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NanoPro User Manual V2.0

1. eene entente enne 35 CRM 35 Function of the inputs and 36 Profile paramelers in tte tat t teen en x exea 37 Analogue Position ice Ln aget ee Far bee Lad 38 tees 38 Function of the inputs and 38 Profile paramelters ursi centered ar oet kd noe 39 MOTOR SOUINGS 39 ib Nanatec PLUG amp DRIVE 13 1 1 13 1 2 13 1 3 Torque mode iere te edente x diee ER eR EY e Ee diee o 40 Motor settings 41 xizli Aro 45 Display Properties tab ciere xS ua ape nns 47 Errorcorrection tab 48 inne eee 51 OUI UE m 55 Communications tab dade ccu ed eee 56 Statusdisplays tab edoceri 58 CL Closed Loop tab 60 Configuring the Closed Loop current control 60 Needle 61 Position LOOP m 62 lt PES 69 Operating several motors 72 Diis 73 General ner
2. 69 SCIEONSNOL EE 71 Search Controller sess 57 Search Drive 56 ib Nanotec PLUG amp DRIVE Send State Byte Automatically Upon End of Signal curves Clock direction mode 34 Flag Position mode 31 Relative Absolute position mode 23 Speed 27 Software 2 2 2 52 Sw 47 Speed m de e ii e 24 Start Stope iit e ie a tens 71 Start Drive Profile 71 stadi 54 55 State Display 58 Statusdisplay 58 Step ModE 42 Stopping a record 15 Swing 49 System 5 T Tab 9 45 58 9 Communication 56 eter tes 48 51 MOda 11 MP 55 OCODE 60 69 Target Current 70 Target
3. 69 Target Speed 21 Temperature erre recette 70 Test Record iaaa 15 BENT p 56 Tolerance 040 49 Torque 0 40 Travel 22 13 16 Trigger oh ide cdd ees dide 29 U Update etae 8 User controlled 54 User controlled 55 V V 30 Velocity LOOP 2 61 Voltage cc 71 Voltage 1 2 00 51
4. 2 70 INPUTS 51 Installation 5 Internal 53 Internal reference run 11 18 32 ib Nanatec PLUG amp DRIVE J JOySlCK mode tr tette 35 L Limit switch Motor 5 41 45 M Menu File e edes 7 Help ete ves eves ret 8 Language entere etre kr Pens 7 RTI 7 72 SII TL 8 Minimal 21 7 72 8 Refresh 8 7 Save VAIUCS 2 8 enaena 7 Set 72 Motor Settings 9 10 14 15 41 44 Motor Ty PO 41 N 2 72 Next 22 Online 8 Operating 11 Torque 40 Operation modes Absolute Positioning Mode 18 Analogue 35 Analogue Position mode 38 Clock Direction 32 Flag Position mode 28 Joystick mode 35 Rela
5. 2 2 2 56 Correction 49 Counter EA 16 H6SGL 15 Current 69 CurrentDrain 2 70 Data Read FOM LB 15 EAN S MO 15 Delivery 16 Digital 70 21 15 Display 45 47 DISAN E 47 Drive Step 42 During Homing eene 53 E Enable CAN Interface 56 48 50 Encoder 58 End position tolerance 62 Error 58 Error 068 73 Errorcorrection esses 48 External Homing sse 53 External reference run 11 18 32 F E 47 Firmware 8 Flag Position 28 Following error 2222 22 2 2 61 63 Following Error 70 Frequency decreas9 ied aeui ues 24 Tie ERR 24 G Gear 47 Input Debounce Time 53 Input
6. Programming settings The following settings can be made in the area Programming Language Setting Function Autostart Activate Com Polling When the checkbox is activated the loaded program is automatically executed if the motor is powered When the checkbox is activated the status of the COM interface is displayed in the field underneath start stop Starts Stops the loaded program Error Displays the last entry of the error memory Error Reset Resets error Editor Opens the NanoJEasy Editor upload Loads the program file ib Nanatec PLUG amp DRIVE 13 CL Parameter Closed Loop tab 13 1 1 Configuring the Closed Loop current control Function In the Closed Loop mode the motor does not behave like a normal stepper motor but like a servomotor It is controlled via a PID controller dependent on an encoder The driver includes two controllers and each controller has its own parameter set lt CL Parameter gt tab Settings for the Closed Loop current control are made on the CL Parameter tab Scope Velocity Loop Position Loop Cascade Position Loop Velocity ji 1 Cascade Position Loop Position M Proportional Part Proportional Part Proportional Part 4 Proportional Part 0 25 100 0 fi 00 FF gt azar Integral Part
7. In the Break field enter the length of the break motor idle time after the end of the movement The unit is ms To set a break of e g one second the value 1000 must be entered In the Repetitions field enter how often the selected travel profile should be implemented automatically in sequence without another start command The entry 0 corresponds to constant operation Minimum number of operations 1 Maximum number of operations 254 10 11 Activate the Reverse Direction option field if you want an automatic change of direction If necessary select a travel profile in the Next Record selection menu that will be called up when the record is finished When the change of direction is activated the rotation direction of the motor is automatically changed when the same record operation 1 is called up several times in sequence or when the same travel profile is called up again at a later time The direction is changed each time the same travel profile is called up again In order to use this function the travel profile must first be saved with the Save to Drive button 12 In the Ramp Type selection menu select the required ramp type The following ramp types can be selected Trapezoid Ramp e Sinus Ramp e Jerk Free Ramp see section 4 3 3 13 If you want to test the entered travel profile Click on the lt Test Record gt button The mot
8. D3 Flag Position 400 Left 2000 10 Clock Direction Left 11 Clock Direction Run Int Ref 12 Positionmode Relative 400 13 Positionmode Relative 400 14 Positionmode Relative 400 15 Positionmode Relative 400 16 Positionmode Relative 400 17 Reference Run External Left 18 Speed Left 2000 19 Speed Left 2000 20 Clock Direction Left 21 Clock Direction Right 22 Positionmode Relative 400 23 Positionmode Relative 400 vl Query State Reset Counter Read Counter Delivery Status Function peration Type s Drive Speed ext Acceleration 100 03 Hz ms Acceleration Time 10 ms Step Mode Half Step Phase Current 10 Gear Reduction 11 Dutput Speed Resolution 1 8 step Test Record Stop Record Buick Stopp Save to Drive Read from Drive 2000 Hz 0 Hz 1 8 382 400 Steps 10 384 404 ms The torque mode is used to rotate the motor at a constant torque The torque is specified by the set current Phase current parameter in the Motor Settings tab The speed is not fixed in this mode The higher the load on the motor the lower the speed The speed that is set depends on the type of motor used and the current setting Ramps are not used in the Torque mode The rate that the motor accelerates depends only on the current setting Note The Torque mode can only be used when Closed Loop mode is activated 40 Is
9. Integral Part Integral Part Integral Part 0 0625 1 875 0 015625 41 M i m udi n E gt Differential Pat 1 Differential Differential Part Differential Part o 150 0 300 uj M ed d M zi 1 M sz jJ 2 Position Error 1 Following Error Pos Mode Following Error Speed Mode Load Defaultsettings 1 Count fo Count 100 Count 00 efault Y Time fi 00 ms Time 100 ms Time fi 00 ms Save Data CL Wizard Activate Closed Loop Procedure Proceed as follows to configure the Closed Loop current control Step Action Note 1 Select the CL Parameter tab 2 Run the Closed Loop wizard in the See section CL Wizard CL Wizard button 3 Activate the Activate Closed Loop The motor will carry out an internal checkbox reference run 4 Enter the required parameters The parameters are explained in the following sections 5 Click on the lt Save Data gt button The settings are saved ib Nanatec PLUG amp DRIVE 13 1 2 Velocity Loop Description The speed controller controls the angle speed of the shaft The position in this mode is not controlled and can therefore deviate greatly from the setpoint The speed controller is used in the following operation modes Speed mode Analogue mode e Joystick mode e Rotor position measurement Internal calculation principles and parameters The c
10. Scope 14 Scope tab Transfer settings to from driver The current configuration settings can be saved in the connected driver or read from the connected driver using the following buttons Save Configueration to Drive Read Configuration from Drive e Save Configuration to Drive The current settings are transferred from the NANOPRO to the connected driver Read Configuration from Drive The current settings are transferred from the connected driver to NANOPRO ib Nanotec PLUG amp DRIVE 3 Driver configuration General information This section describes the general procedure for configuring the driver The parameters to be configured on the respective tabs are described in detail in sections 4 to 14 Procedure To configure the drivers proceed as follows Step Action Note 1 Commissioning the driver See technical manual of the respective driver 2 Click on the lt Read Configuration from See section 5 lt Motor settings gt tab Driver gt button The connected driver type is detected and displayed in the lt Motor settings gt tab The parameters applicable for the respective driver type are displayed 3 If this is not a Plug amp Drive motor See section 5 lt Motor settings tab Select the motor type and motor designation see motor type plate in the lt Motor settings gt tab Motor type and designation are detected automatically for Plug amp
11. 5 147 5 23 09 2009 40 Phase Curent Curent 2 8 A 574118 574118 1206 C 09 step 6 18 stp me Oe Check whether the hardware has been detected correctly and change the motor type and step angle if necessary Click on the Next button Issue V 2 0 01 10 2009 65 User Manual NANOPRO ib Nanatec PLUG amp DRIVE CL Closed Loop tab Step 4 Action The following window appears 7 the connected drive perform one rotation IF the drive has been able to perform only a half rotation orless the step angle is incorrect f the drive didnt rotate at all the phase current is set too low Please correct the according parameters if necessary PLUG amp DRIVE e zz Check whether the connected motor has made a full revolution Change the settings for the step angle lt gt button or motor current if necessary Click on the lt Next gt button The following window appears M closed Loop Wizard x Following Rotation Encoder Settings have been found Rotation Encoder Resolution 400 If the Rotation Encoder Resolution is not correct please choose the rigth Resolution Please choose the Parameters forthe 575918 Drive Default E Check whether the encoder resolution has been detected correctly and change the value in the upper selection menu if necessary
12. selection menu Motor menu bar Change Drive Baudrate Select the required baudrate from the selection menu Motor baudrate and then click on the button Change Motor Baudrate to transfer the new setting Search Controller Pressing the Search Controller button checks whether a controller is connected to the COM interface ib Nanotec PLUG amp DRIVE Introduction lt Statusdisplay gt tab 12 lt Statusdisplay gt tab The Statusdisplay tab can display general status messages stored error entries and programming settings can also be made Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Output Communication Statusdisplay CL Parameter Scope Encoder Position 0 State Display Error Display Programming Language Autostart Activate Com Polling start stop Error Editor upload Activate Polling Save Data Displays The Statusdisplay tab contains the following displays Display Function Encoder Position Actual encoder position if an encoder is connected State Display Actual mode state and last error entry Error Display Error memory for the last 32 errors Activate the state display Proceed as follows to activate the motor status Step Action Note 1 Select the Statusdisplay tab 2 Activate the Activate Polling checkbox ib Nanatec PLUG amp DRIVE
