PD6-N Technical Manual V1.5
Contents
1. Possible errors in serial mode Plug amp Drive Data transfer to PD6 N8918 is On the Communication tab Motor is not not possible communication selectthe PC porton the PC to ready error which you have connected the Incorrect COM port selected PD6 N8918 e g COM 17 The port used can be found in the device manager of your PC Communication cable not Use the recommended R S485 connected or interrupted converter from Nanotec incorrect RS 485 converter e Order identifier used ZK RS485 USB A non existent motor number Setthe correct module address module number is set See the separate manual on NanoP ro The voltage supply to the Check voltage supply switch on if PD6 N8918 is interrupted necessary Another open program is Close down other programs on blocking the COM port to your PC which the PD6 N8918 is connected Inadmissible data was sentto Click on the Y es button to stop the Plug amp Drive motor during the travel profile the output of a travel profile The PD6 N8918 switches to the Ready status The data can then be resentto the Plug amp Drive Motor Transmission The data transfer to the PD6 Check that the motor connection is error N8918 is disturbed transmitter correctly wired or receiver are disturbed We recommend using the following Nanotec converters e ZK RS485 USB Position error The motor cannot reach the Click the Y es button in the error position2. PLUG amp DRIVE CANopen connection A suitable CAN interface adapter e g USB adapter from IXXAT or PEAK is required for connecting with a PC CANopen standard connector assignment on the adapter 7 CAN high CANopen connection assignments on the controller Circuit according to the Pin assignment table in Section 3 1 Notes on the baud rate It is important to note that both the controller and the CAN master use the same baud rate Only this way can communication be established The baud rate has a direct influence on the maximum possible bus length The following setting shows the possible baud rates and the associated maximum permissible bus lengths Notes on the bus termination With CAN the bus termination is handled by two 120 Ohm resistors on both ends of the bus Node Node Node 1 2 d n CAN HIGH 120 120 Ohm Ohm CAN LOW Technical Manual V Nanotec PD6 N8918 PLUG amp DRIVE Connections and circuits Setting the RS485 module address Hardware setting The RS485 module address can be set by hardware via two HEX coded switches on the printed circuit board The Ist digit is set with switch 1 left the 16th digit of the address is set with switch 2 right Addresses 0x00 and 0x80 signalize that the address can be set in the software For address settings via the HEX coded switches that are larger than 128 the value 128 must be subtracted from the set value Edi 0
3. at www nanotec com i Nanotec PLUG amp DRIVE 3 3 RS485 network CANopen PD6 N8918 in a network Up to 254 RS485 or 127 CANopen Plug amp Drive motors can be actuated in a network from a PC or PLC These network connections are set up via the RS485 CANopen interface Two wire operation RS485 To enable RS 485 two wire transmission capability all bus stations must have a direction control An intelligent converter enables two wire operation of the PD6 N8918 as it automatically switches to transmit operation when receiving a start bit at the RS 232 interface and returns to reception standby at the end of the stop bit This solution requires no software support We can recommend the ICP 7520 converter for example that is available from S churicht Talk to our Technical Hotline if you require support for this Technical Manual ib Nanotec PLUG amp DAWE PD6 N8918 Connections and c Ircul RS485 network ircuit diagram C DEE HE a pom mes ipsia un mic ten Z N sl sl CH 20 20 L zs E 3 d s S vt a TSS TS o o XJ a AL X D xy xL xy el sch i LIONE wwe bod osdouey ei Jagwnu a npou umo s y 436 ysnw yiun Asana NJomjau y4 0j Jun au buijsuuo2 BJOJaq e Sassa20Jd au ui sJ0JJ8 paJaplsuo au 3s Je ag ew snuj pue saul LOIJEIIUNWWOI au pue sjndui ayy ojul paljdde aq ue jiuejnbaJur asnedaq JEIUOJIUNJ JOU ag p no J8 0 J4u02 au sjuiod
