NANOTEC PD4-E-MA User manual

PD4-E-MA EtherCAT
Short instructions Version 1.0.0
Original: de Firmware: v2213
Nanotec Electronic GmbH & Co. KG Phone: [phone]
Kapellenstraße 6 Fax: [phone]
85622 Feldkirchen, Germany [email protected]
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 instruction describes the installation and commissioning of the motor. You
can find the detailed documentation for the product and motor data sheets on
us.nanotec.com. The short instructions do not replace the technical manual of
the motor.
Copyright
©2013 – 2022 Nanotec Electronic GmbH & Co. KG. All rights reserved.
Intended use
The PD4-E-M 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 ) and the approved Environmental conditions.
Under no circumstances may this Nanotec product be integrated as a safety
component in a product or system. All products containing a component
manufactured by Nanotec must, upon delivery to the end user, be provided
with corresponding warning notices including instructions for safe use and safe
operation. All warning notices provided by Nanotec must be passed on directly
to the end user.
Warranty and disclaimer
Nanotec is not liable for damage and malfunction from installation errors, failure
to observe this document, or improper repair. Responsible for the selection,
operation, use of our products is the plant engineer, operator and user. Nanotec
accepts no liability for product integration in the end system. The general terms
and conditions at www.nanotec.com apply (customers of Nanotec Electronic
USA please see us.nanotec.com). Note: Product modification / alteration is
illicit.
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, and application engineers.
Only specialists may install, program and commission the product. Specialist
staff are persons who
• have appropriate training and experience in working with motors and their
control,
• are familiar with and understand the content of this technical manual,
• know the applicable regulations.
EU directives for product safety
The following EU directives were observed:
• RoHS directive (2011/65/EU, 2015/863/EU)
• EMC directive (2014/30/EU)
Other applicable regulations
In addition to this technical manual, the following regulations are to be observed:
• Accident-prevention regulations
• Local regulations on occupational safety
Safety and warning notices
NOTICE
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.
NOTICE
Damage to 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.
NOTICE
Damage to the electronics through improper handling of
ESD-sensitive components!
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.
NOTICE
Damage to the electronics if the supply voltage is
connected with reversed polarity!
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.
Technical details and pin assignment
Environmental conditions
Environmental condition Value
Protection class IP65 (except for
shaft output)
Ambient temperature (operation) -10 … +40°C
Air humidity (non-condensing) 0 … 85%
Max. Altitude of site above sea level (without drop in
performance) 1500 m
Ambient temperature (storage) -25 … +85°C
Electrical properties and technical data
Technical data – motor
PD4-E PD4-EB
Type Stepper motor BLDC
Operating voltage 12 - 48 V DC ±5% 12 - 48 V DC ±5%
Rated current rms 4.2 A 6 A
Peak current rms for 5 s 5.5 A 18 A
Technical data
Operating modes Profile Position Mode, Profile Velocity Mode,
Profile Torque Mode, Velocity Mode, Homing
Mode, Interpolated Position Mode, Cyclic Sync
Position Mode, Cyclic Sync Velocity Mode, Cyclic
Synchronous Torque Mode,
Set value setting /
programming EtherCAT, analog input, NanoJ program
Inputs 6 digital inputs (+5 V/+24 V DC), individually
switchable by means of software, factory settings: 5 V
1 analog input 0–10 V or 0–20 mA (switchable by
means of software)
Outputs 2 outputs, Open Drain, max. 100 mA
Integrated encoder Magnetic multiturn absolute encoder, single-turn
resolution: 17 bit (131072 per revolution), multiturn
resolution: 16-bit (+/-215 revolutions)
Protection circuit Overvoltage and undervoltage protection
Overtemperature protection (> 68° Celsius on rear
cover)
Polarity reversal protection: In the event of a polarity
reversal, a short-circuit will occur between supply
voltage and GND over a power diode; a line protection
device (fuse) is therefore necessary in the supply
line. The values of the fuse are dependent on the
application and must be dimensioned
• greater than the maximum current consumption
of the controller,
• less than the maximum current of the voltage
supply.