13. 6 determines the direction of rotation of the motor Outputs Output 1 Output 2 State 0 1 Speed output running 1 0 Ready motor idle waiting for new command 0 0 Error speed monitoring 1 1 Zero position reached ib Nanatec PLUG amp DRIVE 4 4 3 Profile parameters Parameter descriptions The following parameters can be set in the speed mode Parameters Function Direction Direction of rotation of travel profile e Left e Right The rotation direction of the motor is only relevant when the motor is operated via the programming interface otherwise the rotation direction is selected via an input Minimal Speed Starting speed e The minimum speed in Hz is the start up speed start stop frequency of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a minimum speed can also lead to step losses Target Speed Normal speed e The maximum speed in Hz is the setpoint speed of the motor e To avoid rough operation it should lie outside resonance ranges e Too high a maximum speed can cause step losses and motor stalling Ramp Input of ramp gradient in Hz ms Ramp Type The following ramp types can be selected Trapezoid Ramp e Sinus Ramp e Jerk Free Ramp see section 4 3 3 Profile graph display The displayed profile graph shows the ramp times acce
14. CL Parameter Scope Sample Rate ho ms Voltage Statt Drive Profile Unit Target Position 1 Grid Pattem 05 Current Position m 1 Grid Pattem 2 05 Following Error 1 Grid Pattem 05 Target Current 1 Grid Pattem 0 Input Voltage 1 Grid Pattem Temperature E 1 Grid Pattern 0 zd Analog Input 1 Grid Pattern Digital Inputs EU zl Performance 1 Grid Pattern 0 W Reset Counter Time aj 1 gt 1 Grid Pattern 0 ms Coefficient Bl 1 Grid Pattern 0 Start Screenshot Stop zi CurentDrein E 1 Grid Pattern Selectable parameters Target position and Current position parameters The Target position is the target value calculated by the ramp generator of the motor The current position is the position determined with the help of the motor encoder In normal cases the target and current positions should match The current position is always 0 in a motor without encoder If the target and current position deviate from one another this may be due to various reasons e Step loss during the run When the motor does not reach its target position during open loop operation step losses have occurred Possible countermeasures Selecta flatter ramp Select a lower speed Increase motor current so that the motor has more strength ib Nanatec PLUG amp DRIVE e Incorrect setting of the encoder Whe
15. Closed Loop mode Performance Indicates the power output by the motor Efficiency Indicates the efficiency of the motor CurrentDrain Indicates the current consumption of the motor ib Nanatec PLUG amp DRIVE Display of parameters Activate Deactivate Activating the checkbox displays the progression of the respective parameter in the Scope mode Color The color with which the parameter is displayed can be changed by clicking on the colored box Target Position Bl 1 Grid Patten 05 Current Position Farben Ux Grundfarben z Following Error EI NIS 4 Target Current fon 24 Input Voltage BREE EEE Temperature Analog Input Benutzerdefinierte Farben Digital Inputs zi Performance Farben definieren zi Coefficient Abbrechen Scaling The scaling of the parameter is specified under the lt Unit gt button and can be changed with the arrow keys to the left of the checkboxes Clicking on the button Unit changes its labeling to Value The current parameter values are then displayed instead of parameter scaling when the Scope mode is running The horizontal axis can be changed in the ms grid using the Time slider Adjustment parameters The following settings can be made for the Scope mode Setting Function Sample Rate Setting of the sample rate in milliseconds Vo
16. Data User controlled outputs The following settings can be made e Output When the checkbox is activated the corresponding output is masked i e it is not directly interpreted by the motor and is available to the user as a general purpose output e Set Output When the checkbox is activated the corresponding output of the firmware is set provided it is masked for open use e Switching behaviour A selection can be made for each output whether it switches with rising or falling edge falling edge E rising edge State In addition the state of the outputs present when the tab was opened is displayed green high red low Activate Output Polling The status display of the outputs is activated if the checkbox is activated ib Nanatec PLUG amp DRIVE Display 7 Com Port Port Write Timeout Read Timeout Baudrate CAN Baudrate 11 lt Communication gt tab The settings for interface parameters and the motor address made on the Communication tab COM16 2000 ms Choose Drive Address Check Drive Address 2000 ms Change Drive Address Search Drive Address 115200 lt Enable CAN Interface Statusdisplay CL Parameter Scope Drive Address Y Drive Address 1 Y Drive Baudrate Drive Baudrate 115200 bps b Change Drive Baudrate Search Controller Interface parameters The following interface parameters can
17. Number Operation Type Input 2 Input 3 1 Clock Direction Left 0 0 2 Clock Direction Right 1 0 3 Clock Direction Run Int Ref 0 1 4 Clock Direction Run Ext Ref 1 1 Input 4 External limit switch See also section 9 lt Input gt tab and separate manual for the respective stepper motor driver or for the Plug amp Drive motor Input 5 Direction The direction input determines the direction of rotation of the motor A signal change at this input must be completed at least 150 us before a clock signal Input 6 Clock external With every positive edge at the clock input the motor carries out a step in the direction set by the direction input The external clock is also active in the reference runs Outputs Output 1 Output 2 State 0 1 Motor processing last command 1 0 Current reduction active 0 0 Error speed monitoring 1 1 Reference point reached 4 6 3 Profile parameters Parameter descriptions The following parameters can be set in the clock direction mode Parameters Function Direction e Left Right Direction of rotation of travel profile Minimal Speed Target Speed Starting speed e The minimum speed in Hz is the start up speed start stop frequency of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a minimum speed can also lead to step losses Normal speed The
18. Record Stop Record Quick Stopp Save to Drive Read from Drive Profile graph display Buttons for communication with the optional encoder Query State Reset Counter Read counter from Motor Delivery Status Test Record Pressing the button Test record transfers the current record to the motor and starts it The parameters are not saved by the motor Stop Record The currently operating record is stopped Quick Stopp gt The currently operating record is stopped independent of the drive profile with the Quick Stopp ramp For settings see section 5 settings tab Save to Drive Pressing the Save to Drive button saves the set drive profile permanently in the motor Transfer can take a few seconds and is visually displayed with a progress bar The drive profiles can then be selected and started via the motor inputs Read from Drive All data saved in the motor are loaded onto your PC 1000 Hz 400 Hz The displayed profile graph can be used to rapidly see the ramp times 6 Steps 0 17 ms 394 Steps 400 Steps acceleration time and the overall actuating time for the applicable travel profile The graphic is recalculated after every relevant input Query State Pressing the Query State button queries the actual state of the motor and displays the state on the screen Reset Counter Pressing the Reset Counte
19. The number of motor steps to be output can be selected up to 16 777 215 steps Minimal Speed Starting speed e The minimum speed in Hz is the start up speed start stop frequency of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a minimum speed can also lead to step losses Target Speed Normal speed e The maximum speed in Hz is the setpoint speed of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a maximum speed can cause step losses and motor stalling Ramp Input of ramp gradient in Hz ms In the Analogue Position mode the ramp determines the maximum acceleration If the voltage changes too fast e g by turning the potentiometer too rapidly this ramp is used to accelerate to the maximum speed 4 8 4 Motor Settings See section 9 lt Input gt tab User Manual NANOPRO Mode tab ib Nanatec PLUG amp DRIVE 4 9 Torque mode Display Movement Mode Motor Settings Brake Display Properties Errercorrection Input Output Communication Statusdisplay CL Parameter Scope Drive Profile 02 Reference Run Intemal Left 03 Speed Left 2000 04 Flag Position 400 Left 2000 05 Reference Run External Left 06 Positionmode Absolute 400 07 Positionmode Absolute 400 08 Positionmode Relative 400
20. Torque mode ib Nanotec iser Manual PLUG amp DRIVE NANOPRO lt Mode gt tab 4 2 Entering profile parameters Introduction Up to 32 drive profiles can be defined and programmed The last 16 records records 17 to 32 cannot be called up via the inputs only via the programming interface You can assign important profile parameters to a travel profile using the NANOPRO software The parameters listed below do not all have to be specified for all drive profiles When the operating mode is activated or changed the relevant fields are displayed on the Modes tab Movement Mode tab The profile parameters for a specific drive profile are set on the Movement Mode tab Motor Settings Brake Display Properties Errorcorrection Input Output Communication Statusdisplay CL Parameter Scope Drive Profile Operation Type Positionmode Relative Drive Speed 2000 Hz 01 Positionmode Relative 400 54 Acceleration 100 03 Hz ms 02 Reference Run Intemal Left Position Demand 400 Steps 03 Speed Left 2000 UR Acceleration Time 04 Flag Position 400 Left 2000 Direction zi Step Mode Half Step 05 Reference Run External Left 06 Positionmode Absolute 400 Minimal Speed 800 Hz Phase Current 10 07 Positionmode Absolute 400 S 4 08 Positionmode Relative 400 Target Speed 2000 Hz Gear Reduction 1 09 Flag Position 400 Left 2000 Du
21. Yes button Input 1 active If a button is clicked when a travel profile is already completed but input 1 is still active the following error message will be displayed Nanotec Munich x Eingang 1 ist noch aktiv Aktion nicht m glich After the input is deactivated the required button can be clicked Issue V 2 0 01 10 2009 75 ib Nanotec PLUG amp DRIVE Index A Absolute Positioning Mode 18 Analog Input seen 70 Analogue 35 Analogue Position mode 38 Automatic Error Correction 49 B rerum C 56 Behavior for External Homing During 2 53 During Normal Operation 53 ii eiii telo 53 Behavior for 53 Brake 9 45 21 Cascade 64 Change Drive Address 56 Check Drive address 56 Choose Drive 56 CL Parameter 60 OL e Wiza 60 Clock Direction mode 32 Closed Loop current control 9 60 SI 70
22. be set Parameters Function Port In the Port field select the COM port to which the motor is connected The number of the COM port to which the motor is connected can be found in the device manager of your Windows PC Write Read Timeout Maximum timeout in milliseconds when transferring data to from the driver Baudrate Data transfer rate in bits per second Enable CAN Interface The CAN interface is active when the checkbox is activated CAN Baudrate Data transfer rate of the CAN interface in bits per second Setting the drive address To ensure a fault free connection with the motor the motor address module address must be set correctly All motors are delivered with the default address 1 To operate more motors an 5485 network each motor must be assigned a unique address The following functions are available in this menu Check Drive Address Press the button to check whether a motor is connected to the currently configured motor address Search Drive Address Prerequisite Only one motor is connected The address of the connected motor is adopted Change Drive Address Prerequisite Only one motor is connected The Motor address configured in the selection menu is assigned to the motor ib Nanatec PLUG amp DRIVE e Choose Drive Address The address configured in the selection menu Motor address is transferred to the
