NANOTEC PD4-E-M User manual

Technical Manual PD4-E-M
Fieldbus: EtherCAT
For use with the following devices:
PD4-E591L42-M-65-1, PD4-EB59CD-M-65-1
Valid with firmware version FIR-v1748 Technical Manual Version: 1.0.1
and since hardware version W002b

Technical Manual PD4-E-M (EtherCAT)
Contents
Contents
1 Introduction.................................................................................................7
1.1 Version information................................................................................................................................7
1.2 Copyright, marking and contact............................................................................................................ 7
1.3 Intended use..........................................................................................................................................7
1.4 Warranty and disclaimer........................................................................................................................7
1.5 Specialist staff....................................................................................................................................... 8
1.6 Other applicable regulations..................................................................................................................8
1.7 EU directives for product safety............................................................................................................8
1.8 Used icons.............................................................................................................................................8
1.9 Emphasis in the text............................................................................................................................. 8
1.10 Numerical values.................................................................................................................................9
1.11 Bits.......................................................................................................................................................9
1.12 Counting direction (arrows).................................................................................................................9
2 Safety and warning notices.....................................................................10
3 Technical details and pin assignment................................................... 11
3.1 Environmental conditions.....................................................................................................................11
3.2 Dimensioned drawings........................................................................................................................ 11
3.3 Electrical properties and technical data..............................................................................................12
3.4 Overtemperature protection.................................................................................................................13
3.5 LED signaling...................................................................................................................................... 15
3.6 Pin assignment....................................................................................................................................18
4 Commissioning.........................................................................................23
4.1 Establishing communication................................................................................................................24
4.2 Auto setup........................................................................................................................................... 25
4.3 Test run............................................................................................................................................... 27
4.4 Special drive modes (clock-direction and analog speed)....................................................................28
5 General concepts..................................................................................... 31
5.1 Control modes.....................................................................................................................................31
5.2 CiA 402 Power State Machine............................................................................................................35
5.3 User-defined units............................................................................................................................... 40
5.4 Limitation of the range of motion........................................................................................................45
5.5 Cycle times..........................................................................................................................................45
6 Operating modes......................................................................................47
6.1 Profile Position.....................................................................................................................................47
6.2 Velocity................................................................................................................................................ 56
6.3 Profile Velocity.....................................................................................................................................57
6.4 Profile Torque......................................................................................................................................60
6.5 Homing.................................................................................................................................................62
6.6 Interpolated Position Mode..................................................................................................................69
6.7 Cyclic Synchronous Position...............................................................................................................70
6.8 Cyclic Synchronous Velocity...............................................................................................................72
6.9 Cyclic Synchronous Torque................................................................................................................ 73

Technical Manual PD4-E-M (EtherCAT)
Contents
6.10 Clock-direction mode.........................................................................................................................74
6.11 Auto setup......................................................................................................................................... 76
7 Special functions......................................................................................78
7.1 Digital inputs and outputs....................................................................................................................78
7.2 I2t Motor overload protection...............................................................................................................87
7.3 Saving objects.....................................................................................................................................88
8 EtherCAT................................................................................................... 93
9 Programming with NanoJ........................................................................94
9.1 NanoJ program....................................................................................................................................94
9.2 Mapping in the NanoJ program.......................................................................................................... 97
9.3 System calls in a NanoJ program.......................................................................................................99
10 Description of the object dictionary...................................................101
10.1 Overview..........................................................................................................................................101
10.2 Structure of the object description.................................................................................................. 101
10.3 Object description............................................................................................................................101
10.4 Value description.............................................................................................................................102
10.5 Description.......................................................................................................................................103
1000h Device Type..................................................................................................................................104
1001h Error Register............................................................................................................................... 105
1003h Pre-defined Error Field.................................................................................................................106
1008h Manufacturer Device Name..........................................................................................................110
1009h Manufacturer Hardware Version...................................................................................................110
100Ah Manufacturer Software Version....................................................................................................111
1010h Store Parameters..........................................................................................................................111
1011h Restore Default Parameters.........................................................................................................114
1018h Identity Object...............................................................................................................................118
1020h Verify Configuration......................................................................................................................119
1600h Receive PDO 1 Mapping Parameter............................................................................................121
1601h Receive PDO 2 Mapping Parameter............................................................................................123
1602h Receive PDO 3 Mapping Parameter............................................................................................125
1603h Receive PDO 4 Mapping Parameter............................................................................................128
1A00h Transmit PDO 1 Mapping Parameter.......................................................................................... 130
1A01h Transmit PDO 2 Mapping Parameter.......................................................................................... 132
1A02h Transmit PDO 3 Mapping Parameter.......................................................................................... 135
1A03h Transmit PDO 4 Mapping Parameter.......................................................................................... 137
1C00h Sync Manager Communication Type...........................................................................................140
1C12h Sync Manager PDO Assignment.................................................................................................141
1C13h Sync Manager PDO Assignment.................................................................................................143
1C32h Output Sync Manager Synchronization.......................................................................................144
1C33h Input Sync Manager Synchronization..........................................................................................145
1F50h Program Data...............................................................................................................................147
1F51h Program Control...........................................................................................................................148
1F57h Program Status............................................................................................................................ 149
2030h Pole Pair Count............................................................................................................................150
2031h Maximum Current.........................................................................................................................151
2034h Upper Voltage Warning Level......................................................................................................151
2035h Lower Voltage Warning Level......................................................................................................152
2036h Open Loop Current Reduction Idle Time.....................................................................................153
2037h Open Loop Current Reduction Value/factor.................................................................................153
2038h Brake Controller Timing................................................................................................................154
2039h Motor Currents..............................................................................................................................156

