1 Introduction
1 Introduction
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 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 product on us.nanotec.com.
1.1 Version information
Manual
version
Date Changes Firmware
version
1.0.0 03.03.2014 Edition FIR-v1403
1.0.3 12.05.2014 Minor improvements and corrections, "Preset value" field now
occupied
FIR-v1419
1.1.0 23.07.2014
●
Chapter Saving objects added, savable added to the list of
objects
●
The following objects were shifted:
○
"Read Analog Input": from 6402
h
to 3320
h
○
"Analogue Input Offset": from 6431
h
to 3321
h
○
"Analogue Input Pre-scaling": from 6432
h
to 3322
h
FIR-v1426
1.1.7 10.09.2014 Error corrections FIR-v1436
1.1.15 18.11.2014
●
Error corrections
●
The "Mode of modulo operation" object in 2070
h
was
replaced with the "Positioning option code" object in 60F2
h
FIR-v1446
1.2.0 11.03.2015 New chapter:
●
Clock-direction mode
●
Analog mode
FIR-v1504
1.2.1 24.04.2015
●
Error corrections
●
New chapter Input Routing
FIR-v1512
1.3.0 02.10.2015
●
Error corrections
●
New chapter Overtemperature protection
●
New chapter Output Routing
●
New section Possible combinations of travel commands
●
Addition to the connection data for the connectors
●
Addition to the switching thresholds for digital inputs
FIR-v1540
1.4.0 08.04.2016 Error corrections FIR-v1614
1.4.1 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
●
Revision of chapter Commissioning
●
Additions and error corrections
FIR-v1650
2.0.1 04/2019 Additions and error corrections FIR-v1650
Version: 2.0.1 / FIR-v1650 8
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