23. e Time tb Waiting time between switching off triggering the brake and activation of readiness in milliseconds Travel commands will only be executed after this waiting time e Time tc Waiting time between switching on the brake and switching off the motor current in milliseconds The parameters indicate times between 0 and 65 536 milliseconds Default values of the driver after a reset 0 ms Issue V 2 0 01 10 2009 45 User Manual ay Nanotec NANOPRO PLUG amp DRIVE lt Brake gt tab Start Motor Brake Time Braking response When the driver is switched on the brake is initially active and the motor is not supplied with power Note During current reduction the brake is not actively connected 46 Issue V 2 0 01 10 2009 ib Nanatec PLUG amp DRIVE 7 Display Display Properties gt tab Display properties are made using the lt Display Properties gt tab E Errorcorrection Input Output Communication Display Properties Distance Steps Speed Herz Position Steps Feed Rate mm rev Gear Reduction al Display Properties The following parameters can be set Parameters Function Note Distance The distance can be The units of measure set here are displayed in inserted in the parameter fields of the e Steps various operating modes e Degrees e mm Speed The speed can be The units of meas
24. recalculated after every relevant input This allows you to continually check and where necessary correct the settings made 1000 Hz 400 Hz 6 Steps 394 Steps 400 Steps 0 17 ms 4 3 4 Signal curves Example of a signal curve In this example profile number 5 then profile number 3 followed by profile number 16 programmed as reference run are started Profil No 5 Profil No 3 Profil No 16 Motor Speed Reference Run Motor Speed Input 1 Start Input 2 Profil No Input 3 Profil No Input 4 Profil No Input 5 Profil No Input 6 Limit Switch Issue V 2 0 01 10 2009 23 ib Nanatec PLUG amp DRIVE 44 Speed mode 4 4 4 Description Function In the speed mode the motor accelerates with a specified ramp from the starting speed minimal speed start frequency to the specified maximum speed target speed maximum frequency The speed mode is generally used when a specific travel speed is required e g for a conveyor belt or a pump Parameter fields for Speed operation type peration Type Direction Left Y Minimal Speed o Hz Target Speed 2000 Hz Ramp 100 03 Hz ms Ramp Type Jerk Free Ramp Speed changes Speed changes can be implemented at any time via the inputs or the interface If you start the motor for test purposes via the driver software NANOPRO click on Test Record button the following buttons change S
25. settings are saved lt Save Data gt button User controlled inputs The following settings can be made e Masking inputs When the checkbox is activated the corresponding input is masked i e it is not directly interpreted by the motor and is available to the user as a general purpose input The masked inputs are no longer available for record selection and are interpreted as The masking of an input means that its state high low can be evaluated via the interface Further information can be found in the relevant section Command Reference of the programming manual e Switching behaviour A selection can be made for each input as to whether it switches with rising or falling edge amp falling edge J rising edge State In addition the state of the inputs present when the tab was opened is displayed green high red low Activate Input Polling The status display of the inputs is activated if the checkbox is activated ib Nanatec PLUG amp DRIVE 10 Output tab Display Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Communication Statusdisplay CL Parameter Scope Dutputs User Controlled a State Dutput 1 2 e Selected 1 0 are not used by the drive controller and be used as general purpose 1 0 Activate Output Polling Save
26. the potentiometer too rapidly this ramp is used to accelerate to the maximum speed ib Nanatec PLUG amp DRIVE 4 8 Analogue Position mode 4 8 1 Description Function A specific position can be approached in this mode The voltage at the analogue input directly controls the position Parameter fields Operation Type Analogue Position Y Position Demand 400 Steps Minimal Speed 2 7 Hz Target Speed 2000 Ramp 100 03 Hz ms 4 8 2 Function of the inputs and outputs Input 1 Start When input 1 is activated the value is read in and the corresponding profile is loaded and started Inputs 2 to 5 Selection of travel profile The profile number of the profile to be travelled is set with the inputs 2 to 5 Profile number Input 2 Input 3 Input 4 Input 5 1 0 0 0 0 2 1 0 0 0 3 0 1 0 0 4 1 1 0 0 5 0 0 1 0 6 1 0 1 0 7 0 1 1 0 8 1 1 1 0 9 0 0 0 1 10 1 0 0 1 11 0 1 0 1 12 1 1 0 1 13 0 0 1 1 14 1 0 1 1 15 0 1 1 1 16 1 1 1 1 Analogue In The analogue input Analogue In can be actuated with max 10 V to 10 V The voltage at the analogue input directly controls the position ib Nanatec PLUG amp DRIVE 4 8 3 Profile parameters Parameter descriptions The following parameters can be set in the Analogue Position mode Parameters Function Position Demand e Distance for the selected travel profile
27. v Input Debounce Time 80 ms 5 Input C 4a Selection of Travel P Behavior for Internal Homing Encoder Index Input 5 9 e Input 6 c c During Homing Free backwards During Normal Operation Disable m Behavior for External Homing input Type Closer During Homing Free backwards During Normal Operation Disable Selected I Os are not used by the drive controller and can be used as general purpose 1 0 Save Data Parameter for Analogue mode Activate Input Polling The Input tab has five parameters that define the analogue mode Parameters Function Lower Limit and Upper Limit These values determine the upper and lower limits of the input voltage The voltage is resolved with an accuracy of 10 bits The smaller the selected range is the worse the resolution of the speed will be and vice versa Start speed Setpoint speed upper limit Maximum range 10 V 10 V Calculation example Selected voltage range 0 V to 5 Start speed 400 Hz 0 Setpoint speed 1000 Hz 5V Speed adjustable 10 bit 1024 5 V 1024 0 0048 V corresponds to 2 344 Hz 400 Hz 1000 Hz 600 Hz 256 2 344 Hz The divisor 256 in the above equation is derived from the percentage of the voltage range used The voltage range of 5 V out of a possible range of 20 V equals 25 Based on the 10 bit resolution this i
28. 49 Nanatec PLUG amp DHIVE User Manual v 1 52 0 9 UKERBL1 File Language Motor 1 Motor System Help Motor 1 Operating Mode Operation Mode Motor Type Default Interface Version Date Save Configueration to Drive Read Configuration from Drive Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Output Communication Statusdisplay Drive Profile Operation Type Positionmode Relative Drive Speed 2000 Hz 01 Positionmode Relative 400 Acceleration 100 03 Hz ms 02 Reference Run Internal Left Position Demand aoo Steps UM 03 Speed Left 2000 6 Acceleration Time Ems 04 Flag Position 400 Left 2000 Direction Left z Step Mode Half Step 05 Reference Run External Left T 06 Positionmode Absolute 400 Minimal Speed 800 Hz Phase Current 10 07 Positionmode Absolute 400 ti 2 08 Positionmode Relative 400 Target Speed 2000 Hz Gear Reduction 03 Flag Position 400 Left 2000 Output Speed 2000 Hz 10 Clock Direction Left Ramp Hz ms Resolution 1 8 step 11 Clock Direction Run Int Ref 12 Positionmode Relative 400 Break fi ms 13 Positionmode Relative 400 M 14 Positionmode Relative 400 Repetitions fi Test Record 15 Positionmode Relative 400 TUA 16 Positionmode Relative 400 Reverse Direction Stop Record 17 Reference Run External Left 18 Speed Left 2000 Next Record Num
29. Drive motors 4 Enter the required parameters inthe See section 4 2 Entering profile tabs and if necessary click on the parameters for example lt Save data gt button to transfer the settings of the respective tab to the driver 5 If necessary click on the lt Save Configuration to Drive gt button to transfer all settings from NANOPRO to the driver ib Nanatec PLUG amp DRIVE 4 41 Overview Introduction Modes tab Depending on the drive profile the motor can be operated using a total of 14 different operation modes see also section 4 2 Entering profile parameters Due to the great capacity and functions available it offers designers and developers a rapid and simple method of resolving numerous drive requirements with less programming effort Select the required operating mode for each drive profile and configure the driver according to your requirements Overview of operating modes and their areas of application Operation Type Application Relative Use this mode when you wish to travel to a specific Absolute position The motor travels according to a specified drive profile from a Position A to a Position B Please refer to section 4 3 Relative Absolute Positioning Internal and External Reference Run Internal reference run During the internal reference run the motor travels to an internal reference point at the set minimum speed Please refer to sectio
30. In can be actuated with max 10 V to 10 V The motor operates at a speed proportional to the applied voltage The voltage is resolved with an accuracy of 10 bits The smaller the selected voltage range is the worse the resolution of the speed will be Refer to the example in section 9 lt Input gt tab ib Nanatec PLUG amp DRIVE 4 7 3 Profile parameters Parameter descriptions The following parameters can be set in the Analogue or Joystick mode Parameters Function Direction only in Analogue mode Direction of rotation of travel profile e Left e Right Note In Joystick mode the voltage sign determines the direction of rotation means rotate left means rotate right Minimal Speed Starting speed e The minimum speed in Hz is the start up speed start stop frequency of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a minimum speed can also lead to step losses Target Speed Normal speed e The maximum speed in Hz is the setpoint speed of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a maximum speed can cause step losses and motor stalling Ramp Input of ramp gradient in Hz ms In the Analogue and Joystick modes the ramp determines the maximum acceleration If the voltage changes too fast e g by turning
31. L Wizard Start the Closed Loop wizard with which the function of the rotation encoder can be checked with the lt CL Wizard gt button CAUTION Motor makes several revolutions e Ensure that a motor is connected e Check the interface parameters in the lt Communication gt tab Proceed as follows Step Action 1 Click on the lt CL Wizard gt button 2 The following window appears Welcome This wizard will guide you through the closed loop setup Please ensure that the drive ist connected and the communication is working PLUG amp DRIVE c Click on the lt Next gt button Nanatec User Manual PLUG amp DRIVE NANOPRO CL Parameter Closed Loop tab Step Action The following window appears M closed Loop Wizard X Do you have a drive configuration file Yes there is a configuration file No there is no configuration file gt C a a e f a configuration file already exists Select the upper option field and then click on the lt Next gt button The Open window appears in which you can select the configuration file e f a configuration file does not exist Click on the lt Next gt button A search is made for connected hardware The following window appears if hardware has been found M closed Loop Wizard x Following hardware has been found
