SMCI47-S Technical Manual V2.3
Contents
1. Introduction The motor can be operated using a total of 5 different operating modes 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 wantto 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 Drive Modes 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 0 Firmware Update ib Nanotec PLUG amp DRIVE 5 Troubleshooting procedure Troubleshooting Proceed with care during troubleshooting and error rectification to avoid damaging the controller Danger of electrical surges An operating voltage 50 V and incorrect connections can des2. e SMC147 5 2 For control via RS485 e SMC147 5 3 For control via CANopen SMC 147 S functions The stepper motor controller SMCI47 S contains the following functions e Microstep 1 1 1 64 final output stage step resolution of up to 0 014 in motor with a step angle of 0 9 in 1 64 step mode e Closed loop current control sinusoidal commutation via the encoder e Rotation monitoring for optional encoder e RS485 CANopen interface for parameterization and control USB connection possible via converter cable ZK RS485 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 NT 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 thatthe 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 r
3. 128 must be subtracted from the set value Rotary switch value 0 1 127 128 129 255 decimal Rotary switch value 0x00 0x01 0x7F 0x80 0x81 0xFF hex Node ID of rotary X X 128 switch value Node ID from X X EEPROM Issue V 2 3 23 of 33 ib Nanotec PLUG amp DRIVE Example Module address Switch 1 left Switch 2 right Software setting 0 0 1 1 0 2 2 0 15 F 0 16 0 1 17 1 1 32 0 2 64 0 3 80 0 5 96 0 6 112 0 7 127 F 7 Software setting 0 8 1 129 128 1 8 2 130 128 2 8 15 143 128 F 8 32 160 128 0 A 96 224 128 0 E 126 254 128 E F 127 255 128 F F 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 setto 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 ib Nanotec PLUG amp DRIVE Setting the CANopen module address There are two basic ways of setting the CANopen node ID an
4. Serial operating modes SMCI47 S 2 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 Selectthe 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 Absolute positioning Use this mode when you wish to travel to a specific 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 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 Speed 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 start frequency V Start to the specified maximum speed maximum frequency V Normal Several input
5. ZK SMCI LD Encoder connection diagram X3 vl Encoder SMCI47 S H Track B H Track A TRA x3 i Index Track I 4 Stepper motor i GND 5 u cn I EEE cal Ss E 1 Motor 2 when encoder present i B X4 Note Complete connection diagram see Section 2 1 Pin assignment connector X3 Encoder Pin no Name Observations 1 5 V Track B Track A 2 3 4 Index track I 5 GND ib Nanatec PLUG amp DRIVE 3 4 Stepper motor connection Connector X4 General information The motor is connected to the SMCIA7 S with a 4 wire cable Twisted wire pair cables with braided shields are recommended Danger of electrical surges Mixing up the connections can destroy the output stage See the data sheet of the connected stepper motor Never disconnect the motor when operating voltage is applied Never disconnect lines when live Connection diagram Pin assignment Vi Encoder SMCI47 S Track B 2 H Track A i Index Track I I X3 Stepper motor GND 5 i e zl J Mg Motor A 2 when encoder present iy a X4 H 5 Ig a ann BA l Note Complete connection diagram see Section 2 1 Pin no Name Observations 1 A See the data sheet of the connected 2 Al stepper motor 3 B 4 B Motor with 6 or 8 connections If you
6. available as accessories Name 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 Further information about accessories can be found on the Nanotec website www nanotec com ib Nanatec PLUG amp DRIVE 3 6 RS485 network CANopen Connector X6 SMC147 S in a network Up to 254 R5485 or 127 CANopen stepper motor controllers can be controlled in a network from a PC or PLC These network connections are set up via the RS485 CAN open interface Pin assignment connector X6 RS485 interface Pinno Name Observations 1 NC Not assigned 2 Rx RS485 Rx 3 5 V Output 5 V 4 Txt RS485 Txt 5 NC 6 NC 7 Rx RS485 Rx 8 GND Output GND 0 V 9 Tx RS485 Tx Pin assignment connector X6 CANopen interface Pin no Name Observations 1 NC 2 CAN CAN low 3 CAN Ground Internally connected with pin 6 4 NC 5 Shield 6 CAN Ground Internally connected with pin 3 7 CAN CAN high 8 NC 9 Vcc Supply up to 30 V Used for safety feature CANopen SMC147 5 3 With the SMCIA7 S itis also possible to control the motor via CANopen If you use the control with CANopen you can use the additional safety function of the separate logic supply Even whe
