NANOTEC PD4-C Manuals

Manuals and User Guides for NANOTEC PD4-C. We have 1 NANOTEC PD4-C manual available for free PDF download: Technical Manual

NANOTEC PD4-C Technical Manual (256 pages)

Brand: NANOTEC | Category: Industrial Equipment | Size: 5 MB

Table of Contents
2
Introduction
8
Version Information
8
Copyright, Marking and Contact
9
Intended Use
9
Target Group and Qualification
9
Warranty and Disclaimer
9
EU Directives for Product Safety
10
Other Applicable Regulations
10
Used Icons
10
Emphasis in the Text
10
Numerical Values
11
Bits
11
Counting Direction (Arrows)
11
Safety and Warning Notices
12
Technical Details and Pin Assignment
13
Environmental Conditions
13
Dimensioned Drawings
13
Pd4-C5918X4204-E-01
13
Pd4-C5918M4204-E-01
13
Pd4-C5918L4204-E-01
14
Pd4-C6018L4204-E-01
14
Pd4-Cb59M024035-E-01
14
Electrical Properties and Technical Data
14
Technical Data - Motor
14
Technical Data
15
Overtemperature Protection
15
LED Signaling
17
Power LED
17
Pin Assignment
18
Overview
18
X1 − Analog Inputs and Outputs
18
X2 - Digital Inputs
19
X3 - Voltage Supply
20
Commissioning
22
Configuration
23
General
23
USB Connection
23
Configuration File
24
Nanoj Program
26
Auto Setup
27
Parameter Determination
28
Execution
28
Parameter Memory
30
Special Drive Modes (Clock-Direction and Analog Speed)
30
Activation
31
Clock-Direction
32
Analog Speed
32
Test Run with 30 Rpm
32
General Concepts
33
Control Modes
33
General
33
Open Loop
34
Closed Loop
36
Cia 402 Power State Machine
37
State Machine
37
Behavior Upon Exiting the Operation Enabled State
39
User-Defined Units
42
Calculation Formulas for User Units
42
Limitation of the Range of Motion
45
Tolerance Bands of the Limit Switches
45
Software Limit Switches
45
Cycle Times
45
Operating Modes
47
Profile Position
47
Note Regarding USB
47
Overview
47
Setting Travel Commands
48
Loss of Accuracy for Relative Movements
53
Boundary Conditions for a Positioning Move
54
Jerk-Limited Mode and Non-Jerk-Limited Mode
55
Velocity
56
Note Regarding USB
56
Description
56
Activation
56
Controlword
56
Statusword
56
Object Entries
56
Profile Velocity
58
Note Regarding USB
58
Description
58
Activation
58
Controlword
58
Statusword
58
Object Entries
58
Profile Torque
61
Note Regarding USB
61
Description
61
Activation
61
Controlword
61
Statusword
61
Object Entries
62
Homing
63
Note Regarding USB
63
Overview
63
Homing Method
65
Interpolated Position Mode
70
Note Regarding USB
70
Overview
70
Activation
70
Controlword
70
Statusword
71
Use
71
Setup
71
Operation
71
Cyclic Synchronous Position
72
Note Regarding USB
72
Overview
72
Object Entries
73
Cyclic Synchronous Velocity
73
Note Regarding USB
73
Overview
73
Object Entries
74
Cyclic Synchronous Torque
75
Note Regarding USB
75
Overview
75
Object Entries
76
Clock-Direction Mode
76
Description
76
Activation
76
General
76
Statusword
77
Subtypes of the Clock-Direction Mode
77
Auto Setup
78
Description
78
Activation
78
Controlword
78
Statusword
78
Special Functions
79
Digital Inputs and Outputs
79
Bit Assignment
79
Digital Inputs
79
Digital Outputs
83
I 2 T Motor Overload Protection
87
Description
87
Object Entries
88
Activation
88
Function of I T
88
Saving Objects
89
General
89
Category: Communication
90
Category: Application
90
Category: Drive
91
Category: Tuning
92
Starting the Save Process
92
Discarding the Saved Data
92
Verifying the Configuration
93
User Memory Area 2700 H
93
Programming with Nanoj
95
Nanoj Program
95
Mapping in the Nanoj Program
98
System Calls in a Nanoj Program
100
Description of the Object Dictionary
103
Overview
103
Structure of the Object Description
103
Object Description
103
Value Description
104
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
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
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
Copyrights
253
Introduction
253
Aes
253
Md5
253
Uip
254
Dhcp
254
CMSIS DSP Software Library
254
Fatfs
254
Protothreads
255
Lwip
255

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