SMCI36 Technical Manual V1.3
Contents
1. Introduction An overview of the assignments can be found in the connection diagram in Section 2 This section looks in detail at the assignments functions and circuits of connectors X4 and X5 Pin assignment X4 max 24 V 0 5 A 4 inputs O O Pin assignment X5 The X5 connector is a J ST ZHR6 connector Matching connection cable ZK ZHR 6 500 length 500 mm single conductor Output 3 Open collector outputs Output 2 max 24 V 0 5 A E Input 3 Digital inputs max 5 V Input 2 In BLDC motors inputs 1 to 3 cannot be used i Nanotec PLUG amp DRIVE Function of the inputs All digital inputs with the exception of the Clock input in the clock directional mode can be freely programmed using the NanoPro software e g as a limit position switch enable etc and can be used for seguential control with Nano All inputs can be configured for active high PNP or active low NP N with NanoPro Signal states atthe outputs Input circuits The following table shows the possible signal states atthe outputs 1 to 3 Signal states Sn Meaning 0 aen omui Wi N EN TEN Rotation monitoring error or limit switch L8 OR TE Motor idle waiting for new command N EEN N Busy control processing last command i 1 Reference pointorzeropointreached 1 __ Excess temperature or undervoltage The outputs can be freely programmed using the NanoP ro software Note Output 3 is al2. 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 Errorcarrectian Input Output Communication 1 Drive Profile Uperation Type Positionmade Relative Fositionmode Relative Fositionnode Relative 400 02 Pasitionmode Relative 400 Position Demand Fostionmode Absolute 03 Positionmode Relative 400 OT Reference Hun Internal D4 Pasitionmade Relative 400 Direction Reference Run External 05 Positionmode Relative 400 n Speed Up Positionmode Relative 400 Minimal Speed Flag Position OF Pasitionmade Relative 400 Clock Direction Lett 08 Positionmode Relative 400 Target Speed Clock Direction Right 09 Posittonmode Relative 400 i Nanatec PLUG amp DRIVE 4 2 CANopen operating modes 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 want to use the motor for PP Mode positioning The motor moves from A to B with the set parameters ramp speed etc peed Mode Use this mode when you wish to travel with a specific
3. Manual PLUG amp DRIVE SMCI36 Connection and commissioning 2 3 BLDC motor Connection diagram To operate a BLDC motor using the SMCI36 the wiring must be implemented according to the following connection diagram 23 We es 25 e amp w 2 F N KEE a EE o gt z o v AJ k GO Oms a Ge Pc A D c u x 5 2 3 n t 5 F GE AES E v as S S 2 3 m f js RI N S i kd o X q 3 z N tc u Ke EE VS 4 A e N 4 VE EX Ns 2 Ru A AN Ju e Jj WE VR A 2 oa s S 8 3 d o B EES S E j ES a 9 E gt S n a 44 E E 5 gt VO BR g CO m a o o U o wd un Oo 23 E 83 vt 2 E Us d won Q X im uH ege AS n o 5 LU Al EM 5 I eh Ke E z gt TA c 9 e Lex o 5 3 gt iw De Mg U SE E s bed j EE d Wee Z 792 T 2 8 We EK os v ei RSC 5 S S o gs Kan a yr l u c s cov y y v bk B 9 Ev M d O 8 E V RES v c E Es E 0 a Un z we DV The pin configuration for the motor can be found on the motor data sheet which can be downloaded from www nanotec com Issue V 1 3 11 of 34 i Nanotec PLUG amp DRIVE 2 4 Commissioning Introduction Commissioning of the SMCI36 motor controller is described below If you wantto work with a PLC or your own program later you will find the necessary information in the separate Programming Manual Familiariz
4. 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 info nanotec com Additional manuals Please also note the following manuals from Nanotec NanoPro User Manual NanoPro software NanoCAN User Manual Configuration of the CAN communication for CANopen capable controllers with the NanoCAN software Nanotec CANopen reference Comprehensive documentation of the CANopen functions Programming manual Controller programming e Command reference e Nano e COM interface The manuals are available for download at www nanotec com Configuration of controllers with the Wear sg dim as be 1 ROES Benutzerhardbuch Mb Nanatec Roefenenzhandbusch CANopen Had od age wal Fiat L Orive Bekeer i Nanoter Programmierhandbuch f r Schsirimeotor REUBEN Technical Manual Y Nanotec SMCI36 PLUG amp DRIVE About this manual 4 of 34 Issue V 1 3 i Nanatec PLUG amp DRIVE Contents sel 10 IGN RE AE E 2 POU US HIM Rm 3 So c AE RE RE HE EG 5 1 BE TE 7 2 Connection and COMMISSIONING asse ds ok N NRS N nV Ne Osa EE Go ee NN KAN N KA eke dee dees NEG 9 2 1 Eege 9 2 2 wires RE T T EE E