If the fuse value is very close to the maximum current
consumption of the controller, a medium / slow
tripping characteristics should be used.
Dimensioned drawings
All dimensions are in millimeters.
Dimension Value
L• PD4-E591L42-M-65: 126.5±1
• PD4-EB59CD-M-65: 146.5±1
W• PD4-E591L42-M-65: 57
• PD4-EB59CD-M-65: 57
H1 • PD4-E591L42-M-65: 56.4±0.5
• PD4-EB59CD-M-65: 56.6±0.5
H2 • PD4-E591L42-M-65: 89.7
• PD4-EB59CD-M-65: 89.7
D1 • PD4-E591L42-M-65: 6.35+0-0.013
• PD4-EB59CD-M-65: 8+0-0.013
D2 • PD4-E591L42-M-65: 38.1±0.025
• PD4-EB59CD-M-65: 38.1+0-0.05
D3 • PD4-E591L42-M-65: 5
• PD4-EB59CD-M-65: 5.2±0.25
Overtemperature protection
Above a temperature of approx. 75°C on the power board (corresponds to 65–
72°C outside on the back cover), the power part of the controller switches off
and the error bit is set After cooling down and confirming the error , the controller
again functions normally.
LED signaling
Power LED
The power LED indicates the current status.
Normal operation
In normal operation, the green power LED L1 flashes briefly once per second.
Case of an error
If an error has occurred, the LED turns red and signals an error number.
The following table shows the meaning of the error numbers.
Flash
rate Error
1 General
2 Voltage
3 Temperature
4 Overcurrent
5 Controller
6 Watchdog-Reset
NOTICE
For each error that occurs, a more precise error code is stored in
object 1003h.
Pin assignment
Connector Function Pin assignment / description
X1 EtherCAT IN
X2 EtherCAT OUT 1. TD+
2. RD+
3. TD-
4. RD-
X3 Voltage supply
12 - 48 V DC ±5%
1. +Ub
2. +Ub
3. GND
4. GND
5. n.c
X4 Inputs/outputs
and external logic
supply
Switching
thresholds for
digital inputs 1 - 6:
5 V (factory
setting): On:
>4.09 V; Off: <0.95
V
24 V: On: >14.74
V; Off: <3.78 V
1. GND
2. Digital input 1: 5 V / 24 V, switchable
with object 3240h, max. 1 MHz
3. Digital input 2: 5 V / 24 V, switchable
with object 3240h, max. 1 MHz
4. Digital input 3: 5 V / 24 V, switchable
with object 3240h, max. 1 MHz
5. Digital input 4: 5 V / 24 V, switchable
with object 3240h, max. 1 MHz
6. Digital input 5: 5 V / 24 V, switchable
with object 3240h, max. 1 MHz
7. Digital input 6: 5 V / 24 V, switchable
with object 3240h, max. 1 MHz
8. Analog input: 10 Bit, 0-10 V or
0-20 mA, switchable with object 3221h
9. Digital output 1: Open drain, max 24
V/100 mA
10. Digital output 2: Open drain, max 24
V/100 mA
11. 5V output: +5 VDC, max. 100 mA
12. +UB Logic: 4 V DC/approx. 39 mA

If you set 3240h:07hto the value "1", three differential inputs are available
instead of six single-ended inputs.
NOTICE
• EMC:ForaDCpowersupplylinelongerthan30morwhenusing
the motor on a DC bus, additional interference-suppression and
protection measures are necessary.
• An EMI filter is to be inserted in the DC supply line as close as
possible to the controller/motor.
• Long data or supply lines are to be routed through ferrites.
Commissioning
The Plug & Drive Studio software offers you an option for performing the
configuration and adapting the motor parameters to your application. You can
find further information in document Plug & Drive Studio: Quick Start Guide at
us.nanotec.com.
Observe the following notes:
CAUTION!
!
Moving parts can cause hand injuries.
If you touch moving parts during running operation, hand
injuries may result.
