PD4-E/-EB EtherNet/IP Online Manual

Technical Manual PD4-E

Fieldbus: EtherNet/IP™

For use with the following variants:

PD4-E591L42-E-65-3A, PD4-E601L42-E-65-3A, PD4-EB59CD-E-65-3A

Valid for firmware version FIR-v2239 and higher Manual version 1.0.0
and hardware version W003 and higher


The PD4-E is a brushless motor with integrated controller in protection class IP65. 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.

Version information

Manual version Date Changes Firmware version Hardware version
1.0.0 01/2023 First edition FIR-v2239 W003

Copyright, marking and contact

© 2013 – 2023 Nanotec Electronic GmbH & Co. KG. All rights reserved.

Nanotec Electronic GmbH & Co. KG

Kapellenstraße 6

85622 Feldkirchen



Phone: +49 89 900 686-0

Fax: +49 (89) 900 686-50




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

EtherNet/IP™ and CIP™ are registered trademarks of the Open DeviceNet Vendor Association, Inc (ODVA).

CompactLogix®, Studio 5000®, Logix Designer® and RSLinx Classic® are registered trademarks of the Rockwell Automation® Corporation.

Intended use

The PD4-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 ) and the approved Environmental conditions.

Under no circumstances may this Nanotec product be integrated as a safety component in a product or system. 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.

Target group and qualification

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 control,
  • are familiar with and understand the content of this technical manual,
  • know the applicable regulations.

Warranty and disclaimer

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. Note: Conversion/modification of the product is prohibited.

EU directives for product safety

The following EU directives were observed:

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

Other applicable regulations

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

  • Accident-prevention regulations
  • Local regulations on occupational safety

Used icons

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

  • 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 dangerous situation.
  • Indicates a possible incorrect operation of the product.
  • Failure to observe the notice may result in damage to this or other products.
  • ► Describes how you can avoid the incorrect operation.
Tip: Shows a tip for the application or task.

Emphasis in the text

The following conventions are used in the document:

Underlined text indicates cross references and hyperlinks:

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.


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.