Technical Manual PD2C Fieldbus: CANopen For use with the following variants: PD2-C4118X1404-E-08 PD2-C4118L1804-E-08 PD2-CB42C048040-E-08 PD2-CB42M024040-E-08 Valid for firmware version FIR-v1650 and higher Manual version 2.0.0 and hardware version W004 and higher Introduction The PD2-C is a brushless motor with integrated controller. The integrated absolute encoder makes immediate operation possible in closed loop mode without homing. This manual describes the functions of the controller and the available operating modes. It also shows how you can address and program the controller via the communication interface. You can find further information on the device on the Nanotec website us.nanotec.com. Version information Manual version Date Changes Firmware version 1.0.0 02.10.2015 Edition FIR-v1540 1.1.0 08.04.2016 Error corrections New chapter Interpolated Position Mode FIR-v1614 1.1.1 22.07.2016 Additions and error corrections FIR-v1626 2.0.0 01/2018 New chapter Environmental conditions New chapter Control modes New chapter Limitation of the range of motion New chapter Cycle times New chapter CANopen services Revision of chapter Commissioning Additions and error corrections FIR-v1650 Copyright, marking and contact Copyright © 2013 – 2018 Nanotec® Electronic GmbH & Co. KG. All rights reserved. Nanotec® Electronic GmbH & Co. KG Kapellenstraße 6 D-85622 Feldkirchen/Munich Phone: +49 (0)89-900 686-0 Fax: +49 (0)89-900 686-50 Internet: us.nanotec.com Intended use The PD2-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/general-terms-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. Other applicable regulations In addition to this technical manual, the following regulations are to be observed: Accident-prevention regulations Local regulations on occupational safety EU directives for product safety The following EU directives were observed: RoHS directive (2011/65/EU, 2015/863/EU) EMC directive (2014/30/EU) Used icons All notices are in the same format. The degree of the hazard is divided into the following classes. CAUTION: The CAUTION notice indicates a possibly dangerous situation. Failure to observe the notice may result in moderately severe injuries. Describes how you can avoid the danger. Note: Indicates an error source or likelihood of confusion. Failure to observe the notice may result in damage to this or other devices. Describes how device damage can be avoided. Tip: Shows a tip for the application or task. Emphasis in the text The following conventions are used in the document: Text set in bold indicates cross references and hyperlinks: The following bits in object 6041h (statusword) have a special function: A list of available system calls can be found in chapter System calls in a NanoJ program. Text set in italics marks named objects: Read the installation manual. Use the Plug & Drive Studio software to perform the auto setup. For software: You can find the corresponding information in the Operation tab. For hardware: Use the ON/OFF switch to switch the device on. A text set in Courier marks a code section or programming command: The line with the od_write(0x6040, 0x00, 5 ); command has no effect. The NMT message is structured as follows: 000 | 81 2A A text in "quotation marks" marks user input: Start the NanoJ program by writing object 2300h, bit 0 = "1". If a holding torque is already needed in this state, the value "1" must be written in 3212h:01h. Numerical values Numerical values are generally specified in decimal notation. The use of hexadecimal notation is indicated by a subscript h at the end of the number. The objects in the object dictionary are written with index and subindex as follows: <Index>:<Subindex> Both the index as well as the subindex are specified in hexadecimal notation. If no subindex is listed, the subindex is 00h. Example: Subindex 5 of object 1003h is addressed with 1003h:05h, subindex 00 of object 6040h with 6040h. Bits The numbering of individual bits in an object always begins with the LSB (bit number 0). See the following figure, which uses data type UNSIGNED8 as an example. Counting direction (arrows) In figures, the counting direction is always in the direction of an arrow. Objects 60C5h and 60C6h depicted as examples in the following figure are both specified as positive.