Technical Manual
Contents
1. downloads Connect the driver to the stepper motor Connection diagram see according to the connection diagram Section 2 1 Detailled information on connections can be found in Chapter 3 Connections and circuits 3 Switch on the operating voltage The green LED lights up 24 V DC 48 V DC Connect the driver with your PC Order number Use one of the following converter cables for this e ZK RS485 RS232 purpose e ZK RS485 USB ZK RS485 RS232 for connection to the serial ER GC Note Download the necessary driver from ZK RS485 USB or standard USB cable type TI M under MINI B for connection to the USB interface rte menu item for SMCI33 1 Accessories Converter The NANOPRO main menu appears i Nanotec FLUG amp DHIVE In the field Port select the COM port to which The number of the COM the SMCI33 is connected port to which the driver is Port cni j connected can be found in the device manager of your Write Timeout 1000 me Windows PC System Supervision System Read Timeout 1 Don ms Hardware Baudrate 115200 bps Select the entry 115200 bps in the selection field Baudrate Select the Movement Mode tab Click on the button Test Record to carry out The connected motor the pre set travel profile operates with the pre set i travel profile default travel est Record profile after new Stop Record installation Sa2. WNanotec PLUG amp DRIVE Technical Manual Stepper driver SMCI33 NANOTEC ELECTRONIC GmbH amp Co KG Tel 49 0 89 900 686 0 Gewerbestra e 11 Fax 49 0 89 900 686 50 D 85652 Landsham near Munich Germany info nanotec com Nanotec PLUG amp DAVE Editorial 2010 Nanotec Electronic GmbH amp Co KG Gewerbestra e 1 1 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 Wem ome em O 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 stepper motor control 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 our general terms and conditions liability for
3. Ext limit Clock Direction Za 7 com s Te tt 1 MGM III In In In 12 GND Power amp Analogue GND i Nanotec FLUG amp DHIVE Note The Com and GND connections are not joined Com provides the mass for the inputs and GND provides the mass for the outputs and the internal circuits Input circuits All inputs apart from the Analogue In input are electrically isolated by optocouplers from the voltage supply of the SMCI33 and designed for 5 24 V input signals at an input current of 10 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 limit 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 5 24 V Output circuits The outputs are transistor outputs in Open Collector circuits 0 switching max 30 V 30 mA An LED can be integrated to test the output The LED lights up when the output is active max 30 V 30 mA LED Out GND i Nanotec PLUG amp DRIVE 3 2 Encoder connection Connector X2 Optional encoder An optional encoder can be connected to the stepper driver By default the closed loop control for a three channel encoder is set up with 500 pulses revolution in an 1 8 stepping motor With an 0 9 stepping motor you should use an encoder with 1000 pulses revo
4. 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 driver recognises 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 driver are much lower compared to normal controlled operation Connection and commissioning 2 1 Connection diagram Introduction To operate a stepper motor with the SMCI33 stepper driver the wiring must be implemented according to the following connection diagram Inputs Pin 1 to 6 on the connector X1 and the encoder input connector X2 can be used optionally Technical manual Y Nanotec SMCI33 PLUG amp DRIVE Connection and commissioning Connection diagram SMCI33 Nanotec Connection diagram SMCI 33 1 USB SMCI 33 2 RS 485 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 Logo or Easy d Analog Joystick e Stand alone via external switch X 1 Inputs and outputs d Analog input e Inputs 5 24 V E ar s 2 Start 2 E 2 2 Binary drive sets 2 Ref Outputs 5 30 V max 30 mA 4b Rs Rs Rs 1