4. firmware More detailed information can be found in the separate NanoCAN manual 1 Install the NanoCAN control software on your Download of PC WWW nanotec com 2 Connect the Plug amp Drive motor according to Connection diagram see the connection diagram Section 2 1 Detailed information on connections can be found in Section 3 3 Switch on the operating voltage 24 V DC 48 V DC CAUTION An operating voltage gt 50 V will destroy the output stage e Follow the information in Section 3 2 Install and configure your CANopen adapter Details can be obtained from the manufacturer of the CANopen adapter 7 Select the desired node ID the baud rate and if necessary the CAN card in the lt Configuration amp NMT gt tab Check the current setting using the motor data Under no circumstances sheet may the current be set to a Presettings value higher than the rated current of the motor e Phase current 50 current level e Phase current during idle 25 idle current Selectthe desired operating mode e g PP mode in the lt Drive Modes gt tab EL Click on the Power on button field i Nanotec PLUG amp DRIVE 3 Connections and circuits 3 1 Signal cable Introduction An overview of the assignments can be found in the connection diagram in Section 2 1 This section looks in detail at the assignment functions and circuits of the signal cable Pin assignment Nam Wireco
5. in CANopen mode More detailed information can be found in the separate NanoCAN manual Overview of operating modes and their areas of application Operation mode Application Positioning Mode Use this mode if you want to use the motor for PP Mode positioning The motor moves from A to B with the set parameters ramp speed etc Speed Mode Use this mode when you wish to travel with a specific Velocity Mode Speed e g a conveyor belt Reference run Use this mode to reference the motor Ref Mode Homing Mode internal external on block Interpolated Position Mode Use this mode with a superordinate path control Torque Mode Use this mode to specify a defined torque Selecting the operating mode in NanoCAN In the lt Drive Modes gt tab the operating mode can be selected When the tab Is activated the corresponding SDO is immediately written to the controller to activate the possibly previously selected operating mode Configuration amp NMT Node Configuration Object Management Drive Modes Fall Firmware Update i Nanotec PLUG amp DAIVE 5 Troubleshooting Troubleshooting procedure Proceed with care during troubleshooting and error rectification to avoid damaging the Plug amp Drive Motor Danger of electrical surges An operating voltage gt 50 V and incorrect connections can destroy the end stage Never disconnect the motor when operating voltage is applied Never disconnect lines when live
6. increased current In the opposite case i e if the rotor is running forward due to the torque the current is automatically reduced so that current consumption and heat development in the motor and controller are much lower compared to normal controlled operation Nano The integrated programming language Nano based on the J ava standard means complete application programs can be realized on the drivers that can be executed independently without a higher order controller The programs can be created compiled directly and written to the controller with the free Nano Easy editor Nano is only supported by the RS485 firmware More detailed information can be found in the separate programming manual Activation via CANopen Settings CAN ocr Itis possible to include the stepper motor controller in a CANopen environment with the PD6 N8918 The connection can be established either via 2 wires of the I O connection cable or in a customer specific version also via a Hummel Twintus connector More detailed information on this can be found in the CANopen reference and in the NanoCAN user manual In addition the Plug amp Drive motor via CANopen has another safety function Even when the voltage supply of the PD6 N8918 Is interrupted the processor continues to be supplied with power via the communication line and the position data cannot be lost so that the machine does not need to be referenced after being switched on The op
