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PD4-C5918L4204-E-01
Nanotec PD4-C5918L4204-E-01 Manuals
Manuals and User Guides for Nanotec PD4-C5918L4204-E-01. We have
1
Nanotec PD4-C5918L4204-E-01 manual available for free PDF download: Manual
Nanotec PD4-C5918L4204-E-01 Manual (229 pages)
Brand:
Nanotec
| Category:
Controller
| Size: 4.49 MB
Table of Contents
Table of Contents
2
Editorial
7
Release Notes
8
Safety Instructions and Warnings
9
Important Information
9
Personnel Qualifications
9
General Danger and Warning Notes
10
Danger and Warning Signs
10
Other Information
10
About this Manual
11
Introduction
11
Numerical Values
11
Bits
11
Counting Direction (Arrows)
11
Technical Data and Pin Configuration
12
Dimensioned Drawings
12
Electrical Properties
12
Overtemperature Protection
13
LED Signaling
15
Pin Configuration
16
Configuration
20
General Information
20
DIP Switches
20
USB Port
21
Configuration File
22
Nanoj Program
24
Setup and Commissioning
26
Safety Instructions
26
General
26
General Concepts
29
DS402 Power State Machine
29
User-Defined Units
33
Operating Modes
37
Profile Position
37
Velocity
46
Profile Velocity
48
Profile Torque
51
Homing
53
Clock/Direction Mode
61
Analogue Mode
62
Special Functions
64
Digital Inputs and Outputs
64
I 2 T Motor Overload Protection
72
Save Objects
74
Programming with Nanoj
75
Introduction
75
Available Computing Time
75
Interaction of the User Program with the Motor Controller
75
Object Dictionary Entries for Controlling and Configuring the VMM
77
Nanoj Easy V2
77
System Calls
80
Object Directory Description
82
Overview
82
Structure of the Object Description
82
Object Description
82
Value Description
84
Description
84
1000H Device Type
85
1001H Error Register
86
1003H Pre-Defined Error Field
87
1008H Manufacturer Device Name
90
1009H Manufacturer Hardware Version
91
100Ah Manufacturer Software Version
91
1010H Store Parameters
91
1011H Restore Default Parameters
93
1018H Identity Object
95
1020H Verify Configuration
96
2028H MODBUS Slave Address
97
202Ah MODBUS RTU Baudrate
98
202Ch MODBUS RTU Stop Bits
98
202Dh MODBUS RTU Parity
99
2030H Pole Pair Count
99
2031H Maximum Current
100
2032H Maximum Speed
100
2033H Plunger Block
101
2034H Upper Voltage Warning Level
102
2035H Lower Voltage Warning Level
102
2036H Open Loop Current Reduction Idle Time
103
2037H Open Loop Current Reduction Value/Factor
103
2039H Motor Currents
104
203Ah Homing on Block Configuration
105
203Bh I2T Parameters
107
203Dh Torque Window
109
203Eh Torque Window Time
109
2050H Encoder Alignment
110
2051H Encoder Optimization
110
2052H Encoder Resolution
112
2056H Limit Switch Tolerance Band
112
2057H Clock Direction Multiplier
113
2058H Clock Direction Divider
113
2059H Encoder Configuration
114
205Ah Encoder Boot Value
114
205Bh Clock Direction or Clockwise/Counter Clockwise Mode
115
2060H Compensate Polepair Count
115
2061H Velocity Numerator
116
2062H Velocity Denominator
116
2063H Acceleration Numerator
117
2064H Acceleration Denominator
117
2065H Jerk Numerator
118
2066H Jerk Denominator
118
2067H Jerk Limit (Internal)
119
2084H Bootup Delay
119
2101H Fieldbus Module Availability
120
2102H Fieldbus Module Control
121
2103H Fieldbus Module Status
122
2200H Sampler Control
124
2201H Sampler Status