5. 90 90 90 Overtemp Signal states 3 2 Shielding 4700 pF 186 264 VAC 4 Fastened with Art No Z K4700 m i a M3 screws good heat dissipation or b DIN rail holder X1 X4 mating connector Type Ph nix FK 2 4 5 12 a b c xi X5 3 A A 0 0 Signal states Output 1 and 2 Rotary monitoring Error or limit switch Motor idle waiting for new command Busy control processing last command Reference point or zero point reached v gt Zz Zz v ON ID UW S QN Converter Art No ZKRS485 RS232 Overtemperature 8 Issue V 2 1 2010 04 08 Nanotec PLUG amp DRIVE 2 2 Commissioning Provisions The connection and commissioning of the SMCI33 stepper motor are described below The main First steps are described here to work as fast as possible with the SMCI33 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 Familiarise yourself with the SMCI33 stepper driver and the corresponding control software NANOPRO before you configure the driver for your application Procedure Proceed as follows to commission the driver Install the driver software NANOPRO on your Download from PG www nanotec com See the separate manual on NANOPRO as well
6. Relative 400 400 400 400 400 400 400 400 ALL Operation Type Positionmade Relative Position Demand Fositianmade Relative Positionmode Absolute Reference Run Internal Direction Reference Run External Sr Speed Minimal Speed Flag Position Clock Direction Left Target Speed Clock Direction Right i Nanatec PLUG amp DRIVE 5 Troubleshooting Troubleshooting procedure Proceed with care during troubleshooting and error rectification to avoid damaging the driver Danger of electrical surges Never disconnect lines when live An operating voltage gt 50 V and incorrect connections can destroy the end stage Never disconnect the link when operating voltage is applied Possible error Data transmission to SMCI33 not possible communication error Incorrect COM port selected Driver is not ready Communication cable not connected or interrupted incorrect RS232 RS485 converter used A non existent motor number module number is set In the Communication tab select the PC port to which you have connected the SMCI33 e g COM 1 The port used can be found in the device manager of your PC Function is not guaranteed with third party 4 wire cables and 2 wire Nanotec converters do not function Use the recommended RS232 RS485 converter from Nanotec e Order number ZK RS485 RS232 Set the correct module address See separate manual on NANOPRO The
7. 1A 0 7A Phase schwarz rot schwarz wei rot wei8 amp gr n wei schwarz wei gr n wei schwarz wei gt o gr n schworz gr n schwarz ca o ca o S S 2 E en X 3 ZS oc on DO on Be ca m ce ES ma a o 2 EU Type 3 DE 5 ST59 3 ST59 3 r Ue Pa ST89 ST57 ST5918D ST89 ST57 ST5918D 6 lead wire current per winding current per Phase current per winding x 0 7 current per Phase example current winding 1A 1A Phase example current winding 1A 0 7A Phase A AN B BN ala BIB broun schwarz braun schworz schworz gelb schwarz gelb oronge gr n orange gr n rot rot Type Type ST41 ST42 ST41 ST42 SH28 SH28 4 lead wire current per winding current per Phase current per winding current per Phase example current winding 1A 1A Phase example current winding 1A 1A Phase braun schwarz i orange grin Type ST41 ST42 SH20 Issue V 2 1 2010 04 08 15 ib Nanatec PLUG amp DHIVE 3 4 Voltage supply connection Connector X4 Permissible operating voltage The permissible operating voltage for the SMCI33 stepper driver lies between 24 and 48 V DC it must not exceed 50 V or fall below 21 V A charging c
8. YJOMJ3U ayy 04 pun ayy Buij3auuoo aJ0Jaq Stun 457 Od J9 LNS uonduosoep Buryoeuuoo 34 peal 1S y sUOIJNCY s aJnso 2us pap arns OND gud Jb Ag EUld 34d AS NN ER EB amp uld S Lan j 3Jnso 2us r GUl VV OND SUNd Ulg ub xy DES utg 49 x1 L4M 2 Uld en opm zuig JM MI VW Y yonan EN Ajan padsas DAS Od 94 mu EE J3jJJAUO JE pe im de LUZY SIM E papjatus 31982 ejeg Jodg sayeway LEZSU SBTSU HZ gang TR pun MYOMLAN S87S3 ININVHOVIG NOILOANNOD Jd 3 J 48 0 4u07 e jua Issue V 2 1 2010 04 08 18 ib Nanatec PLUG amp DRIVE 4 Operating modes Introduction Depending on the drive profile the motor can be operated using a total of 14 different operation modes Due to the good performance and variety of 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 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 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 Ato a Position B Internal reference run D
