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Nanotec PD4-E Smart Stepper Motor Manuals
Manuals and User Guides for Nanotec PD4-E Smart Stepper Motor. We have
1
Nanotec PD4-E Smart Stepper Motor manual available for free PDF download: Technical Manual
Nanotec PD4-E Technical Manual (295 pages)
Brand:
Nanotec
| Category:
Engine
| Size: 3.42 MB
Table of Contents
Table of Contents
2
Introduction
7
Version Information
7
Copyright, Marking and Contact
7
Intended Use
7
Warranty and Disclaimer
7
Specialist Staff
8
Other Applicable Regulations
8
EU Directives for Product Safety
8
Used Icons
8
Emphasis in the Text
8
Numerical Values
9
Bits
9
Counting Direction (Arrows)
9
Safety and Warning Notices
10
Technical Details and Pin Assignment
11
Environmental Conditions
11
Dimensioned Drawings
11
Electrical Properties and Technical Data
12
Overtemperature Protection
13
LED Signaling
15
Pin Assignment
18
Commissioning
23
Establishing Communication
24
Auto Setup
25
Test Run
27
Special Drive Modes (Clock-Direction and Analog Speed)
28
General Concepts
31
Control Modes
31
Cia 402 Power State Machine
35
User-Defined Units
40
Limitation of the Range of Motion
45
Cycle Times
45
Operating Modes
47
Profile Position
47
Velocity
56
Profile Velocity
57
Profile Torque
60
Homing
62
Interpolated Position Mode
69
Cyclic Synchronous Position
70
Cyclic Synchronous Velocity
72
Cyclic Synchronous Torque
73
Clock-Direction Mode
74
Auto Setup
76
Special Functions
78
Digital Inputs and Outputs
78
I 2 T Motor Overload Protection
87
Saving Objects
88
Ethercat
93
Programming with Nanoj
94
Nanoj Program
94
Mapping in the Nanoj Program
97
System Calls in a Nanoj Program
99
Description of the Object Dictionary
101
Overview
101
Structure of the Object Description
101
Object Description
101
Value Description
102
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
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
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
Copyrights
292
Introduction
292
Aes
292
Md5
292
Uip
293
Dhcp
293
CMSIS DSP Software Library
293
Fatfs
294
Protothreads
294
Lwip
294
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