125
2202H Sample Data Selection
125
2203H Sampler Buffer Information
128
2204H Sample Time in Ms
129
2300H Nanoj Control
129
2301H Nanoj Status
130
2302H Nanoj Error Code
131
230Fh Uptime Seconds
132
2310H Nanoj Input Data Selection
133
2320H Nanoj Output Data Selection
136
2330H Nanoj In/Output Data Selection
140
2400H Nanoj Inputs
143
2410H Nanoj Init Parameters
144
2500H Nanoj Outputs
145
2600H Nanoj Debug Output
146
2700H User Storage Area
147
3202H Motor Drive Submode Select
149
320Ah Motor Drive Sensor Display Open Loop
150
320Bh Motor Drive Sensor Display Closed Loop
151
3210H Motor Drive Parameter Set
153
3212H Motor Drive Flags
157
3220H Analog Inputs
158
3221H Analogue Inputs Control
159
3225H Analogue Inputs Switches
160
3240H Digital Inputs Control
161
3241H Digital Input Capture
163
3242H Digital Input Routing
165
3250H Digital Outputs Control
167
3252H Digital Output Routing
169
3320H Read Analogue Input
170
3321H Analogue Input Offset
171
3322H Analogue Input Pre-Scaling
172
3502H MODBUS Rx PDO Mapping
173
3602H MODBUS Tx PDO Mapping
177
3700H Following Error Option Code
180
4012H HW Information
180
4040H Drive Serial Number
181
603Fh Error Code
182
6040H Controlword
182
6041H Statusword
183
6042H Vl Target Velocity
184
6043H Vl Velocity Demand
185
6044H Vl Velocity Actual Value
185
6046H Vl Velocity Min Max Amount
186
6048H Vl Velocity Acceleration
187
6049H Vl Velocity Deceleration
188
604Ah Vl Velocity Quick Stop
189
604Ch Vl Dimension Factor
190
605Ah Quick Stop Option Code
191
605Bh Shutdown Option Code
191
605Ch Disable Option Code
192
605Dh Halt Option Code
192
605Eh Fault Option Code
193
6060H Modes of Operation
194
6061H Modes of Operation Display
194
6062H Position Demand Value
195
6063H Position Actual Internal Value
195
6064H Position Actual Value
196
6065H Following Error Window
196
6066H Following Error Time out
197
6067H Position Window
197
6068H Position Window Time
198
606Bh Velocity Demand Value
198
606Ch Velocity Actual Value
199
606Dh Velocity Window
199
606Eh Velocity Window Time
200
6071H Target Torque
200
6072H Max Torque
201
6074H Torque Demand
201
6077H Torque Actual Value
202
607Ah Target Position
202
607Bh Position Range Limit
203
607Ch Home Offset
204
607Dh Software Position Limit
204
607Eh Polarity
205
6081H Profile Velocity
206
6082H End Velocity
206
6083H Profile Acceleration
207
6084H Profile Deceleration
207
6085H Quick Stop Deceleration
208
6086H Motion Profile Type
208
6087H Torque Slope
208
608Fh Position Encoder Resolution
209
6091H Gear Ratio
210
6092H Feed Constant
211
6098H Homing Method
212
6099H Homing Speed
212
609Ah Homing Acceleration
213
60A4H Profile Jerk
214
60C1H Interpolation Data Record
215
60C2H Interpolation Time Period
216
60C4H Interpolation Data Configuration
217
60C5H Max Acceleration
219
60C6H Max Deceleration
219
60F2H Positioning Option Code
220
60F4H Following Error Actual Value
221
60Fdh Digital Inputs
222
60Feh Digital Outputs
223
60Ffh Target Velocity
224
6502H Supported Drive Modes
224
6505H Http Drive Catalogue Address
225
Copyright Notice
226
Introduction
226
Aes
226
Arcfour (RC4)
226
Md5
227
Uip
227
Dhcp
227
CMSIS DSP Software Library
228
Fatfs
228
Protothreads
228
Lwip
229
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