© 2013 – 2026 Nanotec Electronic GmbH & Co. KG. All rights reserved.

Nanotec Electronic GmbH & Co. KG

Kapellenstraße 6

85622 Feldkirchen (Germany)

Germany

Phone: +49 89 900 686-0

Fax: +49 (89) 900 686-50

us.nanotec.com

Microsoft® Windows® 98/NT/ME/2000/XP/7/10/11 and PowerShell® are registered trademarks of the Microsoft Corporation.

EtherCAT® is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany.

TwinCAT™ is a registered trademark of Beckhoff Automation GmbH™.

The PD2-E motor with integrated controller is used as a component of drive systems in a range of industrial applications.

Use the product as intended within the limits defined in the technical data (in particular, see Permissible operating voltage) and the approved Environmental conditions. This Nanotec product may not be integrated as a safety component in a product or system under any circumstances.

All products containing a component manufactured by Nanotec must, upon delivery to the end user, be provided with corresponding warning notices including instructions for safe use and safe operation. All warning notices provided by Nanotec must be passed on directly to the end user.

Nanotec shall not be liable for damage and malfunctions attributable to installation errors, failure to observe this document or improper repair. The plant engineer, operating company and user shall be responsible for the selection, operation and use of our products. Nanotec shall not take responsibility for integration of the product in the end system. The general terms and conditions listed at www.nanotec.de shall apply. Comment: Modifications/changes to the product as well as opening the product are prohibited.

The product and this documentation are directed towards technically trained specialists staff such as:

• Development engineers
• Plant engineers
• Installers/service personnel
• Application engineers

Only specialists may install, program and commission the product. Specialist staff are persons who

• have appropriate training and experience in working with motors and their controller,
• are familiar with and understand the content of this technical manual,
• know the applicable regulations.

The following EU directives were observed:

• RoHS directive (2011/65/EU, 2015/863/EU)
• EMC directive (2014/30/EU)

In addition to this technical manual, the following regulations are to be observed:

• Accident-prevention regulations
• Local regulations on occupational safety

All notices are in the same format. The degree of the hazard is divided into the following classes.

The following conventions are used in the document:

Underlined text indicates cross references and hyperlinks:

• The following bits in object 6041_h (statusword) have a special function:
• A list of available system calls can be found in chapter NanoJ functions in the 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 2300_h, bit 0 = "1".
• If a holding torque is already needed in this state, the value "1" must be written in 3212_h:01_h.

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 00_h.

Example: Subindex 5 of object 1003_h is addressed with 1003h:05h, subindex 00 of object 6040_h with 6040h.

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.

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.