PD6-N Technical Manual V1.1
Contents
1. 6 14 Closed Loop current control 5 Commissioning 9 Connection diagram 8 D EE 6 E External reference run 18 F l OS u ee aus 5 INPUT ele D LEE 12 Inputs and oulputs 11 Internal reference run 18 N O Operating modes 18 Operating voltage 13 OUIPULCIFCUNS a eat 12 P Pin assignment POWET CONG EE 13 Signal cable u uuu una dotaci n cdas 11 Power cord 13 R Reference run 18 RS485 netwolk 14 S Signal cable 11 T Two wire operation 14 V VET NET EE 5 23 Voltage supply nn nee 132. RS485 network is limited to 32 16 Issue V 1 1 2009 11 16 O Nanotec PLUG amp DRIVE 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 In the delivery condition the two switches are set to 0 With a firmware status more recent than 04 12 2008 it is possible to set the address per software in this setting See the separate manual on NANOPRO as well O Nanotec PLUG amp DAIVE 4 Operating modes Introduction The Plug amp Drive Motor can be operated with a total of 14 different operating modes Due to the great capacity and functions available they offer designers and developers a rapid and simple method of resolving numerous drive requirements with less programming effort Select the required operating mode for your stepper motor application and configure the controller according to your requirements You will find more detailed information in the NANOPRO user manual Overview of operating modes and their areas of application Operation Type Application Relative Use this mode when you wish to travel to a specific Absolute position 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 inter
3. Ref Ext Ref Ext Ref the internal and external reference runs are supported O Nanotec PLUG amp DRIVE Operation Type Application Analogue 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 want to use the motor in a simple application e Setting a specific speed e g via an external potentiometer e Travelling synchronously with a superordinate controller with analogue output 10 V to 10 V Analogue Position mode Use this mode when you wish to travel to a specific position The voltage level on the analogue input is proportional to the required position thus enabling servo behavior 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 analogue input Selecting the operating mode in NANOPRO Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Output Communication Drive Profile Operation Type Positionmode Relative Positionmode Relative 400 Positionmode Relative 02 Positionmode Relative 400 Position Demand Positionmode Absolute 03 Positionmode Relative 400 une Reference Run Internal 04 Positionmode Relative 400 Direction Reference Run External 05 Positonmode Relative 400 Ss Speed OG P
4. r FF AL ARL A X XL ny E C pung 31983 jo 4010 uo duo s p Bu 2 uuo2 34 Ped 35113 uonnen IIVIYILNI S87Su WO3 8JOUEUMMM JAPUN PEO UMOP pneg OST ope preg x Of 39Jj GJE JIAP BY JO SUOISJZA JUBJJN eyep pabueYyrxa _ O wamanuge 04 4uod 0 Jengua e syeysul Jaap ay Idud A ejg pue HOAN Sh TUE 053 Bid ayy 04 Buipsorre Ajjer1yewosne si 0002 SMOPUIM lt SMOPUIM MOSS aunjiadwa juaiquy Japun uoljeljlejsu GSN y wos s u0 sgy ayy jo Ajddns U01133UU03 GQ4SY AY SMOPUIM J pun Jejj ju SNgSgYSY ayy 0 UOIJIBUUOI GSN e Sa qeus qe JayJBAUOD GQ4YSY ASN FUL oe u16u 1 age uorjesyyimads JENUYNE 81983 jo 3010 32 ae z 2 m ma zZ u to gt ESN 587SY MZ J94J9AU0 N 9dd MYOMLAN S87SY NNVHDVIG NOILOANNOO Jd 94 4911044U07y 44093 15 Issue V 1 1 2009 11 16 Technical Manual WwW 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 Switch 1 for address 1 15 Switch 2 for address 16 32 The 1st digit is set with switch 1 left the 16th digit of the address is set with switch 2 right Module address Switch 1 left Switch 2 right Max 255 addresses can be set which can however only be used to the full extent via CANopen as the maximum number of stations in an
5. 5 Connector pr NTS 48V 10 A ER ee pr NTS 24V 10 A NO li LLN dat PENE iZ NG 13 186 264 VAC TX 4 UB ext 5 GND ext 6 3 RX 7 GND 8 Signal status TX 9 Output 1 and 2 Rotation monitoring CANopen MODE ae a gt MON Hold position waiting Ge s on new command NC A Busy controller is N d 5 resssssssssssers handling last process GND ext 6 Reference or CAN 17 Homing achieved NC E BEE Over Temperature or Converter CAN Adapter f e www IXXAT de 8 Issue V 1 1 2009 11 16 O Nanotec PLUG amp DRIVE 2 2 Commissioning Provisions The connection and commissioning of the PD6 N8918 Plug amp Drive Motor are described below The main First steps are described here to work as fast as possible with the PD6 N8918 if you want to work with the NANOPRO software from a PC You will find more detailed information in the separate NANOPRO manual If you want to work at a later time with a PLC or your own program you will find the necessary information in the separate Command Reference Familiarize yourself with the PD6 N8918 Plug amp Drive Motor and the relevant NANOPRO control software before configuring the Plug amp Drive Motor for your application Note For the operation and configuration of the Plug amp Drive motors with a CANopen interface you require the CANopen firmware and the NanoCAN software which you can download from the Nanotec website Procedure Procee