7. using the NanoPro software and significantly reduce commissioning time More detailed information on this can be found in the separate NanoPro user manual 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 motor blockage or step loss after half a step atthe most for 1 8 stepper motors Automatic error correction is possible after the drive profile is ended or during the drive ib Nanotec PLUG amp DRIVE 2 Connection and commissioning 2 1 Connection diagram Introduction In order to operate a stepper motor using the stepper motor controller SMCI47 S you must carry outthe wiring in accordance with the connection diagram below Connectors X1 and X3 can be optionally used Technical Manual V Nanatec SMCIA7 S PLUG amp DRIVE Connection and commissioning Nanotec Connection diagram SMCI 47 S 2 RS 485 SMCI 47 S 3 CanOpen Speed and positioning control Closed Loop via a PC for control and parameterization of c d and e b Industrial control system C SPS eg Logoor Easy d Analog Joystick e Stand alone via external switch X 1 Inputs and outputs d Analog input e Inputs 5 24 V n po 20 Start z
8. 0 120 Ohm Ohm CAN LOW Technical Manual SMC147 S PLUG amp DRIVE W Nanotec ircui Connections and c RS 485 network ircuit diagram C 48 0 14u0 J8 0 4u0 2 J8 0 14u0 uuje J604d oudoueN ei Jaqunu a npou umo siy jab ysnw jiun Ayana J0Mjau ayy 04 yun ayy Duij2euuo aJojaq Ssassa oJd au ui sJoJJa paJapisuo au asiJe aq Aew snuj pue sau uoijeaiunuiuo au pue sjndui au 04u pandde aq ue Ay yeynbaus asneraq jeuo2unj jou aq pino 48 j0 14u02 au S4ulod aAoqe ayy jo puebausig WG SI ajqe xo au ayy Jo yjbua sjqe xeu ayy 72DMV uuz Qx9 Jied pajsi papjalus aq jsnu ajqe ayy UOZL YJIM pajeuruJa aq jsnu aui auj JO pua pea ui Jun 4S2 By Hun y3Ba 04 pajJauuo aq 04 SEY GND guid SJIUN OMY ueuj aJou IJL aJaYy J pa oJ4sap aq pjno 4aj 0J4uo02 ayy sjulod aAoqe au Jo pJeDausip U pua u3ea ui pa42auuo aq jsnw Buipyaiys ayy pue GND jun yea 0 paj2auuo2 aq 04 seu GND guid S4IUN OM4 ueu aJou ave aJay J SHUN 95277 Hun uonduosop Buryoouuoo ay peda Js y uonne s 30V3U31NI S81SY WOIIBJOUEU MMM Japun peojuMop pneg 057 yey pneg xeu o und FA sheru mo e wd Ama pue OIS ummdan oj jJod 440 enjJl e sjjejsui Jaap ay ejdpuiud Ke pue NGAY SL 7 u012240Jd 053 nig 344 04 Burpsorre jjeaijeuone SI 0002 SMOPUIM lt SMOPUIM aanysadway jusquy Japun uouejeisu GSN 9uj wos seuo cgy ayy jo Ajddns I 3 QE jo 43010 AN3WNSISS
9. 2 MES X 2 A 2 Binary drive sets 2 EA e e Outputs 5 30 V max 2 A let 4 1 m 4b Rs Rs Rs e O 0 O e Overtemp signal states 3 e e d e PE e e e e Ee nie Shielding een af DANN N e e Ee Pu 4 Fastened with 10000 pF 4 astened wit 186 264 VAC SPA ERE a M3 screws L Art No Z K10000 good heat dissipation N or b DIN rail holder X1 X3 mating connector Type Ph nix FK 5 12 X4 X5 mating connector a b c xi X6 Type Ph nix FKC 2 4 3 A A Tamaan F a 0 o Signal states Output 1 and 2 E Rotary monitoring ua is 0 0 Error or limit switch 45V 3 ola Motor idle waiting Txt 4 for new command gt CAN 5 CAN 6 lo Busy control processing RX 7 last command GND TX 5 a 1 1 Reference point or Converter SMC147 5 2 ZKRS485 USB zero point reached ZKRS485 RS232 Overtemperature CAN Interface SMC147 5 3 IXXAT USB to CAN 1 10 von 33 Ausgabe V 2 3 ib Nanotec PLUG amp DRIVE 2 2 Commissioning Introduction The connection and commissioning of the SMCI47 S stepper motor controller are described below If you want to work ata later time with a PLC or your own program you will find the necessary information in the separate Command Reference Familiarize yourself with the SMCI47 S stepper motor controller and the corresponding control software before you configure the cont