9. e 1 start bit 8 data bits 1 stop bit no parity Driver parameters Step resolution Full step Half step Quarter step Fifth step Eighth step Tenth step 16th step 32th step 64th step Adaptive microstep 1 128 Step angle 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 9 Protective circuits Overvoltage and undervoltage Protective circuit for voltages gt 50 Vor lt 21V Max heat sink 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 Technical manual Y Nanotec SMCI33 PLUG amp DHIVE Technical data Inputs and outputs 6 optocouplers 5 24 V 10 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 transistor outputs in Open Collector circuits 0 switching max 30 V 30 mA SMCI33 dimensions df e zi d keller NE ASA A complete set of datasheets is available for downloading at www nanotec com Connectors The following connectors are available on the SMCI33 e Connectors X1 X2 X3 und X4 Ph nix connector Type MICRO COMBICON e Connect
10. ecting the operating mode in NanoPro 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 Ref Ext Ref the internal and external reference runs are supported 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 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 input is proportional to the required position thus enabling servo behavior 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 Movement Made Motor Settings Brake Display Properties Errorcorrection Input Output Communication Drive Profile Positionmode Positionmode Positionmode Positionmode Fasitionmode Positionmode Positionmode Positionmode Positionmode Relative Relative Relative Relative Relative Relative Relative Relative
11. le in 1 increments step resolution from 1 8 0 014 as well as the adaptive microstep automatic adaption of step width Machine related parameters can be set using the NANOPRO software and significantly reduce commissioning time e Distance in steps degrees or mm e Speed in Hertz rom or mm s e Feed constant in mm revolution e Gear reduction with reverse clearance Three adjustable reference modes external and internal enable automatic machine settings whereby external reference switches may be inapplicable if there is a shift lt 360 possibly due to the index signal of the internal encoder 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 half a step at the most for 1 8 stepper motors Automatic error correction is possible after the drive profile is ended or during the drive ib Nanatec PLUG amp DRIVE Closed Loop current control sinusoidal commutation via the encoder 2 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 motor acts in this operating mode as nothing more than a high pole servomotor
12. lution 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 driver 192 200 256 400 500 512 1000 1024 2000 2048 Recommended Where possible use Nanotec encoders with the order number WEDS WEDL 5540 Xxx If an encoder is not used the mode Disable must be set in the tab Errorcorrection in the selection menu Rotation Direction Mode See the separate manual on NANOPRO as well Using encoders with line driver As well as the encoder signal the encoders of the HEDL series with line driver also output an inverted signal that contributes to better interference immunity and is especially recommended for long cable lengths SMCI drivers in order to monitor positioning We recommend shielding and twisting the encoder line to minimise external interference influences on the encoder signal In the third quarter of 2009 Nanotec is bringing an adapter onto the market which can also evaluate the differential signal Encoder connection diagram X2 Track A B I X2 Index Track I gt 2 when encoder present i B X3 Note Complete connection diagram see Section 2 1 Pin assign
13. ment connector X2 Encoder Pino Name fObsevatio 4 psy gt man Nanotec PLUG amp DRIVE 3 3 Stepper motor connection Connector X3 General information The motor is connected to the SMCI33 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 Never disconnect the link when operating voltage is applied Never disconnect lines when live Connection diagram stepper motor X3 i Track A B I B i Index Track I 4 mne Stepper motor END 5 MERECE EE Ais xke I Hl Motor 2 when encoder present B X3 Note Complete connection diagram see Section 2 1 Pin assignment connector X3 Stepper motor If you are using a motor with 6 or 8 connections you need to connect the windings The diagram on the next page shows four wiring plans for motors with 6 or 8 connections page from the Nanotec product catalogue Details can be found on the Nanotec website www nanotec com Y Nanotec Technical manual PLUG amp DHIVE SMCI33 Connections and circuits 8 lead wire parallel for high frequency 1 kHz 8 lead wire serial for low frequency 1 kHz current per winding x 1 4 current per Phase current per winding x 0 7 7 current per Phase example current winding 1A 1 4A Phase example current winding