5. 010 zg TS As ZO z zz A mm ZA 490 2m dSN S8YSU IZ J94J2AU0 S3 TIOHINOO MHOML3N S8TS3 IWINVHOVICO NOLLO3NNOO Jd 9 J 49 0 4U0 Jediua V1 3 Issue 22 of 34 i Nanatec 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 Pinno Name OOOO oo CANopen connection assignments on the controller Circuits according to the CANopen standard connector assignment see preceding table Notes on the baud rate Itis 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 a 4n CAN HIGH 120 120 Ohm Ohm CAN LOW i Manater PLUG amp DRIVE 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 Switch 2 for address 16 32 for address 1 15 The 16 s place is set with switch 1 left and the 1 s place is set with switch 2 r
6. 4 and X5 Inputs and outputs X14 Communication RS485 CAN Jumper RS485 CAN The controller has a jumper field X11 X12 for selecting the communication port RS485 or CAN Configuration The following figure shows the arrangement of the connectors and the jumper on the printed circuit board el 800 X11 Rees OO x12 Technical Manual V Nanotec SMCI36 PLUG amp DRIVE Connection and commissioning 2 2 Stepper motor Connection diagram To operate a stepper motor using the SMCI36 the wiring must be implemented according to the following connection diagram Converter Art No ZK RS485 USB or CAN Adapter IXXAT Peak 8 7 Fi TE r E fe k E uz 25 Ss K m n m 2 Gel E a d S KA q 2 3 S E en A r un N ad d WAN t N SE WW IV o Ki VER 2 o d 2 gt _ HER Soe ES 2 Ca 255 5 55 ds 2 Ce E E E a a a D ES EEE E E E di 2 p SES wen E uz s 3 af Beso e a 3 mee Oo 8 e T LY Lei s 353 B rx 5 US F Le t 2 m 5 T T I 5 amp as A T E c 8 gt NAN Et Ka LE Si S E e E a at xt i o 55 3 z EA 2 a UW D A amp 55 EN 5 E e j 7 5 VIS IP Ny 1 x 8 thm VIZ se 17 d aso VR KA E y G S e G ir zZ VER Ren he pin configuration for the motor can be found on the motor data sheet which can be downloaded from www nanotec com 10 of 34 Issue V 1 3 V Nanatec Technical
7. 85 USB www nanotec com under the Accessories Converter menu item i Nanotec PLUG amp DRIVE Connectthe controller to the USB port of your Order identifier PC e ZK RS485 USB Use the converter cable ZK RS485 USB Start the NanoPro software The NanoPro main menu opens EN Peider EE Mode wll ad Mick Type GRAP Intels FEAS Wesen Dale THE Te Barn Linien t3 Deor Raad ord mees eer Deeg Meer Mode Luz ep irse lepi Forster trarcamsctan rout Quipur Gosen Stande CL Fase Scone Beer p Typs Poston Demand Tretorn Mrr iad Target Speed Fee In the Port field select the COM port to which The number of the COM the SMCI36 is connected port to which the controller Port COMI is connected can be found in the device manager of Write Timeout 1000 me your Windows PC System Control S ystem Hardware Read Timeout E Dod m SERES 115200 bps 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 rrent of the motor e Phase current 5096 current level lie EN 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 travel profile after new installation 13 You can now enter your require
8. H Nanotec PLUG amp DRIVE Technical Manual Controller for stepper and BLDC motors SMCI36 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 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 49 0 89 900 686 50 Internet www nanotec com All rights reserved MS Windows 2000 XP Vista 7 are registered trademarks of the Microsoft Corporation Translation of original handbook Version C hange overview Version Date nmm o 04 07 2012 Firmware update i Nanatec PLUG amp DRIVE About this manual Target group This technical manual is intended for designers and developers who lack extensive experience with stepper motor technology but who need to commission a Nanotec motor Important information This technical manual must be carefully read before installing and commissioning the controller In the interests of its customers and to improve the function of this product Nanotec reserves the rightto make technical alterations and further develop hardware and software without prior notice This manual was created with due care lt is exclusively intended as a technical description of the product and as commissioning instructions The warranty is exclusively
