Nanotec PD4-E Manuals

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

Nanotec PD4-E Technical Manual

Nanotec PD4-E Technical Manual (295 pages)

Brand: Nanotec | Category: Engine | Size: 3 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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