7. our general terms and conditions liability for subsequent damage or errors is excluded Applicable Standards and regulations must be complied with during installation of the device For criticisms proposals and suggestions for improvement please contact the above address or send an email to info nanotec com Additional manuals Please also note the following manuals from Nanotec NanoPro Configuration of controllers with the User Manual NanoPro software otmen Mr ads an lir Behringer anus NanoCAN User Manual Configuration of the CAN communication for CANopen capable controllers with the NanoCAN software bnoanoter Benutzerhard buch Nanotec CANopen Comprehensive documentation of reference the CANopen functions Ab Nanaotec Referenzhandbuch CANopen So Hr omm nd m RE orl Pia L riva Mekaar Programming manual Controller programming e Command reference i Nanoter Frogrammierhandbusch f r Schairimotor e Nano e COM interface The manuals are available for download at www nanotec de Technical Manual Y Nanotec PD6 N8918 PLUG amp DRIVE 4 of 33 Issue V 1 5 i Nanotec PLUG amp DRIVE Contents solied AE RE EN EE 2 Note ve NU Gl EE EE EE OG 3 Sui 5 1 AUT 7 2 Connection and COMMISSIONING iese EER EER ER RR R RR RR KERE EER EE EE EE EE EER ERK EK RR RR RNEER EEEEEEEEEEE 10 2d Connecti
8. point or zero point reached The outputs can be freely programmed using the NanoPro software Note Output 3 is also used to display errors and when switching on the controller i Nanatec PLUG amp DRIVE 3 2 Power cord Permissible operating voltage The permissible operating voltage of the Plug amp Drive motor PD6 N8918 lies within the range of 24 to 48 V DC and must not exceed 50 V or undershoot 21 V A charging condenser with minimum 4700 uF 10000 UF must be provided for the operating voltage to prevent exceeding the permissible operating voltage e g during braking Danger of electrical surges Connect charging condensor with minimum 4700 uF An operating voltage gt 50 V will destroy the output stage Mixing up the connections can destroy the output stage Never disconnect the motor when operating voltage is applied Never disconnect lines when live Voltage supply connection diagram 186 264VAC N Note Complete connection diagram see Section 2 1 Pin assignment Accessories for voltage supply Appropriate power packs and charging condensers are available as accessories Name o Order identifier Power pack NTS xxV yA xx voltage 24 or 48 V y current 2 5 5 or 10 A Information on the selection of the required power supply unit can be found in our FAQ on www nanotec com Charging Z K4700 or Z K10000 condenser Note A complete set of datasheets Is available for downloading
9. speed e g via an external potentiometer Clock direction mode right e Traveling synchronously with a superordinate controller with analog output 10 V to 10 V Analogue positioning mode Use this mode when you wish to travel to a specific position The voltage level on the analog input is proportional to the required position Torque mode Use this mode when you require a specific output torque independent of the speed as is the case in typical winding and unwinding applications The maximum torque is specified via the analog input Selecting the operating mode in NanoPro Movement Made Motor Settings Brake Display Properties Errorcarrection Input Output Communication Drive Profile Operation Type Positionmade Relative Fositionmode Relative Fositionnode Relative 400 02 Positionmode Relative 400 Position Demand Positionmode Absolute 03 Fositionmode Relative 400 agoe Reference Hun Internal D4 Pasitionmade Relative 400 Direction Reference Run External 05 Positionmode Relative 400 T Speed Up Positionmode Relative 400 Minimal Speed Flag Position 07 Posittionmode Relative 400 Clock Direction Lett 08 Positionmode Relative 400 Target Speed Clock Direction Right 09 Positionmode Relative 400 i Nanotec PLUG amp DRIVE 4 2 CANopen operating modes Introduction The motor can be operated using a total of 5 different operating modes