9. R EE 10 2 3 sIBRIOSQ MMC 11 2 4 ro uris isle ee 12 3 CONNECHONS and KA d TE 15 3 1 Hal sensor Connecior EE 15 3 2 Inputs and outputs Connector X4 ad X5 se SS SR Bere ede EE EG UN IU EE REP TS 15 3 3 Encoder connection Connector KI iN bc at N EER SR ER d xu AR SR ee Regie EE AS Ene 18 3 4 Motor and voltage supply connection Connector Ai 19 3 4 1 ES eed cM 19 3 4 2 EECHER 19 3 4 3 BLDC Motor COMM SCHON EE AR OE OE N OR N N RE ME 19 3 4 4 Power SUDBIY CONNEEUON siese ae Ge ELE N AE Ge OI E DEN DOCE GEE aies 20 3 5 RS485 network CANopen Connector ATI 21 4 Operating TNO CSS en engen eg 27 4 1 5 elle OCT AMIN Eu Lee 27 4 2 CANOPEN operating modes ee ee RR Ee ee ee ee ee ee ee RE ee ee ee ee ee ee RR ee ee ee nnne nns 28 5 TKOUDIES NOOUING EE EE Ee EE EE EE 30 6 Technical Called nennen 32 Il EE EE EE ET EO EE EE 34 Technical Manual Y Nanotec SMCI36 PLUG amp DRIVE Contents 6 of 34 Issue V 1 3 i Nanatec Introduction PLUG amp DRIVE 1 Overview Motor controller SMCI36 is an extremely compact and cost effective constant current final 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 a
10. 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 Made Configuration Object Management Drive Modes Ku Firmware Update i Nanotec PLUG amp DRIVE 5 Troubleshooting Troubleshooting procedure Proceed with care during troubleshooting and error rectification to avoid damaging the controller Danger of electrical surges An operating voltage 75 V and swapping of the connections can destroy the output stage Never disconnect the motor when operating voltage is applied Never disconnect lines when live Possible errors in serial mode Controller is Data transmission to SMCI36 In the Communication tab select not ready is not possible communication the PC portto which you connected error the SMCI36 e g COM 1 The port Incorrect COM port selected used can be found in the device manager of your PC Wrong baud rate setting Select the baud rate 115200 bps in the Communication tab T
11. communication cable is Check all connections especially the not connected or is 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 6 Technical data Electrical connections Operating voltage Vp DC 12 V to 72 V 4 Max phase current Adjustable up to max 9 A phase Continuous current 6 A Phase Current drop Adjustable 0 to 150 of rated current Interface R S485 4 wire CAN bus CANopen Controller parameters Step resolution Full Step Half Step Quarter Step Fifth Step Eighth Step 16th step 32nd Step 64th Step Feed rate Adaptive microstep 1 128 Step frequency 16 kHz with a full step corresponding multiples with a microstep e g 1 MHz with 1 64 Max input frequency clock direction mode 200 kHz Position monitoring depending on encoder resolution Protective circuits Overvoltage and undervoltage Protective circuit for voltages gt 75 V or 10 V Max heat sink temperature Approx 75 C Max ambient temperature 0 to 40 C Inputs and outputs Inputs 6 digital inputs TTL max 5 V 1 analog input 10 V 10 V 3 open collector outputs max 24 V 0 5 A The following connectors are available on the SMC136 e Connectors X1 X2 and X5 ST ZH e Connectors X3 and X4 RIA type 059 s
12. connected stepper motor penis motors d rm Vee Operating voltage 12 V DC 72 V DC BEN Earth 0 V 3 4 2 Stepper motor connection General information The motor is connected to the SMCI36 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 3 4 3 BLDC motor connection See Section 2 3 BLDC motor i Nanotec PLUG amp DRIVE 3 4 4 Power supply connection Permissible operating voltage The permissible operating voltage for the SMCI36 lies between 12 and 72 V DC it must not exceed 75 V or fall below 10 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 Use charging capacitors Z K4700 from Nanotec to a maximum operating voltage of 50 V only Connect a condenser with 10000 uF for motors with flange size 86x86 series ST8918 or greater An operating voltage gt 75 V will destroy the output stage Mixing up the connections can destroy the output stage See the data sheet of the connected stepper motor Never disconnect the moto
