NANOTEC PD4-C User manual

Technical Manual PD4-C
Fieldbus: USB
For use with the following devices:
PD4-C5918X4204-E-01, PD4-C5918M4204-E-01, PD4-C5918L4204-E-01, PD4-
C6018L4204-E-01, PD4-CB59M024035-E-01
Valid with firmware version FIR-v1650 Technical Manual Version: 2.0.1
and since hardware version W006

Contents
Contents
1 Introduction.....................................................................................................8
1.1 Version information.....................................................................................................................................8
1.2 Copyright, marking and contact..................................................................................................................9
1.3 Intended use...............................................................................................................................................9
1.4 Target group and qualification....................................................................................................................9
1.5 Warranty and disclaimer.............................................................................................................................9
1.6 EU directives for product safety...............................................................................................................10
1.7 Other applicable regulations.....................................................................................................................10
1.8 Used icons................................................................................................................................................10
1.9 Emphasis in the text.................................................................................................................................10
1.10 Numerical values.................................................................................................................................... 11
1.11 Bits.......................................................................................................................................................... 11
1.12 Counting direction (arrows).....................................................................................................................11
2 Safety and warning notices........................................................................12
3 Technical details and pin assignment.......................................................13
3.1 Environmental conditions..........................................................................................................................13
3.2 Dimensioned drawings..............................................................................................................................13
3.2.1 PD4-C5918X4204-E-01.................................................................................................................. 13
3.2.2 PD4-C5918M4204-E-01..................................................................................................................13
3.2.3 PD4-C5918L4204-E-01...................................................................................................................14
3.2.4 PD4-C6018L4204-E-01...................................................................................................................14
3.2.5 PD4-CB59M024035-E-01............................................................................................................... 14
3.3 Electrical properties and technical data....................................................................................................14
3.3.1 Technical data – motor...................................................................................................................14
3.3.2 Technical data................................................................................................................................ 15
3.4 Overtemperature protection......................................................................................................................15
3.5 LED signaling............................................................................................................................................17
3.5.1 Power LED......................................................................................................................................17
3.6 Pin assignment......................................................................................................................................... 18
3.6.1 Overview.........................................................................................................................................18
3.6.2 X1 −analog inputs and outputs.....................................................................................................18
3.6.3 X2 – digital inputs...........................................................................................................................19
3.6.4 X3 – voltage supply........................................................................................................................20
4 Commissioning.............................................................................................22
4.1 Configuration.............................................................................................................................................23
4.1.1 General........................................................................................................................................... 23
4.1.2 USB connection..............................................................................................................................23
4.1.3 Configuration file.............................................................................................................................24
4.1.4 NanoJ program...............................................................................................................................26
4.2 Auto setup.................................................................................................................................................27
4.2.1 Parameter determination................................................................................................................ 28
4.2.2 Execution........................................................................................................................................ 28
4.2.3 Parameter memory.........................................................................................................................30
4.3 Special drive modes (clock-direction and analog speed).........................................................................30
4.3.1 Activation.........................................................................................................................................31
4.3.2 Clock-direction................................................................................................................................ 32