10. V NId YOLI3NNO Q anS uoi3auuo SSY ayL SMOPUIM Japun a3ejJeju sngsg SH auf 446u 7 age 0j uoj3auuoj gsf e Sajgeus age J8jJ8AUO2 SHYSY ISN FL voyesypads jexiuupa 8Sfl S8 SH MZ J9jJaAU0 YATIONLNOD MHOMLN S87 S3 ININVHOVIGO NOLLO3NNOO Jd 9 48 044U07 JeJ4U3J Ausgabe V 2 3 22 von 33 V Nanaotec Technical Manual PLUG amp DRIVE SMCIA7 S Connections and circuits Two wire operation RS485 To enable RS485 two wire transmission capability all bus stations must have a direction control An intelligent converter which automatically switches to transmission mode when a start bit is received atthe RS232 interface and returns to reception mode at the end of the stop bit enables two wire operation of the SMC147 S This solution requires no 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 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 Addresses 0x00 and 0x80 signalize that the address can be set in the software For address settings via the HEX coded switches thatare larger than 128 the value
11. WNanotec PLUG amp DRIVE Technical Manual Stepper controller SMCIA7 S 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 ib Nanotec PLUG amp DRIVE Editorial 2013 Nanotec Electronic GmbH amp Co KG Kapellenstra e 6 D 85622 Feldkirchen b Munich Germany Tel 49 0 89 900 686 0 Fax 449 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 Version Date Changes 1 0 02 02 2009 New issue 2 0 01 07 2009 Revision 21 03 11 2010 Revision RS485 CANopen 2 2 03 11 2011 Revision 2 3 25 06 2013 berarbeitung ib Nanatec 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 About this manual This technical manual must be carefully read before installation and commissioning of the controller 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 inten
12. anoPro For instance you can enter a new travel profile separate manual N UJ ib Nanotec PLUG amp DRIVE Commissioning with NanoCAN SMC147 5 3 Proceed as follows to commission the SMCIA7 S 3 controller More detailed information can be found in the separate NanoCAN manual Step Action Note 1 Install the NanoCAN control software on your PC Download from www nanotec com Connect the controller to the stepper motor according to the connection diagram Connection diagram see Section 2 1 Detailed information on connections can be found in Chapter 3 Switch on the operating voltage 24 V DC 48V DC CAUTION An operating voltage 50 V will destroy the output stage e Follow the information in Section 3 5 Install and configure your CANopen adapter Details can be obtained from the manufacturer of the CANopen adapter Startthe NanoCAN software Selectthe desired node ID the baud rate and if necessary the CAN card in the Configuration amp NMT gt tab Check the current setting using the motor data sheet Presettings e Phasecurrent 2596 current level e Phase current during idle 10 idle current Under no circumstances may the current be setto a value higher than the rated current of the motor Select the desired operating mode e g PP mode in the Drive Modes tab Click on the Power on but
13. are using a motor with 6 or 8 connections you need to connect the windings The pin configuration for the motor can be found on the motor data sheet which can be downloaded from www nanotec com Nanotec PLUG amp DRIVE 3 5 Voltage supply connection Connector X5 Permissible operating voltage The permissible operating voltage for the SMCIA7 S stepper motor controller lies between 24 and 48 V DC it must not exceed 50 V or fall below 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 pF Connect a condenser with 10000 uF for motors with flange size 86x86 series ST8918 or greater 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 Connection diagram 8V Power Supply wj ower SUPPY SMCI47 S Power Supply 21 4 1 230 V NTS xx 10000 F 0V 2 Note Complete connection diagram see Section 2 1 Pin assignment Pin no Name Observations 1 Vcc Operating voltage 24 V DC 48 V DC 2 GND Earth 0 V Accessories for voltage supply Appropriate power packs and charging condensers are