10. start frequency V Start to the specified maximum speed maximum frequency V Normal Several inputs enable the speed to be changed on the fly to different speeds Flag positioning mode The flag positioning mode offers a combination of the speed and positioning modes The motor is initially operated in speed mode when a trigger point is reached it changes to the positioning mode and the specified setpoint position relative to the trigger position is approached This operating mode is used for labeling for example the motor first travels with the set ramp to the synchronous speed of the conveyed goods When the labels are detected the preset distance position is traveled to apply the labels i Nanotec PLUG amp DRIVE Operation mode Application Clock direction mode left Use this mode when you wish to operate the motor with a superordinate controller e g CNC controller et In the clock direction mode the motor is operated via Clock direction mode two inputs with a clock and a direction signal from a Int Ref superordinate positioning control indexer Clock direction mode Depending on the mode selected Int Ref E xt Ref Ext Ref the internal and external reference runs are supported Analog and joystick mode The motor is controlled in this operating mode simply with a potentiometer or a joystick 10 V to 10 V Use this mode if you wantto use the motor in a simple application e Setting a specific
11. value is only read in when the controller is restarted The rotary switches can be used to set a two digit hexadecimal number 0x00 to OXFF e Right hand rotary switch 16 s place e g OxFO e Left hand rotary switch 1 s place e g OxOF Example 1 If the right hand rotary switch is set to 2 and the left hand rotary switch is set to 1 0x21 this results in a number equivalent to the decimal number 33 2 2 16 1 1 In this case the node ID is setto 33 on the hardware The baud rate is setto 1 MBaud Example 2 If the right hand rotary switch is set to 8 and the left hand rotary switch is set to 0 0x80 this results in a number that is equivalent to the decimal number 128 8 16 0 1 In this case the node ID and baud rate are read outof the EEPROM i Nanotec PLUG amp DRIVE 3 4 External logic supply With the Plug amp Drive motor you can use the additional safety feature of the separate logic supply Even when the voltage supply of the PD6 N8918 is interrupted the processor continues to be supplied with power via the communication line and the position data cannot be lost so that the machine does not need to be referenced after being switched on More detailed information on this can be found in the CANopen reference and in the NanoCAN user manual Notes on operating with the RS485 Since the firmware version 04 03 11 the external logic supply also functions for RS485 If the operating voltage is discon
12. Connector signal LI b je p E O O O 9 E 9 6 p PIN RS485 Connector Oo o 2 o zi ij amp Sig IS N m TE MET ox e gt x 2 x l as ae SCHER EASES 3 Zi p sii gt SS Es s s ES EE ES AS o SS 353585 62 58 TER DIN Rail mounting O Box a S o o lt S S Hx N t lt E o gt O bringing into service simple and fast with plug adapter or I O Box Nd JEN Control mode dd a PC for parameterization or control c d 2 4 b Industrial control panel c PLC fe Logo or Easy d Stand alone I O Analog over external switches DIN Rail mounting M Art No RS485 Connector o NTS 48V 10 A r r MEN NTS 24V 10 A el LLN Rz 2 NC 3 186 264 VAC TX 4 UB ext 3 GND ext 6 3 RX 7 GND 8 Signal status TC 9 Output 1 and 2 Rotation monitoring CANo par an Error or Limit switch TN BON GND 3 on new command Al Me NC E handling last process GND ext 6 Reference or CANE 7 Homing achieved QD NC 18 Converter Art No ZK RS485 USB UB ext 9 BENE iS or Converter CAN Adapter f e www IXXAT de Issue V 1 5 11 of 33 i Nanotec PLUG amp DRIVE 2 2 Commissioning Requirements The connection and commissioning of the PD6 N8918 Plug amp Drive motor are described below This section describes the main first steps you need to take to
13. Drive motor can be operated with the following firmware variants e RS485 firmware e CANopen firmware Functions of the PD6 N8918 The Plug amp Drive motor PD6 N8918 has the following functions e Microstep 1 1 1 64 Final output stage 0 014 step resolution e Closed loop current control sinusoidal commutation via the encoder e Sequence programs with Nano RS485 e Integrated encoder for rotation monitoring and closed loop current control e RS485 CANopen interface for parameterization and control USB connection possible via converter cable ZK R S485 USB e Network capability with up to 254 motors RS485 or 127 motors CANopen e Easy programming with Windows software NanoPro RS485 or NanoCAN CANopen i Nanotec PLUG amp DAIVE m Closed oop Closed loop current control sinusoidal commutation via the encoder In contrast to conventional stepper motor controllers where only the motor is actuated or the position adjusted via the encoder sinusoidal commutation controls the stator magnetic field via the rotary encoder as in a servo motor The stepper motor acts in this operating mode as nothing more than a high pole servomotor i e the classic stepper motor noises and resonances vanish As the current is controlled the motor can no longer lose any steps up to its maximum torque If the controller recognizes that the rotor is falling behind the stator field due to overload adjustments are made with optimal field angle and