32. Plug amp Drive motors see the respective technical manuals NanotecNanotec 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 For criticisms proposals and suggestions for improvement please contact the above address or send an email to info nanotec com Version Change overview Version Date Changes 1 0 2009 06 03 New issue C P 2 0 2009 10 01 Revision of the new software release for version 1 52 09 ib Nanatec PLUG amp DRIVE Contents 1 2 2 1 2 2 2 2 1 2 2 2 4 1 4 2 4 3 4 3 1 4 3 2 4 3 3 4 3 4 4 4 4 4 1 4 4 2 4 4 3 4 4 4 4 5 4 5 1 4 5 2 4 5 3 4 5 4 4 6 4 6 1 4 6 2 4 6 3 4 6 4 4 7 4 7 1 4 7 2 4 7 3 4 8 4 8 1 4 8 2 4 8 3 4 8 4 2 2 me 5 Overview of the operating 6 General 6 Layout of operating interface 6 The men BO 7 MIB EE E 9 Driver ecu mE 10 TAD an 11 uM I 11 Entering profile 002100 enne ennt entere 13 Relative Absolu
33. Refresh all Motorvalues Save all Motorvalues System Add Motor New motors can be added via the Add Motor gt menu item An input window for the motor address opens The address must lie between 1 and 255 e Hemove Motor gt Motors that are no longer required can be removed from the driver in the lt Remove Motor gt menu item This opens a window with the query Do you really want to delete the motor which you can quit with the button Yes Issue V 2 0 01 10 2009 User Manual NANOPRO i PLUG amp DRIVE Overview of the operating interface System menu Copy Motor to You can copy and adopt the current settings for a new motor with this menu item An input window for the motor address opens The address must lie between 1 and 255 Refresh all Motorvalues gt All motor settings are transferred to the NANOPRO control software Save all Motorvalues gt All motor settings are saved in the NANOPRO control software The System menu has the following menu items Help menu Firmware check automatic Firmware update selected Motor Firmwarefile update all Motors Firmware check downgrade selected Motor Drive Spe Supportlog Firmware update Firmware update for the selected motor or all motors Downgrade for the selected motor Firmwarefile update Update of the firmware file Firmware check Man
34. Then select a drive profile in the lower selection menu Click on the Next button 66 Issue V 2 0 01 10 2009 V Nanatec User Manual PLUG amp DRIVE NANOPRO lt CL Parameter gt Closed Loop tab Step Action A calibration run is being performed The following window appears during the process M closed Loop Wizard The following window appears after the successful calibration run M closed Loop Wizard EU xi The calibration run was successful for the 5 147 5 RS485 Controller Check the measurements of the calibration run and click on the Next button Issue V 2 0 01 10 2009 67 User Manual NANOPRO ib Nanatec PLUG amp DRIVE CL Parameter Closed Loop tab Step Action The following window appears M closed Loop Wizard Activate the checkbox if the configuration file should be saved 8 Click on the Finish button to complete the Closed Loop Wizard 68 Issue V 2 0 01 10 2009 ib Nanatec PLUG amp DRIVE 14 Scope tab Function In scope mode important motor parameters can be displayed and recorded during a run This is primarily used to check the set parameters or the commissioning of a drive Display The scope mode settings are made in the Scope tab Movement Mode Motor Settings Brake Display Properties Errorcorrection Input Output Communication Statusdisplay
35. ay be responsible Incorrect laying of the communication cable motor and supply lines must be laid separately The cable is not shielded RS 485 wires are not twisted in pairs e The resistances for the resting level are not present in the communication line e The bus termination resistances are not present Driver is not ready If inadmissible data is sent to the motor during the output of a travel profile the following message appears Nochmal versuchen x 9 Steuerung ist nicht bereit Fahrprofil stoppen Pressing the Yes button stops the travel profile and the motor switches back to the Ready status The data can then be resent to the motor Pressing the No button allows the travel profile to continue ib Nanotec User Manual PLUG amp DRIVE NANOPRO Troubleshooting Driver is not active If the motor is reset switching the operating voltage off on during the output of a speed profile the frequency can no longer be changed in the speed mode The following message is displayed Nanotec Munich E 21 Steuerung ist nicht aktiv The speed mode can be restarted after pressing the button Position error If a button is clicked while the motor is in error mode position error or limit switch in normal operation the following message is displayed Nanotec Munich Positionsfehler Fehler zur cksetzen wn The error can be reset by pressing the
36. ber Type 7 18 Speed Left 2000 Quick Stopp 20 Clock Direction Left Ramp Type Trapezoid Ramp 7 21 Clock Direction Right Save to Drive 22 Positionmode Relative 400 23 Positionmode Relative 400 gt 5 Read from Drive 0 Steps Query State Reset Counter Read Counter 400 Steps Delivery Status 400 NANOPRO Control software for stepper motor controls and Plug amp Drive motors NANOTEC ELECTRONIC GmbH amp Co KG Tel 49 0 89 900 686 0 Gewerbestrafe 11 Fax 49 0 89 900 686 50 D 85652 Landsham near Munich Germany info nanotec de ib Nanatec PLUG amp DRIVE Editorial About this manual 2009 Nanotec Electronic GmbH amp Co KG GewerbestraDe 11 D 85652 Landsham Pliening Germany Tel 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet www nanotec de All rights reserved MS Windows 2000 XP Vista are registered trademarks of Microsoft Corporation Target group This user manual is aimed at designers and developers who need to configure one of the Nanotec SMCI33 SMCI47 S SMCP33 stepper motor drivers or a Plug amp Drive motor of the PDx N series with the aid of the NANOPRO control software without much experience of stepper motor technology About this manual This manual contains a description of the NANOPRO driver software only For the connection and the commissioning of stepper motor controls or
37. ble to compensate for this error at the end of or during the run ib Nanatec PLUG amp DRIVE Parameter descriptions The following parameters can be set for the motor e Atend of run e During run Parameters Function Note Rotation The following modes Disable means that the rotation encoder Direction Mode available monitoring is switched off All fields in this e Disable section are therefore deactivated The Disable mode must be selected when an encoder is not used The Rotation Direction Mode checks the position of the rotor at the end of the run after the swing out time or during the run As described above the position of the rotor can also be checked and corrected if necessary at the end of the run if the Automatic Errorcorrection option field is activated Swing Out Time Definition of a swing out time in 1 ms steps the time that the encoder waits before it measures the position of the rotor The recommended standard value is 80 ms After a record is completed the rotor swings out around the set target position before it comes to a standstill This swing out is taken into account with the definition of a swing out time in order to avoid possible measurement errors The swing out time decreases the smaller the moment of inertia of the rotor and other external moments of inertia is and the larger the damping system rigidity and friction is Tolerance Wiath Inp
38. c D N gt ib Nanatec PLUG amp DRIVE 16 Troubleshooting 16 1 General information Error messages The motor monitors specific functions and outputs an error message if there is a malfunction Error messages are displayed in a pop up window e g Nanotec Munich E xj e Kommunikationsfehler Descriptions of possible error messages can be found in section 16 2 Error messages Troubleshooting procedure Proceed with care during troubleshooting and error rectification to avoid damaging the motor Danger of electrical surges An operating voltage gt 50 V and incorrect connections can destroy the end stage Never disconnect the link when operating voltage is applied Never disconnect lines when live ib Nanatec PLUG amp DRIVE 16 2 Error messages Communication error This message appears when data transfer to the motor is not possible Nanotec Munich E xj KommunikationsFehler The following causes may be responsible The wrong COM port is set see section 11 lt Communication gt e The communication cable is not connected or interrupted e Anon existent motor number is set e The voltage supply to the motor is interrupted Transmission error This message appears when the data transfer to the motor is disturbed transmitter or receiver are disturbed Nanotec Munich e bertragungsfehler The following causes m
39. e A travel profile can be defined in this selection menu to be called up when the current record is ended The following ramp types can be selected Trapezoid Ramp e Sinus Ramp e Jerk Free Ramp see section 4 3 3 ib Nanotec Weer Manual PLUG amp DRIVE NANOPRO lt Mode gt tab Profile graph display The displayed profile graph shows the ramp times acceleration time and the overall actuating time for the applicable travel profile The graphic is recalculated after every relevant input This allows you to continually check and where necessary correct the settings made 6639 Hz 1000 Hz 400 Hz 6 1 160 400 Steps 56 302 31 4 5 4 Signal curves in Flag Position mode In this example profile 4 is started and then a reference run programmed as profile 8 is started Profil No 4 Motor Speed Motor Speed Profil No 8 Reference Run Input 1 Start Input 5 Trigger Input 2 Profil No Input 3 Profil No Input 4 Profil No Input 6 Limit Switch Issue V 2 0 01 10 2009 31 4 Nanatec NOPRO PLUG amp DRIVE 4 6 Clock Direction mode Run Int Ref Ext Ref Left Right 4 6 1 Description Function 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 With the Clock Direction Left Right modes the motor can be moved manuall
40. e nnns 73 Error messages eee den e pt e dest 74 ib Nanatec PLUG amp DRIVE 1 Installation System requirements e MS Windows 2000 XP Vista Free COM port on your Windows Procedure To install the NANOPRO driver software on your PC you must first download the software from the Nanotec website Proceed as follows Step Action 1 Open the Nanotec website in your browser http www nanotec com 2 Go to the Downloads area and select the following software Windows Software NanoPro for Plug amp Drive amp SMCI NEW gt gt 3 Download the file NanoProNG V xxx zip onto your PC Unpack the zip file on your PC in the required directory 5 Open the folder NanoProNG V xxx and start the setup program by double clicking on the file NanoProNG msi 6 Follow the installation instructions of the setup program User Manual V Nanotec NANOPRO PLUG amp DRIVE Overview of the operating interface 2 Overview of the operating interface 21 General information Introduction The SMCI33 SMCIA7 S SMCP33 stepper motors drivers and Plug amp Drive motors of the PDx N series can be configured and programmed with the NANOPRO driver software using any standard Windows PC Transparent interfaces and simple test functions enable rapid entry into operation and programming and facilitate commissioning Due to the simple operating interface not all function
41. e selected size is the larger the e Full Step resolution E g with a 1 8 stepper motor s Pat step a half step is 0 9 and a tenth e Quarter Step step is 0 18 e Fifth Step Adaptive microstep means that the step angle automatically increases with e Tenth Step increasing speed e 16th Step Example at 30 rpm the motor runs in 64th step mode and at e 32th Step 3000 rpm at full step as a e 64th Step higher speed is possible here Adaptive microstep and in general accuracy plays a subordinate role Drive Step Angle Setting of the step angle of the In general the motor is 1 8 full step width connected motor stepper motor default Another step angle can be selected if necessary in the selection menu Phase Current The phase current can be set in steps of 1 96 The corresponding absolute value is automatically calculated and displayed in the Current and Peak Current display fields The surge current is less in full step mode than in the other step modes To achieve the same output as in full step mode the motor needs higher surge currents in smaller step modes Phase Current During Idleness Input of phase current at standstill in percent The corresponding absolute value is automatically calculated and displayed in the Current and Peak Current display fields It is recommended to select the highest possible current reduction for standstill This current r
