Nanotec PD4-C-CB USB Brushless Servomotor Instruction Manual

The PD4-C motor with integrated controller is designed for
immediate operation in closed loop mode without homing. Follow the
detailed documentation available on the Nanotec website for
installation and commissioning procedures.

Safety and Warning:

Ensure that the electrical properties match the technical data
provided.
Avoid unintended use as specified in the manual.

Do not make changes or modifications to the product.

Operating Modes:

The PD4-C/CB supports various operating modes including Profile
Position Mode, Profile Velocity Mode, Profile Torque Mode, Velocity
Mode, Homing Mode, and more. Set the desired operating mode based
on your application requirements.

Protection Circuit:

The product features overvoltage and undervoltage protection as
well as polarity reversal protection. Ensure proper fuse values in
the supply line to protect the controller.

LED Signaling:

The Power LED indicates normal operation by flashing briefly
once per second. In case of an error, refer to the error number
signaled by the LED using the provided table in the manual.

FAQ:

Q: Can I use the PD4-C motor with a voltage higher than
48V?

A: No, the PD4-C motor is designed for an operating voltage
range of 12V to 48V DC only. Using a higher voltage may damage the
motor.

Q: How can I reset the controller if an error occurs?

A: To reset the controller after an error, turn off the power
and wait until the capacitors have discharged before turning it
back on.

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PD4-C/CB USB

Short instructions Original: de Nanotec Electronic GmbH & Co. KG Kapellenstraße 6 85622 Feldkirchen, Germany
Introduction

Version 1.0.0
Phone: +49 (0)89-900 686-0 Fax: +49 (0)89-900 686-50 info@nanotec.de www.nanotec.com

The PD4-C is a brushless motor with integrated controller. The integrated absolute encoder makes immediate operation possible in closed loop mode without homing.
This document describes the installation and commissioning of the motor.You can find the detailed documentation for the product on the Nanotec website us.nanotec.com. The short instructions do not replace the technical manual oft he product.

Safety and warning notices
Note
· 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.
Note
· Fault of 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.
Note
· There is no polarity reversal protection. · 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.
Note
· 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.
Technical details and pin assignment

Intended use
The PD4-C motor with integrated controller is designed for use under the approved Environmental conditions. Any other use is considered unintended use.
Note
Changes or modifications to the product are not permitted.
Warranty and disclaimer
Nanotec produces component parts that are used in a wide range of industrial applications. The selection and use of Nanotec products is the responsibility of the system engineer and end user. Nanotec accepts no responsibility for the integration of the products in the end system. Under no circumstances may a Nanotec product be integrated as a safety controller in a product or construction. All products containing a component part manufactured by Nanotec must, upon delivery to the end user, be provided with corresponding warning notices and instructions for safe use and safe operation. All warning notices provided by Nanotec must be passed on directly to the end user. Our general terms and conditions apply: en.nanotec.com/service/generalterms-and-conditions/.
Specialist staff
Only specialists may install, program and commission the device: · Persons who have appropriate training and experience in work with motors
and their control. · Persons who are familiar with and understand the content of this technical
manual. · Persons who 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

Environmental conditions
Environmental condition
Protection class Ambient temperature (operation) Air humidity (non-condensing) Altitude of site above sea level (without drop in performance) Ambient temperature (storage)

Value
IP20 -10 … +40°C 0 … 85% 1500m
-25 … +85°C

Electrical properties and technical data

Technical data motor

Type
Operating voltage Rated current Peak current for 1 s

PD4-C
High-pole DC servo (stepper motor) 12 V to 48 V DC +/-5% 4.2 A rms Max. 6.3 A rms

PD4-CB
Low-pole DC servo (BLDC) 12 V to 24 V DC +/-5% 8 A rms Max. 20 A rms

Technical data Property Operating modes
Set value setting / programming Inputs
Outputs Integrated encoder