13. crew terminal 3 5 mm contact spacing Connectors e Connector X14 D sub 9 pin socket female V Nanatec Technical Manual PLUG amp DRIVE SMCI36 Technical data Dimensions SMCI36 A complete set of datasheets is available for downloading at www nanotec com Issue V 1 3 33 of 34 Index A Accessories for voltage supply 19 B BLED G MO0 OF sis en EE ie N 11 C ERNODEN e EE eie ge 8 14 20 Closed loop current control 7 GOmIMISSIORING ne 12 D el ie ER DR 8 E VCC GS EEN 17 F mite ia Ra ee oi de Ee 7 INBUEEIFEUNG a 16 VR eis EN ER N EE 15 Jumper R 485 CANODEN ee ee 20 M Motor connection BEDC MOOT ae 18 SEPPE MOTOT m 18 i Nanotec PLUG amp DRIVE N N GINO EE EE N EEE 8 O Operating modes CANOPEN E 28 Eeer 26 Operating voltage AAA 19 OUMU ae geil eege aa 16 QO NS AE EE N 15 P P in assignment ee nig ered EA ET AA EN 15 Connector X14 ET 20 Connector SERE N EN EE 17 COMME GION A anne EA 18 EE 15 Bettel ie ap A EE RE EE N 15 Plug connecUONS ee ee RR Ee 9 Protective Circuit 31 R RS 485 network ee ee ee ee EE 20 V Voltage Supply E 19
14. d settings See the NanoPro separate For instance you can enter a new travel profile manual Commissioning with NanoCAN i Nanotec PLUG amp DRIVE Proceed as follows when commissioning the controller with NanoCAN 10 Connect the controller to the stepper motor according to the connection diagram S witch on the operating voltage 12 V DC 72 V DC CAUTION An operating voltage gt 75 V will destroy the output stage e Follow the information in Section 3 4 4 Install and configure your CANopen adapter from IXXAT or Peak 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 Phase current 50 current level e Phasecurrent during idle 2596 idle current Select the desired operating mode e g PP mode in the Drive Modes tab Click on the Power on button Enter the desired target position in the target field Connection diagram see Section 2 Detailed information on connections can be found in Section 3 Details can be obtained from the manufacturer of the CANopen adapter Under no circumstances may the current be set to a value higher than the rated current of the motor i Nanatec PLUG amp DRIVE 3 Connections and circuits 3 1 Hall sensor Connector X1 Pin assignment lees 3 2 Inputs and outputs Connector X4 and X5
15. e yourself with the SMCI36 controller and the corresponding control software before you configure the controller for your application This section describes the main first steps you need to take to be able to begin working with the SMCI36 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 Operation with presettings The SMCI36 is delivered with the following presettings Operating mode Positioning Step mode Half step with microstep emulation Inputs on connectors X4 X5 all 5 V Input 6 external reference switch nput 5 record selection bit 3 Input 4 record selection bit 2 nput3 record selection bit 1 nput2 record selection bit 0 Input 1 start reset Phase current 5096 current level Phase current during idle 2596 idle current Commissioning with NanoPro Proceed as follows when commissioning the controller with NanoP ro Connect the controller to the stepper motor Connection diagram see according to the connection diagram Section 2 Detailed information on connections can be found in Section 3 Switch on the operating voltage The red LED lights up 12 V DC 72V DC briefly CAUTION An operating voltage gt 75 V will destroy the output stage e Follow the instructions in Section 3 4 4 If necessary install the driver for the converter Download from cable ZK RS4
16. g 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 Clock direction mode right with a superordinate controller e g CNC controller mm 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 R ef 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 speed e g via an external potentiometer 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
17. he communication cable is Only use the recommended ZK not connected or is RS485 USB converter from interrupted Nanotec A non existent motor number module number is set Setthe correct module address See the separate manual on NanoPro The power supply of the Check voltage supply switch on if MCI36 is interrupted necessary Another open program is Close down other programs on your blocking the COM port to PC which the SMCI36 is connected Inadmissible data was sentto Click on the Y es button to stop the the controller during the output travel profile of a travel profile The SMCI36 switches back to the Ready state The data can then be resentto the controller Transmission Data transmission to the Check that the motor connection is error SMCI36 is disturbed sender correctly wired We recommend or receiver are disturbed using Nanotec converter ZK RS485 USB Position error The motor cannot reach the Click the Y es button in the error position or the limit switch was message the error is reset overrun i Nanatec PLUG amp DRIVE Possible errors in CANopen mode No The wrong node ID has been On the Configuration amp NMT tab communication set in Nano CAN select the node ID that with the is set on the rotary switches of the controller controller Wrong baud rate setting On the lt Configuration amp NMT gt tab in NanoCAN select the baud rate 1000 kbps The