Technical Manual PD4-E-M (EtherCAT)
Contents
203Ah Homing On Block Configuration.................................................................................................. 157
203Bh I2t Parameters..............................................................................................................................159
203Dh Torque Window............................................................................................................................161
203Eh Torque Window Time Out............................................................................................................162
203Fh Max Slippage Time Out............................................................................................................... 162
2056h Limit Switch Tolerance Band........................................................................................................163
2057h Clock Direction Multiplier..............................................................................................................163
2058h Clock Direction Divider.................................................................................................................164
2059h Encoder Configuration..................................................................................................................164
205Ah Absolute Sensor Boot Value (in User Units)............................................................................... 165
205Bh Clock Direction Or Clockwise/Counter Clockwise Mode..............................................................166
2084h Bootup Delay................................................................................................................................166
2101h Fieldbus Module Availability.........................................................................................................166
2102h Fieldbus Module Control.............................................................................................................. 168
2103h Fieldbus Module Status................................................................................................................169
2110h EtherCAT Slave Status................................................................................................................ 171
2300h NanoJ Control...............................................................................................................................171
2301h NanoJ Status................................................................................................................................172
2302h NanoJ Error Code........................................................................................................................ 173
230Fh Uptime Seconds...........................................................................................................................174
2310h NanoJ Input Data Selection......................................................................................................... 175
2320h NanoJ Output Data Selection.......................................................................................................176
2330h NanoJ In/output Data Selection................................................................................................... 178
2400h NanoJ Inputs................................................................................................................................ 179
2410h NanoJ Init Parameters..................................................................................................................180
2500h NanoJ Outputs..............................................................................................................................181
2600h NanoJ Debug Output....................................................................................................................182
2701h Customer Storage Area................................................................................................................183
2800h Bootloader And Reboot Settings..................................................................................................184
3202h Motor Drive Submode Select.......................................................................................................185
3203h Feedback Selection......................................................................................................................186
3204h Feedback Mapping.......................................................................................................................188
3210h Motor Drive Parameter Set.......................................................................................................... 189
3212h Motor Drive Flags.........................................................................................................................194
3220h Analog Inputs................................................................................................................................195
3221h Analogue Inputs Control...............................................................................................................197
3240h Digital Inputs Control....................................................................................................................197
3241h Digital Input Capture.....................................................................................................................200
3242h Digital Input Routing.....................................................................................................................202
3243h Digital Input Homing Capture.......................................................................................................204
3250h Digital Outputs Control.................................................................................................................205
3252h Digital Output Routing..................................................................................................................208
3320h Read Analogue Input....................................................................................................................209
3321h Analogue Input Offset...................................................................................................................211
3322h Analogue Input Pre-scaling.......................................................................................................... 212
33A0h Feedback Incremental A/B/I 1..................................................................................................... 213
33B4h SSI Encoder Multi Turn............................................................................................................... 214
3700h Deviation Error Option Code........................................................................................................216
4012h HW Information.............................................................................................................................217
4013h HW Configuration......................................................................................................................... 218
4014h Operating Conditions....................................................................................................................219
4015h Special Drive Modes.................................................................................................................... 221
4016h Factory Settings............................................................................................................................222
4040h Drive Serial Number.....................................................................................................................223
4041h Device Id.......................................................................................................................................223
603Fh Error Code....................................................................................................................................224
6040h Controlword...................................................................................................................................224
6041h Statusword....................................................................................................................................225
6042h Vl Target Velocity.........................................................................................................................227

