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NANOTEC PD4-E-M Technical Manual
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NANOTEC PD4-E-M Technical Manual
Table of content
Contents
Table Of Contents
Table Of Contents
Table Of Contents
Table Of Contents
Table Of Contents
intended use
Specialist staff
Numerical values
Safety and warning notices
Technical details and pin assignment
Electrical properties and technical data
Overtemperature protection
LED signaling
Pin assignment
Commissioning
Establishing communication
Auto setup
test run
Special drive modes (clock-direction and analog speed)
General concepts
CiA 402 Power State Machine
User-defined units
Limitation of the range of motion
Operating modes
Velocity
Profile Velocity
Profile Torque
Homing
Interpolated Position Mode
Cyclic Synchronous Position
Cyclic Synchronous Velocity
Cyclic Synchronous Torque
Clock-direction mode
Special functions
Saving objects
EtherCAT
Programming with NanoJ
Mapping in the NanoJ program
System calls in a NanoJ program
Description of the object dictionary
Value description
Description
h Device Type
h Error Register
h Pre-defined Error Field
h Manufacturer Device Name
Ah Manufacturer Software Version
h Restore Default Parameters
h Identity Object
h Verify Configuration
h Receive PDO 1 Mapping Parameter
h Receive PDO 2 Mapping Parameter
h Receive PDO 3 Mapping Parameter
h Receive PDO 4 Mapping Parameter
A00h Transmit PDO 1 Mapping Parameter
A01h Transmit PDO 2 Mapping Parameter
A02h Transmit PDO 3 Mapping Parameter
A03h Transmit PDO 4 Mapping Parameter
C00h Sync Manager Communication Type
C12h Sync Manager PDO Assignment
C13h Sync Manager PDO Assignment
C32h Output Sync Manager Synchronization
C33h Input Sync Manager Synchronization
F50h Program Data
F51h Program Control
F57h Program Status
h Pole Pair Count
h Maximum Current
h Lower Voltage Warning Level
h Open Loop Current Reduction Idle Time
h Brake Controller Timing
h Motor Currents
Ah Homing On Block Configuration
Bh I2t Parameters
Dh Torque Window
Eh Torque Window Time Out
h Limit Switch Tolerance Band
h Clock Direction Divider
Ah Absolute Sensor Boot Value (in User Units)
Bh Clock Direction Or Clockwise/Counter Clockwise Mode
h Fieldbus Module Control
h Fieldbus Module Status
h EtherCAT Slave Status
h NanoJ Status
h NanoJ Error Code
Fh Uptime Seconds
h NanoJ Input Data Selection
h NanoJ Output Data Selection
h NanoJ In/output Data Selection
h NanoJ Inputs
h NanoJ Init Parameters
h NanoJ Outputs
h NanoJ Debug Output
h Customer Storage Area
h Bootloader And Reboot Settings
h Motor Drive Submode Select
h Feedback Selection
h Feedback Mapping
h Motor Drive Parameter Set
h Motor Drive Flags
h Analog Inputs
h Analogue Inputs Control
h Digital Input Capture
h Digital Input Routing
h Digital Input Homing Capture
h Digital Outputs Control
h Digital Output Routing
h Read Analogue Input
h Analogue Input Offset
h Analogue Input Pre-scaling
A0h Feedback Incremental A/B/I 1
B4h SSI Encoder Multi Turn
h Deviation Error Option Code
h HW Information
h HW Configuration
h Operating Conditions
h Special Drive Modes
h Factory Settings
h Drive Serial Number
Fh Error Code
h Statusword
h Vl Target Velocity
h Vl Velocity Actual Value
h Vl Velocity Acceleration
h Vl Velocity Deceleration
Ah Vl Velocity Quick Stop
Ch Vl Dimension Factor
Ah Quick Stop Option Code
Ch Disable Option Code
Dh Halt Option Code
h Modes Of Operation
h Modes Of Operation Display
h Position Actual Internal Value
h Following Error Window
h Position Window
Bh Velocity Demand Value
Ch Velocity Actual Value
Eh Velocity Window Time
h Max Torque
h Motor Rated Current
Ah Target Position
Ch Home Offset
Dh Software Position Limit
Eh Polarity
Fh Max Profile Velocity
h Profile Velocity
h Profile Acceleration
h Motion Profile Type
Fh Position Encoder Resolution
h Velocity Encoder Resolution
h Gear Ratio
h Feed Constant
h Velocity Factor
h Acceleration Factor
h Homing Method
Ah Homing Acceleration
A2h Jerk Factor
A4h Profile Jerk
A8h SI Unit Position
A9h SI Unit Velocity
B0h Position Offset
B2h Torque Offset
C2h Interpolation Time Period
C4h Interpolation Data Configuration
C5h Max Acceleration
C6h Max Deceleration
E5h Additional Velocity Actual Value
E6h Additional Position Encoder Resolution - Encoder Increments
E8h Additional Gear Ratio - Motor Shaft Revolutions
E9h Additional Feed Constant - Feed
EBh Additional Position Encoder Resolution - Motor Revolutions
EDh Additional Gear Ratio - Driving Shaft Revolutions
EEh Additional Feed Constant - Driving Shaft Revolutions
F2h Positioning Option Code
F4h Following Error Actual Value
F8h Max Slip
FCh Position Demand Internal Value
FDh Digital Inputs
FFh Target Velocity
h Supported Drive Modes
h Drive Catalogue Number
Copyrights
DHCP
FatFs
Technical Manual PD4-E-M
Fieldbus: EtherCAT
For use with the following devices:
PD4-E591L42-M-65-1, PD4-EB59CD-M-65-1
Valid with firmware version FIR-v1748
Technical Manual Version: 1.0.1
and since hardware version W002b
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