14. controller flashes rapidly The red LED Firmware update error Load the firmware with NanoCAN on the again controller ib Nanotec PLUG amp DRIVE 6 Electrical connections Technical data Operating voltage V DC 24 V to 48V 4 Max phase current Adjustable up to max 10 5 A phase Continuous current 7 A phase Current drop Adjustable 0 to 10096 of rated current Interfaces SMCIA7 S 2 RS485 4 wire e 115200 bps adjustable e 1start bit 8 data bits 1 stop bit e No parity SMC147 S 3 CAN bus CANopen e Extended functionality e Brake output e Separate circuit for supply and processor e Closed loop capable Controller parameters Step resolution Step frequency Full Step Half Step Quarter Step Fifth Step Eighth Step Tenth Step 16th step 32nd Step 64th Step Feed rate Adaptive microstep 1 128 0 to 50 kHz in clock direction mode 0 to 25 kHz in all other modes Position monitoring Automatic error correction up to 0 9 Inputs and outputs Inputs 6 optocouplers 5 24V 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 30 V 2 A e Signal delay time output 1 2 H12 us with 10 k Pull Up at 24 V 1 brake output Technical Manual ib Nanotec SMCIA7 S PLUG amp DRIVE Technical da
15. ction Connector X3 Optional encoder An optional encoder can be connected to the stepper motor controller By default the closed loop control for a three channel encoder is set up with 500 pulses revolution in a 1 8 stepper motor With an 0 9 stepper motor you should use an encoder with 1000 pulses revolution to achieve the same control quality Depending on the application it may make sense to use higher encoder resolutions up to max 2000 pulses revolution to improve control quality or to use a lower resolution min 200 pulses revolution for low cost applications or for step monitoring alone The following encoder resolutions can normally be processed by the controller 192 200 256 400 500 512 1000 1024 2000 2048 4000 4096 Recommendation If possible use Nanotec encoders with the order identifier WEDS WEDL 5541 Xxx If an encoder is not used the Disable mode must be set in the Error correction tab in the Rotation Direction Mode selection menu See the NanoPro separate manual Using encoders with line drivers The encoders of the WEDL series with a line driver output an inverted signal in addition to the encoder signal this leads to better interference immunity and is especially recommended for long lines lengths We recommend shielding and twisting the encoder line to minimize interference with the encoder signal from the outside To be able to connect negative signals to the SMCIA7 S you require adapter
16. d 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 Si 1 MBaud TN SE rotary switch value ma 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 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 setto 2 and the left hand rotary switch is setto 1 0x21 this results in a number equivalent to the decimal number 33 2 2416 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 2 8 16 0 1 In this case the node ID and baud rate are read out of the EEPROM ib Nanatec PLUG amp DRIVE 4 Operating modes 4 1
17. ded 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 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 inf0 nanotec com Additional manuals Please also note the following manuals from Nanotec NanoPro Configuration of controllers with the RENA User Manual NanoPro software Benrenansen NanoCAN User Manual Configuration ofthe CAN FEES communication for CANopen capable controllers with the NanoCAN software Nanotec CANopen Comprehensive documentation of WWE reference the CANopen functions Programming manual Controller programming EUREN e Command reference e Nano e COM interface The manuals are available for download at www nanotec com Technical Manual V Nanotec SMCIA7 S PLUG amp DRIVE 4 von 33 Ausgabe V 2 3 ib Nanotec PLUG amp DRIVE Contents mente 2 Abo tthis NET een 3 ence MX 5 1 uc 7 2 Connection and commissioning LL 9 2 1 Connection diagram coercet etat dete elta 9 2 2 COMMISSIONING eme die 10 3 Connections and circuit