Description / value
Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Velocity Mode, Homing Mode, Interpolated Position Mode, Cyclic Sync Position Mode, Cyclic Sync Velocity Mode, Cyclic Synchronous Torque Mode, Clock-Direction Mode Clock-direction, analog, NanoJ program
3 digital inputs (+24 V) 3 digital inputs, single-ended or differential, +5 V / +24 V, switchable by means of software 3 digital inputs +24 V 1 analog input, 10-bit resolution, 0-10 V
1 output, max. 24 V, 100 mA, open drain Magnetic, single-turn absolute encoder, 1024 pulses/ revolution

Property Protection circuit

Description / value
Overvoltage and undervoltage protection
Overtemperature protection (> 75° Celsius on the power board)
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 L
W
H1

Value
· PD4-C5918X4204-E: 65±1 · PD4-C5918M4204-E: 79±1 · PD4-C5918L4204-E: 100±1 · PD4-C6018L4204-E: 112.5±1 · PD4-CB59M024035-E: 94.9±1
· PD4-C5918X4204-E: 57 · PD4-C5918M4204-E: 57 · PD4-C5918L4204-E: 57 · PD4-C6018L4204-E: 60.5 · PD4-CB59M024035-E: 57
· PD4-C5918X4204-E: 56.4 · PD4-C5918M4204-E: 56.4 · PD4-C5918L4204-E: 56.4 · PD4-C6018L4204-E: 60±0.5 · PD4-CB59M024035-E: 56.6±0.5

Dimension H2
D1
D2
D3

Value
· PD4-C5918X4204-E: 69.6 · PD4-C5918M4204-E: 69.6 · PD4-C5918L4204-E: 69.6 · PD4-C6018L4204-E: 71.3 · PD4-CB59M024035-E: 69.6
· PD4-C5918X4204-E: 6.35+0-0.013 · PD4-C5918M4204-E: 6.35+0-0.013 · PD4-C5918L4204-E: 6.35+0-0.013 · PD4-C6018L4204-E: 8+0-0.015 · PD4-CB59M024035-E: 8+0-0.013
· PD4-C5918X4204-E: 38.1±0.025 · PD4-C5918M4204-E: 38.1±0.025 · PD4-C5918L4204-E: 38.1±0.025 · PD4-C6018L4204-E: 38.1±0.05 · PD4-CB59M024035-E: 38.1+0-0.005
· PD4-C5918X4204-E: 5 · PD4-C5918M4204-E: 5 · PD4-C5918L4204-E: 5 · PD4-C6018L4204-E: 4.5 · PD4-CB59M024035-E: 5.2±0.25

Overtemperature protection Above a temperature of approx. 75°C on the power board (corresponds to 6572°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

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

Case of an error If an error has occurred, the LED signals an error number.. The following table shows the meaning of the error numbers.

Flash rate
1 2 3 4 5 6

Error
General Voltage Temperature Overcurrent Controller Watchdog-Reset

Note For each error that occurs, a more precise error code is stored in object 1003h.
Pin assignment Pin 1 is marked.

Connector Function

Pin assignment / description

Analog input and

1. GND

outputs

2. Analog input: 10 Bit, 0-10 V

3. Digital output: Open drain, max 24 V/100mA

4. 12V output: +12V DC, max. 100mA

Digital inputs

1. Digital input 1: 24 V, not switchable

Switching thresholds 2.

for digital inputs1 3.

– 3:

On: >16V; Off: <4V

Switching thresholds 5. for digital inputs4 6 (Pins 4 – 9):

Digital input 2: 24 V, not switchable
Digitale input 3: 24 V, not switchable
-Enable (-input 4): 5/24 V and singleended/differential switchable, max. 1 MHz
+Enable (+input 4): 5/24 V and single-ended/differential switchable, max. 1 MHz

5V (factory setting): On: >3V; Off: <1V

6. -Direction (-input 5): 5/24 V and single-ended/differential switchable, max. 1 MHz

24V: On: >12V; Off: <7V

+Direction (+input 5): 5/24 V and single-ended/differential switchable, max. 1 MHz

8. -Clock (-input 6): 5/24 V and singleended/differential switchable, max. 1 MHz

9. +Clock (+input 6): 5/24 V und singleended/differential switchable, max. 1 MHz

10. GND

Voltage supply

1. +UB

PD4-C: 12-48 V DC 2. GND ±5%

PD4-CB: 12-24 V DC±5%

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.