14. ondenser 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 Connect a condenser with 10000uF for motors with flange size 86x86 series 518918 or greater An operating voltage 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 Connection diagram voltage supply X4 Power Supply 230 V NTS xx 10000 pF v X4 SMCI33 Note Complete connection diagram see Section 2 1 Voltage supply connections Connector X4 Switch on the operating voltage 24 V DC 48 V DC Earth 0 V Accessories for voltage supply Appropriate power packs and charging condensers are available as accessories Name Ord rmumber S Charging condenser Z K4700 or Z K10000 Note Further information about accessories can be found on the Nanotec website WWW nanotec com ib Nanatec PLUG amp DRIVE 3 5 Interface RS485 network Connector X5 SMCI33 in a network Upto 254 stepper drivers can be controlled in a network from aPC or PLC These network connections are set up via the RS485 interface RS485 interface D Sub socket connector Connector X5 A 9 pin D Sub socket connector is located on the top of
15. or X5 SMCI33 1 Mini USB Type B SMCI33 2 Sub D 9 pin RS485 24 Issue V 2 1 2010 04 08 ib Nanatec FLUG amp DHIVE Index A Accessories for volta ge supply 16 C Closed Loop current control 7 Commissioning eeeeeseeeeeeene nnne 9 Connection diagram eoooa0nnnnnneoneeneneennae 8 lues gt aise cisiiasicciars Siuerinrnstnaeterinanandonccosmmmenteess 13 inputs and outputs I O 11 stepper motor ee eene ree 14 voltage supply eeessseesssse 16 Go na Jolo eege 11 Connector A2 13 Connector XI m C 14 CONMECCION XA EE 16 EET NS 17 E Seele TE 13 F FOI sun 6 Input circuits rrnnnrnnnnrrorrnnnnrrrnnnnrennnnnnennnnnnen 12 Inputs and outputs lI O 11 O Operating modes nnnonoaannnnnennneeannennna 6 19 Operating vollage esse 16 Output circuits seeeeeeeeeee ees 12 P Pin assignment connector a 11 connector A7 13 connector SA 16 CONNECIOF XI c 17 Pin assignment connector X3 14 Protective Circus 23 H RS485 network rrrrrnnnnrnnnnnnrvnnnnnnvnnnnnnvnnnnnnen 17 S Stepper motor sese 14 T Two wire operation esee 17 V VANNS D Voltage supply eeennennnenennneennnnnnnnnennne nennen 16
16. power supply of the Check voltage supply switch on if SMCI33 is interrupted necessary Another open program is blocking the COM port to which the SMCI33 is connected Inadmissible data was sent to the driver during the output of a travel profile Data transmission to the SMCI33 is disturbed sender or receiver are disturbed Transmission error A button was clicked while the driver was in error mode position error or limit switch in normal operation Position error Close down other programs on your PC Click on the Yes button to stop the travel profile The SMCIS33 switches back to the Ready state The data can then be resent to the driver Check the possible causes for the transmission error and rectify the cause of the error Click the button Yes in the error message the error is reset Nanotec PLUG amp DAVE Red LED on Overtemperature of power Switch off driver and allow to cool the SMCI33 lit electronics gt 75 C The error is reset when the SMCI33 up is disconnected from the power supply unit Undervoltage Check voltage supply ib Nanatec PLUG amp DRIVE 6 Technical data Electrical connections Operating voltage U DC 24 V to 48 V 4 Max phase current Adjustable up to max 3 A Phase Continuous current 2 A Phase Current drop Adjustable 0 to 80 of phase current Interfaces e SMCI33 1 USB standard e SMCIS33 2 RS 485 4 wire 19200 Baud adjustabl
17. sed 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 It is used for controlling standard stepper motors including with attached encoders or motors with integrated encoders or brakes The SMCI33 m 2 A OG LOW mod Variants The SMCI33 is available in the following variants e SMCI33 1 with USB interface drivers neccessary e SMCI33 2 with RS 485 interface Issue V 2 1 2010 04 08 5 i Nanotec FLUG amp DHIVE SMCI33 functions The stepper driver SMCI33 contains 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 Rotation monitoring for optional encoder e RS485 or USB interface for parameterisation and control e Network capability of up to 32 motors e Easy programming with the Windows software NANOPRO Operating modes The following operating modes can be selected e Positioning e Speed e Flag positioning e Clock direction e Analogue or joystick operation 10 V e Analogue positioning mode e Torque mode Function overview The operating behaviour of the motor can be set and optimised according to individual requirements by setting the motor related parameters such as phase current selectab