14. EM CAHopen 17 12 2008 hex GN Select the desired firmware and click on Open i Nanotec PLUG amp DRIVE Commissioning with NanoPro RS485 firmware Proceed as follows to commission the Plug amp Drive motor 1 Install the NanoPro control software on your PC See the NanoPro separate manual For easier commissioning the ZIB P Dx N terminal strip that already integrates the SubD connections for RS 485 and CANopen can be used 2 Connect the Plug amp Drive motor according to the connection diagram Switch on the operating voltage 24 V DC 48 V DC CAUTION An operating voltage 50 V will destroy the output stage e Follow the information in Section 3 2 If necessary install the driver for the converter cable ZK RS485 USB Connect the Plug amp Drive motor with the USB port of your PC Use the converter cable ZK RS485 USB Connection via the RS232 interface is not possible Start the NanoPro software Pie ipag Moo pe Sete eb Kee TE Mae ee SMCPIS riede PIE Versen Dee DOI Leg Carson ta Ir en Large tun Deg Meversest Mode Ines Sens Daa Dean Papers Brasse bod Os Cancan Saad Cl Poona Scope Soot ow ECH EE E eil Peaches egen l Zegbun geiht Ze gen HN In the field Port select the COM portto which the PD6 N8918 is connected om p ms md m sagte zl Fort af ri
15. W Nanotec PLUG amp DRIVE Technical Manual Plug amp Drive Motors PD6 N8918 NANOTEC ELECTRONIC GmbH amp Co KG Tel 49 0 89 900 686 0 Kapellenstra e 6 Fax 49 0 89 900 686 50 D 85622 Feldkirchen b Munich Germany info nanotec com i Nanotec PLUG amp DAIVE E ditorial 2013 Nanotec Electronic GmbH amp Co KG Kapellenstra e 6 D 85622 Feldkirchen b Munich Germany Tel 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet www nanotec com All rights reserved MS Windows 2000 XP Vista are registered trademarks of Microsoft Corporation Translation of original handbook Version C hange overview pae me ooo i Nanotec PLUG amp DRIVE About this manual Target group This technical manual is aimed at designers and developers who need to operate a Nanotec stepper motor without much experience in stepper motor technology Important information This technical manual must be carefully read_before installation and commissioning of the Plug amp Drive motor Nanotec reserves the right to make technical alterations and further develop hardware and software in the interests of its customers to improve the function of this product without prior notice This manual was created with due care It is exclusively intended as a technical description of the product and as commissioning instructions The warranty is exclusively for repair or replacement of defective equipment according to
16. aAoge au jo pJebausig WG si alge J0Mjau ayy jo uj6ua alge xeu au e TZIMY uuz Qxo sled pajsi papjaiys aq jsnu alge ayy e WOT YIM pajeuiuJaj aq jsnu eui au jo pua ipea uj HUN jse au e jiun yea 0 paj2auuo2 aq Of seu GND guid SJIUN OM ueuj aJou ae 9Jou j pa oJjsap aq Dino 48jj04ju02 ayy sjuiod a oqe au jo pJebausip ui pua yea ui papauuo ag snw Buipjaiys ayy pue OND e Mun yee 0 paj2auuo2 aq 04 seu OND guid Sun oM ueu 3JoWw ale aJauJ J SHUN 4677 GE NNN E Ka CNN x RES ER u XS 277 Le E RY LLII SEN S XX LLKS CE ES RER LL RR 2525 E po OU DIS C DD S SS Ss XL xy emm jun uondu2sep Bun2auuo2 au pes zS UONNED 5 32V3U31NI SBYSU WOIISJOUEU MMM Japun peo uMop pneg 057 Pup e ien P tse eng m pud Amd pe mus JL memora d 0 4Jod W0 IenjdlA e spejsu Jaap ay Idud Keld pue WAIS 7 IEN 053 bnid 8u4 04 Guipsorre Ayjeryewojne si 0007 SMOPUIM lt SMOPUIM aunjsadwa jusiquy Japun uoijejjejsu gen 9uj uoJj sawo Sgy ayy jo Ajddns u01j3aUUO2 C neH Saul SMOPUIM Japun s2ejJsjU SNgGGgySY au 0 UOlJ2 UUOI gSf e Salgeua alge J8jJ8 u02 Gg SH gS L U0Ij821JI2ads je iuu2a alge jo 40103 it t B ZO z zz M mm ZA Oo D dSN S8YSU AZ JA1J8AU0 HATIOHINOO MHOML3N S8TS3 IWINVHOVIO NOLLO3NNOO Jd 9 J 48 0 4u07 Jed1ua V1 5 Issue 20 of 33 i Nanotec