42. ected travel profile A negative edge at input 1 can be used to reset an error speed monitoring Inputs 2 to 5 Selection of travel profile The profile numbers are called up using a binary code with the inputs 2 to 5 When input 1 is activated the value is read in and the corresponding profile is loaded and started Profile number Input 2 Input 3 Input 4 Input 5 1 0 0 0 0 2 1 0 0 0 3 0 1 0 0 4 1 1 0 0 5 0 0 1 0 6 1 0 1 0 7 0 1 1 0 8 1 1 1 0 9 0 0 0 1 10 1 0 0 1 11 0 1 0 1 12 1 1 0 1 13 0 0 1 1 14 1 0 1 1 15 0 1 1 1 16 1 1 1 1 Input 6 External limit switch Outputs See also section 7 lt Display Properties gt and separate manual for the respective stepper motor driver or for the Plug amp Drive motor Output 1 Output 2 State 0 1 Motor processing last command 1 0 Ready Motor idle waiting for new command Error speed monitoring or limit switch normal operation Reference point zero position reached ib Nanatec PLUG amp DRIVE 4 3 3 Profile parameters Parameter descriptions The following parameters can be set Parameters Function Position Demand Absolute or relative position for the selected travel profile distance e The control variable can be input in steps degrees or mm e The units can be changed in the Display sett
43. ection Left m Minimal Speed o Hz Target Speed mo 7 Hz V Maximum 50002 Hz Ramp f 00 03 Hz ms Next Record MmberTpe Ramp ekFeeRaomp e 28 Issue V 2 0 01 10 2009 ib Nanatec PLUG amp DRIVE Manually setting the trigger signal The trigger signal can be set manually at input 5 via the NANOPRO driver software If you start the motor for test purposes click on the Test Record button the button changes as follows Trigger on Stop Record Quick Stopp Daten speichern Daten auslesen e The Test Record button changes to the Trigger on button By clicking on this button the trigger signal is set and the motor changes from the speed mode to the relative position mode 4 5 2 Input and output assignments Input 1 Start A signal at input 1 starts the speed mode A negative edge at input 1 can be used to reset an error speed monitoring Inputs 2 to 4 Profile number The profile number of the profile to be travelled is set with the inputs 2 to 4 When input 1 is activated the number is read in and the corresponding profile is loaded and started Profile number Input 2 Input 3 Input 4 1 0 0 0 Ol Ol O a O Ol O Input 5 Trigger A signal at input 5 starts the positioning mode Input 6 External limit switch See also section 9 lt Input gt tab and
44. eduction serves to minimise the heat generated by the dissipation loss of the motor windings and the output stage of the driver However if the full holding torque is required during standstill then the current reduction should not be activated or the phase current not reduced Reverse clearance Input of steps to compensate for the reverse clearance of the mechanics e g in linear axles or gears The steps entered here are added to every change of direction ib Nanatec PLUG amp DRIVE Parameters Reverse Encoder Direction Function Option field for activating the encoder rotation direction change Note In some cases an incorrect rotation direction is defined This can be seen when the error message Position error is always displayed when testing records Please also refer to section 16 Troubleshooting This function can be used to change the A B track in the software Automatic sending of the status bytes at the end of a run If this option field is activated status bytes are automatically sent at the end of a run The use of this option is sensible when just one motor is actuated and the end of the run must be evaluated Note This option must not be used when a network is set up as this could lead to conflicts and therefore to transmission errors Rotation Encoder Resolution of the rotation The following resolutions can accelerati
45. he position It is used in the following modes Relative Absolute Position Mode e Flag Position mode Edge mode Analogue Position mode Closed Loop reference run Internal calculation principles and parameters With the position controller the controlled variables always refer to the actual position deviation in steps The set parameters are used to convert the system deviation deviation of actual position from setpoint position into the control variable current value The control variable of the position controller is determined with the following equation Un KP e Ina ey e The next integral value is derived from In Un Control variable KP Proportional component derived from the numerator 29910 Proportional component derived from the numerator 29910 KD Proportional component derived from the numerator 29910 Deviation of actual value from setpoint value Deviation of previous actual value from previous setpoint value Last integral value Reaching the end position If the position controller is active the motor will only signal that it is ready after the end of a run when the measured position remains within a tolerance window for a specific time The tolerance width and the minimum time can be set with the parameters in the section Position Error e Count maximum amount based permissible deviatio
46. ings tab Direction Direction of rotation of travel profile not with absolute e Left ositionin P 9 e Right Minimal Speed Start speed V Start Start up speed start stop frequency of the motor in Hz To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a minimum speed can also lead to step losses Target Speed Normal speed V Normal Normal travel speed of the motor in Hz To avoid step losses it should lie outside resonance ranges e Too high a maximum speed can cause step losses and motor stalling Ramp Ramp gradient Values are entered in Hz ms e The steeper the ramp the faster the acceleration however if the acceleration is too high the motor can skip and lose steps Any possible resonance ranges must be traversed as fast as possible e The maximum value is 3000 Hz ms The set value is output as the next possible speed due to the coding in the motor at 3000 Hz ms e g as 2988 3 Hz ms e The minimum value is 0 1 Hz ms Break e The break indicates the idle time of the motor when several only with relative runs must be implemented in sequence positioning e The unit is ms e The minimum duration of the adjustable break is 1 ms Repetitions The Repetitions parameter indicates how often the selected only with relative travel profile should be implemented automatically in sequence positioning without another start command Reverse direct
47. ion automatic change of direction can be activated in the only with relative Reverse Direction option field positioning e Inactive change of direction the rotation direction of the motor is automatically changed when the same record is called up several times in sequence e The direction is changed after each call up ib Nanatec PLUG amp DRIVE Parameters Next Record Function A travel profile can be defined in this selection menu to be called up when the current record is ended Ramp Type The following ramp types can be selected Trapezoid Ramp e Sinus Ramp e Jerk Free Ramp The following additional parameter fields appear if the Jerk Free Ramp has been selected Jerk 2 721 Brake Jerk 721 Possible values 1 to 65 536 The Brake Ramp and Brake Jerk parameters indicate the maximum change of acceleration over time The greater the jerk the faster the acceleration can change A very small jerk leads to a sinusoidal acceleration ramp while a large jerk leads to a trapezoidal ramp see following figure Speed Max acceleration reached Time Speed Max acceleration reached Time ib Nanotec Manual PLUG DRIVE NANOPRO Mode tab Profile graph display The displayed profile graph shows the ramp times acceleration time and the overall actuating time for the applicable travel profile The graphic is
48. iver e g CNC controller ib Nanatec PLUG amp DRIVE Operation Type Clock direction mode Int Ref Clock direction mode Ext Ref Application 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 Please refer to section 4 6 Clock Direction mode Run Int Ref Ext Ref Analog and Joystick mode Analogue Position mode Torque mode The motor is controlled in this operating mode simply with a potentiometer or a joystick 10 V to 10 Use this mode if you want to use the motor in a simple application Setting a specific speed e g via an external potentiometer e Travelling synchronously with a superordinate controller with analogue output 10 V to 10 V Please refer to section 4 7 Analogue and Joystick 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 thus enabling servo behavior Please refer to section 4 8 Analogue Position 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 Please refer to section 4 9
49. lative 400 13 Positionmode Relative 400 14 Positionmode Relative 400 15 Positionmode Relative 400 16 Positionmode Relative 400 17 Reference Run External Left 18 Speed Left 2000 19 Speed Left 2000 20 Clock Direction Left 21 Clock Direction Right 22 Positionmode Relative 400 23 Positionmode Relative 400 This window displays the maximum possible 32 travel profiles After selecting the required travel profile the corresponding profile parameters are displayed in the parameter area Profile parameters peration Type Positionmode Relative Position Demand 400 Direction Minimal Speed 800 Target Speed 2000 Ramp Break B 271 Repetitions fi Reverse Direction Next Record NumberTye e TrapezcidRamp 7 Displays parameters dependent on the selected operating type and drive profile Settings of required parameters for the various profiles max 32 Motor Settings Drive Speed 2000 Hz Acceleration 100 03 Hz ms Acceleration Time 5ms Step Mode Half Step Phase Current 10 Gear Reduction inl Dutput Speed 2000 Hz Resolution 1 8 step e Display of the parameters of the connected motor Settings of parameters see section 5 lt settings tab 14 Issue V 2 0 01 10 2009 ib Nanatec PLUG amp DRIVE Buttons for communication with the motor Test
50. leration time and the setpoint speed for the applicable travel profile The graphic is recalculated after every relevant input This allows you to continually check and where necessary correct the settings made 400 Hz 6 Steps 0 17 ms ib Nanotec Veer Manual PLUG amp DRIVE NANOPRO lt Mode gt tab 4 4 4 Signal curves in speed mode Example of a signal curve In this example speed 4 speed 7 and then after a change of direction speed 13 are started Motor Speed 0 Motor Speed Speed No 13 Input 1 Enable I i Input 6 i Direction Input 2 Speed Input 3 i Speed No i Input 4 Speed No Input 5 i Speed No Issue V 2 0 01 10 2009 27 User Manual ay Nanotec NANOPRO PLUG amp DRIVE Mode tab 4 5 Flag Position mode 4 5 1 Description Function The flag position mode offers a combination of the speed and positioning modes The motor is first operated in speed mode to travel an undefined distance with a specific speed for example When a trigger trigger point is reached e g a limit switch operation is switched to the relative positioning mode to travel to a defined setpoint position relative to the trigger position Maximum Speed 2 Maximum Speed 1 Minimum Speed Parameter fields in the Flag Position operation type Operation Type Flag Position Position Demand 400 Steps Dir
