PD4-E CANopen Online Manual

Pin assignment

Overview

Connector Function
X1 CANopen IN and external logic supply
X2 CANopen OUT and external logic supply
X3 Voltage supply
X4 Inputs/outputs and external logic supply
L1 Power LED, see chapter Power LED
S1 Hex coding switch for node-ID and baud rate
S2 120 ohm termination resistor (switch set to ON)

Connector X1 - CANopen IN and external logic supply

Connection for CANopen and the external logic supply. Connector type: M12, 5-pin, A-coded, male

Pin Function Note
1 CAN_SHLD Connection for the shielding
2 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X2
3 GND Internally connected to all GND pins
4 CAN+  
5 CAN-  
Note: The windings of the motor are not supplied by the logic supply.

Connector X2 - CANopen OUT and external logic supply

Connection for CANopen and the external logic supply. Connector type: M12, 5-pin, A-coded, female

Pin Function Note
1 CAN_SHLD Connection for the shielding
2 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA, connected to pin 2 of X1
3 GND Internally connected to all GND pins
4 CAN+  
5 CAN-  
Note: The windings of the motor are not supplied by the logic supply.

Connector X3 - voltage supply

Connection for the main supply. Connector type: M12, 5-pin, B-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.

Pin assignment

Pin Function Note
1 +Ub 12 - 48 V DC ±5%
2 +Ub 12 - 48 V DC ±5%
3 GND  
4 GND  
5 n.c. Not used

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 (3 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 X4 - inputs/outputs and external logic supply

Connection for the digital and analog inputs/outputs and the external logic supply. Connector type: M12, 12-pin, A-coded, male

Pin Function Note
1 GND  
2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
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 Digital input 6 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz
8 Analog input 10 bit, 0 V…+10 V or 0…20 mA, switchable by means of software with object 3221h
9 Digital output 1 Digital output, open drain, max. 24 V / 100 mA
10 Digital output 2 Digital output, open drain, max. 24 V / 100 mA
11 Voltage output +5 V, max. 100 mA
12 +UB Logic +24 V DC, input voltage for the logic supply, current consumption: approx. 39 mA
Note: The windings of the motor are not supplied by the logic supply.

In 4015h, you can activate the alternative function of the digital inputs, which is used for the special drive modes. See chapter Special drive modes (clock-direction and analog speed).

If you set 3240h:07h to the value "1", three differential inputs are available instead of six single-ended inputs.

The following table shows all possible combinations:

Pin Basic function Alternative function
Single-ended Differential Single-ended Differential
2 Input 1 - Input 1 Release –Release
3 Input 2 / Direction input in clock-direction mode + Input 1 Direction Release
4 Input 3 / clock input in clock-direction mode - Input 2 / - Direction input in clock-direction mode Clock –Direction
5 Input 4 + Input 2 / + Direction input in clock-direction mode Digital input 4 Direction
6 Input 5 - Input 3 / - Clock input in clock-direction mode Digital input 5 –Clock
7 Input 6 + Input 3 / + Clock input in clock-direction mode Digital input 6 Clock
The following switching thresholds apply for inputs 1 to 6:
Max. Voltage Switching thresholds
Safe switch on Safe switch off
5 V 4.09 V 0.95 V
24 V 14.74 V 3.78 V

Switch S1 - hex coding switch for node-ID and baud rate

Rotary switch S1 can be used to set the source for the node-ID and the baud rate. See chapter Setting node-ID and baud rate.

Switch S2 - 120 ohm termination resistor

Switch S2 switches the termination of 120 ohm between CAN + and CAN - of the CAN bus on (DIP switch set to "ON", left) or off.

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