17. be able to quickly begin working with the PD6 N8918 if you want to work with the NanoPro RS485 or NanoCAN CANopen software from a PC You will find more detailed information in the separate NanoPro and NanoCAN manuals If you want to work with a PLC or your own program later you will find the necessary information in the separate programming manual RS 485 or in the CANopen reference CANopen Familiarize yourself with the PD6 N8918 Plug amp Drive motor and the relevant NanoP ro or NanoCAN control software before configuring the Plug amp Drive motor for your application Selecting the firmware The Plug amp Drive motor is always delivered with a firmware that is optimized for RS485 For the operation and configuration of the Plug amp Drive motor with a CANopen interface and NanoCAN you first need to perform a firmware update To do this proceed as follows 1 Install the NanoPro control software on your PC Download of See the NanoPro separate manual www nanotec com 2 Connect the PC to the RS485 port ofthe motor Connection diagram see controller according to the connection diagram Section 2 1 3 In NanoPro open the menu lt System Firmware change select firmwasre gt The following window appears A open Firmware file Piel firmware enc PDE MH rs485 LAN open 20 04 2009 he firmware enc POEM rs485 10 10 2009 hex firmare enc PDb M rs485 11 01 2010 hex firmware enc POEM CAMopen 10 10 2003 hex firmware enc PO
18. ee ee e 16 Inputs and OUDS ies sis iN eise se ei GE 16 L Beie Weg Die o ARE OE OE 25 N O Operating modes ee ee ee RE 26 C ANODE sn eer ee n Ee EE 28 ss ORE N OE EE N 26 Operating vollage esse ees ee ee ee ee ee RR en 18 Output ele S 17 d Pin assignment POWER COTO MEER 18 elen EUR 16 aevi geo iot 18 R Rotation monitormng nennen 9 RS485 network nein 19 S SION a aD E 16 T Two wire operation ee ee ee ee ee 19 V ETE il EE N EE EE 7 Voltage supply ee ee RR RE EE ee ee 18 W UL e ER
19. ep frequency Position monitoring Position Speed Flag position Clock direction Analog J oystick Torque 0 to 50 kHz in clock direction mode 0 to 25 kHz in all other modes Automatic error correction up to 0 18 depending on encoder resolution i Nanotec PLUG amp DHIVE Inputs and outputs Inputs 6 optocouplers 5 24 V e Safe switch off max 2 V e Safe switch on min 4 5 V Signal delay time e Inputs 1 to 5 120 us e Input 6 10 us Outputs 3 MosFET outputs e Open Drain 0 switching max 24 V 1 5 A e Signal delay time output 1 2 H12 us with 10 k Pull Up at 24 V Protective circuits Overvoltage and Protective circuit for voltages gt 50 V or 21V undervoltage Max heat sink temperature Approx 67 C Max ambienttemperature 0 to 40 C Holding torque weight and dimensions Variants Holding torque Length L Nm mm 3 4 121 PD6 N8918M9504 5 94 Front view and mounting Side view A Rear view UM4 273 025 d 4 266 HOLE A complete set of datasheets is available for downloading at www nanotec com i Nanotec PLUG amp DRIVE Index A Accessories for voltage supply 18 C CANOPEN Met 8 15 19 Closed loop current Control 8 COMMISSIONING e n 12 Connection diagram ee ee ee ee ER 11 D Riis ER E csi ERG OO S 9 F FMC ANS TRE 7 12 ed lee cR OR OE N N 7 H HS AN TORO WS ee ee Bi od 32 Input CirCUIES ee
20. erating behavior of the motor can be set and optimized according to individual requirements by setting the motor related parameters The parameters can be set using the NanoPro or NanoCAN software and significantly reduce commissioning time More detailed information on this can be found in the separate NanoPro or NanoCAN user manual i Nanotec PLUG amp DRIVE Rotation monitoring Even if stepper motors do not lose steps during normal operation the integrated Speed control provides additional security in all operating modes e g against motor Stalling or other external sources of error The monitoring function detects a stalled motor or step loss after tenth of a step at the most for 1 8 stepper motors with 500 pulses rotation Automatic error correction is possible after the drive profile is ended or during the drive i Nanotec PLUG amp DRIVE 2 Connection and commissioning 2 1 Connection diagram Introduction To operate the Plug amp Drive Motor you must implement the wiring according to the following connection diagram y Nanotec Technical Manual EEE PD6 N8918 Connection and commissioning Connection diagram PD6 N8918 Nanotec Connecting Diagram PD6 N Plug amp Drive Motor with integrated power and close loop controler incl encoder d Input optocoupler Output open drain signal status 3 5 24V max 24V 1 5 A dee lor AT a security feature d E 62 7 2 3 PIN CAN
