Nanotec PD4-CB59M024035-E-01 DC Motor Manuals

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Nanotec PD4-CB59M024035-E-01 Manual

Nanotec PD4-CB59M024035-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
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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