6. Close down other programs on your blocking the COM port to PC which the PD6 N8918 is connected Inadmissible data was sent to Click on the lt Yes gt button to stop the the Plug amp Drive Motor during travel profile The PD6 N8918 the output of a travel profile switches to the Ready status The data can then be resent to the Plug amp Drive Motor Transmission The data transfer to the PD6 Check the possible causes for the error N8918 is disturbed transmitter transmission error and rectify the or receiver are disturbed cause of the error Position error The motor cannot reach the Click the lt Yes gt button in the error position or the limit switch was message the error is reset overrun Red LED on Overtemperature of power Switch off Plug amp Drive Motor and the PD6 N8918 electronics gt 75 C allow to cool lit up The error is reset when the PD6 N8918 is disconnected from the power supply unit Undervoltage Check voltage supply O Nanotec PLUG amp DRIVE 6 Technical data Electrical connections Continuous current 7 5 A phase Interfaces RS 485 4 wire e 115200 Baud adjustable e 1 Startbit 8 Databits 1 Stopbit e No parity CAN bus CANopen e Extended functionality e Separate circuit for supply and processor e Closed Loop capable Type of connection PG gland cable length 2 m Motor parameters Step resolution Full step Half step Quarter step Fifth step Eig
7. O 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 GewerbestraBe 11 Fax 49 0 89 900 686 50 D 85652 Landsham near Munich Germany info nanotec com O Nanotec PLUG amp DRIVE Editorial 2009 Nanotec Electronic GmbH amp Co KG Gewerbestra e 11 D 85652 Landsham Pliening Germany Tel 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet www nanotec de All rights reserved MS Windows 2000 XP Vista are registered trademarks of Microsoft Corporation Version Change overview Version Date omas O 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 has been written 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 our general terms and con
8. Paco In the field Port select the COM port to which The number of the COM the PD6 N8918 is connected port to which the Plug amp Port COM Drive Motor is connected can be found in the device write Timeout 1 000 ms manager of your Windows PC System Supervision Read Timeout food me System Hardware Baudrate 19200 bps 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 travel profile after new installation You can now enter your required settings See the separate manual For instance you can enter a new travel profile on NANOPRO as well O Nanotec PLUG amp DAIVE 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 Nm mee CAN Signal GND Com Gulo fm gt O Nanotec PLUG amp DRIVE Input circuits All inputs apart from the Analogue In input are electrically isolated by optocouplers from the voltage supply of the PD6 N8918 and designed for 5 24 V input signals at an input current of 8 mA The digital inputs 1 to 6 can be configured with the aid of the software NANOPRO for active high or active low In addition these can be freely programmed there e g as l
9. d as follows to commission the Plug amp Drive Motor Install the NANOPRO driver software on your Download from PC www nanotec com See the separate manual on NANOPRO as well downloads Connect the Plug amp Drive Motor according to the Connection diagram see connection diagram Section 2 1 For easier commissioning the ZIB PD6 N Detailed information on terminal strip that already integrates the SubD connections can be found connections for RS485 and CANopen can be in Chapter 3 Connections used and circuits Apply the operating voltage The green LED lights up 24 V DC 48 V DC Connect the Plug amp Drive Motor with your PC Order number Use the converter cable e ZK RS485 USB ZK RS485 USB for connection to the USB download the interface necessary driver from Connection via the RS232 interface is not www nanotec com possible under the menu item Accessories Converter 5 Start the NANOPRO software The NANOPRO main menu appears O Nanotec PLUG amp DRIVE Falen i prr tag Phe ipay alan Poda Be S alll bia Zeg ACL E eee MA Wegen bes Saw reet air zo Ore Hand or ggawer ber Dee Messe U oct hate Bana Dette Properties Dastanaision osa Cups Camerae B ttel CL Fas a bone Ce Pec Dre ger free eg sl Ksa NM Le amp 1000 i Fin J Feise KO Lak 1000 A Lem TD Y Im de pos f Descior En Bil F ha bir pad 2 e SE eg Eege Ess Sep Fast
