................................200
6072h Max Torque.................................................................................................................................. 201
6074h Torque Demand............................................................................................................................201
6077h Torque Actual Value.....................................................................................................................202
607Ah Target Position.............................................................................................................................202
607Bh Position Range Limit....................................................................................................................203
607Ch Home Offset.................................................................................................................................204
607Dh Software Position Limit................................................................................................................204
607Eh Polarity..........................................................................................................................................205
6081h Profile Velocity..............................................................................................................................206
6082h End Velocity..................................................................................................................................206
6083h Profile Acceleration.......................................................................................................................207
6084h Profile Deceleration...................................................................................................................... 207
6085h Quick Stop Deceleration...............................................................................................................208
6086h Motion Profile Type...................................................................................................................... 208
6087h Torque Slope................................................................................................................................208
608Fh Position Encoder Resolution........................................................................................................209
6091h Gear Ratio....................................................................................................................................210
6092h Feed Constant..............................................................................................................................211
6098h Homing Method............................................................................................................................ 212
6099h Homing Speed..............................................................................................................................212
609Ah Homing Acceleration....................................................................................................................213
60A4h Profile Jerk...................................................................................................................................214
60C1h Interpolation Data Record............................................................................................................215
60C2h Interpolation Time Period.............................................................................................................216
60C4h Interpolation Data Configuration..................................................................................................217
60C5h Max Acceleration..........................................................................................................................219
60C6h Max Deceleration.........................................................................................................................219
60F2h Positioning Option Code.............................................................................................................. 220
60F4h Following Error Actual Value........................................................................................................221
60FDh Digital Inputs................................................................................................................................222
60FEh Digital Outputs............................................................................................................................. 223
60FFh Target Velocity............................................................................................................................. 224
6502h Supported Drive Modes................................................................................................................224
6505h Http Drive Catalogue Address......................................................................................................225

13 Copyright notice...................................................................................226
13.1 Introduction......................................................................................................................................226
13.2 AES..................................................................................................................................................226
13.3 Arcfour (RC4).................................................................................................................................. 226
13.4 MD5................................................................................................................................................. 227
13.5 uIP....................................................................................................................................................227
13.6 DHCP...............................................................................................................................................227
13.7 CMSIS DSP Software Library.........................................................................................................228
13.8 FatFs................................................................................................................................................228
13.9 Protothreads.................................................................................................................................... 228
13.10 lwIP................................................................................................................................................229

Manual PD4-C (USB)
1 Editorial
Version: 1.4.1 / 22.07.2016 / FIR-v1626 7
1 Editorial
Copyright ©2013, 2014, 2015, 2016 Nanotec Electronic GmbH & Co. KG. All rights reserved.
The firmware in our motor controllers may contain software components produced by third parties. The
licensing conditions and copyrights of these code components can be found in the "Copyright notice"
section.
Nanotec®Electronic GmbH & Co. KG
Kapellenstraße 6
85622 Feldkirchen/Munich, Germany
Tel.: [phone]
Fax: [phone]
Internet: www.nanotec.com
All rights reserved!
MS Windows 98/NT/ME/2000/XP/7 are registered trademarks of the Microsoft Corporation.
Translation of original manual

Manual PD4-C (USB)
2 Release notes
Version: 1.4.1 / 22.07.2016 / FIR-v1626 8
2 Release notes
Version
Manual Version Frimware Date Changes
1.0.0 FIR-v1403 03.03.2014 First release
1.0.3 FIR-v1419 12.05.2014 Minor corrections, field "Specified Value" in object dictionary
description now used
1.1.0 FIR-v1426 23.07.2014 • Added chapter "Save Objects", added "Persistent" to the
object description
• The following objects has been moved
• "Read Analogue Input": from 6402hto 3320h
• "Analogue Input Offset": from 6431hto 3321h
• "Analogue Input Pre-scaling": from 6432hto 3322h
1.1.7 FIR-v1436 10.09.2014 Corrections
1.1.15 FIR-v1446 18.11.2014 • Corrections
• The object "Mode of modulo operation" at 2070hhas been
replaced with object "Positioning option code" at 60F2h
1.2.0 FIR-v1504 11.03.2015 New chapter:
•Clock/direction mode
•Analogue Mode
1.2.1 FIR-v1512 24.04.2015 • Corrections
• New chapter Input Routing
1.3.0 FIR-v1540 02.10.2015 • Corrections
• New chapter Overtemperature protection
• New chapter Output Routing
• New section Possible move command combinations
• Connection data added
• Switching limits for digital inputs added
1.4.0 FIR-v1614 08.04.2016 Corrections
1.4.1 FIR-v1626 22.07.2016 Additions and corrections

