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PD4-E-MA EtherCAT

Short instructions

Version 1.0.0

Original: de

Firmware: v2213

Nanotec Electronic GmbH & Co. KG

Phone: +49 (89) 900 686-0

Kapellenstraße 6

Fax: +49 (89) 900 686-50

85622 Feldkirchen, Germany

[email protected]

Introduction

The PD4-E-M is a brushless motor with integrated controller in protection class
IP65. The integrated absolute encoder makes immediate operation possible in
closed loop mode without homing.

This instruction describes the installation and commissioning of the motor. You
can find the detailed documentation for the product and motor data sheets on

us.nanotec.com

. The short instructions do not replace the technical manual of

the motor.

Copyright

©

 2013 – 2022 Nanotec Electronic GmbH & Co. KG. All rights reserved.

Intended use

The PD4-E-M motor with integrated controller is used as a component of drive
systems in a range of industrial applications.

Use the product as intended within the limits defined in the technical data (in
particular, see ) and the approved 

Environmental conditions

.

Under no circumstances may this Nanotec product be integrated as a safety
component in a product or system. All products containing a component
manufactured by Nanotec must, upon delivery to the end user, be provided
with corresponding warning notices including instructions for safe use and safe
operation. All warning notices provided by Nanotec must be passed on directly
to the end user.

Warranty and disclaimer

Nanotec is not liable for damage and malfunction from installation errors, failure
to observe this document, or improper repair. Responsible for the selection,
operation, use of our products is the plant engineer, operator and user. Nanotec
accepts no liability for product integration in the end system. The general terms
and conditions at www.nanotec.com apply (customers of Nanotec Electronic
USA please see 

us.nanotec.com

). Note: Product modification / alteration is

illicit.

Target group and qualification

The product and this documentation are directed towards technically trained
specialists staff such as: development engineers, plant engineers, installers/
service personnel, and application engineers.

Only specialists may install, program and commission the product. Specialist
staff are persons who

have appropriate training and experience in working with motors and their
control,

are familiar with and understand the content of this technical manual,

know the applicable regulations.

EU directives for product safety

The following EU directives were observed:

RoHS directive (2011/65/EU, 2015/863/EU)

EMC directive (2014/30/EU)

Other applicable regulations

In addition to this technical manual, the following regulations are to be observed:

Accident-prevention regulations

Local regulations on occupational safety

Safety and warning notices

NOTICE

Damage to the controller!

Changing the wiring during operation may damage the
controller.

 Only change the wiring in a de-energized state. After

switching off, wait until the capacitors have discharged.

NOTICE

Damage to the controller due to excitation voltage of the
motor!

Voltage peaks during operation may damage the controller.

 Install suitable circuits (e.

g., charging capacitor) that reduce

voltage peaks.

NOTICE

Damage to the electronics through improper handling of
ESD-sensitive components!

The device contains components that are sensitive to
electrostatic discharge. Improper handling can damage the
device.

 Observe the basic principles of ESD protection when

handling the device.

NOTICE

Damage to the electronics if the supply voltage is
connected with reversed polarity!

Polarity reversal results in a short-circuit between supply
voltage and GND (earth) via the power diode.

 Install a line protection device (fuse) in the supply line.

Technical details and pin assignment

Environmental conditions

Environmental condition

Value

Protection class

IP65 (except for
shaft output)

Ambient temperature (operation)

-10 … +40°C

Air humidity (non-condensing)

0 … 85%

Max. Altitude of site above sea level (without drop in
performance)

1500

m

Ambient temperature (storage)

-25 … +85°C

Electrical properties and technical data

Technical data – motor

PD4-E

PD4-EB

Type

Stepper motor

BLDC

Operating voltage

12 - 48 V DC ±5%

12 - 48 V DC ±5%

Rated current rms

4.2 A

6 A

Peak current rms for 5 s

5.5 A

18 A

Technical data

Operating modes

Profile Position ModeProfile Velocity Mode,
Profile Torque ModeVelocity ModeHoming
Mode
Interpolated Position ModeCyclic Sync
Position Mode
Cyclic Sync Velocity ModeCyclic
Synchronous Torque Mode
,