51. ltage Voltage with which the motor is driven Start Drive Profile When the checkbox is activated the drive profile starts at the same as the Scope mode Controlling the Scope mode Reset Counter Sets the drive profile to the zero position Start Stop Starts Stops the Scope mode Save Saves recorded parameters Open Opens recorded and saved parameters Screenshot Creates a screenshot of the current display User Manual ay Nanotec PLUG amp DRIVE Operating several motors 15 Operating several motors Introduction Up to 32 motors can be controlled in a network New motors can be added in the Motor menu by clicking on the Add Motor button All the motors are displayed in the selection menu Unnecessary motors can be removed from the driver by clicking on the Remove Motor gt button System Add Motor Help Remove Motor Copy Motor ta Refresh all Motorvalues Save all Motorvalues Motor address menu NanoPro 0 50 0 34 1 Please enter the Motor Address of the new Motor It must be between 1 and 254 Procedure Proceed as follows to add new motors Step Action Note 1 Select the Add Motor menu item in the Motor The Motor address menu menu opens 2 Enter a motor address for the motor number Number 1 to 254 3 Click on the lt OK gt button The settings are saved N N o
52. lue and on the previous filter value This method can be used to average a greater number of supporting points even if insufficient memory is available However this is not a real average value but a signal rounding of the input voltage first order low pass or PT1 element The recursive filter is used from a value of 17 The time constant is doubled each time the value is increased The longest time constant is reached with the value 31 The time constant can be read off from the following table The time constant T indicates after how much time the filter output approaches 50 of the filter input After a further time has passed the filter output then reaches 759 of the input With an input jump from O to 1 the filter output follows the following rule Output 1 0 5 where t is the time along the x axis and T the time constant of the filter ib Nanatec PLUG amp DRIVE Parameters Function 5 T after changing the input voltage the value at the filter output has thus reached 97 of the input value 10 T after changing the input voltage the value at the filter output will have reached 99 9 of the input value The deviation corresponds to one stage of the AD converter when the input changes cover the entire range e g a jump from 10 V to 10 V Value Time constant T Time for 99 9 17 1 ms 10 ms 18 2 ms 20 ms 19 4 ms 40 ms 20 8 ms 80 ms 21 16 m
53. maximum speed in Hz is the setpoint speed of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a maximum speed can cause step losses and motor stalling User Manual ay Nanotec NANOPRO PLUG amp DRIVE Mode tab Ramp Input of ramp gradient in Hz ms 4 6 4 Signal curves in clock direction mode In this example the left and right modes are started after one another and then the external reference run is carried out Motor Speed External reference run Motor Speed travel away from limit switch 1 I I Input 1 Enable Input 2 b 4 Auto Mode Input 3 Auto Mode Input 4 Limit Switch Output 1 Ready Output 2 34 Issue V 2 0 01 10 2009 ib Nanatec PLUG amp DRIVE User Manual NANOPRO Mode tab 4 7 Analogue and Joystick mode 4 7 1 Description Function In the analogue or joystick mode a stepper motor is operated in a simple application e with a specific speed e g via an external potentiometer e orsynchronously with a superordinate controller with analogue output 10 V to 410 V The motor is simply actuated either by a potentiometer or an external power supply and a joystick maximum 10 V to 10 V Note The analogue and joystick modes differ only in a few points Both modes are therefore described here in one secti
54. n 4 3 Relative Absolute Positioning Internal and External Reference Run External reference run During an external reference run the motor travels to a switch connected to the reference input Please refer to section 4 3 Relative Absolute Positioning Internal and External Reference Run 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 inputs enable the speed to be changed on the fly to different speeds Please refer to section 4 4 Speed mode Flag Position mode The flag positioning mode offers a combination of the speed and positioning modes The motor is initially operated in speed mode when a trigger point is reached it changes to the positioning mode and the specified setpoint position relative to the trigger position is approached This operating mode is used for labeling for example the motor first travels with the set ramp to the synchronous speed of the conveyed goods When the labels are detected the preset distance position is traveled to apply the labels Please refer to section 4 5 Flag Position mode Clock direction mode left Clock direction mode right Use this mode when you wish to operate the motor with a superordinate dr
55. n from the end position is output in steps e Time minimum time in milliseconds that the motor must stay at the corresponding position before it signals that it is ready Position error monitoring The position controller monitors the set position at all times even following errors are recorded during travel If the actual position deviates by a specific value from the setpoint position the controller is deactivated and the motor stops ib Nanatec PLUG amp DRIVE The position monitoring can be adjusted as required with the parameters in the section Following Error Pos Mode e Count The maximum amount based deviation of the actual from the setpoint position is output in steps value range 0 2000000000 e Time Time is output in milliseconds Help for setting the control parameters of the position controller To adjust the parameters it is necessary to apply the load that the controller later needs to control to the motor It does not make sense to set the controller for an unloaded motor as the behaviour will change completely when the load is applied to the motor The following table shows possible problems and countermeasures Problem Countermeasures Motor oscillates up or too long afterwards Reduce Increase D component Increase P component Motor cracks during the run Reduce D component Possibly reduce P component Motor takes too long to
56. n the curves for setpoint and actual position are mirrored during a run the rotation direction of the encoder is inverted e g run of 400 steps then setpoint position 400 and actual position 400 Countermeasure Reverse the rotation direction of the encoder in the Motor Settings tab CAUTION To have these settings accepted for closed loop operation the motor must be disconnected from the power supply When the curves are identical in direction but differ in gradient then the resolution of the encoder is incorrect Countermeasure Adjust the encoder resolution in the Motor Settings tab Other parameters Parameters Description Following Error The following error indicates the difference between the target and actual position If the following error exceeds the set value the motor will output a position error For the Open Loop mode the limit value can be set in the lt Errorcorrection gt tab For the Closed Loop mode there are separate values for the Speed and the Position mode They can be set in the CL Parameter Target Current The value Target Current indicates the current calculated by the motor in the Closed Loop mode Input Voltage Indicates the voltage applied to the motor Temperature Indicates the temperature measured by the motor Analog Input Indicates the voltage at the analogue input Digital Inputs Sets the level of all digital inputs of the motor Parameters for the
57. on Parameter fields in the Analogue operation type Operation Type Direction Minimal Speed Target Speed Ramp Analogue 0 Hz 2000 Hz 100 03 Hz ms Parameter fields the Joystick operation type Operation Type Minimal Speed Target Speed Ramp Joystick fad 2 H 2000 Hz 100 03 Hz ms Issue V 2 0 01 10 2009 35 ib Nanatec PLUG amp DRIVE 4 7 2 Function of the inputs and outputs Input 1 Start When input 1 is activated the value is read in and the corresponding profile is loaded and started Inputs 2 to 5 Selection of travel profile The profile number of the profile to be travelled is set with the inputs 2 to 5 Profile number Input 2 Input 3 Input 4 Input 5 1 0 0 0 0 2 1 0 0 0 3 0 1 0 0 4 1 1 0 0 5 0 0 1 0 6 1 0 1 0 7 0 1 1 0 8 1 1 1 0 9 0 0 0 1 10 1 0 0 1 11 0 1 0 1 12 1 1 0 1 13 0 0 1 1 14 1 0 1 1 15 0 1 1 1 16 1 1 1 1 Input 6 Direction In Analogue mode the direction cannot be defined via the record as the digital inputs outputs have a higher priority The direction must however be defined via input 6 In Joystick mode the direction of the motor is dependent on a defined voltage range The direction is changed in the middle of the voltage range e g at 5 V in a voltage range of 0 V to 10 Please refer to section 9 lt Input gt tab Analogue In The analog input Analogue
58. on change in 100 ms see also section 4 3 3 Resolution encoder pulses revolution be selected 500 192 200 400 512 1000 1024 2000 2048 Quick Stopp Ramp Ramp gradient for the Quick Stopp function in Hz ms Jerk Limitation of the maximum Possible values 1 65 536 only for SMCP33 and PD4 N P low P high P scale low high scale P and components of the current regulator ib Nanatec PLUG amp DRIVE Adjusting the encoder Note Before adjusting the encoder the motor type or the motor step angle must be correctly set see section 5 settings tab Resolution and direction of rotation of the encoder can be adjusted using the Encoder Wizard The motor makes one revolution if the button is pressed The resolution of the rotation encoder is automatically matched and displayed in the Motor Settings tab Depending on the connection the rotation is also matched if necessary and displayed in the Motor Settings tab Reverse Encoder Direction checkbox is activated ib Nanotec User Manual PLUG amp DRIVE NANOPRO Brake tab 6 Brake tab Display Settings for the brake are adopted using the Brake tab Parameters for External Brake The following parameters can be set Time ta Waiting time between switching on the motor current and switching off triggering the brake in milliseconds
59. ontrolled variables in the speed controller are always based on the actual speed in revolutions per minute rpm The set parameters are used to convert the system deviation deviation of actual speed from setpoint speed into the control variable current value The control variable of the speed controller is determined with the following equation Un KP e Ina n e The next integral value is derived from In en Un control variable KP Proportional component derived from the numerator 29910 Proportional component derived from the numerator 29910 KD Proportional component derived from the numerator 29910 Deviation of actual value from setpoint value Deviation of previous actual value from previous setpoint value Ina Last integral value Speed error monitoring The speed controller monitors the set speed If the actual speed deviates for a specific time from the setpoint speed the controller is deactivated and the motor stops The speed monitoring can be adjusted as required with the parameters in the section Following Error Speed Mode e Count The maximum amount based deviation of the actual from the setpoint position is output in steps value range 0 2000000000 e Time Time is output in milliseconds ib PLUG amp DRIVE 13 1 3 Position Loop Description The position controller controls t