18. f the Clock input in the clock directional mode can be freely programmed e g as a limit switch enable etc using the NanoPro software SMC147 5 2 and can be used for sequential control with Nano All inputs can be configured for active high P NP or active low NP N with NanoPro Input circuits All inputs apart from the Analogue In input are electrically isolated by optocouplers from the supply voltage of the SMCI47 S and designed for 5 24 V input signals at an input current of 10 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 5 24 V Sig GND Output circuits The outputs are MosFET outputs in an Open Drain circuit 0 switching max 30 V 2 A An LED can be integrated to test the output The LED lights up when the output is active 5 30 V 2A 7 LED 7 SMCI47 S Out GND ib Nanatec PLUG amp DRIVE 3 2 Brake connection Connector X2 Function The connector X2 is used to connect an external safety brake for the motor This allows the holding torque and therefore the system stiffness to be increased further when necessary Parameters The brake parameters can be configured on the Motor Settings tab see the separate manual on NanoPro Pin assignment connector X2 Pin no Name Observations 1 24 V 2 GND ib Nanotec PLUG amp DRIVE 3 3 Encoder conne
19. motor in a simple application e Setting a specific speed e g via an external potentiometer e Traveling synchronously with a superordinate controller with analog output 10 V to 10 V Use this mode when you wish to travel to a specific position The voltage level on the analog inputis 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 Mode Motor Settings Brake Display Properties Errorcorrection Input Dutput Communication Drive Profile 01 Positionmode 02 Positionmode 03 Positionmode 04 Positionmode 05 Positionmode Db Positionmode 07 Positionmode 08 Positionmode 09 Positionmode Relative Relative Relative Relative Relative Relative Relative Relative Relative 400 400 400 400 400 400 400 400 400 Operation Type Positionmode Relative Positionmode Relative Position Demand Positionmode Absolute uM Reference Run Internal Direction Reference Run External be Speed Minimal Speed Flag Position Clock Direction Left Target Speed Clock Direction Right N NI o h Uu WwW ib Nanatec PLUG amp DRIVE 4 2 CANopen operating modes SMCIA7 S 3
20. n the voltage supply of the SMC147 S 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 ib Nanotec 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 Pin no Name 2 CAN low 3 CAN GND 7 CAN high CANopen connection assignments on the controller Circuits according to the CANopen standard connector assignment see preceding table 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 Baudrate Bus length 1MBaud 40m 500 kBaud 130 m 250 kBaud 270 m 125 kBaud 530m 50 kBaud 1300m 20 kBaud 3300m 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 n CAN HIGH 12
21. oftware The NanoPro main menu pem BIS EEE _ a ppea rs ge Meversest Mode hui Sera Baka Ds Paye Bracowncson hin Ou Coermescanon Satndasy CL Promete Saya Eisen L mm o I 211 c28 O m mm foni hun Dive x N Date aaa ve D E Ei 7 Select the Communication tab Brake Display Properties Errorcorrection Input Output 8 In the Port field select the COM port to which The number of the COM the SMCI47 S is connected portto which the controller Port oe j is connected can be found in the device manager of White Timeout 1000 ms your Windows PC System Control S ystem H ardware Read Timeout 1004 ms Baudrate mts vj 9 Select the 115200 bps entry in the Baudrate selection field 10 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 25 current level e Phase current during idle 10 idle current 11 SIC the Movement Mode tab i 5 Motor Settings Brake Display Properties Errorcori 12 Click on the lt Test Recordz button to carry out The connected motor the pre set travel profile operates with the pre set E travel profile default travel est Record profile after new Stop Record installation Save to Motor Read from Motor 13 You can now enter your required settings e See the N
22. roller for your application This section describes the main first steps you need to take to be able to begin working with the SMCIA7 S and the NanoPro software RS485 or NanoCAN software CANopen from a PC You will find more detailed information in the separate NanoPro and NanoCAN manuals Commissioning with NanoPro SMCIA7 S 2 Proceed as follows to commission the SMC147 5 2 controller Step Action Note 1 Install the NanoPro control software on your Download of PC www nanotec com See the NanoPro separate manual 2 Connectthe controller to the stepper motor Connection diagram see according to the connection diagram Section 2 1 Detailed information on connections can be found in Chapter 3 3 Switch on the operating voltage The green LED lights up 24 V DC 48V DC CAUTION An operating voltage 50 V will destroy the output stage e Follow the information in Section 3 5 4 If necessary install the converter driverforthe Download converter cable ZK RS485 USB www nanotec com in the Accessories Converter menu item 5 Connectthe controller with your PC Order number Use one of the following converter cables for e ZK RS485 RS232 this purpose e ZK RS485 USB e ZK RS485 RS232 for connection to the serial port e ZK RS485 USB for connection to the USB port ib Nanatec PLUG amp DRIVE si oning Step Action Note 6 Startthe NanoPro s
