PD6-C CANopen/USB Online Manual

Pin assignment

Overview

Connection Function
X1 Voltage supply
X2 Digital/analog inputs and outputs
X3 Micro USB connection
X4 CANopen IN
X5 CANopen OUT
S1 Hex coding switch for node-ID and baud rate, 1s place (e.g., 0Fh)
S2 Hex coding switch for node-ID and baud rate, 16s place (e.g., F0h)
S3 120 ohm termination resistor (switch set to ON)
L1 Power LED

X1 – voltage supply

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.

Connections

Type: base strip, WE RM 5 mm 2 pole, straight (Würth Elektronik No. 691 311 700 102)

Mating connector (included in scope of delivery): Würth Elektronik no. 691 352 710 002 (or equivalent)

PIN Function Note
1 +UB

12-48 V DC, ±5%

2 GND
Connection data min max
Conductor cross section, rigid, min. 0.2 mm2 3.0 mm2
Conductor cross section, flexible, min. 0.2 mm2 3.0 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 3.0 mm2
Conductor cross section, flexible, min. Wire-end sleeve min. Plastic sleeve min. 0.25 mm2 3.0 mm2
Conductor cross section, min. AWG 24 12
Min. AWG acc. to UL/CUL 24 12

Permissible operating voltage

The maximum operating voltage is 50.5 V DC. If the input voltage of the controller exceeds 51.5 V, the motor is switched off and an error triggered. Above 50.5 V, the integrated ballast circuit (5 W power) is activated.

The minimum operating voltage is 11.4 V DC. If the input voltage of the controller falls below 10 V, the motor is switched off and an error triggered.

A charging capacitor of at least 4700 µF / 50 V must be connected to the supply voltage to avoid exceeding the permissible operating voltage (e.g., during braking).

X2 – inputs and outputs

Type: Phoenix base strip. MCV 0.5/12-G-2.5

Mating connector (included in scope of delivery): Phoenix no. 1881422 (or equivalent)

PIN Function Note
1 +10 V DC Output voltage, max. capacity 200 mA
2 Digital input 1 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below
3 Digital input 2 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below
4 Digital input 3 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below
5 Digital input 4 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below
6 Digital input 5 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below
7 Digital input 6 5 V / 24 V signal, switchable by means of software with object 3240h, max. 1 MHz, alternative function: see table below
8 Analog input 1 10 bit, 0-10 V or 0-20 mA, switchable by means of software with object 3221h
9 Analog input 2 10 bit, 0-10 V, not switchable by means of software
10 Digital output 1 Open drain, maximum 24 V / 100 mA
11 Digital output 2 Open drain, maximum 24 V / 100 mA
12 GND

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 Digital input 3 / Clock input in clock-direction mode –Input 2 / –Direction input in clock-direction mode Clock –Direction
5 Digital input 4 +Input 2 / +Direction input in clock-direction mode Digital input 4 Direction
6 Digital input 5 –Input 3 / –Clock input in clock-direction mode Digital input 5 –Clock
7 Digital 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, single-ended Switching thresholds, differential
On Off On Off
5 V > approx. 3 V < approx. 1.5 V > approx. 3 V < approx. 1.5 V
24 V > approx. 12 V < approx. 7 V > approx. 12 V < approx. 7 V
Max. Voltage Current consumption, single-ended Current consumption, differential
5 V Approx. 0.3 mA Approx. 0.3 mA
24 V 2.7 mA 2.7 mA
Connection data min max
Conductor cross section, rigid, min. 0.14 mm2 0.5 mm2
Conductor cross section, flexible, min. 0.14 mm2 0.5 mm2
Conductor cross section, flexible, min. Wire-end sleeve without plastic sleeve, min. 0.25 mm2 0.5 mm2
Conductor cross section, min. AWG 26 20
Min. AWG acc. to UL/CUL 28 20

X3 − Micro USB

A cable of type "micro USB" is needed for this USB connection.

X4 and X5 − CANopen IN/OUT

Type: RJ45, vertical, THT

Both connectors are configured identically according to the following table.

PIN Function Note
1 CAN_H CAN-High
2 CAN_L CAN-Low
3 CAN GND Internally connected with pin 7
4 n.c.
5 n.c.
6 CAN SHIELD Shielding
7 GND Internally connected with pin 3
8 +UB Logic +24 V DC, input voltage, current consumption: approx. 50 mA
Note:

Should the main supply fail, the logic supply keeps the electronics, the encoder and the communication interface in operation.

The windings of the motor are not supplied by the logic supply.

S1 – CANopen node-ID and baud rate

Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate.

The value of this switch is added to the value of switch S2; this switch thereby sets the 1s place.

The same switch can also be used to select one of the special drive modes and switch between open and closed loop.

Default behavior

Activation: line dd4c=1 must be included in configuration file cfg.txt (this is the case in the factory setting). Change is not activated until after the controller is restarted.

Effect: CANopen is activated; the rotary switch serves to set the CANopen node-ID. The value of this switch is added to the value of switch S2.

Alternative behavior

Activation: line dd4c=2 must be included in configuration file cfg.txt. Change is not activated until after the controller is restarted.

Effect: CANopen is thereby deactivated. The controller function is dependent on the position of the switch. See chapter Special drive modes (clock-direction and analog speed).

S2 – CANopen node-ID and baud rate

Hex coding switch for setting the CANopen node-ID and baud rate. See chapter Setting node-ID and baud rate.

The value of this switch is multiplied by 16 and added to the value of switch S1; this switch thereby sets the 16s place.

Example

Switch S2 is set to the value 1h, switch S1 to the value Fh; the result is the value 1Fh.

S3 – 120 ohm termination resistor

Switches the termination of 120 Ω between CAN_H and CAN_L of the CAN bus on or off (see X4 and X5 − CANopen IN/OUT).

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