18. ight 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 Rotary switch value decimal Node ID of rotary switch value Node ID from EEPROM EE Rotary switch value 0x01 0x7F 0x80 0x81 0xFF hex i Nanotec PLUG amp DRIVE Example 2 F 1 0 0 EEN pe 0 pe pe 6 FEE Sofwareseting un 1 020 128 De 2 130129 a EEE Ge Fd 32 160 126 oO 96 224 128 EE 126 1250 126 127 255 126 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 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
19. n integrated encoder BLDC motors are also supported The SMCI36 is ideal for device installation due to its open economical design For machine integration we recommend the closed controllers SMCI33 and SMCI47 S 2 which can also process 24 V signals and are built on the same software basis SMCI36 functions The SMCI36 controller features the following functions e 12 72 V supply voltage nominal current 6 A eff max phase current 9 A eff e Microstep 1 1 1 64 final output stage step resolution of up to 0 014 in motors with a step angle of 0 9 in 1 64 step mode e Closed loop current control sinusoidal commutation via the encoder e Sinus commutation for BLDC motors with hall sensors for better running smoothness and higher speed ranges e RS485 CANopen port for parameterization and control e Network capability with up to 254 motors RS485 or 127 motors CANopen e Microstep emulation in full step operation for smoother running e Powerful DSP microprocessor for flexible I O e Sequence programs with Nano e Easy configuration with the NanoPro or NanoCAN Windows software Closed oop Closed loop current control sinusoidal commutation via the encoder In contrast to conventional 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 servomotor The stepper motor acts in this operating mode as nothing mo
20. olutions 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 lt Errorcorrection gt 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 500 mm and neighboring interference sources The differential signal can be evaluated with a line driver encoder adapter Since the SMCI36 is designed for device installation the differential signals are not evaluated so that only channels A B and I need to be connected to perform position monitoring We recommend shielding and twisting the encoder line to minimize interference with the encoder signal from the outside If the line length in your application exceeds 500 mm or if there is interference on the lines due to other sources we recommend the use of controller SMC133 or SMCI47 S for which there is an adapter for encoders with a line driver i Nanatec PLUG amp DRIVE 3 4 Motor and voltage supply connection Connector X3 3 4 1 Pin assignment Observations Earth 0 V See the data sheet of the
21. r when operating voltage is applied Never disconnect lines when live Connection diagram Power Supply 230 V NTS xx k SMCI36 Note Complete connection diagram see Section 2 Connection and commissioning Accessories Appropriate power packs and charging condensers are available as accessories Power pack NTS xxV yA xx voltage y current Information on the selection of the required power supply unit can be found in our FAQ on www nanotec com Charging condenser Z K4700 to max 50 V or Z K10000 Note Further information about accessories can be found on the Nanotec website www nanotec com i Nanatec PLUG amp DRIVE 3 5 RS485 network CANopen Connector X14 SMCI36 in a network Up to 254 RS485 or 127 CANopen stepper motor controllers can be controlled in a network from a PC or PLC These network connections are setup via the RS485 CANopen interface Pin assignment 3 oe OuputGND 0 V amp ond OuputGND GV 8 o Lousen Jumper RS485 CAN The controller has a jumper field X11 X12 for selecting the communication port RS485 or CAN When setting note the copper label on the printed circuit board Technical Manual ib Nanotec PLUG amp DRIVE SMC 136 Ircul Connections and c RS485 network ircuit diagram C 7 48 0 4u0j YJayjoujuoy il wwe boud osdouey ei Jagwnu a npou umo s y 485 ysnw jiun Agana NJomjau