Technical Manual PD4-E-M (EtherCAT)
Contents
6043h Vl Velocity Demand......................................................................................................................227
6044h Vl Velocity Actual Value...............................................................................................................228
6046h Vl Velocity Min Max Amount........................................................................................................228
6048h Vl Velocity Acceleration................................................................................................................229
6049h Vl Velocity Deceleration............................................................................................................... 230
604Ah Vl Velocity Quick Stop.................................................................................................................231
604Ch Vl Dimension Factor.................................................................................................................... 232
605Ah Quick Stop Option Code..............................................................................................................234
605Bh Shutdown Option Code................................................................................................................234
605Ch Disable Option Code....................................................................................................................235
605Dh Halt Option Code.........................................................................................................................236
605Eh Fault Option Code........................................................................................................................236
6060h Modes Of Operation.....................................................................................................................237
6061h Modes Of Operation Display........................................................................................................238
6062h Position Demand Value................................................................................................................238
6063h Position Actual Internal Value......................................................................................................239
6064h Position Actual Value................................................................................................................... 239
6065h Following Error Window............................................................................................................... 240
6066h Following Error Time Out.............................................................................................................240
6067h Position Window...........................................................................................................................241
6068h Position Window Time..................................................................................................................241
606Bh Velocity Demand Value................................................................................................................242
606Ch Velocity Actual Value...................................................................................................................243
606Dh Velocity Window...........................................................................................................................243
606Eh Velocity Window Time..................................................................................................................244
6071h Target Torque...............................................................................................................................244
6072h Max Torque.................................................................................................................................. 245
6074h Torque Demand............................................................................................................................245
6075h Motor Rated Current.....................................................................................................................246
6077h Torque Actual Value.....................................................................................................................246
607Ah Target Position.............................................................................................................................247
607Bh Position Range Limit....................................................................................................................247
607Ch Home Offset.................................................................................................................................248
607Dh Software Position Limit................................................................................................................249
607Eh Polarity..........................................................................................................................................250
607Fh Max Profile Velocity......................................................................................................................251
6080h Max Motor Speed.........................................................................................................................251
6081h Profile Velocity..............................................................................................................................252
6082h End Velocity..................................................................................................................................252
6083h Profile Acceleration.......................................................................................................................253
6084h Profile Deceleration...................................................................................................................... 253
6085h Quick Stop Deceleration...............................................................................................................253
6086h Motion Profile Type...................................................................................................................... 254
6087h Torque Slope................................................................................................................................254
608Fh Position Encoder Resolution........................................................................................................255
6090h Velocity Encoder Resolution........................................................................................................ 256
6091h Gear Ratio....................................................................................................................................257
6092h Feed Constant..............................................................................................................................258
6096h Velocity Factor..............................................................................................................................259
6097h Acceleration Factor.......................................................................................................................260
6098h Homing Method............................................................................................................................ 262
6099h Homing Speed..............................................................................................................................262
609Ah Homing Acceleration....................................................................................................................263
60A2h Jerk Factor...................................................................................................................................264
60A4h Profile Jerk...................................................................................................................................265
60A8h SI Unit Position............................................................................................................................ 266
60A9h SI Unit Velocity............................................................................................................................ 267
60B0h Position Offset..............................................................................................................................268
60B1h Velocity Offset..............................................................................................................................268

60B2h Torque Offset...............................................................................................................................269
60C1h Interpolation Data Record............................................................................................................269
60C2h Interpolation Time Period.............................................................................................................270
60C4h Interpolation Data Configuration..................................................................................................271
60C5h Max Acceleration..........................................................................................................................273
60C6h Max Deceleration.........................................................................................................................274
60E4h Additional Position Actual Value..................................................................................................274
60E5h Additional Velocity Actual Value..................................................................................................275
60E6h Additional Position Encoder Resolution - Encoder Increments....................................................276
60E8h Additional Gear Ratio - Motor Shaft Revolutions.........................................................................278
60E9h Additional Feed Constant - Feed.................................................................................................279
60EBh Additional Position Encoder Resolution - Motor Revolutions...................................................... 280
60EDh Additional Gear Ratio - Driving Shaft Revolutions......................................................................281
60EEh Additional Feed Constant - Driving Shaft Revolutions................................................................ 282
60F2h Positioning Option Code.............................................................................................................. 283
60F4h Following Error Actual Value........................................................................................................284
60F8h Max Slippage................................................................................................................................285
60FAh Control Effort................................................................................................................................285
60FCh Position Demand Internal Value..................................................................................................286
60FDh Digital Inputs................................................................................................................................287
60FEh Digital Outputs............................................................................................................................. 287
60FFh Target Velocity............................................................................................................................. 288
6502h Supported Drive Modes................................................................................................................289
6503h Drive Catalogue Number..............................................................................................................290
6505h Http Drive Catalogue Address......................................................................................................290
11 Copyrights.............................................................................................292
11.1 Introduction......................................................................................................................................292
11.2 AES..................................................................................................................................................292
11.3 MD5................................................................................................................................................. 292
11.4 uIP....................................................................................................................................................293
11.5 DHCP...............................................................................................................................................293
11.6 CMSIS DSP Software Library.........................................................................................................293
11.7 FatFs................................................................................................................................................294
11.8 Protothreads.................................................................................................................................... 294
11.9 lwIP..................................................................................................................................................294