21. lor ooO ews BN GNDkgc Rb Function of the inputs Input circuits All digital inputs with the exception of the Clock input in the clock directional mode can be freely programmed using the NanoPro software RS485 e g as a limit position switch enable etc and can be used for sequential control with Nano All inputs can be configured for active high PNP or active low NPN with NanoPro All inputs apart from the Analog In input are electrically isolated by optocouplers from the supply voltage of the PD6 N8918 and designed for 5 24 V input signals at an input current of 8 mA Note The voltage must not exceed 24 V It should drop below 2 V for safe switching off and be atleast 4 5 V for safe switching on i Nanotec PLUG amp DRIVE 5 24 V Output wiring The outputs are MosFET outputs in an Open Drain circuit 0 switching max 24 V 1 5 A An LED can be integrated to test the output The LED lights up when the Output Is active 24V 1 5A LED Out GND Signal states at the outputs RS485 Note In the CANopen firmware the status of the controller is not displayed at the outputs The following table shows the possible signal states at the outputs 1 to 3 Signal states Output3 Oupu2 Ouptl o In 0 Rotation monitoring error or limit switch N EN EN Motor idle waiting for new command 1 0 Busy control processing last command E EG E Reference
22. nected the controller switches Not ready status and shows the error state Undervoltage i Nanotec PLUG amp DRIVE 4 Operating modes 4 1 Serial operating modes Introduction Depending on the travel profile the motor can be operated using different operating modes Due to the great capacity and functions available it offers designers and developers a rapid and simple method of resolving numerous drive requirements with less programming effort Select the required operating mode for each drive profile and configure the controller according to your requirements More detailed information can be found in the separate NanoPro manual Overview of operating modes and their areas of application Operation mode Application Relative positioning Use this mode when you wish to travel to a specific Absolute positioning position MN The motor travels according to a specified drive profile from a Position A to a Position B Internal reference run During the internal reference run the motor travels to an internal reference point at the set minimum speed index mark of encoder only in combination with an encoder External reference run During an external reference run the motor travels to a switch connected to the reference input peed mode Use this mode when you wish to travel with a specific speed e g a conveyor belt or pump speed In the speed mode the motor accelerates with a specified ramp from the starting speed
23. on diagram ee ee ee RR Ee ee ee RR ee ee ee nennen ee ee ee nnn nn nnn nnn 10 2 2 COM SC ale AR nee en N OE RE 12 3 Connections and CIFOUIS ie sesse se Ge N KEN RR we GE Ge ew ass ee Dk SR KW Ki KS we ed ee VERRE NE 16 3 1 eene AE EE 16 3 2 POW T CO ER EE EE EE EE AE 18 3 3 R 5485 NEWORGJEC ANODEN EE 19 3 4 E Xena e elle e ea en een 25 4 Operating Modes nie 26 4 1 5 elle eege MO E 26 4 2 CANOPEN operating modes nnne nnns 28 5 Bee Ee Le nei 29 6 Technical data i e siese 31 Technical Manual Y Nanotec PD6 N8918 PLUG amp DRIVE Contents 6 of 33 Issue V 1 5 i Nanotec PLUG amp DRIVE 1 Overview Introduction The Plug amp Drive motor PD6 N8918 includes in addition to the integrated power end Stage a complete network capable closed loop speed and positioning control The PD6 N8918 not only significantly reduces development and installation outlay but also Space and component requirements It also increases flexibility system properties and the availability of a complete drive unit Replacement of existing drive solutions is easy with the mechanical and electrical compatibility with standard motors Variants The PD6 N8918 is available in the following variants that differ in holding torque weight and length see Section 6 Technical data e PD6 N891856404 e PD6 N8918M9504 e PD6 N8918L9504 Firmware variants The Plug amp