Contents
4.3.3 Analog speed..................................................................................................................................32
4.3.4 Test run with 30 rpm......................................................................................................................32
5 General concepts.........................................................................................33
5.1 Control modes...........................................................................................................................................33
5.1.1 General........................................................................................................................................... 33
5.1.2 Open Loop......................................................................................................................................34
5.1.3 Closed Loop....................................................................................................................................36
5.2 CiA 402 Power State Machine.................................................................................................................37
5.2.1 State machine.................................................................................................................................37
5.2.2 Behavior upon exiting the Operation enabled state.......................................................................39
5.3 User-defined units.....................................................................................................................................42
5.3.1 Calculation formulas for user units.................................................................................................42
5.4 Limitation of the range of motion............................................................................................................. 45
5.4.1 Tolerance bands of the limit switches............................................................................................45
5.4.2 Software limit switches...................................................................................................................45
5.5 Cycle times............................................................................................................................................... 45
6 Operating modes..........................................................................................47
6.1 Profile Position..........................................................................................................................................47
6.1.1 Note regarding USB....................................................................................................................... 47
6.1.2 Overview.........................................................................................................................................47
6.1.3 Setting travel commands................................................................................................................48
6.1.4 Loss of accuracy for relative movements.......................................................................................53
6.1.5 Boundary conditions for a positioning move.................................................................................. 54
6.1.6 Jerk-limited mode and non-jerk-limited mode................................................................................ 55
6.2 Velocity......................................................................................................................................................56
6.2.1 Note regarding USB....................................................................................................................... 56
6.2.2 Description......................................................................................................................................56
6.2.3 Activation.........................................................................................................................................56
6.2.4 Controlword.....................................................................................................................................56
6.2.5 Statusword......................................................................................................................................56
6.2.6 Object entries..................................................................................................................................56
6.3 Profile Velocity..........................................................................................................................................58
6.3.1 Note regarding USB....................................................................................................................... 58
6.3.2 Description......................................................................................................................................58
6.3.3 Activation.........................................................................................................................................58
6.3.4 Controlword.....................................................................................................................................58
6.3.5 Statusword......................................................................................................................................58
6.3.6 Object entries..................................................................................................................................58
6.4 Profile Torque........................................................................................................................................... 61
6.4.1 Note regarding USB....................................................................................................................... 61
6.4.2 Description......................................................................................................................................61
6.4.3 Activation.........................................................................................................................................61
6.4.4 Controlword.....................................................................................................................................61
6.4.5 Statusword......................................................................................................................................61
6.4.6 Object entries..................................................................................................................................62
6.5 Homing......................................................................................................................................................63
6.5.1 Note regarding USB....................................................................................................................... 63
6.5.2 Overview.........................................................................................................................................63
6.5.3 Homing method.............................................................................................................................. 65
6.6 Interpolated Position Mode.......................................................................................................................70
6.6.1 Note regarding USB....................................................................................................................... 70
6.6.2 Overview.........................................................................................................................................70
6.6.3 Activation.........................................................................................................................................70
6.6.4 Controlword.....................................................................................................................................70
6.6.5 Statusword......................................................................................................................................71

Contents
6.6.6 Use..................................................................................................................................................71
6.6.7 Setup...............................................................................................................................................71
6.6.8 Operation........................................................................................................................................ 71
6.7 Cyclic Synchronous Position.................................................................................................................... 72
6.7.1 Note regarding USB....................................................................................................................... 72
6.7.2 Overview.........................................................................................................................................72
6.7.3 Object entries..................................................................................................................................73
6.8 Cyclic Synchronous Velocity.....................................................................................................................73
6.8.1 Note regarding USB....................................................................................................................... 73
6.8.2 Overview.........................................................................................................................................73
6.8.3 Object entries..................................................................................................................................74
6.9 Cyclic Synchronous Torque......................................................................................................................75
6.9.1 Note regarding USB....................................................................................................................... 75
6.9.2 Overview.........................................................................................................................................75
6.9.3 Object entries..................................................................................................................................76
6.10 Clock-direction mode.............................................................................................................................. 76
6.10.1 Description....................................................................................................................................76
6.10.2 Activation.......................................................................................................................................76
6.10.3 General......................................................................................................................................... 76
6.10.4 Statusword....................................................................................................................................77
6.10.5 Subtypes of the clock-direction mode..........................................................................................77
6.11 Auto setup...............................................................................................................................................78
6.11.1 Description....................................................................................................................................78
6.11.2 Activation.......................................................................................................................................78
6.11.3 Controlword...................................................................................................................................78
6.11.4 Statusword....................................................................................................................................78
7 Special functions......................................................................................... 79
7.1 Digital inputs and outputs.........................................................................................................................79
7.1.1 Bit assignment................................................................................................................................79
7.1.2 Digital inputs...................................................................................................................................79
7.1.3 Digital outputs.................................................................................................................................83
7.2 I2t Motor overload protection....................................................................................................................87
7.2.1 Description......................................................................................................................................87
7.2.2 Object entries..................................................................................................................................88
7.2.3 Activation.........................................................................................................................................88
7.2.4 Function of I2t.................................................................................................................................88
7.3 Saving objects...........................................................................................................................................89
7.3.1 General........................................................................................................................................... 89
7.3.2 Category: communication...............................................................................................................90
7.3.3 Category: application......................................................................................................................90
7.3.4 Category: drive............................................................................................................................... 91
7.3.5 Category: tuning............................................................................................................................. 92
7.3.6 Starting the save process...............................................................................................................92
7.3.7 Discarding the saved data..............................................................................................................92
7.3.8 Verifying the configuration..............................................................................................................93
7.3.9 User memory area 2700h...............................................................................................................93
8 Programming with NanoJ........................................................................... 95
8.1 NanoJ program.........................................................................................................................................95
8.2 Mapping in the NanoJ program................................................................................................................98
8.3 System calls in a NanoJ program..........................................................................................................100
9 Description of the object dictionary........................................................ 103
9.1 Overview................................................................................................................................................. 103
9.2 Structure of the object description..........................................................................................................103