Manual PD4-C (USB)
3 Safety instructions and warnings
Version: 1.4.1 / 22.07.2016 / FIR-v1626 9
3 Safety instructions and warnings
3.1 Important information
This technical manual must be carefully read before installation and commissioning of the motor
controller.
Nanotec®reserves the right to make technical alterations and further develop hardware and software in
the interests of its customers to improve the function of this product without prior notice.
This manual was created with due care. It is exclusively intended as a technical description of the
product and as commissioning instructions. The warranty is exclusively for repair or replacement of
defective equipment, according to our general terms and conditions; liability for subsequent damage or
errors is excluded. Applicable standards and regulations must be complied with during installation of
the device.
Nanotec produces component parts that are deployed in a variety of industrial applications. The
selection and application of Nanotec products is the responsibility of the system constructor or end user
(see Personnel qualifications). Nanotec accepts no responsibility for the integration of the products in
the end system.
Under no circumstances may a Nanotec product be integrated as the sole safety control in a product
or construction. All positioning controls without exception must be designed so that errors are
detected dynamically and fail- safe under all circumstances. All products which contain a component
part manufactured by Nanotec must show appropriate warning notices and instructions for a safe
application and safe operation on delivery to the end user. All warning notices provided by Nanotec
must be immediately passed on to the end user.
Nanotec only accepts an express warranty for the quality of its own products in agreement with the
standards and specifications as they appear in the Nanotec manual. ALL OTHER IMPLICIT and
EXPLICIT WARRANTIES ARE EXCLUDED. Nanotec assumes no liability for injuries, product damage,
loss or claims that arise through incorrect application of the products.
Nanotec does not take over any responsibilities for results caused by any unauthorized product
changes. Nanotec does not take over any liabilities for damages or disruptions caused by any
unauthorized product changes.
To submit criticism, proposals and suggestions for improvement, please contact the above address or
send an email to: [email protected]
3.2 Personnel qualifications
Work on and with this product may only be carried out by skilled workers
• who are familiar with and have understood the contents of this manual
• who have completed a training course or have the corresponding experience to be able to estimate,
predict, or identify any dangers that may arise from using the motor controller
• who are familiar with all applicable standards, legal provisions, and accident-prevention regulations
that have to be complied with when working on and with the product
• who are able to ensure personal safety when using the motor controller in an overall system
Operation may only be carried out when the specified cables and corresponding accessories are used.
Use only original accessories and original spare parts.

Manual PD4-C (USB)
3 Safety instructions and warnings
Version: 1.4.1 / 22.07.2016 / FIR-v1626 10
3.3 General danger and warning notes
!
WARNING
Only use this controller with the - by connectors and power - intended 2-phase stepper and BLDC
motors. Otherwise there is a danger of fire or malfunction.
Do not use the product in areas where they are exposed to water, corrosive gases, flammable or
explosive gases or fuel. Otherwise there is a danger of electric shock, fire or explosion.
3.4 Danger and warning signs
All signs listed in this documentation are printed in a standardized form. A hazardous situation is
categorized according to the classes below depending on the level of hazard to the user or motor
controller.
!
DANGER
The DANGER sign indicates an immediately hazardous situation that, when the instruction is
neglected, will unavoidably cause a serious or fatal accident.
!
WARNING
The WARNING sign indicates a potentially hazardous situation that, when the instruction is
neglected, may possibly cause a serious or fatal accident or damage to this device or other devices.
!
CAUTION
The CAUTION sign indicates a potentially hazardous situation that, when the instruction is neglected,
may possibly cause an accident or damage to this device or other devices.
CAUTION
The CAUTION sign without the warning symbol indicates a possibly hazardous situation that, when
the instruction is neglected, may possibly cause an accident or damage to this device or other
devices.
3.5 Other information
The following additional information panels are used in this documentation:
Tip This panel indicates a possibility for simplifying work.
Note
This panel indicates possible error sources or risks of confusion.
Example
This panel contains an example.