C5-E CANopen/USB Technical Manual

Pin assignment

Overview

Connector Function
X1 CANopen IN and OUT
X2 Encoder and Hall sensor connection
X3 Digital/analog inputs and outputs
X4 Brake connection
X5 Motor connection
X6 Voltage supply
X7 Micro USB connection
S1 120 ohm termination resistor (switch set to ON)
S2 Hex coding switch for node-ID and baud rate, 16s place (e.g., F0h)
S3 Hex coding switch for node-ID and baud rate, 1s place (e.g., 0Fh)
L1 Power LED

Connector X1 – CANopen IN and OUT

Pin 1 is marked with an asterisk "*". Both connectors are configured identically according to the following table.

PIN Function Note
1 CAN+  
2 CAN-  
3 CAN GND Internally connected with pin 7
4 n.c.  
5 n.c.  
6 CAN SHIELD Connection for the shielding
7 GND Internally connected with pin 3
8 +UB Logic 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 36 mA
Note: The windings of the motor are not supplied by the logic supply.

Connector X2 – encoder/Hall sensor

Pin 1 and pin 2 are marked in the figure.

PIN Function Note
1 GND  
2 Vcc 5 V DC, output and supply voltage for encoder / Hall sensor; max. 200 mA
3 A 5 V signal, max. 1 MHz
4 B 5 V signal, max. 1 MHz
5 A\ 5 V signal, max. 1 MHz
6 B\ 5 V signal, max. 1 MHz
7 I 5 V signal
8 I\ 5 V signal
9 Hall 1 5 V signal, max. 1 MHz
10 Hall 2 5 V signal, max. 1 MHz
11 Hall 3 5 V signal, max. 1 MHz
12 Shielding Shielding

The following switching thresholds apply for the encoder inputs:

Type Switching thresholds
On Off
Single-ended > approx. 2.8 V < approx. 1.1 V
differential > approx. 2.8 V < approx. 2 V

The internal wiring of the encoder inputs is shown in the following.

Connector X3 – inputs and outputs

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 +10 V DC Output voltage, max. 200 mA
2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz; clock input in clock-direction mode
3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz; direction input in clock-direction mode
4 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
5 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
6 Digital input 5 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
7 Analog input 1 10 bit, 0-10 V or 0-20 mA, switchable by means of software with object 3221h
8 Analog input 2 10 bit, 0-10 V, not switchable by means of software
9 Digital output 1 Open drain, maximum 24 V / 100 mA
10 Digital output 2 Open drain, maximum 24 V / 100 mA
11 Digital output 3 Open drain, maximum 24 V / 100 mA
12 GND  
The following switching thresholds apply for inputs 1 to 5:
Max. Voltage Switching thresholds
On Off
5 V > approx. 2.8 V < approx. 1 V
24 V > approx. 16 V < approx. 7 V
Connection data min max
Conductor cross section, rigid, min. 0.14 mm2 0.5 mm2
Conductor cross section, flexible, min. 0.14 mm2 0.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 0.5 mm2
Conductor cross section, min. AWG 26 20
Min. AWG acc. to UL/CUL 28 20

Connector X4 – brake connection

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 Brake + Internally connected to +UB
2 Brake - PWM-controlled open drain output, max. 1.5 A
Connection data min max
Conductor cross section, rigid, min. 0.14 mm2 0.5 mm2
Conductor cross section, flexible, min. 0.14 mm2 0.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 0.5 mm2
Conductor cross section, min. AWG 26 20
Min. AWG acc. to UL/CUL 28 20

Connector X5 – motor connection

Pin 1 is marked with an asterisk "*".

PIN Function (stepper motor) Function (BLDC motor)
1 A U
2 A\ V
3 B W
4 B\ Not used
Connection data min max
Conductor cross section, rigid, min. 0.2 mm2 1.5 mm2
Conductor cross section, flexible, min. 0.2 mm2 1.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 1.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve min. 0.25 mm2 0.75 mm2
Conductor cross section, min. AWG 24 16
Min. AWG acc. to UL/CUL 24 16

Connector X6 – voltage supply

Voltage source

The operating or supply voltage supplies a battery, a transformer with rectification and filtering, or a switching power supply.

Note:
  • EMC: For a DC power supply line longer than 30 m or when using the motor on a DC bus, additional interference-suppression and protection measures are necessary.
  • An EMI filter is to be inserted in the DC supply line as close as possible to the controller/motor.
  • Long data or supply lines are to be routed through ferrites.

Connections

Pin 1 is marked with an asterisk "*".

PIN Function Note
1 +UB

12-48 V DC, ±5%

2 GND
Connection data min max
Conductor cross section, rigid, min. 0.2 mm2 1.5 mm2
Conductor cross section, flexible, min. 0.2 mm2 1.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 1.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve min. 0.25 mm2 0.75 mm2
Conductor cross section, min. AWG 24 16
Min. AWG acc. to UL/CUL 24 16

Permissible operating voltage

The maximum operating voltage is 51.5 V DC. If the input voltage of the controller exceeds this threshold value, the motor is switched off and an error triggered. Above 50.5 V, the integrated ballast circuit (5 W power) is activated.

The minimum operating voltage is 10 V DC. If the input voltage of the controller falls below this threshold value, the motor is switched off and an error triggered.

A charging capacitor of at least 4700 µF / 50 V (approx. 1000 µF per ampere rated current) must be connected to the supply voltage to avoid exceeding the permissible operating voltage (e.g., during braking).

Connector X7 – micro USB

A cable of type "micro USB" is needed for this USB connection.

Switch S1 – 120 ohm termination resistor

This DIP switch switches the termination of 120 Ω between CAN+ and CAN- of the CAN bus on or off (see Connector X1 – CANopen IN and OUT). The "down" switch position switches termination on.

Switch S2 – CANopen node-ID and baud rate

Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate.

The value of this switch is multiplied by 16 and added to the value of switch S3; this switch thereby sets the 16s place.

Switch S3 – CANopen node-ID and baud rate

Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate.

The value of this switch is added to the value of switch S2; this switch thereby sets the 1s place.

Example

  Switch S2 is set to the value 1h, switch S3 to the value Fh; the result is the value 1Fh.
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