Contents
9.3 Object description...................................................................................................................................103
9.4 Value description.................................................................................................................................... 104
9.5 Description.............................................................................................................................................. 105
1000h Device Type.......................................................................................................................................106
1001h Error Register.....................................................................................................................................107
1003h Pre-defined Error Field...................................................................................................................... 108
1008h Manufacturer Device Name...............................................................................................................112
1009h Manufacturer Hardware Version........................................................................................................112
100Ah Manufacturer Software Version.........................................................................................................112
1010h Store Parameters...............................................................................................................................113
1011h Restore Default Parameters..............................................................................................................115
1018h Identity Object....................................................................................................................................117
1020h Verify Configuration........................................................................................................................... 118
1F50h Program Data.................................................................................................................................... 120
1F51h Program Control................................................................................................................................ 121
1F57h Program Status..................................................................................................................................122
2028h MODBUS Slave Address...................................................................................................................123
202Ah MODBUS RTU Baudrate...................................................................................................................124
202Ch MODBUS RTU Stop Bits.................................................................................................................. 124
202Dh MODBUS RTU Parity........................................................................................................................125
2030h Pole Pair Count................................................................................................................................. 125
2031h Maximum Current.............................................................................................................................. 126
2032h Maximum Speed................................................................................................................................127
2033h Plunger Block.....................................................................................................................................127
2034h Upper Voltage Warning Level............................................................................................................128
2035h Lower Voltage Warning Level............................................................................................................128
2036h Open Loop Current Reduction Idle Time.......................................................................................... 129
2037h Open Loop Current Reduction Value/factor...................................................................................... 129
2039h Motor Currents...................................................................................................................................130
203Ah Homing On Block Configuration........................................................................................................132
203Bh I2t Parameters...................................................................................................................................133
203Dh Torque Window.................................................................................................................................136
203Eh Torque Window Time........................................................................................................................136
2050h Encoder Alignment.............................................................................................................................137
2051h Encoder Optimization.........................................................................................................................137
2052h Encoder Resolution............................................................................................................................138
2056h Limit Switch Tolerance Band.............................................................................................................139
2057h Clock Direction Multiplier...................................................................................................................140
2058h Clock Direction Divider...................................................................................................................... 140
2059h Encoder Configuration....................................................................................................................... 140
205Ah Encoder Boot Value.......................................................................................................................... 141
205Bh Clock Direction Or Clockwise/Counter Clockwise Mode...................................................................142
2060h Compensate Polepair Count..............................................................................................................142
2061h Velocity Numerator............................................................................................................................ 143
2062h Velocity Denominator.........................................................................................................................143
2063h Acceleration Numerator..................................................................................................................... 144
2064h Acceleration Denominator..................................................................................................................144
2065h Jerk Numerator..................................................................................................................................144
2066h Jerk Denominator...............................................................................................................................145
2084h Bootup Delay..................................................................................................................................... 145
2101h Fieldbus Module Availability.............................................................................................................. 146
2102h Fieldbus Module Control....................................................................................................................147
2103h Fieldbus Module Status.....................................................................................................................148
2300h NanoJ Control....................................................................................................................................150
2301h NanoJ Status..................................................................................................................................... 151
2302h NanoJ Error Code..............................................................................................................................151
230Fh Uptime Seconds................................................................................................................................ 153
2310h NanoJ Input Data Selection...............................................................................................................153
2320h NanoJ Output Data Selection............................................................................................................155