Commissioning

The Plug & Drive Studio software offers you an option for performing the configuration and adapting the motor parameters to your application. You can find further information in document Plug & Drive Studio: Quick Start Guide at us.nanotec.com.
The controller also offers you the possibility to switch special drive modes on/off via the DIP switch. You can thereby control the motor directly via the inputs (analog input/clock-direction). See chapter Special drive modes (clockdirection and analog speed) for details.
Observe the following notes:

CAUTION

· Moving parts can cause hand injuries.

· If you touch moving parts during running operation, hand injuries may result.

· Do not reach for moving parts during operation. After switching

off, wait until all movements have ended.

CAUTION

· In free-standing operation, motor movements are uncontrolled

and can cause injuries.

· If the motor is unsecured, it can, e.g., fall down. Foot injuries or damage to the motor could occur.

· If you operate the motor free-standing, observe the motor, switch

it off immediately in the event of danger and make certain that

the motor cannot fall down.

CAUTION

· Moving parts can catch hair and loose clothing.

· During running operation, moving parts can catch hair or loose clothing, which may lead to injuries.
· If you have long hair, wear a hairnet or take other suitable

protective measures when near moving parts. Do not work with

loose clothing or ties near moving parts.

CAUTION

· Risk of overheating or fire if there is insufficient cooling.

· If cooling is insufficient or if the ambient temperature is too high, there is a risk of overheating or fire.

· During use, make certain that the cooling and ambient

temperature conditions are ensured.

Note
· EMC: Current-carrying cables particularly around supply and motor cables produce electromagnetic alternating fields.
· These can interfere with the motor and other devices. Nanotec recommends the following measures:
· Use shielded cables and earth the cable shielding on both ends over a short distance.
· Use cables with cores in twisted pairs. · Keep power supply and motor cables as short as possible. · Earth motor housing with large contact area over a short
distance. · Lay supply, motor and control cables physically separate from
one another.

Configuration
General
The following options are available for configuring the controller:
Configuration file This file can be saved to the controller via the USB connection. For further information, read chapters USB connection and Configuration file.
NanoJ program This program can be programmed, compiled and then transferred to the controller with NanoJ via USB. NanoJ is integrated in the Plug & Drive Studio software. You can find further information in document Plug & Drive Studio: Quick Start Guide at us.nanotec.com.
After connecting to a voltage supply, the controller reads out the configuration in the following order:
1. The configuration file is read out and processed. 2. The DIP switches for selecting the special drive modes is/are read out and
used as configuration. See chapter Special drive modes (clock-direction and analog speed). 3. The NanoJ program is started.
USB connection
If the controller is connected to a PC via a USB cable, the controller behaves like a removable storage device. No further drivers are required.
Three files are displayed: the configuration file (pd4cfg.txt), the NanoJ program (vmmcode.usr) and the information file (info.bin), where the serial numbers and firmware version of the product can be found.
You can thereby store the configuration file or the NanoJ program on the controller. The voltage supply of the controller must also be connected during USB operation.
Configuration file
General
The cfg.txt configuration file is used to preset values for the object dictionary to a certain value during startup. This file uses a special syntax to make accessing the objects of the object dictionary as easy as possible. The controller evaluates all assignments in the file from top to bottom.
Reading and writing the file
How to access the file:
1. Connect and switch on the voltage supply. 2. Connect the controller to your PC using the USB cable. 3. After the PC has detected the device as a removable storage device,
navigate in the Explorer to the directory of the controller. File cfg.txt (for a PD4C, the file is named pd4ccfg.txt) is stored there. 4. Open this file with a simple text editor, such as Notepad or Vi. Do not use any programs that use markup (LibreOffice or similar).
Tip
To be able to connect the controller with Plug & Drive Studio via the virtual COM port mit verbinden zu können, insert the following line:
2102:00=0x190001