23. s Lamasan 14 3 1 Inputs and outputs 1 0 Connector XI ssssssseeeen ene nennen nennen 14 3 2 Brake connection Connector X2 un nennen 16 3 3 Encoder connection Connector X3 sssssssssssseseeeenenneennen nennen nennen nennen 17 3 4 Stepper motor connection Connector X4 occ eene eene 18 3 5 Voltage supply connection Connector X5 eee eect eee teste etter enne 19 3 6 RS 485 network CANopen Connector X6 20 4 Operating modes aaa 26 4 1 Serial operating modes SMCIA7 S 2 nennen nnne nennen 26 4 2 CANopen operating modes SMCI47 S 3 ssssssssseeeeeeeeemeeen eene 27 5 Troubleshooting eee 29 6 Technical data u s amahan 31 DIDI cm 33 Technical Manual V Nanotec SMCIA7 S PLUG amp DRIVE 6 von 33 Ausgabe V 2 3 ib Nanotec PLUG amp DRIVE Introduction Variants 1 Overview The stepper motor controller SMC147 S is an extremely compact and cost effective constant current power output stage with integrated closed loop current control 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 Itis used for controlling standard stepper motors including with attached encoders or motors with integrated encoders or brakes The SMC147 5 is available in the following variants
24. s 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 ib Nanatec PLUG amp DRIVE Technical Manual SMCIA7 S Operating modes Operation mode Application Clock direction mode left Clock direction mode right Clock direction mode Int Ref Clock direction mode Ext R ef Use this mode when you wish to operate the motor 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 superordinate positioning control indexer Depending on the mode selected Int R ef E xt R ef the internal and external reference runs are supported Analog and joystick mode Analogue positioning 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
25. ta Protective circuits Overvoltage and undervoltage Protective circuit for voltages gt 50Vor lt 21V Max heat sink temperature Approx 67 C Max ambient temperature 0 to 40 C SMC147 S dimensions dean X View 76 A complete set of datasheets is available for downloading at www nanotec com Connectors The following connectors are available on the SMCI47 S e Connectors X1 X3 Phoenix connector Type MICRO COMBICON e Connectors X4 X5 Phoenix connector Type COMBICON HC e Connector X6 Sub D 9 pin RS485 or CAN 32 von 33 Ausgabe V 2 3 ib Nanatec PLUG amp DRIVE Index A Accessories for voltage supply 19 B Brake m ner are 16 C CANODGDn iiiter tr Ert Poit 8 13 20 Closed loop current control 7 GComnmiissioning t ctii pce eii 11 Connection diagram EnCOGet ceci tenete ri s 17 inputs and outputs I O sssss 14 Stepper motor riisiin niinn 18 Voltage supply seem 19 Connector X1 14 Connector X2 ia 16 EONNECIOT XI mienskar 17 GOMMECIOR X4 re 18 Connector X5 19 Connector CA 20 E Encoder a 8 17 F Firmware ee 7 PUNGONS Namana ABANGAN 7 IH DUECIECUIES een 15 inputs and outputs I O eseeeres 14 N Nano ee 8 o Operating modes CANOPEN u a en 28 JJ P 26 Operating voltage 19 Outp
26. the following Nanotec converters e ZK RS485 RS232 e ZK RS485 USB Position error The motor cannot reach the position or the limit switch was overrun Click the Y es button in the error message the error is reset ib Nanatec PLUG amp DRIVE Error Possible cause Rectification Red LED on Overtemperature of power S witch off controller and allow to the SMCI47 S electronics gt 75 C cool lit up The error is reset when the SMCIA7 S is disconnected from the power supply unit Undervoltage Check voltage supply Possible errors in CANopen m ode SMC147 5 3 Error Possible cause Rectification No The wrong node ID has been On the Configuration amp NMT tab communicatio set in NanoCAN select the node ID that n with the is set on the rotary switches of the controller controller The power supply is interrupted Check voltage supply switch on if necessary The communication cable is not connected or is interrupted Check all connections especially the terminal resistances CAN bus incorrectly terminated with 120 Ohm Ideally terminate the bus on both ends with 120 Ohm Transmission Data transmission is disturbed Switch the power supply off and on flashes slowly error sporadically again The red LED Internal error Disconnectthe controller briefly from on the the power supply