10. ditional 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 a tenth step at the most for 1 8 stepper motors with 500 pulses revolution Automatic error correction is possible after the drive profile is ended or during the drive O 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 Technical Manual V Nanotec PD6 N8918 EEE 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 5A a pipa ar security feature FE S DEER CR E eeng en o O Q 5 PIN R5485 Connector 8 o u E k z g Fe w on a a E 3 z Z S 22 SIE Ss e JE A G 52 EN DIN Rail mounting bringing into service simple and fast with plug adapter or UO Box ds Control mode z s a PC for parameterization or control c d 2 b Industrial control panel c PLC fe Logo or Easy d Stand alone I O Analog over external switches Order Nr Z K10000 100 DIN Rail mounting Zu Art No RS48
11. ditions 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 denges User Manual NanoPro software User Manual NanoCAN Configuration of the CAN bNanotec User Manual User Manual communication for CANopen capable controllers with the NanoCAN software Nanotec CANopen Detailed documentation of the reference CANopen functions Programming manual Controller programming E e Command reference Programming Marmal for Stepped Molar Cordrola e NanoJ e COM interface The manuals are available for download on www nanotec com O Nanotec PLUG amp DAIVE Contents 1 NNN nenne 5 2 Connection and commissioning u ann 7 2 1 OMIM CMON A 7 2 2 Om ONN A uwa II II A 9 3 Connections EE 11 3 1 A ae 11 3 2 FONT 13 33 RS485 network CANopen interface a a 14 4 Op raling Ode 18 5 Troublesho0uNg une ae 20 6 Lol Ko SD EE e e 21 O Nanotec Introduction Variants PLUG amp DRIVE 1 Overview 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 Th
12. e 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 The PD6 N8918 is available in the following variants that differ in holding torque weight and length see Section 6 Technical data e PD6 N8918S6404 e PD6 N8918M9504 e PD6 N8918L9504 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 Powerful DSP microprocessor for flexible I O 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 RS485 USB e Network capability of up to 254 motors RS485 or 127 motors CANopen e Easy programming with the NANOPRO Windows software ee ClosedLoop Closed Loop current control sinusoidal commutation via the encoder In contrast to conventional stepper motor controls where only the motor is actuated or the position adjusted via the encoder sinusoidal commutation controls the stator magnetic field as in a servomotor via the rotary encoder The stepper moto
13. equencing programs can be implemented that can be run autonomously without a superordinate controller The programs can be created compiled directly and written to the controller with the free NanoJEasy editor You will find all further information about this topic in the Programming manual Activation via CANopen It is possible to include the stepper motor control 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 an M12 connector 5 pole You will find all further information about this topic in the CANopen reference and 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 Settings The operating 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 software and significantly reduce commissioning time You will find all further information about this topic in the NanoPro user manual Speed control Even if stepper motors do not lose steps during normal operation the integrated speed control provides ad
14. hth step Tenth step 16th step 32th step 64th step Adaptive microstep 1 128 Operating modes Position Speed Flag position Clock direction Analogue Joystick Step frequency 0 to 50 kHz in clock direction mode 0 to 25 kHz in all other modes Position monitoring Automatic error correction up to 0 18 depending on encoder resolution O Nanotec PLUG amp DRIVE Inputs and outputs 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 12 us at 10 kO Pull Up on 24 V Protective circuits Overvoltage and undervoltage Protective circuit for voltages gt 50 V or lt 21 V Max heatsink temperature Approx 67 C External ventilation may be required in full step operation depending on the switch on duration current drop set and external cooling area Max ambient temperature 0 to 40 C Dimensions PD6 N8918 Front view and mounting Side view 085 85 673 025 I zz Top view A i 4 6 6 HOLE A complete set of datasheets is available for downloading at www nanotec com Variants Holding torque Length L Nm mm Variants O Nanotec PLUG amp DRIVE Index A Accessories for voltage supply 13 C CanOpen
15. imit switch enable etc Note The voltage should drop below 2 V for safe switching off and be at least 4 5 V for safe switching on Output circuits 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 O Nanotec 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 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 condenser 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 link when operating voltage is applied Never disconnect lines when live Voltage supply connection diagram an Ge Rama pn KS 3 o 186 264VAC N N Note Complete connection diagram see Section 2 1 Pin assignment Vcc GND Accessories for voltage supply Appropriate power packs and charging condensers are available as accessories Nm Ordermumber Charging condenser Z K4700 or Z K10000 Note Further infor