60. or then travels according to the selected operating mode and travel profile 14 Repeat steps 1 to 13 if you want to enter further drive profiles 15 If you want to permanently store the entered settings Click on the lt Save to Drive gt button The data will be saved in the motor ib Nanotec PLUG amp DRIVE 4 3 Relative Absolute Positioning Internal and External 4 3 1 Function Reference Run Description Relative and Absolute Positioning In the Relative and Absolute operation types the motor moves from a position A to a position B according to a specified drive profile They are preferentially used when travel to a specific position is required The positions can be defined as absolute or relative values depending on the mode selected With relative positioning the drive profile is started from the actual position With absolute positioning the drive profile starts from a specified setpoint position irrespective of the actual position Internal and external reference run In the Internal reference run operation type the motor travels to an internal reference point at the set minimum speed This reference point is on the motor shaft and is therefore reached with each full motor revolution In the External reference run operation type the motor travels to a switch connected to the reference input After the start of the external reference run the motor accelerates wi
61. r button resets the current counter value to zero ib Nanatec PLUG amp DRIVE Procedure Read counter from Motor gt Pressing the Read counter from Motor button queries the actual counter value and displays it on screen Delivery Status Pressing the Delivery Status button resets all parameter settings in the motor to the default status The following describes an example of how to enter profile parameters for a drive profile in the Relative operation type Other parameters must be defined in other operating modes Proceed as follows Step Action Select the required drive profile in the Movement Mode tab e g 01 Relative 400 Note The parameter values of the selected travel profile are displayed The drive profile is defined by the position mode Operation Type selection menu and the distance in the Position Demand field 2 In the Operation mode selection The relevant parameter fields are menu select the Relative mode displayed 3 Enter the required distances for the The control variable can be input in selected travel profile in the Position steps degrees or mm The units can Demand field be changed in the Display settings tab Please refer to section 7 Display Properties tab 4 Select the required rotation direction You can choose between Left and of the drive profile in the Direction Right selection menu 5 Enter
62. reach the end position Increase Increase P component Motor compensates for static loads too slowly Increase Motor signals position error Increase permissible following error Following Error Pos Mode Operate controller more firmly increase P component increase I component Decrease maximum speed Increase phase current CAUTION Note maximum motor current A new rotor position initialisation may be necessary Motor not accelerating as fast as the set ramp possibly combined with a position error during the acceleration phase Increase phase current CAUTION Note maximum motor current Set a slower ramp Use a stronger motor with appropriately set phase current User Manual i Nanotec NOPRO PLUG amp DRIVE Cascade controller The cascade controller consists of two closed loops an internal closed loop that controls the speed and an external closed loop that controls the position The external closed loop does not directly control the motor current but the setpoint value setpoint speed of the internal closed loop The cascade controller is deactivated in the actual firmware as manual setting without further help is not feasibly possible Only the actual set values are transmitted so that the set value can be saved in future firmware versions Setting is then implemented semi automatically by the firmware C
63. s 160 ms 22 32 ms 320 ms 23 64 ms 640 ms 24 128 ms 1 2 8 25 256 ms 2 6 26 512 5 5 15 27 15 105 28 25 205 29 45 405 30 85 805 31 165 160s Debounce time of the inputs Sets the time in ms that needs to elapse after a signal change at an input until the signal has stabilized Behavior for Internal External Homing There are different way to define the behavior on external and internal limit switches see technical manual for the respective Plug amp Drive motor or for the stepper motor drive The behaviour of the limit switch during reference runs and in normal operation can be defined in the settings menu The following parameters can be set Parameters Function Type Selection of the reference switch as an opener or closer depending on the version During Homing Data on whether the limit switch external and internal should be approached during the reference run free forwards without direction change or backwards in the opposite direction During Normal Operation Data on how the motor should behave when recognizing the limit switch external and internal during normal operation no reference run i PLUG amp DRIVE Procedure Proceed as follows to set the limit switch behaviour Step Action Note 1 Select the lt Input gt tab 2 Set the parameters according to your requirements 3 Click on the The
64. s are described in this manual Many functions are self explanatory Only specific operating procedures are looked at in detail Familiarize yourself with the operating interface of the NANOPRO control software before starting to commission and program the stepper motor drivers or Plug amp Drive motors 2 2 Layout of operating interface Menu bar and menu window The operating interface is basically set up with a menu bar 1 and a separate menu window 2 for each motor 1 52 0 9 UKERBL1 File Language Motor 1 Motor System Help Motor 1 Operating Mode Operation Mode ni xj Motor Type SMCI47 S Interface RS485 Version Date 2 Save Configueration to Drive Read Configuration from Drive Motor Settings Brake Display Properties Errorcorrection Input Output Communication Statusdisplay CL Parameter Scope Drive Profile s peration Type Relative 7 Drive Speed 1000 Hz 01 Relative 400 Left 1000 i J Left 1000 Position Demand Steps Acceleration 100 03 Hz ms ive 400 Left Acceleration Time 6 ms Left 1000 E Lek 1000 Direction 21 Step Mode Half Step Lett Vm Left 1000 Minimal Speed 400 Phase Current 10 Left 1000 Left 1000 Target Speed 1000 Gear Reduction 1 1 03 Left 1000 Dutput Speed 1000 Hz 10 Relative 400 Left 1000 Ramp Resolution 1 8 step 11 Relative Lef
65. s equal to 25 of 1024 256 lower limit ib PLUG amp DRIVE Parameters Function Play The Play setting provides an option to hide the interference or ripple voltage in the lower limit range With a lower limit of 0 V and an upper limit of 5 V a play of 1096 would limit the control range to 0 5 5 0 V V Normal upper Limit 1 000 Hz 5V 0 5V 0 77 Dead range 1096 V Start lower Limit 400 Hz Play Calculation example for play Selected voltage range 0 5 V to 5 V Start speed 400 Hz 0 5V Setpoint speed 1000 Hz 5V Speed adjustable 10 bit 1024 4 5 V 1024 0 0044 V corresponds to 2 604 Hz 400 Hz 1000 Hz 600 Hz 230 4 2 604 Hz Divisor from the percentage of the voltage range used The voltage range of 4 5 V out of a possible range of 20 V equals 22 5 Based on the 10 bit resolution this is equal to 22 5 of 256 2304 Filter The analogue input samples the input voltage with a frequency of 1 kHz The input voltage can be smoothed with the help of the analogue input A filter value between 0 and 16 results in a simple average value formation over the given number a value of 0 or 1 indicated that averaging has not occurred As filtering only takes 16 milliseconds with a sample frequency of 1 kHz over maximum 16 supporting points it is possible to use a recursive filter where the determined value depends on the actually measured va
66. separate manual for the respective stepper motor driver or for the Plug amp Drive motor ib Nanatec PLUG amp DRIVE Outputs Output 1 Output 2 State 0 1 Motor processing last command 1 0 Ready Motor idle waiting for new command 0 0 Error speed monitoring or limit switch normal operation 1 1 Reference point reached 4 5 3 Profile parameters Parameter descriptions The following parameters can be set in the flag position mode Parameters Function Position Demand e Distance for the selected travel profile e The number of motor steps to be output can be selected up to 16 777 215 steps Direction Direction of rotation of travel profile e Left Right Minimal Speed Starting speed e The minimum speed in Hz is the start up speed start stop frequency of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a minimum speed can also lead to step losses Target Speed Normal speed e The maximum Speed 1 in Hz is the setpoint speed of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor e Too high a maximum speed can cause step losses and motor stalling V Maximum Maximum Speed 2 in Hz e Like maximum Speed 1 Default set to 2000 Hz Ramp Input of ramp gradient in Hz ms Next Record Ramp Typ
67. sue V 2 0 01 10 2009 ib Nanatec PLUG amp DRIVE 5 Motor settings tab Display The general motor parameters are set on the Motor Settings tab Movement Mode Motor Settings Brake Display Properties Errercorrection Input Output Communication Statusdisplay CL Parameter Scope Motor Setting Equipment Step Mode Hat Step Controller Type SMCP33 RS485 Drive Step Angle 1 8 step Motor Type Phase Current 20 Current 04 A Motor Name 574118 1 206 Peak Current 0 51 Phase Current During Idleness 0 Current yx Peak Current 0 Reverse clearance o Steps Reverse Encoder Direction Send State Byte Automatically Upon End of Record Rotation Encoder Resolution 400 P low E low fi Quick Stopp P high fi high fi Ramp fo Hz ms P scale 58 scale 200 Jerk 100 2 Save Data Encoder Wizard Parameter descriptions The following parameters can be set for the motor Parameters Function Note Equipment Controller Type Selection of driver type The user interface is modified to correspond to the selected controller type Motor Type Selection of motor type Motor Name Selection of motor designation ib Nanotec PLUG amp DRIVE Parameters Motor Setting Function Note Step Mode The following step modes can The smaller the selected step b
68. t 1000 12 Relative 400 Left 1000 Break fi 13 Relative 400 Left 1000 4 14 Relative 400 Left 1000 Repetitions f Test Record 15 Relative Left 1000 ln Directi 16 Relative 400 Left 1000 everse Direction 17 Relative Left 1000 Stop Recor 18 Relative 400 Left 1000 Next Record Number Type 5 18 Relative 400 Left 1000 Quick Stopp 20 Relative Left 1000 Ramp Type Trapezoid Ramp 21 Relative Left 1000 Save to Drive 22 Relative Left 1000 23 Relative Left 1000 7 5 Read from Drive 0 Steps Reset Counter 400 Steps Delivery Status 400 ms Issue V 2 0 01 10 2009 O ib Nanatec PLUG amp DRIVE User Manual NANOPRO Overview of the operating interface 2 2 1 The menu bar File menu Standard functions for file editing NanoPro V 0 50 0 34 Language menu Language Motor 1 New Open Save Save As The operating interface language can be changed here Deutsch English Motor selection menu Selection of the required motor In networks up to 32 motors can be operated on a linked basis and actuated by the NANOPRO driver software Pro 0 50 0 34 1 Language Motor menu Motor 1 The Motor menu has the following menu items Add Motor Remove Motor Motor to
69. te Positioning Internal and External Reference 18 Bite X A 18 Input and output 5 20 Profile paramelters 2 2 api ped le educ ado Eee orte ad de 21 Signal CUVE S t 23 Speed MOMS iu ied deis deeds 24 DOSCIrDUON pe M M M M 24 Input output 4 1 nnne nene nnns 25 a ia Giada 26 Signal curves in speed 27 Positi n cede 28 since BEREAN EE GA 28 Input and output 29 Profile 02424400 30 Signal curves Flag Position 0 22244 0 31 Clock Direction mode Run Int Ref Ext Ref Left Right 32 5 E 32 Functions of the inputs and outputs enne 32 Profile parameta iSound aaao aoa sad d net nk aba seda dd dnte e kin 33 Signal curves in clock direction mode sss 34 Analogue and Joystick mode