Contents
2330h NanoJ In/output Data Selection.........................................................................................................156
2400h NanoJ Inputs......................................................................................................................................157
2410h NanoJ Init Parameters.......................................................................................................................158
2500h NanoJ Outputs...................................................................................................................................159
2600h NanoJ Debug Output.........................................................................................................................160
2700h User Storage Area.............................................................................................................................161
2800h Bootloader And Reboot Settings.......................................................................................................163
3202h Motor Drive Submode Select.............................................................................................................165
320Ah Motor Drive Sensor Display Open Loop...........................................................................................166
320Bh Motor Drive Sensor Display Closed Loop.........................................................................................168
3210h Motor Drive Parameter Set................................................................................................................169
3212h Motor Drive Flags.............................................................................................................................. 173
3220h Analog Inputs.....................................................................................................................................175
3221h Analogue Inputs Control....................................................................................................................176
3225h Analogue Inputs Switches................................................................................................................. 177
3240h Digital Inputs Control......................................................................................................................... 178
3241h Digital Input Capture..........................................................................................................................181
3242h Digital Input Routing.......................................................................................................................... 182
3250h Digital Outputs Control.......................................................................................................................185
3252h Digital Output Routing........................................................................................................................187
3320h Read Analogue Input.........................................................................................................................189
3321h Analogue Input Offset........................................................................................................................190
3322h Analogue Input Pre-scaling................................................................................................................191
3502h MODBUS Rx PDO Mapping..............................................................................................................192
3602h MODBUS Tx PDO Mapping..............................................................................................................196
3700h Following Error Option Code.............................................................................................................200
4012h HW Information..................................................................................................................................200
4013h HW Configuration...............................................................................................................................201
4014h Operating Conditions......................................................................................................................... 202
4040h Drive Serial Number.......................................................................................................................... 204
4041h Device Id............................................................................................................................................204
603Fh Error Code.........................................................................................................................................205
6040h Controlword........................................................................................................................................205
6041h Statusword......................................................................................................................................... 206
6042h Vl Target Velocity.............................................................................................................................. 208
6043h Vl Velocity Demand........................................................................................................................... 208
6044h Vl Velocity Actual Value.................................................................................................................... 209
6046h Vl Velocity Min Max Amount............................................................................................................. 209
6048h Vl Velocity Acceleration.....................................................................................................................210
6049h Vl Velocity Deceleration.....................................................................................................................211
604Ah Vl Velocity Quick Stop.......................................................................................................................212
604Ch Vl Dimension Factor..........................................................................................................................213
605Ah Quick Stop Option Code...................................................................................................................215
605Bh Shutdown Option Code.....................................................................................................................215
605Ch Disable Option Code.........................................................................................................................216
605Dh Halt Option Code.............................................................................................................................. 217
605Eh Fault Option Code.............................................................................................................................217
6060h Modes Of Operation.......................................................................................................................... 218
6061h Modes Of Operation Display............................................................................................................. 219
6062h Position Demand Value.....................................................................................................................219
6063h Position Actual Internal Value............................................................................................................220
6064h Position Actual Value.........................................................................................................................220
6065h Following Error Window.....................................................................................................................221
6066h Following Error Time Out.................................................................................................................. 221
6067h Position Window................................................................................................................................ 222
6068h Position Window Time.......................................................................................................................222
606Bh Velocity Demand Value.....................................................................................................................223
606Ch Velocity Actual Value........................................................................................................................ 223
606Dh Velocity Window................................................................................................................................224

Contents
606Eh Velocity Window Time.......................................................................................................................224
6071h Target Torque....................................................................................................................................225
6072h Max Torque........................................................................................................................................226
6074h Torque Demand.................................................................................................................................226
6077h Torque Actual Value..........................................................................................................................227
607Ah Target Position.................................................................................................................................. 227
607Bh Position Range Limit......................................................................................................................... 228
607Ch Home Offset......................................................................................................................................229
607Dh Software Position Limit......................................................................................................................229
607Eh Polarity...............................................................................................................................................230
6081h Profile Velocity...................................................................................................................................231
6082h End Velocity.......................................................................................................................................231
6083h Profile Acceleration............................................................................................................................232
6084h Profile Deceleration............................................................................................................................232
6085h Quick Stop Deceleration....................................................................................................................233
6086h Motion Profile Type............................................................................................................................233
6087h Torque Slope..................................................................................................................................... 233
608Fh Position Encoder Resolution............................................................................................................. 234
6091h Gear Ratio..........................................................................................................................................235
6092h Feed Constant................................................................................................................................... 236
6098h Homing Method..................................................................................................................................237
6099h Homing Speed...................................................................................................................................237
609Ah Homing Acceleration..........................................................................................................................239
60A4h Profile Jerk.........................................................................................................................................239
60C1h Interpolation Data Record.................................................................................................................241
60C2h Interpolation Time Period..................................................................................................................242
60C4h Interpolation Data Configuration........................................................................................................243
60C5h Max Acceleration...............................................................................................................................245
60C6h Max Deceleration.............................................................................................................................. 245
60F2h Positioning Option Code....................................................................................................................246
60F4h Following Error Actual Value.............................................................................................................247
60FDh Digital Inputs..................................................................................................................................... 248
60FEh Digital Outputs...................................................................................................................................249
60FFh Target Velocity...................................................................................................................................250
6502h Supported Drive Modes.....................................................................................................................250
6505h Http Drive Catalogue Address...........................................................................................................251
10 Copyrights.................................................................................................253
10.1 Introduction............................................................................................................................................253
10.2 AES.......................................................................................................................................................253
10.3 MD5.......................................................................................................................................................253
10.4 uIP.........................................................................................................................................................254
10.5 DHCP....................................................................................................................................................254
10.6 CMSIS DSP Software Library...............................................................................................................254
10.7 FatFs.....................................................................................................................................................254
10.8 Protothreads..........................................................................................................................................255
10.9 lwIP........................................................................................................................................................255