16. mation about accessories can be found on the Nanotec website www nanotec com O Nanotec PLUG amp DAIVE 3 3 RS485 network CANopen interface RS485 network Up to 254 RS485 or 127 CANopen Plug amp Drive Motors can be actuated in a network from a PC or a PLC control These network connections are set up via the RS485 CANopen interface If you use the Plug amp Drive Motor with CANopen you can use the additional safety function 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 You will find all further information about this topic in the CANopen reference and the NanoCAN user manual Two wire operation CANopen 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 does not require software support We can recommend the ICP 7520 converter for example that is available from Schuricht Talk to our Technical Hotline if you require support for this With the PD6 N8918 it is also possible to control the mo
17. nal reference point at the set minimum speed External reference run During an external reference run the motor travels to a switch connected to the reference input Speed mode Use this mode when you wish to travel with a specific speed e g a conveyor belt or pump speed In the soeed mode the motor accelerates with a specified ramp from the starting speed 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 Position 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 Clock direction mode left Use this mode when you wish to operate the motor Clock direction mode right with a superordinate controller e g CNC controller In the clock direction mode the motor is operated via 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
18. ositionmode Relative 400 Minimal Speed Flag Position 07 Positionmode Relative 400 Clock Direction Lett 08 Positionmode Relative 400 Target Speed Clock Direction Right 09 Positionmode Relative 400 O 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 link when operating voltage is applied Never disconnect lines when live Possible error Plug amp Drive Data transfer to PD6 N8918 is In the Communication tab select Motor is not not possible communication the PC port to which you have ready error connected the PD6 N8918 Incorrect COM port selected e g COM 1 The port used can be found in the device manager of your PC Communication cable not Function is not guaranteed with connected or interrupted third party 4 wire cables and 2 wire incorrect RS485 converter Nanotec converters do not function used Use the recommended RS485 converter from Nanotec e Order number ZK RS485 USB A non existent motor number Set the correct module address See module number is set separate manual on NANOPRO The voltage supply to the Check voltage supply switch on if PD6 N8918 is interrupted necessary Another open program is
19. r acts in this operating mode as nothing more than a high pole servomotor 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 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 O Nanotec PLUG amp DAIVE dspDrive With dspDrive the motor current is controlled directly by a digital signal processor Unlike conventional ICs which resolve the winding current measurement and the target current value with only 6 or 8 bit the new dspDrive performs the entire control with a resolution of 12 bit The parameters of the PI current controller can be adjusted to the motor and by the user as a function of the rpm This has the following application advantages e Very smooth low resonance operation with a sinusoidal current in the windings e Very good step angle accuracy and synchronisation even in open loop operation e Three phase stepper motors and BLDC motors can be controlled as well Nano With the integrated NanoJ programming language based on the Java standard complete s
20. tor via CANopen You will find all further information about this topic in the CANopen reference and the NanoCAN user manual Technical Manual Nanotec PD6 N8918 Connections and c PLUG amp DAIVE ircuits t diagram RS485 network ircui C sz Xeu U n 05 DIM N m DI m TI xxZ xx o T e SS Oo m Ir Oo 1 9 8 A I I o 3 r 3 H ae lt a H oe lt a S K lt mew K lt mz a a C A y HA y X xy XL xy wweJBoud osdouey eia Jaqunu 3JNPOW UMO s y 436 snw jun JaA yJom4 U ays 04 JIUN ayy Buij3 uuo3 JoJjJ q sass3a 0Jd u Ul SJOJJa PIJIPISUOI y4 3SIJE 3q Aew snu pue saul UOIJEDIUNWWOD 3YJ pue syndu ayy 04u pandde aq ued Ay eynbass asneraq PIUOJIUNJ JOU Bq p no3 J3 0J4U0I 3YJ SJUIOA aAoge sul jo puebausig WG SI 312 MJOM U ays Jo YJ Ua 31qe XEW ayy 7ZOMYV WwWz 0x9 JIEd paysim papjalys aq ysnw 3198 ayy WOT YIM pajeulwJa q JSNW Ul ay JO pu YICD UI JIUN 458 oul JUN YES 04 pa423UU0 aq o SEY GND 8U d SJIUN OMY UEUL IJOW ave J U J pa ouysap aq pjnod J3 0J4U0 344 SJUIOd aAoge ays jo puebausip ul pua u3e ul P3JJ3UUO aq JSNW Buipjalys au1 pue IND jun u3e 04 P3 23UUO q o seu GND Quid SJIUN OMY uey4 aJow ave J U J Sun 952 pg ER gt x E lt x XXX 2 lt lt 0 ES LLL ERL RR IL RR RR RR RR ERS 3 lt UNN 013IHS
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