24. or the limit switch was message the error is reset overrun i Nanotec PLUG amp DRIVE Possible errors in CANopen mode No The wrong node ID has been On the Configuration amp NMT gt tab communication set in NanoCAN select the node ID with the that is set on the rotary switches of controller the controller The power supply is Check voltage supply switch on if interrupted necessary The communication cable is Check all connections especially not connected or is the terminal resistances interrupted CAN bus incorrectly Ideally terminate the bus on both terminated with 120 Ohm ends with 120 Ohm Transmission Data transmission is disturbed Switch the power supply off and on error sporadically again i Nanotec PLUG amp DRIVE Electrical connections Technical data Operating voltage Vp DC 24 V to 48 V 4 Max phase current Adjustable up to max 12 A phase Continuous current 7 5 A phase Current drop Adjustable 0 to 80 of rated current Interfaces Type of connection Motor parameters Step resolution RS485 4 wire e 115200 bps adjustable e 1 start bit 8 data bits 1 stop bit e No parity CAN bus CANopen e 1MBaud adjustable PG gland cable length 2 m Hummel Twintus connector Full Step Half Step Quarter Step Fifth Step Eighth Step Tenth Step 16th step 32nd Step 64th Step Feed rate Adaptive microstep 1 128 Step angle 1 8 Operating modes St
25. te Tmeout Head Timeout Baudrate Download of www nanotec com Connection diagram see Section 2 1 Detailed information on connections can be found in Section 3 Download www nanotec com in the Accessories Converter menu item Order number e ZK RS485 USB The NanoPro main menu appears The number of the COM port to which the Plug amp Drive Motor is connected can be found in the device manager of your Windows PC System Control S ystem Hardwar e i Nanotec PLUG amp DRIVE Selectthe 115200 bps entry in the Baudrate selection field 10 Check the current setting using the motor data Under no circumstances sheet on the Motor Settings tab may the current be set to Presettings a value higher than the rated current of the motor e Phase current 50 current level e Phase current during idle 25 idle current Selectthe Movement Mode tab Click on the lt Test Record gt button to carry out The connected motor the pre set travel profile operates with the pre set travel profile default Test Record i travel profile after new Stop Record installation Save to Motor Read from Motor 13 You can now enter your required settings See the NanoPro For instance you can enter a new travel profile Separate manual i Nanotec PLUG amp DRIVE Commissioning with NanoCAN CANopen firmware Proceed as follows to commission the Plug amp Drive motor with the CANopen
26. x01 0x7F 0x81 0xF F 22 of 33 Issue V 1 5 i Nanotec PLUG amp DRIVE Example DEER LL xi eump nn LL emm In le fe In case of the settings 0x00 and 0x80 between 1 and 255 can be set via the software addresses Address values higher than 127 therefore can only be set via the software When the power supply is applied the controller checks which address is set with the 2 hardware switches This hardware address Is then adopted After the address Is changed the power supply must be briefly switched off and on again Software setting Both switches are set to 0 at delivery With this setting the address can be changed in the software as of firmware status 04 12 2008 or later See the NanoPro separate manual i Nanotec PLUG amp DRIVE Setting the CANopen module address There are two basic ways of setting the CANopen node ID and the baud rate e Hardware setting via rotary switches on the controller e Software setting With NanoCAN see separate manual for NanoCAN To be able to make a software setting with NanoCAN a certain value must be set on the rotary switches of the controller see the following table Rotary switch value Node ID Baudrate dec hex y from EEPROM 0x00 ER MBaud ZE S OD rotary switch value Foz from EEPROM from EEPROM 129 255 rotary switch value 0x81 OxFF minus 128 Note The rotary switches must be setto the desired value before the controller is switched on since this
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