Set value setting /
programming

EtherCATanalog inputNanoJ program

Inputs

6 digital inputs (+5 V/+24 V DC), individually
switchable by means of software, factory settings: 5 V

1 analog input 0–10 V or 0–20 mA (switchable by
means of software)

Outputs

2 outputs, Open Drain, max. 100 mA

Integrated encoder

Magnetic multiturn absolute encoder, single-turn
resolution: 17 bit (131072 per revolution), multiturn
resolution: 16-bit (+/-2

15

 revolutions)

Protection circuit

Overvoltage and undervoltage protection

Overtemperature protection (> 68° Celsius on rear
cover)

Polarity reversal protection: In the event of a polarity
reversal, a short-circuit will occur between supply
voltage and GND over a power diode; a line protection
device (fuse) is therefore necessary in the supply
line. The values of the fuse are dependent on the
application and must be dimensioned

greater than the maximum current consumption
of the controller,

less than the maximum current of the voltage
supply.

If the fuse value is very close to the maximum current
consumption of the controller, a medium / slow
tripping characteristics should be used.

Dimensioned drawings

All dimensions are in millimeters.

Dimension

Value

L

PD4-E591L42-M-65: 126.5±1

PD4-EB59CD-M-65: 146.5±1

W

PD4-E591L42-M-65: 57

PD4-EB59CD-M-65: 57

H1

PD4-E591L42-M-65: 56.4±0.5

PD4-EB59CD-M-65: 56.6±0.5

H2

PD4-E591L42-M-65: 89.7

PD4-EB59CD-M-65: 89.7

D1

PD4-E591L42-M-65: 6.35

+0

-0.013

PD4-EB59CD-M-65: 8

+0

-0.013

D2

PD4-E591L42-M-65: 38.1±0.025

PD4-EB59CD-M-65: 38.1

+0

-0.05

D3

PD4-E591L42-M-65: 5

PD4-EB59CD-M-65: 5.2±0.25

Overtemperature protection

Above a temperature of approx.  75°C on the power board (corresponds to 65–
72°C outside on the back cover), the power part of the controller switches off
and the error bit is set After cooling down and confirming the error , the controller
again functions normally.

LED signaling

Power LED

The power LED indicates the current status.

Normal operation

In normal operation, the green power LED L1 flashes briefly once per second.

Case of an error

If an error has occurred, the LED turns red and signals an error number.

The following table shows the meaning of the error numbers.

Flash
rate

Error

1

General

2

Voltage

3

Temperature

4

Overcurrent

5

Controller

6

Watchdog-Reset

NOTICE

For  each  error  that  occurs,  a  more  precise  error  code  is  stored  in
object 1003

h

.

Pin assignment

Connector Function

Pin assignment / description

X1

EtherCAT IN

X2

EtherCAT OUT

1.

TD+

2.

RD+

3.

TD-

4.

RD-

X3

Voltage supply

 

12 - 48

V DC ±5%

1.

+Ub

2.

+Ub

3.

GND

4.

GND

5.

n.c

X4

Inputs/outputs
and external logic
supply

 

Switching
thresholds for
digital 

inputs

1 - 6

:

5

V (factory

setting): On:
>4.09

V; Off: <0.95

V

24

V: On: >14.74

V; Off: <3.78

V

 

1.

GND

2.

Digital input 1

: 5 V / 24 V, switchable

with object 

3240

h

, max. 1 MHz

3.

Digital input 2

: 5 V / 24 V, switchable

with object 

3240

h

, max. 1 MHz

4.

Digital input 3

: 5 V / 24 V, switchable

with object 

3240

h

, max. 1 MHz

5.

Digital input 4

: 5 V / 24 V, switchable

with object 

3240

h

, max. 1 MHz

6.

Digital input 5

: 5 V / 24 V, switchable

with object 

3240

h

, max. 1 MHz

7.

Digital input 6

: 5 V / 24 V, switchable

with object 

3240

h

, max. 1 MHz

8.

Analog input

: 10 Bit, 0-10 V or

0-20 mA, switchable with object 

3221

h

9.

Digital output 1

: Open drain, max 24

V/100

mA

10.

Digital output 2

: Open drain, max 24

V/100

mA

11.

5V output

: +5

VDC, max. 100

mA

12.

+UB Logic

: 4 V DC/approx. 39 mA

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