PD2-C-IP CANopen Online Manual

Pin assignment

Overview

Connection Function
X1 CANopen IN and external logic supply
X2 CANopen OUT and external logic supply
X3 Voltage supply
X4 Inputs and outputs
S1 120 ohm termination resistor (switch set to ON)
S2 Hex coding switch for node-ID and baud rate

X1 – CANopen IN and external logic supply

Connection for CANopen and the external logic supply. Type: M8, 5-pin, B-coded, male

PIN Function Note
1 +UB Logic 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 40 mA
2 CAN_SHLD Connection for the shielding
3 CAN_H CAN-High
4 CAN_L CAN-Low
5 GND
Note:

Should the main supply fail, the logic supply keeps the electronics, the encoder and the communication interface in operation.

The windings of the motor are not supplied by the logic supply.

X2 – CANopen OUT and external logic supply

Connection for CANopen and the external logic supply. Type: M8, 5-pin, B-coded, female

PIN Function Note
1 +UB Logic 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 40 mA
2 CAN_SHLD Connection for the shielding
2 CAN_H CAN-High
3 CAN_L CAN-Low
4 GND

X3 − voltage supply

Connection for the main supply. Type: M8, 3-pin, A-coded, male

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 Function Note
1 +Ub
  • PD2-C: 12-48 V, ±5%
  • PD2-CB: 12-24 V, ±5%
3 GND
4 n.c.

Permissible operating voltage

The maximum operating voltage is 50.5 V DC for the stepper motors (PD2-C) and 29 V DC for the BLDC motors (PD2-CB). If the input voltage of the controller exceeds 51.5 V or 30 V, the motor is switched off and an error triggered. Above 51.5 V DC, the integrated ballast circuit (3 W power) is activated.

The minimum operating voltage is 11.4 V DC. If the input voltage of the controller falls below 10 V, 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 in parallel to the supply voltage to avoid exceeding the permissible operating voltage (e.g., during braking).

X4 – inputs and outputs

Connection for inputs and outputs. Type: M8, 8-pin, A-coded, male

Connections

Pin Function Note
1 GND
2 Analog input 10 bit, 0-10 V or 0-20 mA, switchable by means of software
3 Digital output 1 Open drain, max. 24 V/100 mA
4 Digital output 2 Open drain, max. 24 V/100 mA
5 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
6 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
7 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz; this input is used as direction input in clock-direction mode
8 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz; this input is used as clock input in clock-direction mode
The following switching thresholds apply for inputs 1 to 4:
Max. Voltage Switching thresholds
Safe switch on Safe switch off
5 V > approx. 3.1 V < approx. 1.6 V
24 V > approx. 13 V < approx. 7.6 V

S1 – 120 ohm termination resistor

This DIP switch switches the termination of 120 Ω between CAN_H and CAN_L of the CAN bus on or off. The "left" switch position switches termination on (factory setting).

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.

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