DD4C=1
After you have made changes to the file, proceed as follows to apply the changes:

1. Save the file if you have not yet already done so. 2. Disconnect the USB cable from the controller. 3. Disconnect the voltage supply from the controller for approx. 1 second until
the power LEDs stop flashing. 4. Reconnect the voltage supply. When the controller is now restarted, the
values in the configuration file are read out and applied. Structure of the configuration file
Comments Lines that begin with a semicolon are ignored by the controller.
Assignments Values in the object dictionary can be set with the following syntax:
<Index>:<Subindex>=<Value>
Example Set object 2031h:00 (rated current) to the value “258h” (600mA): 2031:00=0x258
Set object 3202h:00 to the value “8” (activate current reduction while at a standstill in open loop mode):
3202:00=8
Set object 2057h:00 to the value “512” and object 2058h to the value “4” (quarter step step mode in clock-direction mode):
2057:00=512
2058:00=4
Special drive modes (clock-direction and analog speed) You have the possibility to control the motor directly via the clock and direction input or the analog input by activating the special drive modes. Digital input 4 serves here as an enable.
Activation You can configure the controller via the DIP switches on the rear side and choose one of the special drive modes. The configuration via the DIP switches is activated on delivery, you can completely deactivate it by inseting this line in the configuration file:
dd4c=1
The following graphic shows the position of the switches on delivery.
ON

1234

Following combination of the switches are possible:

1 2 3 Modus

Off Off Off Clockdirection

Off Off On Clockdirection

Off On Off test run

Test run with 30 rpm Clockwise direction of rotation

Off On On test run

Test run with 30 rpm Counterclockwise direction of rotation

On Off Off Analog speed

Direction via “Direction” input

Maximum speed 1000 rpm

On Off On Analog speed

Direction via “Direction” input

Maximum speed 100 rpm

On On Off Analog speed

Offset 5 V (joystick mode)

Maximum speed 1000 rpm

On On On Analog speed

Offset 5 V (joystick mode)

Maximum speed 100 rpm

Switch 4 switches between open loop (off) and closed loop (on).

Note
A change to the switches does not take effect until after the controller is restarted.
Clock-direction The controller internally sets the operating mode to clock-direction. You must connect the enable, clock and direction inputs .
Analog speed The controller internally sets the operating mode to Velocity. To preset the speed, the voltage on the analog input is used and the corresponding target speed is written in 6042h.
Maximum speed The maximum speed can be changed between 100 rpm and 1000 rpm. If a different speed is necessary, it can be set using the scaling factor (object 604Ch subindices 01h and 02h).
Computation of the analog voltage There are two modes for calculating the analog input voltage. Normal mode
You must connect the enable, direction and analog inputs. The maximum analog voltage corresponds to the maximum speed. The direction is preset here via the direction input. There is a dead zone from 0 V to 20 mV in which the motor does not move.
Joystick mode You must connect the enable input and the analog input. Half of the maximum analog voltage corresponds to the speed 0. If the voltage drops below half, the speed increases in the negative direction. If the speed rises above half, the speed increases likewise in the positive direction. The dead zone here extends from Umax/2 ± 20 mV.
Test run with 30 rpm The motor rotates at 30 rpm if the enable input is set.

Documents / Resources

Nanotec PD4-C-CB USB Brushless Servomotor [pdf] Instruction Manual
PD4-C-CB, PD4-C-CB USB Brushless Servomotor, USB Brushless Servomotor, Brushless Servomotor, Servomotor

References

User Manual

Nanotec PD4-C-CB USB Brushless Servomotor Instruction Manual

PD4-C-CB USB Brushless Servomotor

Specifications:

Product Usage Instructions:

Installation and Commissioning:

Safety and Warning:

Operating Modes:

Protection Circuit:

LED Signaling:

FAQ:

Q: Can I use the PD4-C motor with a voltage higher than
48V?

Q: How can I reset the controller if an error occurs?

Documents / Resources

References

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