22. re 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 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 i Nanotec PLUG amp DRIVE 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 even at low speeds e Very good step angle precision and synchronicity even in open loop operation e BLDC motors can be controlled as well Nano The integrated programming language Nano based on the J ava standard means complete application programs can be realized on the driver
23. s 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 NanoP ro manual Overview of operating modes and their areas of application Operation mode Relative positioning Absolute positioning Internal reference run External reference run peed mode Flag positioning mode Application 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 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 During an external reference run the motor travels to a switch connected to the reference input 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 inputs enable the speed to be changed on the fly to different speeds 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 positionin
24. s 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 More detailed information can be found in the separate programming manual Activation via CANopen CANOper lt is possible to include the stepper motor controller in a CANopen environment with the SMCI36 More detailed information on this can be found in the CANopen reference and in the NanoCAN user manual Presettings When the SMCI36 is delivered it is preconfigured to relative positioning mode The step mode can only be changed via software It is preset to the half step setting Due to microstep emulation however the stepper motor runs very smoothly and with excellent performance even in the half step Further 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 NanoP ro or NanoCAN software and significantly reduce commissioning time Converter cable ZK R S485 USB or a suitable CAN adapter is needed for the PC connection More detailed information on this can be found in the separate NanoPro or NanoCAN user manual i Nanotec PLUG amp DRIVE 2 Connection and commissioning 2 1 Overview Plug connections The controller has the following connectors X1 Hall sensor X2 Encoder X3 Motor and power supply X
25. so used to display errors and when switching on the controller Note The voltage must not exceed 5 V It should drop below 2 V for safe switching off and be atleast 4 5 V for safe switching on V Nanotec Technical Manual PLUG amp DRIVE SMCI36 Connections and circuits Output wiring The outputs are open collector outputs 0 switching max 24 V 0 5 A To be able to testthe output an LED with series resistance can be integrated The LED lights up when the output is active max 24 V 0 5A LED ZZ SMCI36 Issue V 1 3 17 of 34 i Nanotec PLUG amp DRIVE 3 3 Encoder connection Connector X2 Pin assignment The X2 connector is a J ST ZHR5 connector Matching connection cable ZK ZHR 5 90 length 90 mm single conductor Pinno Name tege 1 p Track B Index track I E Track A CS EV U O Optional encoder An optional encoder can be connected to the controller By default the controller is designed for a three channel encoder 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 res
26. 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 p from EEPROM 0x00 en 1 MBaud Da OP rotary switch value Teri from EEPROM from EEPROM 129 255 rotary switch value 0x81 OxFF minus 128 Note The rotary switches must be set to 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 Rightrotary switch 1 s place e g OxOF e Leftrotary switch 16 s place e g OxFO Example 1 If the left rotary switch is set to 2 and the right rotary switch is set to 1 0x21 this yields a decimal value of 33 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 left rotary switch is setto 8 and the right rotary switch is set to 0 0x80 this yields a decimal value of 128 28 16 0 1 In this case the node ID and baud rate are read outof the EEPROM i Nanatec 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 numerou
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