70. th the set ramp from the minimum to the maximum speed When the reference switch is reached movement is stopped for a break of 100 ms and then according to the setting Positioning behavior at the limit switch travel is recommenced away from the switch at the minimum speed start stop speed The reference switch can be an opener or a closer This must be set with the software during programming See also section 7 lt Display Properties tab and separate manual for the respective stepper motor driver or for the Plug amp Drive motor Parameter fields for the Relative operation type Operation Type Postionmode Relaive 7 Position Demand ah Steps Direction filet e Minimal Speed 800 Hz Target Speed 2000 Hz Ramp ona 7 Hz ms Break mo ms Repetitions Reverse Direction Next Record NumberType Ramp Type Trapezoid Ramp v i Nanotec User Manual PLUG amp DRIVE NANOPRO Mode tab Parameter fields with the Absolute operation type 100 03 Number Type Parameter fields with the Reference Run Internal operation type Reference Run Internal Parameter fields with the Reference Run External operation type Reference Run External Issue V 2 0 01 10 2009 19 ib Nanotec PLUG amp DRIVE 4 3 2 Input 1 Start input Error reset Input and output assignments A signal at input 1 starts the sel
71. the required starting speed of The minimal speed is the start up the motor in the Minimal Speed field speed start stop frequency of the motor To avoid step losses this should be higher than the intrinsic resonance of the motor However too high a minimum speed can also lead to step losses The speed can be input in Hertz rpm or mm s The units can be changed on the Display settings tab Please refer to section 7 Display Properties tab 6 Enter the required normal speed of the The normal speed is the travel speed motor in the Target Speed field of the motor To avoid step losses it should lie outside resonance ranges Too high a maximum speed can cause step losses and motor stalling ib Nanatec PLUG amp DRIVE Step Action In the Ramp field enter the ramp gradient You will see the set travel profile in the graphic profile graphic in the lower section of the main menu providing you with an aid to setting the correct values Note Values are entered in Hz ms The steeper the ramp the faster the acceleration Eventual resonance ranges must be traversed as fast as possible However it is possible if the acceleration is too high that the motor skips and loses steps In this case the ramp must be reduced incrementally The maximum value is 3000 Hz ms which is displayed as 2988 3 Hz ms due to the underlying conversion table The minimum value is 0 1 Hz ms
72. the swing out time the motor waits until the rotor is in a suitable position and then carries out the next record This suitable position is determined when the tolerance width is set and avoids step losses The length of the break and swing out time in ms after the completion of a record is determined by the number of encoder edges It is possible to realise rapid reversing movements with the specification of a tolerance width in edges Swing out of the rotor Start Suitable position Tolerance width t ms Start command 80 ms break Encoder edges The encoder has a 5 to 10 times higher resolution than the motor The encoders used operate with 500 pulses revolution This squaring results in a resolution of 2 000 edges The 1 8 stepper motors operate with 200 steps revolution therefore a full step equals 10 encoder edges half step 5 edges The recommended tolerance width is 2 edges ib Nanatec PLUG amp DRIVE 9 Input tab Display Movement Mode Motor Settings Brake Display Properties Errorcorrection l Dutput Communication Statusdisplay CL Parameter Scope Input Inputs Lower Limit fa 0 User Controlled be cfr State Upper Limit 10 Input 1 Start Reset Play o Input 2 Selection of Travel fo Input g Selection of Travel P
73. tive Positioning 18 Speed 24 55 70 Phase 42 During Idleness 42 PAY 52 58 56 47 Position 21 Position error monitoring 62 Position Loop ie etti eec ree dn 62 Profile 0 242 1 2 15 23 Programming Language 59 Q Quick Stopp ee errata 15 43 21 Ramp 22 Reference 11 18 32 Relative Positioning Mode 18 0 40 2 21 Reset Counter sss 71 Reverse 42 Reverse Direction 21 Reverse Encoder Direction 43 Rotation Direction Mode 48 49 Rotation Encoder Resolution 43 S Sample 71 Save Configuration to Drive Read Configuration from Drive 9 Scope
74. top Record Quick Stopp increase frequency decrease frequency The Save to Drive button changes to the increase frequency button Clicking on the button increases the frequency speed of the motor by 100 Hz The actual frequency value is displayed in the top right of the window Motor speed e The button Read from Drive button changes to the button decrease frequency Clicking on the button decreases the frequency speed of the motor by 100 Hz The actual frequency value is displayed in the top right of the window Motor speed ib Nanatec PLUG amp DRIVE 4 4 2 Input and output assignments Input 1 Enable Input 1 starts and stops the motor A negative edge at input 1 can be used to reset an error speed monitoring Inputs 2 to 5 Speed The speed is set with the inputs 2 to 5 The state of the inputs is continuously read and the corresponding speed parameter output When the speed changes the motor accelerates or brakes with the set ramp to the new setpoint speed When the speed changes the motor accelerates or brakes with the set ramp to the new setpoint speed Profile number Input 2 Input 3 Input 4 Input 5 1 0 0 0 0 2 1 0 0 0 3 0 1 0 0 4 1 1 0 0 5 0 0 1 0 6 1 0 1 0 7 0 1 1 0 8 1 1 1 0 9 0 0 0 1 10 1 0 0 1 11 0 1 0 1 12 1 1 0 1 13 0 0 1 1 14 1 0 1 1 15 0 1 1 1 16 1 1 1 1 Input 6 Direction Input
75. tput Speed 2000 Hz 10 Clock Direction Left Ramp 100 03 Hz ms 1 8 step 11 Clock Direction Run Int Ref 12 Positionmode Relative 400 Break fi ms 13 Positionmode Relative 400 e 14 Positionmode Relative 400 Repetitions fi Test Record 15 Positionmode Relative 400 1 Positionmode Relative 400 Reverse Direction Stop Record 17 Reference Extemal Left 18 Speed Left 2000 Next Record Number Type 19 Speed Left 2000 Quick Stopp 20 Clock Direction Left Ramp Type Trapezoid Ramp 21 Clock Direction Right Save to Drive 22 Positionmode Relative 400 23 Positionmode Relative 400 xl e 0 Steps Query State Reset Counter Read Counter 800 Hz 1 6 394 400 Steps Delivery Status 394 400 2000 Hz Issue V 2 0 01 10 2009 13 User Manual NANOPRO Mode tab i Nanotec PLUG amp DRIVE Drive Profile selection list Operation Type selection menu The required operating type can be selected here Drive Profile 01 Positionmode Relative 400 02 Reference Run Internal Left 03 Speed Left 2000 04 Flag Position 400 Left 2000 05 Reference Run External Left 06 Positionmode Absolute 400 07 Positionmode Absolute 400 08 Positionmode Relative 400 03 Flag Position 400 Left 2000 10 Clock Direction Left 11 Clock Direction Run Int Ref 12 Positionmode Re
76. ual check of whether an update for the firmware is available Firmware check automatic When the checkbox is activated an automatic check is made of whether a firmware update is available lt Supportlog gt When the checkbox is activated a log file is automatically created for support purposes The lt Help gt menu has the following menu items Content Referenz Manual About lt Content gt Calls up the online help for NANOPRO lt User manual gt Opens the user manual for NANOPRO as a PDF file lt About NanoPro gt Displays the version information for the latest installation of NANOPRO Issue V 2 0 01 10 2009 4 Nanatec PLUG amp DRIVE 2 2 2 Menu window Tabs The menu window contains the following tabs Motor Settings Brake Display Properties Input Output Communication Statusdisplay CL Parameter Scope Tab See section Movement Mode 4 lt Mode gt tab Motor Settings 5 Motor settings tab Brake 6 lt gt tab Display Properties 7 Display Properties tab Errorcorrection 8 lt Errorcorrection gt tab Input 9 lt Input gt tab Output 10 lt Output gt tab Communication 11 lt Communication gt tab Statusdisplay 12 lt Statusdisplay gt tab CL Parameter 13 lt CL Parameter gt Closed Loop tab
77. ure set here are displayed in inserted in the parameter fields of the e Hz various operating modes e Rpm e mm s Position The counter reading can The units of measure set here are be displayed in inserted in the parameter fields of the e Steps various operating modes e Degrees e mm Feed Rate Definition of feed rate If one of the above parameters is set to mm rev mm then the corresponding feed must be entered in the Feed Rate field Gear Reduction Option field for When the option field is set the Gear activating the Gear Reduction field is activated and the Reduction field reduction value can be entered Input of gear reduction if Gear Reduction Iv E 4 field activated ib Nanotec PLUG amp DRIVE 8 lt Errorcorrection gt tab Display The settings for speed monitoring and error correction are made on the Errorcorrection tab 1 Input Output Communication Movement Made Motor Settings Brake Display Properties i Errorcorrection Rotation Direction Mode Disable Swing Out Time 80 ms Tolerance Width Edges Automatic Errorcorection Using records for Errorcorrection 71 Save Data Motor function test The motor has an integrated encoder signal evaluation for checking motor functions and to signal step losses If the motor loses more than 1 half step 0 9 with a 1 8 stepper motor output 2 signals an error It is possi
78. ut of a tolerance within the encoder edges The recommended standard value is 2 edges The tolerance is the maximum deviation in micro steps How large a step is depends on the currently set step mode If the encoder resolution is insufficient step mode gt 1 10 in 1 8 motors or gt 1 5 in 0 9 motors additional errors will result from the conversion of encoder increments into microsteps Automatic Error Correction Using records for Errorcorrection Option field for activating automatic error correction Selection menu for definition of travel profile used for Automatic Errorcorrection activated option field see above At the end of a record the motor calculates the lost steps and compensates for them with a defined correction run The parameters must be selected so that the motor safely implements the correction without losing any steps When the setting is during the run the correction will be implemented during the run itself The ramp and the speed in the selected travel profile are used for the correction run ib Nanotec PLUG amp DRIVE Starting within the swing out time The specification of a swing out time before measurement of the rotor position by the encoder limits the possibility of rapid reversing movements In the relative positioning mode a break between two reversing rotations must also be set minimum 1 ms If the set break is shorter than
79. y into the selected rotation direction With every clock signal the motor moves one step in the direction set by the direction signal The motor can be started by clicking on the Test Record button In the Clock Direction Run Int Ref Ext Ref modes the internal or external reference run is supported see section 9 lt Input gt and separate manual for the respective stepper motor driver or for the Plug amp Drive motor Parameter fields in the Clock Direction Left Right operation type Operation Type Clock Direction Left Y Minimal Speed 0 Target Speed 2000 Hz Ramp 100 03 Hz ms Parameter fields in the Clock Direction Run Int Ref Ext Ref operation type Operation Type Clock Direction Run Int Ref Direction o A Minimal Speed Target Speed 2000 Hz Ramp 100 03 Hz ms 4 6 2 Functions of the inputs and outputs Input 1 Enable The activation of input 1 starts the mode selected by inputs 2 and 3 A negative edge at input 1 can be used to reset an error speed monitoring Inputs 2 and 3 Mode The mode is set with inputs 2 and 3 The settings are accepted when Input 1 is activated The direction of the reference runs is also specified by the saved parameters In the Clock Direction Left Right modes the motor travels 10 steps with a frequency of ca 2 Hz then it accelerates to the programmed maximum frequency ib Nanatec PLUG amp DRIVE Mode selection

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