►Do not reach for moving parts during operation. After
switching off, wait until all movements have ended.
CAUTION!
!
In free-standing operation, motor movements are
uncontrolled and can cause injuries.
If the motor is unsecured, it can, e. g., fall down. Foot injuries or
damage to the motor could occur.
►If you operate the motor free-standing, observe the motor,
switch it off immediately in the event of danger and make
certain that the motor cannot fall down.
CAUTION!
!
Moving parts can catch hair and loose clothing.
During running operation, moving parts can catch hair or loose
clothing, which may lead to injuries.
►If you have long hair, wear a hairnet or take other suitable
protective measures when near moving parts. Do not work with
loose clothing or ties near moving parts.
CAUTION!
!
Risk of overheating or fire if there is insufficient cooling!
If cooling is insufficient or if the ambient temperature is too
high, there is a risk of overheating or fire.
►During use, make certain that the cooling and environmental
conditions are ensured.
NOTICE
EMC: Current-carrying cables – particularly around supply
cables – produce electromagnetic alternating fields. These
can interfere with the motor and other devices.
Suitable measures may be:
►Use shielded cables and earth the cable shielding on both
ends over a short distance.
►Keep power supply cables as short as possible.
►Use cables with cores in twisted pairs.
►Earth motor housing with large contact area over a short
distance.
►Lay supply and control cables separately.
Configuration via EtherCAT
Software connection
TIP
The following description assumes that an EtherCAT master from
Beckhoff with the TwinCAT software is used.
1. Connect the EtherCAT master to the controller, see .
2. Supply the controller with voltage.
3. Obtain the ESI file that corresponds exactly to the used firmware version
from the following sources:
a. From the Nanotec website us.nanotec.com. The current version of
the firmware and the ESI file can be found in the Plug & Drive Studio
download folder.
b. From Nanotec support.
4. Close the TwinCAT system manager if it is open.
5. Then copy the ESI file to the TwinCAT subfolder:
■If you use TwinCAT version 2, use folder <TWINCAT INSTALL DIR>/
Io/EtherCAT
■If you use TwinCAT version 3, use folder <TWINCAT INSTALL
DIR>/3.1/Config/Io/EtherCAT
Example
Example: If TwinCAT 2 is installed on your computer under
path C:\TwinCAT\, copy the ESI file to path C:\TwinCAT\Io
\EtherCAT\.
6. Open the ESI file with an editor. Find the AddInfo parameter. Enter:
■the value "2" if you would like to integrate the controller as Box (factory
settings)
■the value "0" if you would like to integrate the controller as NC-Axis
Save and close the file.
7. Now restart the TwinCAT system manager. The ESI files are read in again
following a restart.
NOTICE
The cycle time of the sync signal must always be set to 1 ms. You
can set the bus cycle time (and, consequently, the interpolation time
in 60C2h) to integer multiples of 1 ms.
Test run
After configuring and the auto setup, a test run can be performed. As an
example, the Velocity operating mode is used.
The values are transferred from your EtherCAT master to the controller. After
every transfer, the master should use the status objects of the controller to
ensure successful parameterization.
1. Select the Velocity mode by setting object 6060h(Modes Of Operation) to
the value "2".
2. Write the desired speed in 6042h.
3. Switch the power state machine to the Operation enabled.
The following sequence starts Velocity mode; the motor turns at 200 rpm.
Master Controller
write 6060h:00h = 02h
read 6061h:00h (= 02h?)
write 6040h:00h = 0006h
read 6041h:00h (Bit 9, 5 und 0 = 1?)
write 6040h:00h = 0007h
read 6041h:00h (Bit 9, 5, 4, 1, 0 = 1 ?)
write 6040h:00h = 000Fh
read 6041h:00h (Bit 9, 5, 4, 2, 1, 0 = 1 ?)
The controller is now running
in „Velocity“ mode.
read 6040h:00h = 0006h
write 6042h:00h = 00C8h
4. To stop the motor, set controlword (6040h) to "6".