18. 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 en User Manual NanoPro software Uar et Programming manual Controller programming e Command reference b Aanoter Programming Manual for Siepper Motor Controls e NanoJ e COM interface The manuals are available for download on www nanotec com Nanotec PLUG amp DAVE Contents 1 TT LE EE 5 2 Connection and COMMISSIONING u 0 2 0 a aaa 7 2 1 Connec tTon AG AN EE 7 2 2 Ce oa EEE i enii eian 9 3 EREECHEN 11 3 1 Inputs and outputs I O Connector A7 11 3 2 Encoder connection Connector A7 13 3 9 Stepper motor connection Connector A7 14 3 4 Voltage supply connection Connector A4 16 9 9 Interface RS485 network Connector X5 uusssssnsssnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnn 17 4 Je Bue TE 19 5 Troublesho0UNG D 21 6 Technical Fori ea ee 23 Y Nanotec Technical manual PLUG amp DRIVE SMCI33 Overview 1 Overview Introduction The stepper driver SMCI33 is an extremely compact and cost effective constant current power output stage with integrated Clo
19. the SMCI33 connector X5 The connector X5 provides the optional connection to the RS485 network RS485 socket connector Pie Name e 1 not assigned RS 485 Rx Output 5 V 7 B RS 485 Rx GND Output GND 0 V NEAN Two wire operation To enable RS 485 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 at the RS 232 interface and returns to reception mode at the end of the stop bit enables two wire operation of the SMCI33 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 Nanotec Technical manual SMCI33 PLUG amp DHIVE Connections and circuits ircui C t diagram RS485 network pa oJjJsap aq pjno JajjoJJUOJ ayy asiMJaujo au aues ayy ssaJpe auo oj paj3auuo2 aq oj Aug seu AS EUld pua u3ea ui paj3auuo2 aq snw Buipyjaiys ayy pue ND papjaius aq oj seu pun u3ea spiun OMJ ueu aJow aJe aJayy J pun YDES OJ paj2auuo aq 04 seu OND Quid SJIUN OMY Ley aJou aJe 3JIYJ JI BOEL UJIM pajeuruJaj aq JSNW aui ayy JO pua u3ea ui JIUN JSe au ws SI a ge 4Jo au ayy Jo y4bua a qe xew au ZIMY uug Qxg J ed pa4s m papjalys aq snw 3198 ayy uueJboJd oJdouen ei Jaqunu ajnpow umo sit 456 ysnw pun Agana
20. uring the internal reference run the motor travels to an internal 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 Inthe 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 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 Nanotec PLUG amp DRIVE Operation mode Application Use this mode when you wish to operate the motor Clock direction mode left Clock direction mode right Clock direction mode Int Ref Clock direction mode Ext Ref Analog and Joystick mode Analog positioning mode Torque mode Sel
21. ve ta Motor Read from Matar 11 You can now enter your required settings See the separate manual For instance you can enter a new travel profile on NANOPRO as well i Nanotec 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 connection diagram in Section 2 1 This section looks in detail at the assignment functions and circuits of the connector X1 The connectors and sockets used are from Ph nix Order number FK MC 2 4 5 12 Connection diagram inputs and outputs I O X1 s 5 24 X1 San GND I Output Sgn GND Fr Overtemp F J 3 Output Output g Output 221 up 11 D Power GND ar L j 12 Pin assignment connector X1 Inputs and outputs I O Observations Operating mode Speed Flag Clock Analogue Joystick position direction 1 Input 5 24 V Optocoupler Start Enable Start Enable Enable Enable Reset 2 Input2 5 24 V Optocoupler Travel Speed Travel Manual Speed Speed profile profile mode 3 Input3 5 24 V Optocoupler Travel Speed Travel Manual Speed Speed profile profile mode 4 Input4 5 24 V Optocoupler Travel Speed Travel Ext limit Speed Speed profile profile switch 5 Input5 5 24 V Optocoupler Travel Speed Trigger Direction Speed Speed profile Input6 5 24 V Optocoupler Ext limit Direction
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