27. ton 10 Enter the desired target position in the target field 11 Click on the Start button ib Nanatec PLUG amp DRIVE 3 Connections and circuits 3 1 Inputs and outputs I O Connector X1 Introduction An overview of the assignments can be found in the wiring diagram in Section 2 1 This section looks in detail atthe assignment functions and circuits of connector X1 The connectors and sockets used are from Phoenix order number FK MC 2 4 5 12 Pin assignment Pin no Name Observations 1 Inputl 5 24 V Optocoupler 2 Input2 5 24 V Optocoupler 3 Input3 5 24 V Optocoupler 4 Input4 5 24 V Optocoupler 5 Input5 5 24 V Optocoupler 6 Input6 5 24 V Optocoupler 7 Com SignalGND 8 Outputl Open Collector 9 Output2 Open Collector 10 Output3 Open Collector 11 Analog In 10 V 10 V 12 GND Power amp Analogue GND Connection diagram inputs and outputs I O X1 5 24V I O SMCI47 S X1 Sgn GND a Output Sgn GND ja Overtemp pa T Output2 Output aQ Output Output3 410 444 Power GND al 12 ie Note Com and GND connection are not connected Com is the ground connection for the inputs and GND is the ground connection for outputs and the internal circuitry PLUG amp DRIVE i Nanotec Technical Manual Function of the inputs All digital inputs with the exception o
28. troy the end stage Never disconnect the motor when operating voltage is applied Never disconnect lines when live Possible errors in RS485 mode SMCI47 S 2 Error Possible cause Rectification Controller is not ready Data transmission to SMC147 S not possible communication error Incorrect COM port selected In the Communication tab select the PC portto which you have connected the SMCIA7 S e g COM 1 The port used can be found in the device manager of your PC The communication cable is not connected or is interrupted Use only the recommended converter from Nanotec e ZK RS485 RS 232 e ZK RS485 USB A non existent motor number module number is set Setthe correct module address See the separate manual on NanoPro The power supply of the SMCI47 S is interrupted Check voltage supply switch on if necessary Another open program is blocking the COM port to which the SMC147 S is connected Close down other programs on your PC Inadmissible data was sent to the controller during the output of a travel profile Click on the Y es button to stop the travel profile The SMC147 5 switches back to the Ready state The data can then be resent to the controller Transmission error Data transmission to the SMC147 5 is disturbed sender or receiver are disturbed Check that the motor connection is correctly wired We recommend using
29. unning 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 ib Nanatec PLUG amp DRIVE 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 RS 485 firmware More detailed information can be found in the separate programming manual Activation via CANopen Settings CANOpe It is possible to include the stepper motor controller in a CANopen environment with the SCM147 5 3 More detailed information on this can be found in the CANopen reference and in the NanoCAN user manual In addition the stepper motor controller via CANopen has another safety function Even when the voltage supply of the stepper motor controller 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 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
30. ut CIRCUITS nee 15 P Pin assignment Connector X1 sand 14 Connector X2 une 16 CONNECTOR AI 17 Connector X4 sssssssss ee 18 Connector XD iue ticae rire ta trae iuis 19 Connector XG anne 20 Protective circuits 32 R Rotation monitoring 8 RS 485 network eiii nenn 20 S SILA LA 18 T Two wire operation seeren 23 V Voltage supply sseemm 19
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