Technical Manual PD4-E-M (EtherCAT)
1 Introduction
1 Introduction
The PD4-E-M is a brushless motor with integrated controller in protection class IP65. 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 about the device on the Nanotec homepage us.nanotec.com.
1.1 Version information
Manual
version Date Changes Firmware version Hardware version
1.0.0 12/2017 First edition FIR-v1738 W002b
1.0.1 02/2018 Additions and error corrections FIR-v1748 W002b
1.2 Copyright, marking and contact
Copyright ©2013 – 2018 Nanotec®Electronic GmbH & Co. KG. All rights reserved.
Nanotec®Electronic GmbH & Co. KG
Kapellenstraße 6
D-85622 Feldkirchen/Munich
Phone: [phone]
Fax: [phone]
Internet: us.nanotec.com
TwinCAT™is a registered trademark of the Beckhoff Automation GmbH™.
1.3 Intended use
The PD4-E-M is designed for use under the approved Environmental conditions.
Any other use is considered unintended use.
Note
Changes or modification to the controller are not permitted.
1.4 Warranty and disclaimer
Nanotec produces component parts that are used in a wide range of industrial applications. The
selection and use of Nanotec products is the responsibility of the system engineer and end user.
Nanotec accepts no responsibility for the integration of the products in the end system.
Version: 1.0.1 / FIR-v1748 7

Technical Manual PD4-E-M (EtherCAT)
1 Introduction
Under no circumstances may a Nanotec product be integrated as a safety controller in a product or
construction. All products containing a component part manufactured by Nanotec must, upon delivery
to the end user, be provided with corresponding warning notices and instructions for safe use and safe
operation. All warning notices provided by Nanotec must be passed on directly to the end user.
Our general terms and conditions apply: en.nanotec.com/service/general-terms-and-conditions/.
1.5 Specialist staff
Only specialists may install, program and commission the device:
• Persons who have appropriate training and experience in work with motors and their control.
• Persons who are familiar with and understand the content of this technical manual.
• Persons who know the applicable regulations.
1.6 Other applicable regulations
In addition to this technical manual, the following regulations are to be observed:
• Accident-prevention regulations
• Local regulations on occupational safety
1.7 EU directives for product safety
The following EU directives were observed:
• RoHS directive (2011/65/EU, 2015/863/EU)
• EMC directive (2014/30/EU)
1.8 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 an error source or likelihood of confusion.
• Failure to observe the notice may result in damage to this or other devices.
• Describes how device damage can be avoided.
Tip
Shows a tip for the application or task.
1.9 Emphasis in the text
The following conventions are used in the document:
Text set in bold indicates cross references and hyperlinks:
Version: 1.0.1 / FIR-v1748 8

Technical Manual PD4-E-M (EtherCAT)
1 Introduction
• The following bits in object 6041h(statusword) have a special function:
• A list of available system calls can be found in chapter System calls in a 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.
1.10 Numerical values
Numerical values are generally specified in decimal notation. The use of hexadecimal notation is
indicated by a subscript hat 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 1003his addressed with 1003h:05h, subindex 00 of object 6040hwith
6040h.
1.11 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.
1.12 Counting direction (arrows)
In figures, the counting direction is always in the direction of an arrow. Objects 60C5hand 60C6h
depicted as examples in the following figure are both specified as positive.
Max. acceleration (60C5h)
Max. deceleration (60C6h)
Acceleration
t
Version: 1.0.1 / FIR-v1748 9

Technical Manual PD4-E-M (EtherCAT)
2 Safety and warning notices
2 Safety and warning notices
Note
• Damage to the controller.
• Changing the wiring during operation may damage the controller.
• Only change the wiring in a de-energized state. After switching off, wait until the capacitors have
discharged.
Note
• Fault of the controller due to excitation voltage of the motor.
• Voltage peaks during operation may damage the controller.
• Install suitable circuits (e.g., charging capacitor) that reduce voltage peaks.
Note
• There is no polarity reversal protection.
• Polarity reversal results in a short-circuit between supply voltage and GND (earth) via the power
diode.
• Install a line protection device (fuse) in the supply line.
Note
• The device contains components that are sensitive to electrostatic discharge.
• Improper handling can damage the device.
• Observe the basic principles of ESD protection when handling the device.
Version: 1.0.1 / FIR-v1748 10