1 Introduction
1 Introduction
The PD4-C is a brushless motor with integrated controller. The integrated absolute encoder makes
immediate operation possible in closed loop mode without homing.
This manual describes the functions of the controller and the available operating modes. It also shows how
you can address and program the controller via the communication interface.
You can find further information on the product on us.nanotec.com.
1.1 Version information
Manual
version Date Changes Firmware version
1.0.0 03.03.2014 Edition FIR-v1403
1.0.3 12.05.2014 Minor improvements and corrections, "Preset value" field now
occupied FIR-v1419
1.1.0 23.07.2014 ●Chapter Saving objects added, savable added to the list of
objects
●The following objects were shifted:
○"Read Analog Input": from 6402hto 3320h
○"Analogue Input Offset": from 6431hto 3321h
○"Analogue Input Pre-scaling": from 6432hto 3322h
FIR-v1426
1.1.7 10.09.2014 Error corrections FIR-v1436
1.1.15 18.11.2014 ●Error corrections
●The "Mode of modulo operation" object in 2070hwas
replaced with the "Positioning option code" object in 60F2h
FIR-v1446
1.2.0 11.03.2015 New chapter:
●Clock-direction mode
●Analog mode
FIR-v1504
1.2.1 24.04.2015 ●Error corrections
●New chapter Input Routing
FIR-v1512
1.3.0 02.10.2015 ●Error corrections
●New chapter Overtemperature protection
●New chapter Output Routing
●New section Possible combinations of travel commands
●Addition to the connection data for the connectors
●Addition to the switching thresholds for digital inputs
FIR-v1540
1.4.0 08.04.2016 Error corrections FIR-v1614
1.4.1 22.07.2016 Additions and error corrections FIR-v1626
2.0.0 01/2018 ●New chapter Environmental conditions
●New chapter Control modes
●New chapter Limitation of the range of motion
●New chapter Cycle times
●Revision of chapter Commissioning
●Additions and error corrections
FIR-v1650
2.0.1 04/2019 Additions and error corrections FIR-v1650
Version: 2.0.1 / FIR-v1650 8

1 Introduction
1.2 Copyright, marking and contact
©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/en.nanotec.com
Microsoft®Windows®98/NT/ME/2000/XP/7/10 are registered trademarks of the Microsoft Corporation.
1.3 Intended use
The PD4-C motor with integrated controller is used as a component of drive systems in a range of industrial
applications.
Use the product as intended within the limits defined in the technical data (in particular, see Permissible
operating voltage) and the approved Environmental conditions.
Under no circumstances may this Nanotec product be integrated as a safety component in a product or
system. All products containing a component manufactured by Nanotec must, upon delivery to the end user,
be provided with corresponding warning notices and instructions for safe use and safe operation. All warning
notices provided by Nanotec must be passed on directly to the end user.
1.4 Target group and qualification
The product and this documentation are directed towards technically trained specialists staff such as:
●Development engineers
●Plant engineers
●Installers/service personnel
●Application engineers
Only specialists may install, program and commission the product. Specialist staff are persons who
●have appropriate training and experience in work with motors and their control,
●are familiar with and understand the content of this technical manual,
●know the applicable regulations.
1.5 Warranty and disclaimer
Nanotec assumes no liability for damages and malfunctions resulting from installation errors, failure to
observe this manual or improper repairs. The selection and use of Nanotec products is the responsibility of
the plant engineer or end user. Nanotec accepts no responsibility for the integration of the product in the end
system.
Our general terms and conditions apply: en.nanotec.com/service/general-terms-and-conditions/.
Version: 2.0.1 / FIR-v1650 9

1 Introduction
Customers of Nanotec Electronic US Inc. please refer to us.nanotec.com/service/general-terms-and-
conditions/.
Note
Changes or modifications to the product are not permitted.
1.6 EU directives for product safety
The following EU directives were observed:
●RoHS directive (2011/65/EU, 2015/863/EU)
●EMC directive (2014/30/EU)
1.7 Other applicable regulations
In addition to this technical manual, the following regulations are to be observed:
●Accident-prevention regulations
●Local regulations on occupational safety
1.8 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 a possible incorrect operation of the product.
Failure to observe the notice may result in damage to this or other products.
►Describes how you can avoid the incorrect operation.
Tip
Shows a tip for the application or task.
1.9 Emphasis in the text
The following conventions are used in the document:
Underlined text indicates cross references and hyperlinks:
●The following bits in object 6041h(statusword) have a special function:
●A list of available system calls can be found in chapter 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.
Version: 2.0.1 / FIR-v1650 10